CN106289209A - A kind of gyroscope control method being applicable to wide-range and control system - Google Patents

Abstract

The invention provides control method and the control system of a kind of vibrational structure gyroscope being applicable under wide-range application, setting value V of the first mode amplitude of the selected vibrational structure gyroscope that disclosure satisfy that requirement₀, the target amplitude of first mode when inputting as zero angle speed；Selected angular speed threshold value Ω_th；Different mode of operations is selected according to the size of input angle speed.Performance requirement during wide range work can be met, the most do not reduce precision during small-range application simultaneously.Present invention accomplishes in numerous application for wide-range work demand, it is provided that vibrational structure gyroscope control system there is same technique effect.

Description

A kind of gyroscope control method being applicable to wide-range and control system

Technical field

The invention belongs to MEMS (Micro-Electro Mechanical System) sensor technical field, specifically, Relate to control method and the control system of a kind of micro mechanical vibration structure gyroscope for detecting object angular speed.

Background technology

In recent years, along with the development of micro mechanical technology, vibrational structure gyroscope is widely used, wherein with The gyroscope of pottery, metal, the tuning-fork type of silicon materials manufacture, column type, hemispheric and loop configuration is main.These gyroscopes It is in place of unification that they need additional driving force excited vibration structural vibration (first motion mould under the natural resonance frequency of self State, also referred to as carrier wave mode), and when there being angular speed to input in sensitive axes, produce the effect of coriolis force, make the fortune of first mode Move and be coupled out the second mode of motion (response mode).

In these vibrational structure gyroscopes, silicon micro-vibrational structure gyroscope is with its low cost, small size, low energy consumption, light The advantage of quality is widely used in vehicle dynamic control and auto-navigation system, and these applications need gyroscope Possesses the widest angular rate measurement scope.The most this silicon micromachined vibratory gyroscope also possesses good environment with its strong robustness and fits By property, and being applied to aircraft navigation and military inertial navigation field, these applications are desirable that gyroscope works in the widest angle In speed range.For being suitable for the demand of wide-range, can be realized by the range ability expanding gyroscope, but, adding simply Wide range, can cause its penalty on noise and zero index such as partially, more can deteriorate its precision when small-range is applied.

Summary of the invention

The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, according to numerous applications to angular speed The demand of gyroscope wide-range working condition, it is provided that a kind of gyroscope control method being applicable to wide-range and control system, makes It disclosure satisfy that performance requirement when wide range works, and does not the most reduce precision during small-range application simultaneously.

The present invention solves the technical scheme of above-mentioned technical problem and includes:

The control method of a kind of vibrational structure gyroscope, comprises the following steps:

(1) setting value V of the first mode amplitude of the selected vibrational structure gyroscope that disclosure satisfy that requirement₀, as zero angle The target amplitude of first mode during speed input；

Gyroscope sensitive structure characteristic and electric circuit inspection gain it has been determined that on the premise of, improve gyroscope precision Unique channel is to amplify the amplitude of first mode, and during the input of such same angular speed, first mode amplitude is the biggest, is coupled out Second mode amplitude is the biggest, but so is but easy to reach saturated so that the counteracting force of second mode, applies in reality simultaneously In, any vibrational structure gyroscope has a maximum vibration displacement limits, and this is determined by several factors, can obtain including circuit Maximum driving force, the break limit etc. of vibrational structure.Therefore need at gyroscope certainty of measurement, the vibration displacement limit, Yi Ji Under the compromise of the obtainable maximum counteracting force of two mode considers, the setting of the selected first mode motional amplitude that disclosure satisfy that requirement Value V₀, the target amplitude of first mode when inputting as zero angle speed.

(2) selected angular speed threshold value Ω_th

Allow motional amplitude setting value V that first mode is given in step (1)₀Corresponding target amplitude under fixed ampllitude vibration, It is simultaneously entered angular speed, and makes angular speed constantly increase, monitoring second mode closed control loop is used for offsetting coriolis force and draws The counteracting force of the second mode amplitude risen, when this counteracting force will reach the limit values neighbouring, selected input angle speed now For angular speed threshold value Ω_th；Selected angular speed threshold value Ω_thThe counteracting force of second mode to be made retains a certain size surplus；

(3) different mode of operations is selected according to the size of input angle speed

When angular speed threshold value Ω that input angle speed is selected less than step (2)_thTime, the setting value of first mode amplitude keeps V₀Constant, i.e. first mode works in fixed ampllitude state, and the angular speed now exported is proportional to the size of second mode counteracting force, Second mode works under closed-loop control system, and input angle speed is proportional to the big of real component corresponding to second mode motional amplitude Little.

${\mathrm{\Ω}}_{out}=\frac{F_C}{2mv}=\frac{{\mathrm{kV}}_{SSr}}{V_0\mathrm{\ω}}$

Wherein, V₀For the voltage that first mode amplitude setting value is corresponding, ω is the resonant frequency of vibrational structure gyroscope, K is the constant including quality, modal coupling, circuit amplification, and its value determines according to vibrational structure and control circuit characteristic, V_SSrFor the real component that second mode motional amplitude is corresponding；M is gyro sensitive structure quality, and v is effective vibration velocity of first mode, F_CFor coriolis force.

When angular speed is higher than this threshold value Ω_thTime, maintain second mode counteracting force keeping constant less than near its ultimate value, The V now monitored_SSrSubstantially remain unchanged, the most pro rata real-time amplitude adjusting reduction first mode, i.e. first mode Working in change amplitude state, inversely, input angle speed is the biggest for the amplitude of the angular speed now exported and first mode, the One mode amplitude is the least；

Angular speed output under this larger velocity gauge pattern is drawn by following formula:

${\mathrm{\Ω}}_{out}=k\frac{V_{SSr}}{V_{AGC}\mathrm{\ω}}$

Wherein, V_AGCFor the amplitude of first mode detection, ω is the resonant frequency of vibrational structure gyroscope, and k is for including matter Amount, modal coupling, circuit amplification are at interior constant, V_SSrFor the real component of second mode motion detection, V_SSrBasic maintenance Near certain value, the amplitude V being based on the first mode detection that input angle speed adjusts of change_AGC。

In input angle speed more than angular speed threshold value Ω_thWith less than angular speed threshold value Ω_thTwo kinds of operation modes under, defeated The angular speed calibration factor gone out can change, and needs to demarcate calibration factor in angular speed output element, so that system Reach consistent angular speed calibration factor.

A kind of control system of vibrational structure gyroscope, control loop including: first mode, second mode controls loop and Amplitude adjustment loop；

In first mode controls loop, it is made up of phase-locked loop and automatic gain control loop；First mode motion inspection The displacement signal surveying end output demodulates through phase discriminator and amplitude discriminator；Phase discriminator obtains displacement signal and drives the phase contrast of signalAfter device filtering, output, to digital controlled oscillator or voltage controlled oscillator, adjusts digital controlled oscillator or the frequency of voltage controlled oscillator after filtering Rate so that the phase contrast driving signal and resonance moving displacement signal of applying keeps the phase contrast of 90 degree, this 90 degree of phase places Difference can make oscillation ring maximum amplitude motion in resonant frequency；

In automatic gain control loop, amplitude discriminator obtain amplitude signal V_AGC, with the set-point V of first mode amplitude₀Logical Cross comparator to compare, be then input to obtain being applied to after wave filter is filtered processing the driving force of first mode, should Driving force is modulated in digital controlled oscillator that device modulates in cycle of phase-locked loop or the frequency that voltage controlled oscillator provides, and then applies On first mode drive end, automatic gain control loop makes the Oscillation Amplitude of oscillation ring by the value adjusting driving force in real time It is maintained on given amplitude, namely makes the output amplitude signal of first mode test side follow the tracks of given amplitude all the time.According to upper State summary of the invention, when rotating speed is less than angular speed threshold value Ω_thTime, first mode maintains fixed ampllitude vibration；When rotating speed is more than angular speed threshold Value Ω_thTime, the amplitude of first mode reduces with the increase of angular speed；

Second mode is by offsetting loop and uncoupling loop forms.The second mode of second mode motion test side output shakes The dynamic demodulated device of displacement signal resolves into cos ω t component and the sin ω t component of the motion that angular speed causes, cos ω t component Signal is through real loop filter filtering, and sin ω t component signal filters through orthogonal loop path filter, reality obtained after filtering Component V_SSrWith quadrature component V_SSqModulating respectively through converter, converter is by filtered real component V_SSrWith sin ω t It is multiplied, modulates in sin ω t phase place, quadrature component V after filtering_SSqIt is multiplied with cos ω t, modulates in cos ω t phase place, then Two paths of signals after modulation inputs to voltage adder and is added, the driving force V obtained_SSr*sin(ωt(+V_SSq* cos (ω t) executes Add to second mode drive end, to keep the detection signal of second mode test side for zero, wherein offset loop counteracting force V_SSr* the displacement that sin (ω t) counteracting coriolis force causes, and coupling loop equilibrant V_SSq* cos (ω t) balances due to coupling The displacement that error angle causes.

Amplitude adjustment loop is connected between second mode closed-loop and first mode closed control loop, and amplitude adjusts Loop includes angular speed computing module, the reality exported by the cos ω t component loop wave filter in second mode closed control loop Component signal V_SSrThe amplitude signal V exported with the amplitude discriminator of first mode closed control loop_AGCIt is divided by, the output signal obtained Ω_appIt is proportional to angular speed, signal Ω_appInputing to amplitude adjusting module, this amplitude adjusting module is multiplied by gyro with regulation coefficient β Setting value V of the first mode amplitude during input of instrument zero angle speed₀, dynamically ring as first mode after the filtering of the most filtered device Answering amplitude to be supplied to first mode automatic gain control loop, wherein regulation coefficient β is obtained by following formula:

$\mathrm{\&beta;}=\left\{\begin{array}{cc}1& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}\&GreaterEqual;1\\ 0& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}<1\end{array}\right.$

When additional angular speed is less than or equal to angular speed threshold value Ω_thTime, regulation coefficient β is equal to 1, the setting of first mode amplitude Value V_ΩBy setting value V when inputting equal to zero angle speed₀, when additional angular speed is more than angular speed threshold value Ω_thTime, regulation coefficient β Less than 1, the setting value of first mode amplitude is by setting value V when zero angle speed inputs₀On the basis of be multiplied by the adjustment less than 1 Factor beta, and additional angular speed is the biggest, β is the least for this regulation coefficient, setting value V of first mode amplitude_ΩThe least.When continuing to reduce V_Ω, gyroscope precision can not be when having reached system requirements, V_ΩThe most just arrive its minimum limit value.

Meanwhile, signal Ω_appCarry out demarcation and the angular speed filtering of calibration factor also by angular speed wave filter, produce Whole angular speed output signal Ω_out。

The present invention compared with prior art has the advantages that the vibration knot being applicable to wide-range that the present invention relates to The control method of structure gyroscope can be on the basis of the gyroscope performance under not deteriorating slow-speed of revolution mode of operation, it is adaptable to super large Use under range mode of operation.Meet vehicle dynamic control, auto-navigation system and aircraft navigation and military inertial navigation Etc. the work requirements of diagonal angle rate sensing device super-wide range in application, i.e. ensure that highly sensitive under the slow-speed of revolution wanting Ask, meet again the demand that larger velocity gauge is measured.It is being used for due to the control system of the vibrational structure gyroscope according to the present invention Perform above-mentioned method, therefore, there is the technique effect identical with the method according to the invention.

Accompanying drawing explanation

Fig. 1 is the vibrational structure gyroscope cos2 θ mode of oscillation schematic diagram that the present invention relates to；

Fig. 2 is the control system schematic diagram being applicable to wide-range vibrational structure gyroscope according to the present invention.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments vibrational structure gyroscope to being applicable to wide-range according to the present invention Control method and control system be described in further detail.

Cylinder, hemisphere or planar rings gyroscope that metal or silicon materials manufacture are with feature tools such as the symmetry in its structure Having preferable operating characteristic, the present invention is illustrated as a example by silicon micro-plane annular gyroscope.

Annular vibration gyroscope works under the vibration mode of typical cos2 θ, as shown in Figure 1.In planar annular It is horizontally and vertically first mode for the mode of radial axle, has angular speed when gyro is perpendicular to the direction of ring textures Input, when i.e. gyro is around Plane Rotation, energy is coupled to first mode and intersects second mould in 45 ° of directions by the coriolis force of generation State, coriolis force size expression formula is:

Fc=2m*v* Ω_APP

Wherein, m is gyro sensitive structure quality, and v is effective vibration velocity of first mode, Ω_APPFor additional angular speed.

In typical gyroscope control system, the Oscillation Amplitude keeping first mode is fixed value, i.e. allows first mode Fixed ampllitude is vibrated, and vibration velocity v is the derivative of amplitude, and so effective vibration velocity v is definite value, thus coriolis force is directly proportional to angular speed Ω_APP。

For improving the certainty of measurement of gyroscope, its sensitive structure will be made to tend to the most even ideal, reaching can be accurate as far as possible Coupling first mode and the resonant frequency of second mode, improve under same angular speed input, coriolis force second caused Mode motion amplitude, this motion is amplified by the Q-value of second mode, thus is improved the sensitivity of vibrational structure gyroscope.But work as Working under open loop mode, the sensitivity (calibration factor) of gyro will depend on the size of the Q-value of second mode, and this Q-value with Variations in temperature is the biggest.Closed loop control mode can be passed through, with the driving force proportional with rotating speed, the motion of second mode is real Time balance out, improve the error that variations in temperature is brought.Under this closed loop control mode, angular speed is given by:

${\mathrm{\&Omega;}}_{out}=\frac{F_C}{2mv}=\frac{{\mathrm{kV}}_{SSr}}{V_0\mathrm{\&omega;}}$

Wherein, V₀For the voltage that first mode amplitude setting value is corresponding, ω is the resonant frequency of vibrational structure gyroscope, K is the constant including quality, modal coupling, circuit amplification, V_SSrReal component for second mode motion detection.

Gyro under this pattern, the minimum speed value sensitive structure Q-value that can detect that, resonant frequency, the coefficient of coup and The sensitivity of mode motion test side, this is disturbed certainly by the sensitive structure characteristic of gyroscope and the electronic noise etc. of testing circuit Fixed.If these parameters immobilize, the unique approach of sensitivity improving oscillation ring gyro is at certain application angular speed The motion of lower increasing second mode, strengthens the effect of coriolis force under the most identical application angular speed, this can be by increasing by the first mould The driving force of state produces bigger amplitude and realizes, and will improve setting value V of first mode amplitude in this control system₀。

Should the needs of a lot of applications, it is desirable to gyroscope does not only has the highest sensitivity, again can be under high rotating speed pattern Work.But, the restriction of the driving force ability of vibrated structure gyroscope second mode motion, when the angular speed more than certain value Time, excessive coriolis force makes second mode drive end that sufficiently large driving force cannot be provided to offset the fortune caused by angular speed Dynamic, thus cause the saturated of output angle speed.So, for given sensitive structure and circuit gain, want range extension it is necessary to Reduce the size of the coriolis force that same angular speed causes, i.e. need to reduce the amplitude of first mode.But, this solution is disliked Change the signal to noise ratio of vibrational structure gyro, reduce sensitivity.So, range and two performance indications of sensitivity condition each other, Compromise is needed to consider.

In the present invention, it is provided that the control method of a kind of improvement, on the premise of not damaging slow-speed of revolution performance, expand gyro Instrument range, i.e. gyroscope can measure higher rotating speed while the optimum sensitivity when maintaining the slow-speed of revolution.

First, it is contemplated that gyroscope sensitive structure characteristic and electric circuit inspection gain it has been determined that on the premise of, improve The unique channel of precision is to amplify the amplitude of first mode, but, it is easy to the most again reach so that the counteracting force of second mode To saturated, and in actual applications, any vibrational structure gyroscope has a maximum vibration displacement limits, and this is by several factors Determine, including obtainable maximum driving force, the break limit etc. of vibrational structure.Therefore need in gyroscope certainty of measurement, vibration Under the compromise of displacement limits and the obtainable maximum counteracting force of second mode considers, selected the first mould that disclosure satisfy that requirement Setting value V of state motional amplitude₀, the target amplitude of first mode when inputting as zero angle speed.

Secondly, selected angular speed threshold value Ω_th, when rotating speed is less than this threshold value, the setting value of first mode amplitude keeps V₀Constant, i.e. first mode works in fixed ampllitude state, and the angular speed now exported is proportional to the size of second mode counteracting force；When When rotating speed is higher than this threshold value, second mode counteracting force is maintained to keep constant less than near its ultimate value, the most pro rata reality Time adjust reduce first mode amplitude, i.e. first mode works in change amplitude state, the angular speed now exported and the first mould Inversely, input angle speed is the biggest for the amplitude of state, and first mode amplitude is the least.Angular speed threshold value is generally selected in close to Near the ultimate value of two mode counteracting forces, and retaining a certain size surplus, meanwhile, input angle speed is larger and smaller than setting threshold Value Ω_thTime, the angular speed calibration factor of output can change, and needs to mark calibration factor in angular speed output element Fixed.

Angular speed output under this pattern is drawn by following formula:

${\mathrm{\&Omega;}}_{out}=k\frac{V_{SSr}}{V_{AGC}\mathrm{\&omega;}}$

Wherein, V_AGCAmplitude for first mode detection.ω is the resonant frequency of vibrational structure gyroscope, and k is for including matter Amount, modal coupling, circuit amplification are at interior constant, V_SSrReal component for second mode motion detection.

According to above control theory, the present invention proposes the control system of a kind of vibrational structure gyroscope, as shown in Figure 2. This control system is made up of three loops, and first mode controls loop 1, second mode controls loop 2 and amplitude adjustment loop 17.

In first mode controls loop 1, it is made up of phase-locked loop 22 and automatic gain control loop 23.It is applied to first Driving signal on mode drive end 25 is designated as A*sin (ω t), and the displacement signal of first mode motion test side 24 output is designated asWherein A is the amplitude driving signal, and B is detection gain amplifier, and ω is resonant frequency.Displacement Signal demodulates through phase discriminator 3 and amplitude discriminator 4.Phase discriminator 3 obtains displacement signal and drives the phase contrast of signalAfter filtering After device 5 filtering, output is to digital controlled oscillator or voltage controlled oscillator 6, adjusts digital controlled oscillator or the frequency of voltage controlled oscillator 6 so that The phase contrast driving signal and resonance moving displacement signal applied keeps the phase contrast of 90 degree.This 90 degree of phase contrasts can make to shake Rotating ring is maximum amplitude motion in resonant frequency.

In automatic gain control loop, amplitude discriminator 4 obtain amplitude signal, with the set-point V of first mode amplitude_ΩPass through Comparator 9 compares, and is then input to obtain being applied to after wave filter 7 is filtered processing the driving force of first mode, should Driving force is modulated in the frequency that (numerical control) voltage controlled oscillator that device 8 modulates in cycle of phase-locked loop provides, and is then applied to the On one mode drive end 25.Automatic gain control loop makes the Oscillation Amplitude of oscillation ring protect by the value adjusting driving force in real time Hold on given amplitude, namely make the output amplitude signal of first mode test side 24 follow the tracks of given amplitude all the time.According to Upper theory, when rotating speed is less than angular speed threshold value Ω_thTime, first mode maintains fixed ampllitude vibration；When rotating speed is more than angular speed threshold value Ω_thTime, the amplitude of first mode reduces with the increase of angular speed.

Second mode has counteracting loop 29 and 28 two loops of uncoupling loop, the second of second mode test side 27 output Modal vibration displacement signal is designated as K₀*Ω_APP* cos (ω t+ α), wherein K₀For detection gain amplifier, Ω_APPFor additional angular speed, ω is resonant frequency, and α is coupling error angle.The demodulated device of this displacement signal 10 and demodulator 11 resolve into the fortune that speed causes Dynamic cos ω t component and sin ω t component.Cos ω t component of signal filters through real loop filter 13, and sin ω t signal divides Amount filters through orthogonal loop path filter 12, real component V obtained after filtering_SSrWith quadrature component V_SSqRespectively through converter 15 and 14 modulation, real component V_SSrIt is multiplied with sin ω t, modulates in sin ω t phase place, and quadrature component V_SSqWith cos ω t phase Taking advantage of, modulate in cos ω t phase place, the two paths of signals after modulation inputs to voltage adder 16 and is added, and the driving force obtained is designated as V_SSr*sin(ωt)+V_SSq* cos (ω t), this driving force is applied to second mode drive end 26, to keep second mode test side The detection signal of 27 is zero.Wherein offset loop counteracting force V_SSr* sin (ω t) counteracts the displacement that coriolis force causes, and coupling Cyclization road equilibrant V_SSq* cos (ω t) has balanced the displacement caused due to coupling error angle α.

Amplitude adjustment loop 17 is connected between second mode closed-loop 2 and first mode closed control loop 1.Wherein Output demodulated signal V of the cos ω t component loop wave filter in angular speed computing module 21 second mode closed control loop_SSr Amplitude discriminator output signal V with first mode closed control loop_AGCBeing divided by, output one is proportional to the signal Ω of angular speed_app.Letter Number Ω_appInputing to amplitude adjusting module 19, this module is multiplied by the first mould during the input of gyroscope zero angle speed with regulation coefficient β Setting value V of state amplitude₀, as first mode dynamic response amplitude setting value V after the filtering of the most filtered device 18_ΩIt is supplied to One mode automatic gain control loop 23.Meanwhile, signal Ω_appThe demarcation of calibration factor is carried out also by angular speed wave filter 20 Filter with angular speed, produce final angular speed output signal Ω_out.Wherein amplitude regulation coefficient β is obtained by following formula:

$\mathrm{\&beta;}=\left\{\begin{array}{cc}1& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}\&GreaterEqual;1\\ 0& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}<1\end{array}\right.$

Here, when additional angular speed is less than or equal to angular speed threshold value Ω_thTime, regulation coefficient β is equal to 1, now first mode Setting value V of amplitude_ΩBy setting value V when inputting equal to zero angle speed₀；When additional angular speed is more than angular speed threshold value Ω_thTime, Regulation coefficient β is less than 1, now setting value V of first mode amplitude_ΩBy setting value V when zero angle speed inputs₀On the basis of Being multiplied by a regulation coefficient β less than, and additional angular speed is the biggest, this regulation coefficient is the least, the setting of first mode amplitude Value V_ΩThe least.When system continues to reduce V_Ω, when gyroscope precision can not reach system requirements, V_ΩThe most just arrive its minimum pole Limit value.

According to this control method and control system, the dynamic range of the angular speed of vibrational structure gyroscope can be every from 100 degree Second arrives more than 10000 degree per second, and will not deteriorate the performance under the slow-speed of revolution.

Control system disclosed by the invention is not limited solely to the silicon micro-resonance loop shape vibrational structure gyro that the present invention relates to Instrument, it is all applicable that major part has the vibrational structure gyroscope of cos2 θ motor pattern.

It should be noted that it will be appreciated to those of skill in the art that do not describe in detail in superincumbent description interior Appearance is that those skilled in the art combine the content of this disclosure and prior art can be easily achieved, therefore, It is not described in detail in this specification.

The foregoing is only the preferred embodiments of the present invention, be not used for limiting the scope of the invention.For ability For the technical staff in territory, on the premise of not paying creative work, the present invention can be made some amendments and replacement, All such modifications and replacement all should be contained within protection scope of the present invention.

Claims (3)

1. the control method of a vibrational structure gyroscope, it is characterised in that comprise the following steps:

(1) setting value V of the first mode amplitude of the selected vibrational structure gyroscope that disclosure satisfy that requirement₀, defeated as zero angle speed The target amplitude of fashionable first mode；

(2) selected angular speed threshold value Ω_th

Allow motional amplitude setting value V that first mode is given in step (1)₀Corresponding target amplitude under fixed ampllitude vibration, the most defeated Enter angular speed, and make angular speed constantly increase, in monitoring second mode closed control loop for offset that coriolis force causes the The counteracting force of two mode amplitudes, when this counteracting force will reach the limit values neighbouring, selected input angle speed now is angle speed Rate threshold value Ω_th；

(3) different mode of operations is selected according to the size of input angle speed

When angular speed threshold value Ω that input angle speed is selected less than step (2)_thTime, the setting value of first mode amplitude keeps V₀No Become, i.e. first mode works in fixed ampllitude state, and the angular speed now exported is proportional to the size of second mode counteracting force, i.e. the Two Modality work are under closed-loop control system, and input angle speed is just proportional to the big of real component corresponding to second mode motional amplitude It is little,

${\mathrm{\&Omega;}}_{out}=\frac{F_C}{2mv}=\frac{{\mathrm{kV}}_{SSr}}{V_0\mathrm{\&omega;}}$

Wherein, V₀For the voltage that first mode amplitude setting value is corresponding, ω is the resonant frequency of vibrational structure gyroscope；K is bag Including quality, modal coupling, circuit amplification at interior constant, its value determines according to vibrational structure and control circuit characteristic；V_SSrFor The real component that second mode motional amplitude is corresponding；M is gyro sensitive structure quality, and v is effective vibration velocity of first mode, F_CFor brother Family name's power；

When angular speed threshold value Ω that angular speed is selected higher than step (2)_thTime, maintain second mode counteracting force less than its ultimate value Neighbouring holding is constant, the V now monitored_SSrSubstantially remaining unchanged, the most pro rata real-time adjustment reduces shaking of first mode Width, i.e. first mode work in change amplitude state, and the amplitude of the angular speed now exported and first mode inversely, inputs Angular speed is the biggest, and first mode amplitude is the least；

Now angular speed output is drawn by following formula:

${\mathrm{\&Omega;}}_{out}=k\frac{V_{SSr}}{V_{AGC}\mathrm{\&omega;}}$

Wherein, V_AGCFor first mode detection amplitude, ω is the resonant frequency of vibrational structure gyroscope, k for include quality, Modal coupling, circuit amplification are at interior constant, V_SSrFor the real component of second mode motion detection, V_SSrMaintain essentially in one Near definite value, the amplitude V being based on the first mode detection that input angle speed adjusts of change_AGC。

In input angle speed more than angular speed threshold value Ω_thWith less than angular speed threshold value Ω_thTwo kinds of operation modes under, the angle of output Speed calibration factor can change, and needs to demarcate calibration factor in angular speed output element, so that system reaches one The angular speed calibration factor caused.

The control method of vibrational structure gyroscope the most according to claim 1, it is characterised in that: choosing in described step (2) Fixed angular speed threshold value Ω_thThe counteracting force of second mode to be made retains a certain size surplus.

3. the control system of a vibrational structure gyroscope, it is characterised in that including: first mode controls loop, second mode control Loop processed and amplitude adjustment loop；

In first mode controls loop, it is made up of phase-locked loop and automatic gain control loop；First mode motion test side The displacement signal of output demodulates through phase discriminator and amplitude discriminator；Phase discriminator obtains displacement signal and drives the phase contrast of signalWarp After wave filter filtering, output is to digital controlled oscillator or voltage controlled oscillator, adjusts digital controlled oscillator or the frequency of voltage controlled oscillator, Making the phase contrast that the phase contrast driving signal and resonance moving displacement signal applied keeps 90 degree, this 90 degree of phase contrasts can Make oscillation ring maximum amplitude motion in resonant frequency；

In automatic gain control loop, amplitude discriminator obtain amplitude signal V_AGC, with the set-point V of first mode amplitude₀By than Relatively device compares, and is then input to obtain being applied to after wave filter is filtered processing the driving force of first mode, this driving Power is modulated in digital controlled oscillator that device modulates in cycle of phase-locked loop or the frequency that voltage controlled oscillator provides, and is then applied to the On one mode drive end, automatic gain control loop makes the Oscillation Amplitude of oscillation ring keep by the value adjusting driving force in real time On given amplitude, the output amplitude signal of first mode test side is namely made to follow the tracks of given amplitude all the time.According to above-mentioned Bright content, when rotating speed is less than angular speed threshold value Ω_thTime, first mode maintains fixed ampllitude vibration；When rotating speed is more than angular speed threshold value Ω_thTime, the amplitude of first mode reduces with the increase of angular speed；

Second mode is by offsetting loop and uncoupling loop forms.The second mode vibration position of second mode motion test side output The demodulated device of shifting signal resolves into cos ω t component and the sin ω t component of the motion that angular speed causes, cos ω t component signal Through real loop filter filtering, sin ω t component signal filters through orthogonal loop path filter, real component obtained after filtering V_SSrWith quadrature component V_SSqModulating respectively through converter, converter is by filtered real component V_SSrIt is multiplied with sin ω t, Modulate in sin ω t phase place, quadrature component V after filtering_SSqIt is multiplied with cos ω t, modulates in cos ω t phase place, re-modulation After two paths of signals input to voltage adder be added, the driving force V obtained_SSr*sin(ωt)+V_SSq* cos (ω t) is applied to Second mode drive end, to keep the detection signal of second mode test side for zero, wherein offsets loop counteracting force V_SSr*sin The displacement that (ω t) counteracting coriolis force causes, and coupling loop equilibrant V_SSq* cos (ω t) balances due to coupling error angle The displacement caused；

Amplitude adjustment loop is connected between second mode closed-loop and first mode closed control loop, amplitude adjustment loop Including angular speed computing module, the real component that the cos ω t component loop wave filter in second mode closed control loop is exported Signal V_SSrThe amplitude signal V exported with the amplitude discriminator of first mode closed control loop_AGCIt is divided by, output signal Ω obtained_app It is proportional to angular speed, signal Ω_appInputing to amplitude adjusting module, this amplitude adjusting module is multiplied by gyroscope zero with regulation coefficient β Setting value V of first mode amplitude during angular speed input₀, shake as first mode dynamic response after the filtering of the most filtered device Width is supplied to first mode automatic gain control loop, and wherein regulation coefficient β is obtained by following formula:

$\mathrm{\&beta;}=\left\{\begin{array}{cc}1& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}\&GreaterEqual;1\\ 0& \frac{{\mathrm{\&Omega;}}_{TH}}{\left|{\mathrm{\&Omega;}}_{app}\right|}<1\end{array}\right.$

When additional angular speed is less than or equal to angular speed threshold value Ω_thTime, regulation coefficient β is equal to 1, setting value V of first mode amplitude_Ω By setting value V when inputting equal to zero angle speed₀, when additional angular speed is more than angular speed threshold value Ω_thTime, regulation coefficient β is less than 1, the setting value of first mode amplitude is by setting value V when zero angle speed inputs₀On the basis of be multiplied by the regulation coefficient less than 1 β, and additional angular speed is the biggest, β is the least for this regulation coefficient, setting value V of first mode amplitude_ΩThe least；When continuing to reduce V_Ω, top Spiral shell instrument precision can not be when having reached system requirements, V_ΩThe most just arrive its minimum limit value；

Meanwhile, signal Ω_appCarry out demarcation and the angular speed filtering of calibration factor also by angular speed wave filter, produce final Angular speed output signal Ω_out。