CN103279027B - Based on the digital simulation Composite PID controller of resonance type optical gyroscope system - Google Patents
Based on the digital simulation Composite PID controller of resonance type optical gyroscope system Download PDFInfo
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- CN103279027B CN103279027B CN201310181745.8A CN201310181745A CN103279027B CN 103279027 B CN103279027 B CN 103279027B CN 201310181745 A CN201310181745 A CN 201310181745A CN 103279027 B CN103279027 B CN 103279027B
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Abstract
The present invention relates to the control device of Circuits System stability, particularly relate to the control device for stability of optical gyroscope system, be specially a kind of digital simulation Composite PID controller based on resonance type optical gyroscope system, comprise proportion operational amplifier, integral operation circuit, differential operation circuit and ratio totalizer, also comprise FPGA control chip, the first AD conversion module, the second AD conversion module, the first program-controlled resistor, the second program-controlled resistor, the 3rd program-controlled resistor and program control electric capacity.The invention provides a kind of digital simulation Composite PID controller, adjustable resistance in original analog pid controller and tunable capacitor are transformed to the program-controlled resistor and program control electric capacity that automatically control by chip by this controller, the parameter of controller is regulated, chooses simply accurately, solve the problem that analog pid controller control mode is dumb, control accuracy is not high.
Description
Technical field
The present invention relates to the control device of Circuits System stability, particularly relate to the control device for stability of optical gyroscope system, be specially a kind of digital simulation Composite PID controller based on resonance type optical gyroscope system.
Background technology
Optical gyroscope is based on Sagnac(Sagnac) the high precision inertia angular-rate sensor of effect, occupy an important position in the attitude angle of high speed carrier and shell and angular velocity field tests.Sensitive Apparatus optics ring resonator in resonance type optical gyroscope can adopt the method for very short optical fiber or integrated optical fiber to realize, thus in miniaturization and the integrated advantage with uniqueness.In resonance type optical gyroscope, angular velocity is obtained by detecting resonance frequency difference that is clockwise and counterclockwise light path in resonator cavity, Sagnac effect is a kind of extremely faint effect, the resonance frequency difference caused by turning rate is extremely small, but the optical device in optical gyroscope is if laser instrument, resonator cavity are by the impact of the environmental factor such as temperature and stress, can introduce reciprocity noise in the loop, this noise causes the drift of resonance frequency in resonator cavity but very large.Therefore, the modulation demodulation system of resonance type optical gyroscope at least must lock the resonance frequency of the light wave that one of them direction is propagated, propagate light by another direction of indirect detection and obtain angular velocity with the difference on the frequency of locking light wave, due to high frequency characteristics and the dynamic perfromance of locking signal, make frequency-tracking lock-in techniques directly will affect the actual accuracy of detection of optical gyroscope.Because analog pid controller (proportional-integral derivative controller) has good high frequency characteristics and very short response time, in resonance type optical gyroscope, generally select analog pid controller to realize the locking of light wave resonance frequency, the input end of the proportion operational amplifier in analog pid controller is connected with the output terminal of lock-in amplifier as the input end of controller, the output terminal of the ratio totalizer in analog pid controller is connected with an input end of totalizer as the output terminal of controller, analog pid controller is by regulating its internal ratio operational amplifier, integration, adjustable resistance in differential operation circuit and ratio totalizer backfeed loop and the value of tunable capacitor realize the resonance frequency locking light wave, but in locking process, need manual or half manual adjustments P, I, the parameter of D parameter and ratio totalizer, choosing of parameter is also needed to be observed by oscillograph, bad with the adaptability of controlled system, parameter regulates, choose complexity, and parameters precision controls not.
Summary of the invention
The present invention adopts to solve resonance type optical gyroscope system the problem that analog pid controller control mode is dumb, control accuracy is not high, provides a kind of digital simulation Composite PID controller based on resonance type optical gyroscope system.
The present invention adopts following technical scheme to realize: based on the digital simulation Composite PID controller of resonance type optical gyroscope system, comprise proportion operational amplifier, integral operation circuit, differential operation circuit and ratio totalizer, the output terminal of proportion operational amplifier is connected with the input end of differential operation circuit with integral operation circuit respectively, integral operation circuit is connected with the input end of ratio totalizer with the output terminal of differential operation circuit, also comprise FPGA control chip, first AD conversion module, second AD conversion module, first program-controlled resistor, second program-controlled resistor, 3rd program-controlled resistor and program control electric capacity, the collection of simulant signal end of the first AD conversion module is connected with the input end of proportion operational amplifier, the digital signal output end of the first AD conversion module is connected with the input end of FPGA control chip, output terminal respectively with the first program-controlled resistor of FPGA control chip, second program-controlled resistor, 3rd program-controlled resistor is connected with the control end of program control electric capacity, first program-controlled resistor is connected in the backfeed loop of proportion operational amplifier, second program-controlled resistor is connected in the backfeed loop of differential operation circuit, program control electric capacity is connected in the backfeed loop of integral operation circuit, 3rd program-controlled resistor is connected in the backfeed loop of ratio totalizer, the collection of simulant signal end of the second AD conversion module is connected with the output terminal of ratio totalizer, the digital signal output end of the second AD conversion module is connected with the feedback input end of FPGA control chip, the input end of proportion operational amplifier is as the input end of controller, the output terminal of ratio totalizer is as the output terminal of controller.
Adjustable resistance in the backfeed loop of the operational amplifier in original analog pid controller and computing circuit changes into and controls the program-controlled resistor of its resistance size and capacitance size and program control electric capacity by control chip by the present invention, supporting upper FPGA control chip again, the input end of FPGA control chip and feedback input end receive input signal and the output signal of controller respectively, and at chip internal, input signal and output signal are compared, then control signal is exported to program-controlled resistor and program control electric capacity according to the result compared, regulate the size of program-controlled resistor and program control electric capacity, namely have adjusted the regulating parameter of each operational amplifier, make the output signal of controller and input signal deviation little, the i.e. resonance frequency that can lock light wave of controller, optical gyroscope can not Yin Wendu, the reciprocity noise that stress etc. cause and make the drift of resonance frequency excessive.Digital simulation Composite PID controller can control the value of program control electric capacity and program-controlled resistor automatically, makes the adjustment of controller parameter, chooses simply accurately.
The above-mentioned digital simulation Composite PID controller based on resonance type optical gyroscope system, also comprise the first high frequency peaks testing circuit and the second high frequency peaks testing circuit, first high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the first AD conversion module and the input end of operational amplifier, and the second high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the second AD conversion module and the output terminal of ratio totalizer.
After adding high frequency peaks testing circuit in controller, following program can be adopted to control: the first high frequency peaks testing circuit detects the peak-to-peak value be input in each cycle of signal in proportion operational amplifier, the peak-to-peak value in each cycle outputed signal in the second high frequency peaks testing circuit detection ratio totalizer; Be input in FPGA control chip after peak-to-peak value is converted into digital signal by the first AD conversion module and the second AD conversion module, value after summation compares, according to comparative result sending control signal to program-controlled resistor and program control electric capacity after being sued for peace respectively by the peak-to-peak value of input and output by FPGA control chip.This control method effectively can realize the locking of light wave, and easier.
A kind of PID controller, comprise frequency judge module, Digital PID Controller, based on digital simulation Composite PID controller and the digital switch of resonance type optical gyroscope system, frequency judge module, Digital PID Controller is connected with the input end of the digital simulation Composite PID controller based on resonance type optical gyroscope system, the output terminal of frequency judge module is connected with the control end of digital switch, the output terminal of Digital PID Controller is connected with a selecting side of digital switch, digital simulation Composite PID controller based on resonance type optical gyroscope system is connected with another selecting side of digital switch, the input end of frequency judge module is the input end of PID controller, the common port of digital switch is as the output terminal of PID controller.
This PID controller can select suitable controller to control controlled system according to the size of the frequency of the manipulated signal of the controlled system based on Sagnac effect, if the frequency of manipulated signal is low, Digital PID Controller can be selected, Digital PID Controller is easily carried out collection to low frequency signal and is quantized, good to the control effects of low frequency signal, if the frequency of manipulated signal is high, digital simulation Composite PID controller can be selected, the control overflow to high-frequency signal can be met.Digital PID Controller is well-known to those having ordinary skill in the art.
The invention provides a kind of digital simulation Composite PID controller, adjustable resistance in original analog pid controller and tunable capacitor are transformed to the program-controlled resistor and program control electric capacity that automatically control by chip by this controller, the parameter of controller is regulated, chooses simply accurately, solve the problem that analog pid controller control mode is dumb, control accuracy is not high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the cut-away view after optical gyroscope adopts Composite PID controller.
Fig. 3 is the working method figure of PID controller.
Embodiment
Based on the digital simulation Composite PID controller of resonance type optical gyroscope system, comprise proportion operational amplifier, integral operation circuit, differential operation circuit and ratio totalizer, the output terminal of proportion operational amplifier is connected with the input end of differential operation circuit with integral operation circuit respectively, integral operation circuit is connected with the input end of ratio totalizer with the output terminal of differential operation circuit, also comprise FPGA control chip, first AD conversion module, second AD conversion module, first program-controlled resistor, second program-controlled resistor, 3rd program-controlled resistor and program control electric capacity, the collection of simulant signal end of the first AD conversion module is connected with the input end of proportion operational amplifier, the digital signal output end of the first AD conversion module is connected with the input end of FPGA control chip, output terminal respectively with the first program-controlled resistor of FPGA control chip, second program-controlled resistor, 3rd program-controlled resistor is connected with the control end of program control electric capacity, first program-controlled resistor is connected in the backfeed loop of proportion operational amplifier, second program-controlled resistor is connected in the backfeed loop of differential operation circuit, program control electric capacity is connected in the backfeed loop of integral operation circuit, 3rd program-controlled resistor is connected in the backfeed loop of ratio totalizer, the collection of simulant signal end of the second AD conversion module is connected with the output terminal of ratio totalizer, the digital signal output end of the second AD conversion module is connected with the feedback input end of FPGA control chip, the input end of proportion operational amplifier is as the input end of controller, the output terminal of ratio totalizer is as the output terminal of controller.The above-mentioned digital simulation Composite PID controller based on resonance type optical gyroscope system, also comprise the first high frequency peaks testing circuit and the second high frequency peaks testing circuit, first high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the first AD conversion module and the input end of proportion operational amplifier, and the second high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the second AD conversion module and the output terminal of ratio totalizer.A kind of PID controller, comprise frequency judge module, Digital PID Controller, based on digital simulation Composite PID controller and the digital switch of resonance type optical gyroscope system, frequency judge module, Digital PID Controller is connected with the input end of the digital simulation Composite PID controller based on resonance type optical gyroscope system, the output terminal of frequency judge module is connected with the control end of digital switch, the output terminal of Digital PID Controller is connected with a selecting side of digital switch, digital simulation Composite PID controller based on resonance type optical gyroscope system is connected with another selecting side of digital switch, the input end of frequency judge module is the input end of PID controller, the common port of digital switch is as the output terminal of PID controller.
Claims (3)
1. based on the digital simulation Composite PID controller of resonance type optical gyroscope system, comprise proportion operational amplifier, integral operation circuit, differential operation circuit and ratio totalizer, the output terminal of proportion operational amplifier is connected with the input end of differential operation circuit with integral operation circuit respectively, integral operation circuit is connected with the input end of ratio totalizer with the output terminal of differential operation circuit, characterized by further comprising FPGA control chip, first AD conversion module, second AD conversion module, first program-controlled resistor, second program-controlled resistor, 3rd program-controlled resistor and program control electric capacity, the collection of simulant signal end of the first AD conversion module is connected with the input end of proportion operational amplifier, the digital signal output end of the first AD conversion module is connected with the input end of FPGA control chip, output terminal respectively with the first program-controlled resistor of FPGA control chip, second program-controlled resistor, 3rd program-controlled resistor is connected with the control end of program control electric capacity, first program-controlled resistor is connected in the backfeed loop of proportion operational amplifier, second program-controlled resistor is connected in the backfeed loop of differential operation circuit, program control electric capacity is connected in the backfeed loop of integral operation circuit, 3rd program-controlled resistor is connected in the backfeed loop of ratio totalizer, the collection of simulant signal end of the second AD conversion module is connected with the output terminal of ratio totalizer, the digital signal output end of the second AD conversion module is connected with the feedback input end of FPGA control chip, the input end of proportion operational amplifier is as the input end of controller, the output terminal of ratio totalizer is as the output terminal of controller.
2. the digital simulation Composite PID controller based on resonance type optical gyroscope system according to claim 1, characterized by further comprising the first high frequency peaks testing circuit and the second high frequency peaks testing circuit, first high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the first AD conversion module and the input end of proportion operational amplifier, and the second high frequency peaks testing circuit is connected on the connection line of the collection of simulant signal end of the second AD conversion module and the output terminal of ratio totalizer.
3. a PID controller, it is characterized in that comprising frequency judge module, Digital PID Controller, as claimed in claim 1 based on digital simulation Composite PID controller and the digital switch of resonance type optical gyroscope system, frequency judge module, Digital PID Controller is connected with the input end of the digital simulation Composite PID controller based on resonance type optical gyroscope system, the output terminal of frequency judge module is connected with the control end of digital switch, the output terminal of Digital PID Controller is connected with a selecting side of digital switch, digital simulation Composite PID controller based on resonance type optical gyroscope system is connected with another selecting side of digital switch, the input end of frequency judge module is the input end of PID controller, the common port of digital switch is as the output terminal of PID controller.
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| CN201310181745.8A CN103279027B (en) | 2013-05-16 | 2013-05-16 | Based on the digital simulation Composite PID controller of resonance type optical gyroscope system |
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| US3081425A (en) * | 1959-08-28 | 1963-03-12 | Honeywell Regulator Co | Electronic controller |
| US5347124A (en) * | 1992-06-17 | 1994-09-13 | Fuji Photo Film Co., Ltd. | Control system for oscillatory-mirror light beam deflector |
| CN101526714A (en) * | 2009-04-01 | 2009-09-09 | 中国科学院上海光学精密机械研究所 | Modulation-free frequency stabilizer of external cavity semiconductor laser |
| CN201725180U (en) * | 2010-05-24 | 2011-01-26 | 安徽理工大学 | Self-tuning PID controller based on FPGA |
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2013
- 2013-05-16 CN CN201310181745.8A patent/CN103279027B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3081425A (en) * | 1959-08-28 | 1963-03-12 | Honeywell Regulator Co | Electronic controller |
| US5347124A (en) * | 1992-06-17 | 1994-09-13 | Fuji Photo Film Co., Ltd. | Control system for oscillatory-mirror light beam deflector |
| CN101526714A (en) * | 2009-04-01 | 2009-09-09 | 中国科学院上海光学精密机械研究所 | Modulation-free frequency stabilizer of external cavity semiconductor laser |
| CN201725180U (en) * | 2010-05-24 | 2011-01-26 | 安徽理工大学 | Self-tuning PID controller based on FPGA |
Non-Patent Citations (4)
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| 模拟PID电路参数自整定温控系统设计;刘云芳等;《低温工程》;20130415(第192期);第68-72页 * |
| 谐振式微光学陀螺双路闭环信号检测技术研究;孙众;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20120715(第7期);全文 * |
| 谐振式微光学陀螺研究;毛慧;《中国博士学位论文全文数据库 信息科技辑》;20120715(第7期);全文 * |
| 高精度数字闭环光纤陀螺控制器设计;左文龙;《中国优秀硕士学位论文全文数据库工程科技II辑》;20120515(第5期);摘要，第66-68页 * |
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