CN105606084A - Mechanically dithered ring laser gyro dither device based on DSP and FPGA - Google Patents
Mechanically dithered ring laser gyro dither device based on DSP and FPGA Download PDFInfo
- Publication number
- CN105606084A CN105606084A CN201510961199.9A CN201510961199A CN105606084A CN 105606084 A CN105606084 A CN 105606084A CN 201510961199 A CN201510961199 A CN 201510961199A CN 105606084 A CN105606084 A CN 105606084A
- Authority
- CN
- China
- Prior art keywords
- circuit
- fpga
- dsp
- frequency
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/68—Lock-in prevention
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Gyroscopes (AREA)
Abstract
The present invention relates to a mechanically dithered ring laser gyro dither device based on DSP and FPGA. A dithering mechanism generates a dither signal, and first passes the dither signal through a voltage follower, and then performs RC filtering; the filtering results are sent to a frequency follower circuit and a fixed amplitude circuit; the signal output by the frequency stabilization circuit directly enters an I / O port of a DSP; the output signal by the fixed amplitude circuit passes through an A / D converter and is transmitted to a DSP; the DSP conducts internally amplitude modulation and frequency follow, and outputs PWM wave to an FPGA; the FPGA conducts a phase shift processing, and outputs the results to a power amplifier circuit; and the results finally enter the dithering mechanism. The device has simple structure, small size and high control accuracy.
Description
Technical field
The present invention relates to a kind of machine shaking laser gyroscope shaking device, particularly a kind of machine based on DSP and FPGAShaking laser gyroscope shaking device.
Background technology
The fundamental measurement principle of the responsive motion carrier angular speed of laser gyro is based on Sagnac effect. In idealIn situation, the poor inertia input angle speed that is proportional to of frequency of light wave contrary in resonator, that propagate clockwise.But because the speculum of laser gyro exists the reasons such as the heterogeneity of backscattering, loop, work as two-beamFrequency difference little to a certain extent time, its frequency is drawn synchronous effect and is exported without frequency difference, this phenomenon is calledLatch up effect. In order to overcome the locking of laser gyro, need to give on laser gyro body and add an offset angle artificiallySpeed, all or in most of the time Cong Suo district setovers out its operating point. Most widely used offset frequency sideCase is mechanical shaking offset frequency, by adding the sinusoidal mechanical shaking of alternation to make the gyro most of the time be operated in lockOutside district, thereby reduce lock-in error. But add after mechanical shaking, outside not only having comprised in gyro outputBoundary's inertia input angle rate information, also comprises the angular speed information of dither signal. Therefore must to output demodulation,Eliminate the signal of shake angular speed. Present stage, machine twitter circuit mainly adopted the mode of analog circuit to realize.
Summary of the invention
In order to overcome the shortcoming of prior art, the invention provides a kind of machine based on DSP and FPGA and tremble laser topSpiral shell jittering device. It is simple in structure, and volume is little, and control accuracy is high.
The present invention solves the technical scheme that its technical problem takes: comprising:
Shaker mechanism: comprise piezoelectric ceramic piece and shake sensor, shake sensor divides by voltage followerNot following circuit with fixed ampllitude and frequency is electrically connected;
Fixed amplitude circuit: comprise RC low-pass filter circuit and AD8436 chip, export a galvanic currentPressure value, is electrically connected with dsp processor by AD conversion chip.
Frequency is followed circuit: comprise RC low-pass filter circuit, operational amplification circuit, comparator and light-coupled isolationCircuit 6N136, RC low-pass filter circuit is by operational amplification circuit, comparator, optical coupling isolation circuit 6N136Obtain a stable frequency values;
Dsp processor is electrically connected with dsp processor is two-way with FPGA:FPGA, and FPGA is to dsp processorCarry out frequency collection, gather rising edge and the trailing edge of dither signal, by rising edge and trailing edge signal differenceIssue dsp processor as the response signal of interrupting, dsp processor obtains after this signal, enters and interrupts sub-letterIn number, the amplitude transformation result of shake sensor is deposited and gathered in array, carry out fuzzy control, reallyDetermine the dutycycle of PWM ripple, finally export to FPGA, PWM ripple is carried out to phase shift processing, export to and drive electricityRoad;
And drive circuit: comprise power amplification circuit, the piezoelectricity pottery of power amplification circuit and described shaker mechanismCeramics electrical connection, power amplification circuit front end employing ± 15V power supply, rear end adopts 60V power supply, drives piezoelectricityPotsherd.
The present invention is simple in structure, and volume is little, and control accuracy is high.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is cutaway view of the present invention.
Detailed description of the invention
As shown in Figure 1, comprising:
Shaker mechanism: comprise piezoelectric ceramic piece and shake sensor, shake sensor divides by voltage followerNot following circuit with fixed ampllitude and frequency is electrically connected;
Fixed amplitude circuit: comprise RC low-pass filter circuit and AD8436 chip, export a galvanic currentPressure value, is electrically connected with dsp processor by AD conversion chip.
Frequency is followed circuit: comprise RC low-pass filter circuit, operational amplification circuit, comparator and light-coupled isolationCircuit 6N136, the frequency signal of shake sensor output by RC low-pass filter circuit, operational amplification circuit,Comparator, optical coupling isolation circuit 6N136 obtain a stable frequency values;
Dsp processor is electrically connected with dsp processor is two-way with FPGA:FPGA, and FPGA is to dsp processorCarry out frequency collection, gather rising edge and the trailing edge of dither signal, by rising edge and trailing edge signal differenceIssue dsp processor as the response signal of interrupting, dsp processor obtains after this signal, enters and interrupts sub-letterIn number, the amplitude transformation result of shake sensor is deposited and gathered in array, carry out fuzzy control, reallyDetermine the dutycycle of PWM ripple, finally export to FPGA, PWM ripple is carried out to phase shift processing, export to and drive electricityRoad;
And drive circuit: comprise power amplification circuit, the piezoelectricity pottery of power amplification circuit and described shaker mechanismCeramics electrical connection, power amplification circuit front end employing ± 15V power supply, rear end adopts 60V power supply, drives piezoelectricityPotsherd.
Described shaker mechanism comprises eight piezoelectric ceramic pieces, wherein seven executing agencies as shake, oneIndividual as shake sensor.
Claims (2)
1. the machine shaking laser gyroscope shaking device based on DSP and FPGA, is characterized in that: comprising:
Shaker mechanism: comprise piezoelectric ceramic piece and shake sensor, shake sensor divides by voltage followerNot following circuit with fixed ampllitude and frequency is electrically connected;
Fixed amplitude circuit: comprise RC low-pass filter circuit and AD8436 chip, export a galvanic currentPressure value, is electrically connected with dsp processor by AD conversion chip.
Frequency is followed circuit: comprise RC low-pass filter circuit, operational amplification circuit, comparator and light-coupled isolationCircuit 6N136, the frequency signal of shake sensor output by RC low-pass filter circuit, operational amplification circuit,Comparator, optical coupling isolation circuit 6N136 obtain a stable frequency values;
Dsp processor is electrically connected with dsp processor is two-way with FPGA:FPGA, and FPGA is to dsp processorCarry out frequency collection, gather rising edge and the trailing edge of dither signal, by rising edge and trailing edge signal differenceIssue dsp processor as the response signal of interrupting, dsp processor obtains after this signal, enters and interrupts sub-letterIn number, the amplitude transformation result of shake sensor is deposited and gathered in array, carry out fuzzy control, reallyDetermine the dutycycle of PWM ripple, finally export to FPGA, PWM ripple is carried out to phase shift processing, export to and drive electricityRoad;
And drive circuit: comprise power amplification circuit, the piezoelectricity pottery of power amplification circuit and described shaker mechanismCeramics electrical connection, power amplification circuit front end employing ± 15V power supply, rear end adopts 60V power supply, drives piezoelectricityPotsherd.
2. the machine shaking laser gyroscope shaking device based on DSP and FPGA according to claim 1, itsBe characterised in that: described shaker mechanism comprises eight piezoelectric ceramic pieces, wherein seven execution machines as shakeStructure, one as shake sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961199.9A CN105606084A (en) | 2015-12-21 | 2015-12-21 | Mechanically dithered ring laser gyro dither device based on DSP and FPGA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961199.9A CN105606084A (en) | 2015-12-21 | 2015-12-21 | Mechanically dithered ring laser gyro dither device based on DSP and FPGA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105606084A true CN105606084A (en) | 2016-05-25 |
Family
ID=55986217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510961199.9A Pending CN105606084A (en) | 2015-12-21 | 2015-12-21 | Mechanically dithered ring laser gyro dither device based on DSP and FPGA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105606084A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682366A (en) * | 2017-12-15 | 2019-04-26 | 西安邮电大学 | Adaptive tracing for digital laser gyro shakes control system and implementation method |
| CN110530354A (en) * | 2019-07-22 | 2019-12-03 | 北京航天时代激光导航技术有限责任公司 | A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding |
| CN111856987A (en) * | 2020-05-19 | 2020-10-30 | 南京理工大学 | Laser gyro frequency stabilization control system and method based on DSP and FPGA |
| CN112665571A (en) * | 2020-12-01 | 2021-04-16 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Embedded shaking system of laser gyroscope |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610543A (en) * | 1985-04-03 | 1986-09-09 | The Singer Company | Electronic dither compensator for a ring laser gyro |
| CN101281036A (en) * | 2008-05-15 | 2008-10-08 | 哈尔滨工程大学 | Machine shaking laser gyroscope shaking demodulating device and demodulating method based on FPGA |
| CN101718558A (en) * | 2009-11-20 | 2010-06-02 | 哈尔滨工程大学 | Laser gyroscope strapdown inertia navigation system output conversion device based on reusable IP core |
| CN201688849U (en) * | 2010-04-23 | 2010-12-29 | 北京自动化控制设备研究所 | Circuit capable of simultaneously sampling and simulating pseudorandom noise injection used for mechanically dithered ring laser gyroscope |
| CN202229762U (en) * | 2011-07-04 | 2012-05-23 | 北京自动化控制设备研究所 | Laser gyro digital machine shaking control circuit |
-
2015
- 2015-12-21 CN CN201510961199.9A patent/CN105606084A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4610543A (en) * | 1985-04-03 | 1986-09-09 | The Singer Company | Electronic dither compensator for a ring laser gyro |
| CN101281036A (en) * | 2008-05-15 | 2008-10-08 | 哈尔滨工程大学 | Machine shaking laser gyroscope shaking demodulating device and demodulating method based on FPGA |
| CN101718558A (en) * | 2009-11-20 | 2010-06-02 | 哈尔滨工程大学 | Laser gyroscope strapdown inertia navigation system output conversion device based on reusable IP core |
| CN201688849U (en) * | 2010-04-23 | 2010-12-29 | 北京自动化控制设备研究所 | Circuit capable of simultaneously sampling and simulating pseudorandom noise injection used for mechanically dithered ring laser gyroscope |
| CN202229762U (en) * | 2011-07-04 | 2012-05-23 | 北京自动化控制设备研究所 | Laser gyro digital machine shaking control circuit |
Non-Patent Citations (1)
| Title |
|---|
| 许开銮等: "激光陀螺全数字抖动控制方法研究", 《弹箭与制导学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682366A (en) * | 2017-12-15 | 2019-04-26 | 西安邮电大学 | Adaptive tracing for digital laser gyro shakes control system and implementation method |
| CN110530354A (en) * | 2019-07-22 | 2019-12-03 | 北京航天时代激光导航技术有限责任公司 | A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding |
| CN111856987A (en) * | 2020-05-19 | 2020-10-30 | 南京理工大学 | Laser gyro frequency stabilization control system and method based on DSP and FPGA |
| CN112665571A (en) * | 2020-12-01 | 2021-04-16 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Embedded shaking system of laser gyroscope |
| CN112665571B (en) * | 2020-12-01 | 2023-10-13 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Embedded shaking system of laser gyro |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105606084A (en) | Mechanically dithered ring laser gyro dither device based on DSP and FPGA | |
| JP5487546B2 (en) | Angular velocity sensor | |
| JP5922102B2 (en) | Speed sensor with quadrature rejection | |
| JP4924370B2 (en) | ΣΔ AD converter and angular velocity sensor using the same | |
| CN102834695B (en) | Physical quantity transducer | |
| WO2010084531A1 (en) | Drive circuit and physical quantity sensor apparatus | |
| CN107449414B (en) | Closed-loop phase-locked driving circuit of MEMS gyroscope | |
| CN111412907B (en) | Full-angle measurement and control circuit system of micro-electromechanical multi-ring gyroscope | |
| AU2004236400A1 (en) | Operating method for a coriolis gyroscope and evaluation/adjustment electronic system and pulse modulator suitable therefor | |
| CN101287961A (en) | Method for processing detection signal of vibratory inertial force sensor and vibratory inertial force sensor | |
| CN104949666A (en) | Physical quantity detecting device, electronic apparatus, and moving object | |
| JP2008224230A (en) | Detector, sensor, and electronic apparatus | |
| CN107632169A (en) | Physical quantity detection circuit, measuring physical, electronic equipment and moving body | |
| CN115479595A (en) | Hemispherical resonant gyroscope time-sharing multiplexing parameter identification system and method | |
| JP4535989B2 (en) | Vibrating gyro | |
| CN113819898B (en) | Error suppression method for small-frequency-difference quartz gyroscope of orthogonal force feedback closed loop | |
| KR101298289B1 (en) | Driving circuit, system and driving method for gyro sensor | |
| JP2009020034A (en) | Angular velocity sensor | |
| CN110319822A (en) | A kind of uniaxial MEMS gyroscope of high sensitivity | |
| CN210198392U (en) | Novel MEMS resonant gyroscope measurement and control device | |
| CN115773740A (en) | Control method and control system of resonant gyroscope | |
| CN102506844A (en) | Modulation-demodulation method of resonance type micro-optical gyro and device | |
| CN114152266B (en) | MEMS gyroscope quadrature error correction system | |
| RU2513665C1 (en) | Compensation accelerometer | |
| JP2008089308A (en) | Oscillator drive circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160525 |