CN106289209B - A kind of gyroscope control method and control system suitable for wide-range - Google Patents
A kind of gyroscope control method and control system suitable for wide-range Download PDFInfo
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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Abstract
The present invention provides the control method and control system of a kind of vibrational structure gyroscope suitable for wide-range under, the setting value V of the first mode amplitude of the selected vibrational structure gyroscope that can satisfy requirement0, the target amplitude of first mode when as the input of zero angle rate；Selected angular speed threshold value Ωth；Size according to input angle speed selects different operating modes.Performance requirement when wide range work can be met, while not reducing precision when small-range application again.Present invention accomplishes, for the demand of wide-range work, the vibrational structure gyroscope control system provided has same technical effect in numerous application fields.
Description
Technical field
The invention belongs to MEMS (Micro-Flectro Mechanical System) sensor technical fields, specifically,
It is related to the control method and control system of a kind of micro mechanical vibration structure gyroscope for detection object angular speed.
Background technique
In recent years, with the continuous development of micro mechanical technology, vibrational structure gyroscope is widely used, wherein with
Based on the gyroscope of tuning-fork type, column type, hemispheric and ring structure that ceramics, metal, silicon materials manufacture.These gyroscopes
Unified place is that they need additional driving force excited vibration structural vibration (first movement mould under the natural resonance frequency of itself
State, also referred to as carrier wave mode), and when there is angular speed input in sensitive axes, the effect of coriolis force is generated, the fortune of first mode is made
It is dynamic to be coupled out the second mode of motion (response mode).
In these vibrational structure gyroscopes, silicon micro-vibration structure gyroscope is with its low cost, small size, low energy consumption, light
The advantages of quality, is widely used in vehicle dynamic control and auto-navigation system, these application fields need gyroscope
Has very wide angular rate measurement range.It is suitable also to have good environment with its strong robustness for this silicon micromachined vibratory gyroscope simultaneously
With property, and it is applied to aircraft navigation and military inertial navigation field, these application fields require that gyroscope works in very wide angle
In speed range.For the demand for being applicable in wide-range, can be realized by expanding the range ability of gyroscope, however, simply plus
Wide range will lead to its penalty in the indexs such as noise and zero bias, but will deteriorate its precision in small-range application.
Summary of the invention
The technical problem to be solved by the present invention is overcome the deficiencies in the prior art, according to numerous application fields to angular speed
The demand of gyroscope wide-range operating condition provides a kind of gyroscope control method and control system suitable for wide-range, makes
It can satisfy performance requirement when wide range work, while not reduce precision when small-range application again.
The present invention solve above-mentioned technical problem technical solution include:
A kind of control method of vibrational structure gyroscope, comprising the following steps:
(1) the setting value V that can satisfy the first mode amplitude of vibrational structure gyroscope of requirement is selected0, as zero angle
The target amplitude of first mode when rate inputs；
Under the premise of the detection gain of the sensitive structure characteristic and circuit of gyroscope has determined, gyroscope precision is improved
Unique channel is to amplify the amplitude of first mode, and when identical angular speed inputs in this way, first mode amplitude is bigger, is coupled out
Second mode amplitude is bigger, however is but easy to so that the counteracting force of second mode reaches saturation, while in practical application in this way
In, any vibrational structure gyroscope has a maximum vibration displacement limits, this is determined by several factors, including circuit can get
Maximum driving force, the break limit etc. of vibrational structure.Therefore it needs in gyroscope measurement accuracy, the vibration displacement limit, Yi Ji
Under the compromise of maximum counteracting force obtained by two mode considers, the setting of the selected first mode motional amplitude that can satisfy requirement
Value V0, the target amplitude of first mode when as the input of zero angle rate.
(2) angular speed threshold value Ω is selectedth
The first mode amplitude setting value V for allowing first mode to give in step (1)0Correspondence target amplitude under fixed ampllitude shake
It is dynamic, at the same input angle speed, and increase angular speed constantly, it monitors in second mode closed control loop for offsetting coriolis force
The counteracting force of caused second mode amplitude selectes input angle speed at this time when the counteracting force will reach the limit values nearby
Rate is angular speed threshold value Ωth；Selected angular speed threshold value ΩthThe counteracting force of second mode is set to retain a certain size surplus；
(3) different operating modes is selected according to the size of input angle speed
When input angle speed is lower than the angular speed threshold value Ω that step (2) are selectedthWhen, first mode amplitude setting value V0It keeps
Constant, i.e., first mode works in fixed ampllitude state, and the angular speed exported at this time is proportional to the size of second mode counteracting force,
For two Modality works under closed-loop control system, input angle speed is proportional to the big of the corresponding real component of second mode motional amplitude
It is small.
Wherein, V0For first mode amplitude setting value, ω is the resonance frequency of vibrational structure gyroscope, k be include quality,
Constant including modal coupling, circuit amplification factor, value is according to vibrational structure and the decision of control circuit characteristic, VSSrFor the second mould
The corresponding real component of state motional amplitude；M is gyro sensitive structure quality, and v is effective vibration velocity of first mode, FCFor coriolis force.
When angular speed is higher than threshold value ΩthWhen, maintain second mode counteracting force be less than its limiting value near remain unchanged,
The V monitored at this timeSSrSubstantially it remains unchanged, while real-time adjustment in proportion reduces the amplitude of first mode, i.e. first mode
Change amplitude state is worked in, inversely, input angle speed is bigger for the amplitude of the angular speed and first mode that export at this time, the
One mode amplitude is smaller；
Angular speed output under this larger velocity gauge mode is obtained by following formula:
Wherein, VAGCFor first mode detection amplitude, ω be vibrational structure gyroscope resonance frequency, k be include matter
Constant including amount, modal coupling, circuit amplification factor, VSSrFor the real component of second mode motion detection, VSSrIt is basic to maintain
Near certain value, variation is the amplitude V detected according to the first mode of input angle speed adjustmentAGC。
It is greater than angular speed threshold value Ω in input angle speedthBe less than angular speed threshold value ΩthTwo kinds of operation modes under, it is defeated
Angular speed calibration factor out can change, and need 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, comprising: first mode control loop, second mode control loop and
Amplitude adjustment loop；
In first mode control loop, it is made of phase-locked loop and automatic gain control loop；First mode movement inspection
The displacement signal for surveying end output is demodulated by phase discriminator and amplitude discriminator；Phase discriminator obtains the phase difference of displacement signal and driving signalIt is output to digital controlled oscillator or voltage controlled oscillator after filter filtering, adjusts digital controlled oscillator or voltage controlled oscillator
Frequency, so that the phase difference of the driving signal and resonance moving displacement signal that apply keeps 90 degree of phase difference, this 90 degree of phases
Potential difference can be such that oscillation ring maximum amplitude in resonance frequency moves；
In automatic gain control loop, amplitude signal V is obtained by amplitude discriminatorAGC, given value V with first mode amplitude0It is logical
It crosses comparator to be compared, is then input to after filter is filtered and obtains the driving force for being applied to first mode, it should
The modulated device of driving force is modulated in the frequency that the digital controlled oscillator in cycle of phase-locked loop or voltage controlled oscillator provide, and is then applied
Onto first mode driving end, automatic gain control loop makes the Oscillation Amplitude of oscillation ring by adjusting the value of driving force in real time
It is maintained on given amplitude, that is, the output amplitude signal of first mode test side is made to track given amplitude always.According to upper
Summary of the invention is stated, when revolving speed is lower than angular speed threshold value ΩthWhen, first mode maintains fixed ampllitude vibration；When revolving speed is greater than angular speed threshold
Value ΩthWhen, the amplitude of first mode reduces with the increase of angular speed；
Second mode is made of counteracting loop and uncoupling loop.The second mode vibration of second mode motion detection end output
The dynamic demodulated device of displacement signal resolves into the cos ω t component and sin ω t component moved caused by angular speed, cos ω t component
Signal is filtered by real loop filter filtering, sin ω t component signal through orthogonal loop filter, obtained reality after filtering
Component VSSrWith quadrature component VSSqIt is modulated respectively by converter, converter is by filtered real component VSSrWith sin ω t
It is multiplied, is modulated in sin ω t phase, by quadrature component V after filteringSSqIt is multiplied, is modulated in cos ω t phase with cos ω t, then
Modulated two paths of signals inputs to voltage adder addition, obtained driving force VSSr*sin(ωt)+VSSq* cos (ω t) is applied
Second mode driving end is added to, is zero to keep the detection signal of second mode test side, wherein offsetting loop counteracting force
VSSr* sin (ω t) offsets and is displaced caused by coriolis force, and coupling loop equilibrant force VSSq* cos (ω t) is balanced due to coupling
Displacement caused by error angle.
Amplitude adjustment loop is connected between second mode closed-loop and first mode closed control loop, amplitude adjustment
Loop includes angular speed computing module, by the reality of the cos ω t component loop filter output in second mode closed control loop
Component signal VSSrThe amplitude signal V exported with the amplitude discriminator of first mode closed control loopAGCIt is divided by, obtained output signal
ΩappIt is proportional to angular speed, signal ΩappAmplitude adjustment module is inputed to, which adjusts module with regulation coefficient β multiplied by gyro
The setting value V of first mode amplitude when instrument zero angle rate inputs0, then rung after filter filtering as first mode dynamic
Amplitude is answered to be supplied to first mode automatic gain control loop, wherein regulation coefficient β is obtained by following formula:
When additional angular speed is less than or equal to angular speed threshold value ΩthWhen, regulation coefficient β is equal to 1, the setting of first mode amplitude
Value VΩSetting value V when zero angle rate inputs will be equal to0, when additional angular speed is greater than angular speed threshold value ΩthWhen, regulation coefficient β
Less than 1, the setting value of first mode amplitude is by the setting value V when zero angle rate inputs0On the basis of multiplied by the adjustment less than 1
Factor beta, and additional angular speed is bigger, regulation coefficient β is smaller, the setting value V of first mode amplitudeΩIt is smaller.When continuing to reduce
VΩ, gyroscope precision cannot be when reaching system requirements, VΩAlso its minimum limit value is just reached.
Meanwhile signal ΩappThe calibration and angular speed filtering that calibration factor is also carried out by angular speed filter, generate most
Whole angular speed output signal Ωout。
Compared with the prior art, the invention has the following beneficial effects: the vibration knot of the present invention suitable for wide-range
The control method of structure gyroscope can be suitable for super large on the basis of not deteriorating the gyroscope performance under slow-speed of revolution operating mode
It is used under range operating mode.Meet vehicle dynamic control, auto-navigation system and aircraft navigation and military inertial navigation
Etc. the work requirements of diagonal rate sensing device super-wide range in application fields, that is, ensure that highly sensitive under the slow-speed of revolution want
It asks, and meets the demand of larger velocity gauge measurement.It is used in the control system due to vibrational structure gyroscope according to the present invention
Above-mentioned method is executed, therefore, is had and identical technical effect according to the method for the present invention.
Detailed description of the invention
Fig. 1 is vibrational structure gyroscope cos2 θ mode of oscillation schematic diagram of the present invention；
Fig. 2 is the control system schematic diagram according to the present invention suitable for wide-range vibrational structure gyroscope.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to the vibrational structure gyroscope according to the present invention suitable for wide-range
Control method and control system be described in further detail.
Metal or cylinder, hemisphere or the planar rings gyroscope of silicon materials manufacture have with the features such as symmetry in its structure
There is preferable working characteristics, the present invention is illustrated by taking the micro- plane annular gyroscope of silicon as an example.
Annular vibration gyroscope works under the vibration mode of typical cos2 θ, as shown in Figure 1.In planar annular
The mode for being horizontally and vertically radial axle is first mode, when gyro has angular speed perpendicular to the direction of ring textures
Input, i.e., when gyro is around Plane Rotation, energy is coupled to the second mould that first mode intersects 45 ° of directions by the coriolis force of generation
State, coriolis force size expression formula are as follows:
Fc=2m*v* ΩAPP
Wherein, m is gyro sensitive structure quality, and v is effective vibration velocity of first mode, ΩAPPFor additional angular speed.
In typical gyroscope control system, keeping the Oscillation Amplitude of first mode is fixed value, that is, allows first mode
Fixed ampllitude vibration, and vibration velocity v is the derivative of amplitude, vibration velocity v effective in this way is definite value, so that coriolis force is directly proportional to angular speed
ΩAPP。
For the measurement accuracy for improving gyroscope, its sensitive structure is set to tend to uniform ideal as far as possible, reaching can be accurate
The resonance frequency of first mode and second mode is matched, is improved under the input of same angular speed, second as caused by coriolis force
Mode motion amplitude, which is amplified by the Q value of second mode, to improve the sensitivity of vibrational structure gyroscope.However work as
Work under open loop mode, the sensitivity (calibration factor) of gyro will dependent on the size of the Q value of second mode, and the Q value with
Temperature change is very big.It can be real by the movement of second mode with the driving force proportional with revolving speed by closed loop control mode
When balance out, the error that Lai Gaishan temperature change is brought.Under this closed loop control mode, angular speed is given by:
Wherein, V0For first mode amplitude setting value, ω is the resonance frequency of vibrational structure gyroscope, k be include quality,
Constant including modal coupling, circuit amplification factor, VSSrFor the real component of second mode motion detection.
Gyro under this mode, detectable minimum speed value sensitive structure Q value, resonance frequency, the coefficient of coup and
The sensitivity of mode motion test side, this is determined by the interference such as the sensitive structure characteristic of gyroscope and the electronic noise of detection circuit
It is fixed.If these parameters immobilize, the unique approach of sensitivity for improving oscillation ring gyro is to apply angular speed in certain
The lower movement for increasing second mode, i.e., identical using the effect for increasing coriolis force under angular speed, this can be by increasing by the first mould
The driving force of state is realized to generate bigger amplitude, and the setting value V of first mode amplitude will be improved in the control system0。
Answer the needs of many application fields, it is desirable that gyroscope not only has high sensitivity, and can be under high revolving speed mode
Work.However, the limitation of the driving force ability of vibrated structure gyroscope second mode movement, when the angular speed for being greater than certain value
When, excessive coriolis force makes second mode driving end that can not provide sufficiently large driving force to offset the fortune as caused by angular speed
It is dynamic, so as to cause the saturation of output angular speed.So, for given sensitive structure and circuit gain, to range extension it is necessary to
The size of coriolis force caused by same angular speed is reduced, that is, needs to reduce the amplitude of first mode.However, this solution is disliked
The signal-to-noise ratio for having changed vibrational structure gyro, reduces sensitivity.So two performance indicators of range and sensitivity condition each other,
Need to compromise consideration.
In the present invention, a kind of improved control method is provided, under the premise of not damaging slow-speed of revolution performance, expands gyro
Higher revolving speed can be measured while optimum sensitivity when maintaining the slow-speed of revolution of instrument range, i.e. gyroscope.
Firstly, being improved in view of under the premise of the detection gain of the sensitive structure characteristic and circuit of gyroscope has determined
The unique channel of precision is to amplify the amplitude of first mode, however, be easy in this way so that the counteracting force of second mode reaches again
To saturation, and in practical applications, any vibrational structure gyroscope has a maximum vibration displacement limits, this is by several factors
It determines, including obtainable maximum driving force, the break limit etc. of vibrational structure.Therefore it needs in gyroscope measurement accuracy, vibration
Under the compromise of maximum counteracting force obtained by displacement limits and second mode considers, selected the first mould that can satisfy requirement
The setting value V of state motional amplitude0, the target amplitude of first mode when as the input of zero angle rate.
Secondly, a selected angular speed threshold value Ωth, when revolving speed is lower than the threshold value, the setting value of first mode amplitude is kept
V0Constant, i.e., first mode works in fixed ampllitude state, and the angular speed exported at this time is proportional to the size of second mode counteracting force；When
When revolving speed is higher than the threshold value, second mode counteracting force is maintained to remain unchanged being less than near its limiting value, while reality in proportion
When adjustment reduce the amplitude of first mode, i.e. first mode works in change amplitude state, the angular speed and the first mould exported at this time
Inversely, input angle speed is bigger for the amplitude of state, and first mode amplitude is smaller.Angular speed threshold value is usually selected in close to
Near the limiting value of two mode counteracting forces, and retain a certain size surplus, meanwhile, input angle speed is larger and smaller than setting threshold
Value ΩthWhen, the angular speed calibration factor of output can change, and need to mark calibration factor in angular speed output element
It is fixed.
Angular speed output under this mode is obtained by following formula:
Wherein, VAGCFor the amplitude of first mode detection.ω be vibrational structure gyroscope resonance frequency, k be include matter
Constant including amount, modal coupling, circuit amplification factor, VSSrFor the real component of second mode motion detection.
According to the above control theory, the invention proposes a kind of control systems of vibrational structure gyroscope, as shown in Figure 2.
The control system is made of three loops, first mode control loop 1, second mode control loop 2 and amplitude adjustment loop 17.
In first mode control loop 1, it is made of phase-locked loop 22 and automatic gain control loop 23.It is applied to first
Driving signal on mode driving end 25 is denoted as A*sin (ω t), and the displacement signal that first mode motion detection end 24 exports is denoted asWherein A is the amplitude of driving signal, and B is detection gain amplifier, and ω is resonance frequency.Displacement
Signal is demodulated by phase discriminator 3 and amplitude discriminator 4.Phase discriminator 3 obtains the phase difference of displacement signal and driving signalBy filtering
Device 5 is output to digital controlled oscillator or voltage controlled oscillator 6 after filtering, adjust the frequency of digital controlled oscillator or voltage controlled oscillator 6, so that
The driving signal of application and the phase difference of resonance moving displacement signal keep 90 degree of phase difference.This 90 degree of phase differences can make to shake
Rotating ring maximum amplitude in resonance frequency moves.
In automatic gain control loop, amplitude signal is obtained by amplitude discriminator 4, the given value V with first mode amplitudeΩPass through
Comparator 9 is compared, and is then input to after filter 7 is filtered and is obtained the driving force for being applied to first mode, should
The modulated device 8 of driving force is modulated in the frequency of the offer of (numerical control) voltage controlled oscillator in cycle of phase-locked loop, is then applied to the
One mode drives on end 25.Automatic gain control loop protects the Oscillation Amplitude of oscillation ring by adjusting the value of driving force in real time
It holds on given amplitude, that is, the output amplitude signal of first mode test side 24 is made to track given amplitude always.According to
Upper theory, when revolving speed is lower than angular speed threshold value ΩthWhen, first mode maintains fixed ampllitude vibration；When revolving speed is greater than angular speed threshold value
ΩthWhen, the amplitude of first mode reduces with the increase of angular speed.
Second mode, which has, offsets 28 two loops of loop 29 and uncoupling loop, and the second of the output of second mode test side 27
Modal vibration displacement signal is denoted as K0*ΩAPP* cos (ω t+ α), wherein K0To detect gain amplifier, ΩAPPFor additional angular speed,
ω is resonance frequency, and α is coupling error angle.The demodulated device 10 of the displacement signal and demodulator 11 resolve into fortune caused by rate
Dynamic cos ω t component and sin ω t component.Cos ω t signal component is filtered by real loop filter 13, sin ω t signal point
Amount is filtered through orthogonal loop filter 12, obtained real component V after filteringSSrWith quadrature component VSSqPass through converter respectively
15 and 14 modulation, real component VSSrIt is multiplied, is modulated in sin ω t phase with sin ω t, and quadrature component VSSqWith cos ω t phase
Multiply, be modulated in cos ω t phase, modulated two paths of signals inputs to the addition of voltage adder 16, and obtained driving force is denoted as
VSSr*sin(ωt)+VSSq* cos (ω t), which is applied to second mode driving end 26, to keep second mode test side
27 detection signal is zero.Wherein offset loop counteracting force VSSr* sin (ω t) is counteracted and is displaced caused by coriolis force, and coupling
Cyclization road equilibrant force VSSq* cos (ω t) has balanced the displacement due to caused by the α of coupling error angle.
Amplitude adjustment loop 17 is connected between second mode closed-loop 2 and first mode closed control loop 1.Wherein
The output demodulated signal V of cos ω t component loop filter in 21 second mode closed control loop of angular speed computing moduleSSr
With the amplitude discriminator output signal V of first mode closed control loopAGCIt is divided by, output one is proportional to the signal Ω of angular speedapp.Letter
Number ΩappInput to amplitude adjustment module 19, the first mould when which is inputted with regulation coefficient β multiplied by gyroscope zero angle rate
The setting value V of state amplitude0, then first mode dynamic response amplitude setting value V is used as after the filtering of filter 18ΩIt is supplied to
One mode automatic gain control loop 23.Meanwhile signal ΩappThe calibration of calibration factor is also carried out by angular speed filter 20
It is filtered with angular speed, generates final angular speed output signal Ωout.Wherein amplitude regulation coefficient β is obtained by following formula:
Here, when additional angular speed is less than or equal to angular speed threshold value ΩthWhen, regulation coefficient β is equal to 1, at this time first mode
The setting value V of amplitudeΩSetting value V when zero angle rate inputs will be equal to0；When additional angular speed is greater than angular speed threshold value ΩthWhen,
Regulation coefficient β is less than 1, the setting value V of first mode amplitude at this timeΩBy the setting value V in the input of zero angle rate0On the basis of
Multiplied by a regulation coefficient β less than one, and additional angular speed is bigger, and the regulation coefficient is smaller, the setting of first mode amplitude
Value VΩIt is smaller.When system continues to reduce VΩ, when gyroscope precision cannot reach system requirements, VΩAlso its minimum pole is just reached
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, which arrives, is greater than 10000 degree per seconds, and will not deteriorate the performance under the slow-speed of revolution.
Control system disclosed by the invention is not limited solely to silicon micro-resonance loop shape vibrational structure gyro of the present invention
Instrument, most of vibrational structure gyroscope with cos2 θ motor pattern is all applicable.
It should be noted that it will be appreciated to those of skill in the art that is be not described in detail in the above description is interior
Appearance is that those skilled in the art combine the content of this disclosure and the prior art can be easily implemented, therefore,
It is not described in detail in this specification.
The above description is only a preferred embodiment of the present invention, the protection scope being not intended to limit the invention.For ability
For the technical staff in domain, without creative efforts, several modification and replacement can be made to the present invention,
All such modifications and replacement should be covered by the protection scope of the present invention.
Claims (3)
1. a kind of control method of vibrational structure gyroscope, it is characterised in that the following steps are included:
(1) the corresponding voltage V of setting value that can satisfy the first mode amplitude of vibrational structure gyroscope of requirement is selected0, make
The target amplitude of first mode when being inputted for zero angle rate；
(2) angular speed threshold value Ω is selectedth
The first mode amplitude setting value V for allowing first mode to give in step (1)0Correspondence target amplitude under fixed ampllitude vibrate, together
When input angle speed, and increase angular speed constantly, monitor in second mode closed control loop and cause for offsetting coriolis force
Second mode amplitude counteracting force, when the counteracting force will reach the limit values nearby, selected input angle speed at this time is
Angular speed threshold value Ωth；
(3) different operating modes is selected according to the size of input angle speed
When input angle speed is lower than the angular speed threshold value Ω that step (2) are selectedthWhen, first mode amplitude setting value V0It keeps not
Become, i.e., first mode works in fixed ampllitude state, and the angular speed exported at this time is proportional to the size of second mode counteracting force, i.e., the
For two Modality works under closed-loop control system, input angle speed is just proportional to the big of the corresponding real component of second mode motional amplitude
It is small,
Wherein, V0For first mode amplitude setting value, ω is the resonance frequency of vibrational structure gyroscope；K be include quality, mode
Constant including coupling, circuit amplification factor, value are determined according to vibrational structure and control circuit characteristic；VSSrFor second mode fortune
The dynamic corresponding real component of amplitude；M is gyro sensitive structure quality, and v is effective vibration velocity of first mode, FCFor coriolis force；
When angular speed is higher than the angular speed threshold value Ω that step (2) are selectedthWhen, maintain second mode counteracting force being less than its limiting value
It nearby remains unchanged, the V monitored at this timeSSrSubstantially it remains unchanged, while real-time adjustment in proportion reduces the vibration of first mode
Width, i.e. first mode work in change amplitude state, and the amplitude of the angular speed and first mode that export at this time inversely, inputs
Angular speed is bigger, and first mode amplitude is smaller；
Angular speed output at this time is obtained by following formula:
Wherein, VAGCFor first mode detection amplitude, ω be vibrational structure gyroscope resonance frequency, k be include quality,
Constant including modal coupling, circuit amplification factor, VSSrFor the real component of second mode motion detection, VSSrMaintain essentially in one
Near definite value, variation is the amplitude V detected according to the first mode of input angle speed adjustmentAGC；
It is greater than angular speed threshold value Ω in input angle speedthBe less than angular speed threshold value ΩthTwo kinds of operation modes under, the angle of output
Rate calibration factor can change, and need to demarcate calibration factor in angular speed output element, so that system reaches one
The angular speed calibration factor of cause.
2. the control method of vibrational structure gyroscope according to claim 1, it is characterised in that: choosing in the step (2)
Fixed angular speed threshold value ΩthThe counteracting force of second mode is set to retain a certain size surplus.
3. a kind of control system of vibrational structure gyroscope, characterized by comprising: first mode control loop, second mode control
Loop and amplitude adjustment loop processed；
In first mode control loop, it is made of phase-locked loop and automatic gain control loop；First mode motion detection end
The displacement signal of output is demodulated by phase discriminator and amplitude discriminator；Phase discriminator obtains the phase difference of displacement signal and driving signal
It is output to digital controlled oscillator or voltage controlled oscillator after filter filtering, adjusts the frequency of digital controlled oscillator or voltage controlled oscillator
Rate, so that the phase difference of the driving signal and resonance moving displacement signal that apply keeps 90 degree of phase difference, this 90 degree of phases
Difference can be such that oscillation ring maximum amplitude in resonance frequency moves；
In automatic gain control loop, amplitude signal V is obtained by amplitude discriminatorAGC, given value V with first mode amplitude0Pass through ratio
It is compared compared with device, is then input to after filter is filtered and obtains the driving force for being applied to first mode, the driving
The modulated device of power is modulated in the frequency that the digital controlled oscillator in phase-locked loop or voltage controlled oscillator provide, and is then applied to first
Mode drives on end, and automatic gain control loop is maintained at the Oscillation Amplitude of oscillation ring by adjusting the value of driving force in real time
On given amplitude, that is, the output amplitude signal of first mode test side is made to track given amplitude always；When revolving speed is lower than angle
Rate-valve value ΩthWhen, first mode maintains fixed ampllitude vibration；When revolving speed is greater than angular speed threshold value ΩthWhen, the amplitude of first mode
Reduce with the increase of angular speed；
Second mode control loop is made of counteracting loop and uncoupling loop, the second mould of second mode motion detection end output
The demodulated device of state vibration displacement signal resolves into the cos ω t component and sin ω t component moved caused by angular speed, cos ω t
By real loop filter filtering, sin ω t component signal filters component signal through orthogonal loop filter, acquired after filtering
Real component VSSrWith quadrature component VSSqIt is modulated respectively by converter, converter is by filtered real component VSSrWith sin
ω t is multiplied, and is modulated in sin ω t phase, by quadrature component V after filteringSSqIt is multiplied with cos ω t, is modulated to cos ω t phase
On, the two paths of signals after re-modulation inputs to voltage adder addition, obtained driving force VSSr*sinωt+VSSq* cos ω t is applied
Second mode driving end is added to, is zero to keep the detection signal of second mode test side, wherein offsetting loop counteracting force
VSSr* sin ω t offsets and is displaced caused by coriolis force, and uncoupling loop equilibrant force VSSq* cos ω t is balanced since coupling misses
Displacement caused by declinate；
Amplitude adjustment loop is connected between second mode control loop and first mode control loop, and amplitude adjustment loop includes
Angular speed computing module, by the real component signal V of the cos ω t component loop filter output in second mode control loopSSr
The amplitude signal V exported with the amplitude discriminator of first mode control loopAGCIt is divided by, obtained output signal ΩappIt is proportional to angle speed
Rate, signal ΩappAmplitude adjustment module is inputed to, which is adjusted module and inputted with regulation coefficient β multiplied by gyroscope zero angle rate
When first mode amplitude setting value V0, then the is supplied to as first mode dynamic response amplitude after filter filtering
One mode automatic gain control loop, wherein regulation coefficient β is obtained by following formula:
When additional angular speed is less than or equal to angular speed threshold value ΩthWhen, regulation coefficient β is equal to 1, the setting value V of first mode amplitudeΩ
Setting value V when zero angle rate inputs will be equal to0, when additional angular speed is greater than angular speed threshold value ΩthWhen, regulation coefficient β is less than
1, the setting value of first mode amplitude is by the setting value V when zero angle rate inputs0On the basis of multiplied by the regulation coefficient less than 1
β, and additional angular speed is bigger, regulation coefficient β is smaller, the setting value V of first mode amplitudeΩIt is smaller；When continue reduce VΩ, top
Spiral shell instrument precision cannot be when reaching system requirements, VΩAlso its minimum limit value is just reached；
Meanwhile signal ΩappThe calibration and angular speed filtering that calibration factor is also carried out by angular speed filter, generate final
Angular speed output signal Ωout。
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| CN111536994B (en) * | 2020-04-29 | 2021-09-24 | 中国人民解放军国防科技大学 | Resonant micro gyroscope multi-mode cooperative control method and system and resonant micro gyroscope |
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| CN114199221B (en) * | 2021-11-29 | 2023-04-14 | 北京时代民芯科技有限公司 | Frequency-adjustable MEMS gyroscope self-excitation starting circuit |
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