CN106289217A - A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system and method - Google Patents
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system and method Download PDFInfo
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- CN106289217A CN106289217A CN201610829068.XA CN201610829068A CN106289217A CN 106289217 A CN106289217 A CN 106289217A CN 201610829068 A CN201610829068 A CN 201610829068A CN 106289217 A CN106289217 A CN 106289217A
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- 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
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
Abstract
The present invention relates to a kind of hemispherical reso nance gyroscope high-reliability rising vibrating system and method, it is adaptable to the oscillation gyro starting of oscillation of hemispherical reso nance gyroscope or similar operation principle controls, belong to inertia type instrument and control technical field.The present invention utilizes selecting frequency characteristic and the high q-factor feature of hemispherical reso nance gyroscope harmonic oscillator, frequency sweep starting of oscillation module can be in the case of being not detected by resonance signal, the constantly frequency signal excitation harmonic oscillator starting of oscillation near export resonance frequency, it can be ensured that harmonic oscillator starting of oscillation, reliability is high.
Description
Technical field
The present invention relates to a kind of hemispherical reso nance gyroscope high-reliability rising vibrating system and method, it is adaptable to hemispherical reso nance gyroscope or class
Like the oscillation gyro starting of oscillation control of operation principle, belong to inertia type instrument and control technical field.
Background technology
Hemispherical reso nance gyroscope (HRG) is the angular-rate sensor utilizing the radial direction standing wave sensitivity pedestal of spherical shell structure to rotate.
Its sensing element general is the hemispherical harmonic oscillator of goblet shape, vibrates with its resonant frequency under short arc standing wave.Hemispherical resonator
Gyro mainly includes three parts: hemispherical resonator, excitation cover (torquer) and sensitive pedestal (signal indicator), they are melted
Quartz material.And be encapsulated in high vacuum environment, there are the highest quality factor, generally 107Above.Due to vitreous silica
Young's modulus temperature coefficient effect, the temperature coefficient of resonator frequency of oscillation is about 80ppm/ DEG C, by starting of oscillation and frequency with
Track circuit makes in the phase place that reference phase signal PGC demodulation vibrates to resonator.
A hemispherical resonator substantially frequency-selective network, the frequency of input signal is only attached in the resonant frequency of harmonic oscillator
Closely, signal could pass through harmonic oscillator, and signal can quadrature lagging phase place；If the frequency of input signal and the resonance of harmonic oscillator
Frequency phase-difference is relatively big, and harmonic oscillator can make attenuated input signal, and signal will not pass through harmonic oscillator.Can according to self-oscillation condition
Knowing, the signal through harmonic oscillator frequency-selecting to produce 90 degree of leading phase skews at frequency control-loop, the most just can make from exciting
Condition of swinging meets.The substantially effect of frequency control-loop carries out phase shift operation to hemispherical resonator output signal exactly, makes whole
The signal phase condition in individual loop meets self-oscillation condition, and harmonic oscillator can persistently maintain simple harmonic oscillation.
Harmonic oscillator normally works needs extraneous offer initial excitation signal before, it is ensured that the normal starting of oscillation of harmonic oscillator, therefore frequency
Rate controls loop and needs starting of oscillation function.General method is to be determined by the humorous of harmonic oscillator in harmonic oscillator production process
Vibration frequency, by adjusting the capacitance-resistance parameter of analog loopback or being adjusted the mid frequency of digital loop by wire jumper in circuit design
Method make exciting signal frequency be equal to resonant frequency.This on the one hand can be due to analog circuit parameters drift, harmonic oscillator itself
Resonant frequency drift at different temperatures so that during actual application, exciting signal frequency occurs partially with harmonic oscillator resonant frequency
Move, the most then cause Induction Peried to lengthen, make gyro cannot rapidly enter steady-working state, heavy then starting of oscillation can be caused unsuccessfully, top
Spiral shell lost efficacy.
Summary of the invention
The technology of the present invention solves problem: overcome the deficiencies in the prior art, it is provided that a kind of hemispherical reso nance gyroscope is highly reliable
Starting of oscillation system and method, the method is to hemispherical reso nance gyroscope harmonic oscillator resonant frequency subject range width, and algorithm is simple, parameter adjustment
Convenient, reliability is high, and realizability is strong, described system make driving frequency can cover all in the range of harmonic oscillator resonance frequency
The scope of rate, including ensure between different hemispherical reso nance gyroscopes hemispherical reso nance gyroscope can reliably, fast start-up, thus improve
The application reliability of hemispherical reso nance gyroscope.
The technical solution of the present invention is:
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system, described hemispherical reso nance gyroscope includes hemispherical resonator, humorous
Signal detection electrode of shaking and exciting electrode, resonance signal detecting electrode is used for the harmonic moving of detection hemi-sphere harmonic oscillator, and will be partly
The harmonic moving of ball harmonic oscillator is converted to ac voltage signal；
This system includes: zero cross signal detection module, frequency sweep starting of oscillation module, starting of oscillation detection module, frequency-selecting module, number
Word frequency synthesis DDS module, phaselocked loop DPLL, DA control module, D/A converter module and high drive module；
The sign hemispherical resonator that first described zero cross signal detection module receives the output of resonance signal detecting electrode is humorous
Shake the ac voltage signal moved, and the ac voltage signal received is carried out shaping, obtains square-wave signal fsq, and by square wave
Signal is simultaneously outputting to starting of oscillation detection module and phaselocked loop DPLL；
Described frequency sweep starting of oscillation module receives the resonance frequency of the hemispherical resonator at the known a certain temperature of extraneous input
Rate fSC, then according to resonant frequency f receivedSCProduce swept-frequency signal fSWAPAnd export to frequency-selecting module, production method
For:
First, according to resonant frequency f receivedSCSwept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD,
Then the generation f of the swept-frequency signal of the 2nd scanning element is carried out1SWAP=f0SWAP+fSTEP, the like, obtain i-th scanning element
Swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSDTime, further according to resonant frequency f receivedSC
Swept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD, then carry out the generation f of the 2nd swept-frequency signal1SWAP=
f0SWAP+fSTEP, the like, obtain i-th swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+
fSD, repeat above-mentioned process afterwards；It is t that each frequency scanning puts i.e. scanning frequency excitation stepping time of holding timeSTEP；Wherein,
fSTEPFor frequency sweep step frequency, fSDFor scanning frequency excitation frequency range, n is scanning element；
Described starting of oscillation detection module is with system clock foscOn the basis of, to the square-wave signal f receivedsqCount,
It is N to count valueHRG, then the resonant frequency of hemispherical resonator isJudge resonant frequency f of hemispherical resonatorHRG
Whether meet condition fHRGL≤fHRG≤fHRGHIf meeting, representing hemispherical resonator starting of oscillation, exporting starting of oscillation mark StartFlag
=1 gives frequency-selecting module, if being unsatisfactory for, represents the non-starting of oscillation of hemispherical resonator, and output starting of oscillation mark StartFlag=0 give frequency
Rate selects module, fHRGLThe minimum of scope, f is judged for hemispherical resonator starting of oscillationHRGHScope is judged for hemispherical resonator starting of oscillation
Peak, fHRGLAnd fHRGHValue determine according to the discrete range of the resonant frequency of hemispherical resonator；
The described phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the letter after phase locked track
Number fpllTo frequency-selecting module；
Described frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag
=1, then the signal f after the phase locked track that will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark
StartFlag=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
Signal f after the described Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAP
Carry out signal conversion, produce and signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical, and export DA control
Molding block；
Described DA control module is according to system clock foscProduce and control sequential and together with the sinusoidal signal numeral received
Amount together exports to D/A converter module；
The sinusoidal signal digital quantity received is converted to by described D/A converter module according to the control sequential received
Analog AC signal, and analog AC signal is exported high drive module；
The analog AC signal received is amplified by described high drive module, and the simulation after then amplifying is handed over
Stream signal exports exciting electrode；
Described exciting electrode produces electrostatic force for hemispherical reso nance gyroscope resonance according to the analog AC signal received
Son excitation controls, thus completes the highly reliable starting of oscillation of hemispherical reso nance gyroscope.
A kind of hemispherical reso nance gyroscope high-reliability rising method of slight, step includes:
(1) first zero cross signal detection module receives the sign hemispherical resonator resonance fortune of resonance signal detecting electrode output
Dynamic ac voltage signal, and the ac voltage signal received is carried out shaping, obtain square-wave signal fsq, and by square-wave signal
It is simultaneously outputting to starting of oscillation detection module and phaselocked loop DPLL；
(2) resonant frequency of the hemispherical resonator under frequency sweep starting of oscillation module receives the known a certain temperature of extraneous input
fSC, then according to resonant frequency f receivedSCProduce swept-frequency signal fSWAPAnd export to frequency-selecting module, production method is:
First, according to resonant frequency f receivedSCSwept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD,
Then the generation f of the swept-frequency signal of the 2nd scanning element is carried out1SWAP=f0SWAP+fSTEP, the like, obtain i-th scanning element
Swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSDTime, further according to resonant frequency f receivedSC
Swept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD, then carry out the generation f of the 2nd swept-frequency signal1SWAP=
f0SWAP+fSTEP, the like, obtain i-th swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+
fSD, repeat above-mentioned process afterwards；It is t that each frequency scanning puts i.e. scanning frequency excitation stepping time of holding timeSTEP；Wherein,
fSTEPFor frequency sweep step frequency, fSDFor scanning frequency excitation frequency range, n is scanning element；
(3) starting of oscillation detection module is with system clock foscOn the basis of, to the square-wave signal f receivedsqCount, obtain
Count value is NHRG, then the resonant frequency of hemispherical resonator isJudge resonant frequency f of hemispherical resonatorHRGIt is
No meet condition fHRGL≤fHRG≤fHRGHIf meeting, representing hemispherical resonator starting of oscillation, exporting starting of oscillation mark StartFlag=
1 gives frequency-selecting module, if being unsatisfactory for, represents the non-starting of oscillation of hemispherical resonator, and starting of oscillation mark StartFlag=0 is to frequency in output
Select module, fHRGLThe minimum of scope, f is judged for hemispherical resonator starting of oscillationHRGHScope is judged for hemispherical resonator starting of oscillation
High level, fHRGLAnd fHRGHValue determine according to the discrete range of the resonant frequency of hemispherical resonator；
(4) the phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the signal after phase locked track
fpllTo frequency-selecting module；
(5) frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag=
1, then the signal f after the phase locked track that will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark
StartFlag=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
(6) the signal f after the Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAPCarry out
Signal converts, and produces and signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical, and export DA control mould
Block；
(7) DA control module is according to system clock foscProduce and control sequential and together with the sinusoidal signal digital quantity received
Together export to D/A converter module；
(8) the sinusoidal signal digital quantity received is converted to simulate by D/A converter module according to the control sequential received
AC signal, and analog AC signal is exported high drive module；
(9) the analog AC signal received is amplified by high drive module, the analog AC after then amplifying
Signal exports exciting electrode；
(10) exciting electrode produces electrostatic force for hemispherical reso nance gyroscope harmonic oscillator according to the analog AC signal received
Excitation controls, thus completes the highly reliable starting of oscillation of hemispherical reso nance gyroscope.
Beneficial effect
(1) present invention utilizes selecting frequency characteristic and the high q-factor feature of hemispherical reso nance gyroscope harmonic oscillator, and frequency sweep starting of oscillation module is permissible
Frequency signal excitation harmonic oscillator starting of oscillation in the case of being not detected by resonance signal, near continuous export resonance frequency, it can be ensured that
Harmonic oscillator starting of oscillation, reliability is high；
(2) the starting of oscillation detection module of the present invention can carry out real-time starting of oscillation detection to hemispherical reso nance gyroscope harmonic oscillator, logical
In electricity whole process, the vibrational state to harmonic oscillator detects, and hemispherical resonator failure of oscillation once occurs, then immediately enters starting of oscillation pattern；
(3) the starting of oscillation mark of the starting of oscillation detection module output of the present invention, as telemetry parameter, is used for judging hemispherical resonator top
Spiral shell duty；
(4) frequency-selecting module of the present invention considers discrete range and the resonant frequency of hemispherical reso nance gyroscope resonant frequency
It is vulnerable to the factor of ambient temperature factor impact, is provided with wider resonant frequency and judges scope, be adapted to resonance frequency
The starting of oscillation of hemispherical reso nance gyroscope in the case of rate difference or ambient temperature change, resonant frequency judges that range parameter is adjustable
Whole, and method is simple；
(5) the hemispherical reso nance gyroscope beam oscillating method of the present invention does not affect hemispherical reso nance gyroscope after hemispherical reso nance gyroscope starting of oscillation
Normal closed loop work, and the vibration state of hemispherical resonator can be monitored in real time, once occur that failure of oscillation phenomenon is stood
I.e. enter starting of oscillation motivation model, it is ensured that gyro reliable operation；
(6) the hemispherical reso nance gyroscope beam oscillating method of the present invention can realize the autonomous reliable starting of oscillation of hemispherical reso nance gyroscope, work
Cheng Yingyong is simple；
(7) the hemispherical reso nance gyroscope beam oscillating method of the present invention is applicable to all of oscillation gyro, applied range.
(8) present invention solves the application reliability problem of hemispherical reso nance gyroscope product, and by engineering verification, method can
OK, engineering easily realizes, practical.The present invention improves the reliability of start-oscillation circuit by a kind of general method, and
Reduce difficulty and the debugging difficulty of circuit design.
Accompanying drawing explanation
Fig. 1 is the hemispherical reso nance gyroscope high-reliability rising vibrating system block diagram of the present invention；
Fig. 2 is the hemispherical reso nance gyroscope high-reliability rising method of slight block diagram of the present invention；
Fig. 3 is embodiments of the invention signal schematic representation；
Detailed description of the invention
Hemispherical reso nance gyroscope gauge outfit electric part is made up of harmonic oscillator, detecting electrode and exciting electrode, under duty, humorous
Oscillator is excited to produce the vibration of second order four antinode form, is obtained the sinusoidal vibration signal of harmonic oscillator by detecting electrode, through zero passage
Detection is converted to resonance square-wave signal, and resonance square-wave signal is separately input to starting of oscillation detection and digital PLL circuit, is not rising
In the case of shaking, calculated by frequency sweep starting of oscillation module and produce excited frequency signal, encourage hemispherical resonator；In the case of starting of oscillation, logical
Cross digital phase locked loop locks resonance square-wave signal, for subsequent closed loop control.
The present invention specifically comprises the following steps that
(1) first zero cross signal detection module receives the sign hemispherical resonator resonance fortune of resonance signal detecting electrode output
Dynamic ac voltage signal, and the ac voltage signal received is carried out shaping, obtain square-wave signal fsq, and by square-wave signal
It is simultaneously outputting to starting of oscillation detection module and phaselocked loop DPLL；
(2) resonant frequency of the hemispherical resonator under frequency sweep starting of oscillation module receives the known a certain temperature of extraneous input
fSC, then according to resonant frequency f receivedSCProduce swept-frequency signal fSWAPAnd export to frequency-selecting module, production method is:
First, according to resonant frequency f receivedSCSwept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD,
Then the generation f of the swept-frequency signal of the 2nd scanning element is carried out1SWAP=f0SWAP+fSTEP, the like, obtain i-th scanning element
Swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSDTime, further according to resonant frequency f receivedSC
Swept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD, then carry out the generation f of the 2nd swept-frequency signal1SWAP=
f0SWAP+fSTEP, the like, obtain i-th swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+
fSD, repeat above-mentioned process afterwards；It is t that each frequency scanning puts i.e. scanning frequency excitation stepping time of holding timeSTEP；Wherein,
fSTEPFor frequency sweep step frequency, fSDFor scanning frequency excitation frequency range, n is scanning element；
(3) starting of oscillation detection module is with system clock foscOn the basis of, to the square-wave signal f receivedsqCount, obtain
Count value is NHRG, then the resonant frequency of hemispherical resonator isJudge resonant frequency f of hemispherical resonatorHRGIt is
No meet condition fHRGL≤fHRG≤fHRGHIf meeting, representing hemispherical resonator starting of oscillation, exporting starting of oscillation mark StartFlag=
1 gives frequency-selecting module, if being unsatisfactory for, represents the non-starting of oscillation of hemispherical resonator, and starting of oscillation mark StartFlag=0 is to frequency in output
Select module, fHRGLThe minimum of scope, f is judged for hemispherical resonator starting of oscillationHRGHScope is judged for hemispherical resonator starting of oscillation
High level, fHRGLAnd fHRGHValue determine according to the discrete range of the resonant frequency of hemispherical resonator；
(4) the phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the signal after phase locked track
fpllTo frequency-selecting module；
(5) frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag=
1, then the signal f after the phase locked track that will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark
StartFlag=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
(6) the signal f after the Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAPCarry out
Signal converts, and produces and signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical, and export DA control mould
Block；
(7) DA control module is according to system clock foscProduce and control sequential and together with the sinusoidal signal digital quantity received
Together export to D/A converter module；
(8) the sinusoidal signal digital quantity received is converted to simulate by D/A converter module according to the control sequential received
AC signal, and analog AC signal is exported high drive module；
(9) the analog AC signal received is amplified by high drive module, the analog AC after then amplifying
Signal exports exciting electrode；
(10) exciting electrode produces electrostatic force for hemispherical reso nance gyroscope harmonic oscillator according to the analog AC signal received
Excitation controls, thus completes the highly reliable starting of oscillation of hemispherical reso nance gyroscope.
Embodiment
As it is shown in figure 1, a kind of hemispherical reso nance gyroscope high-reliability rising vibrating system, described hemispherical reso nance gyroscope includes hemisphere
Harmonic oscillator, resonance signal detecting electrode and exciting electrode；
This system includes: zero cross signal detection module, frequency sweep starting of oscillation module, starting of oscillation detection module, frequency-selecting module, number
Word frequency synthesis DDS module, phaselocked loop DPLL, DA control module, D/A converter module and high drive module.
As in figure 2 it is shown, a kind of hemispherical reso nance gyroscope high-reliability rising method of slight, step includes:
(1) resonance signal detecting electrode detects the harmonic moving of hemispherical resonator, and obtains ac voltage signal, such as figure
In 3 shown in (a)；
(2) zero cross signal detection module carries out Zero-cross comparator to ac voltage signal and obtains square-wave signal fsq, in Fig. 3
Shown in (b)；
(3) resonant frequency f of the hemispherical resonator under room temperatureSC=4000Hz, frequency sweep starting of oscillation module is according to resonant frequency fSC
=4000Hz, the f of generation0SWAP=4000Hz-500Hz=3500Hz, the time of staying is tSTEP=500ms, then carries out the 2nd
The generation f of the swept-frequency signal of scanning element1SWAP=3500Hz+5Hz=3505Hz, the time of staying is tSTEP=500ms, successively class
Push away, obtain swept-frequency signal f of the 200th scanning element200SWAP=f199SWAP+ 5Hz=4495Hz+5Hz=4500Hz, the time of staying
For tSTEP=500ms, the most again according to resonant frequency fSC=4000Hz is sequentially generated follow-up swept-frequency signal；
(4) starting of oscillation detection module is with system clock foscOn the basis of=10MHz, to the square-wave signal f receivedsqCount
Number, obtaining count value is NHRG, then the resonant frequency of hemispherical resonator isJudge the resonance frequency of hemispherical resonator
Rate fHRGWhether meet condition fHRGL≤fHRG≤fHRGHIf meeting, representing hemispherical resonator starting of oscillation, exporting starting of oscillation mark
StartFlag=1 is to frequency-selecting module, if being unsatisfactory for, representing the non-starting of oscillation of hemispherical resonator, exporting starting of oscillation mark
StartFlag=0 is to frequency-selecting module, fHRGL=3500Hz fHRGH=4500Hz；
(5) the phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the signal after phase locked track
fpll, as shown in (c) in Fig. 3；
(6) frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag=
1, then the signal f after the phase locked track that will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark
StartFlag=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
(7) the signal f after the Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAPCarry out
Signal converts, and produces and signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical；
(8) DA control module is according to system clock foscProduce and control sequential and together with the sinusoidal signal digital quantity received
Together export to D/A converter module；
(9) the sinusoidal signal digital quantity received is converted to simulate by D/A converter module according to the control sequential received
AC signal, as shown in (d) in Fig. 3；
(10) the analog AC signal received is amplified by high drive module, the analog AC after then amplifying
Signal exports exciting electrode；
(11) exciting electrode produces electrostatic force for hemispherical resonator top according to the analog AC signal after the amplification received
The excitation of spiral shell harmonic oscillator controls, thus completes the highly reliable starting of oscillation of hemispherical reso nance gyroscope.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (9)
1. a hemispherical reso nance gyroscope high-reliability rising vibrating system, it is characterised in that: this system includes zero cross signal detection module, sweeps
Frequently starting of oscillation module, starting of oscillation detection module, frequency-selecting module, Digital Frequency Synthesize DDS module, phaselocked loop DPLL, DA control mould
Block, D/A converter module and high drive module；
First described zero cross signal detection module receives the sign hemispherical resonator resonance fortune of resonance signal detecting electrode output
Dynamic ac voltage signal, and the ac voltage signal received is carried out shaping, obtain square-wave signal fsq, and by square-wave signal
It is simultaneously outputting to starting of oscillation detection module and phaselocked loop DPLL；
Described frequency sweep starting of oscillation module receives resonant frequency f of the hemispherical resonator at the known a certain temperature of extraneous inputSC,
Then according to resonant frequency f receivedSCProduce swept-frequency signal fSWAPAnd export to frequency-selecting module；
Described starting of oscillation detection module is with system clock foscOn the basis of, to the square-wave signal f receivedsqCount, counted
Numerical value is NHRG, then the resonant frequency of hemispherical resonator isJudge resonant frequency f of hemispherical resonatorHRGWhether
Meet condition fHRGL≤fHRG≤fHRGHIf meeting, representing hemispherical resonator starting of oscillation, exporting starting of oscillation mark StartFlag=1
To frequency-selecting module, if being unsatisfactory for, representing the non-starting of oscillation of hemispherical resonator, starting of oscillation mark StartFlag=0 is to frequency in output
Select module, fHRGLThe minimum of scope, f is judged for hemispherical resonator starting of oscillationHRGHScope is judged for hemispherical resonator starting of oscillation
High level, fHRGLAnd fHRGHValue determine according to the discrete range of the resonant frequency of hemispherical resonator；
The described phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the signal after phase locked track
fpllTo frequency-selecting module；
Described frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag=1,
Signal f after the phase locked track that then will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark
StartFlag=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
Signal f after the described Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAPCarry out letter
Number conversion, produce with signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical, and export DA control mould
Block；
Described DA control module is according to system clock foscProduce and control sequential and together with the sinusoidal signal digital quantity one received
With output to D/A converter module；
The sinusoidal signal digital quantity received is converted to simulate by described D/A converter module according to the control sequential received
AC signal, and analog AC signal is exported high drive module；
The analog AC signal received is amplified by described high drive module, the analog AC letter after then amplifying
Number output is to exciting electrode.
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system the most according to claim 1, it is characterised in that: described frequency sweep
Starting of oscillation module is according to resonant frequency fSCProduce swept-frequency signal fSWAPProduction method be:
First, according to resonant frequency f receivedSCSwept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD, then
Carry out the generation f of the swept-frequency signal of the 2nd scanning element1SWAP=f0SWAP+fSTEP, the like, obtain the frequency sweep of i-th scanning element
Signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSDTime, further according to resonant frequency f receivedSCProduce
Swept-frequency signal fSWAPInitial value be f0SWAP=fSC-fSD, then carry out the generation f of the 2nd swept-frequency signal1SWAP=f0SWAP+
fSTEP, the like, obtain i-th swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSD, afterwards
Repeat above-mentioned process；It is t that each frequency scanning puts i.e. scanning frequency excitation stepping time of holding timeSTEP；Wherein, fSTEPFor frequency sweep
Step frequency, fSDFor scanning frequency excitation frequency range, n is scanning element.
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system the most according to claim 1, it is characterised in that: described hemisphere
Resonant gyroscope includes hemispherical resonator, resonance signal detecting electrode and exciting electrode.
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system the most according to claim 3, it is characterised in that: resonance signal is examined
Survey the electrode harmonic moving for detection hemi-sphere harmonic oscillator, and the harmonic moving of hemispherical resonator is converted to alternating voltage letter
Number.
A kind of hemispherical reso nance gyroscope high-reliability rising vibrating system the most according to claim 3, it is characterised in that: described excitation
Electrode produces electrostatic force according to the analog AC signal received and controls for the excitation of hemispherical reso nance gyroscope harmonic oscillator, thus completes
The highly reliable starting of oscillation of hemispherical reso nance gyroscope.
6. a hemispherical reso nance gyroscope high-reliability rising method of slight, it is characterised in that step includes:
(1) first zero cross signal detection module receives the sign hemispherical resonator harmonic moving of resonance signal detecting electrode output
Ac voltage signal, and the ac voltage signal received is carried out shaping, obtain square-wave signal fsq, and by square-wave signal simultaneously
Starting of oscillation detection module and phaselocked loop DPLL are arrived in output；
(2) resonant frequency f of the hemispherical resonator under frequency sweep starting of oscillation module receives the known a certain temperature of extraneous inputSC, so
Afterwards according to resonant frequency f receivedSCProduce swept-frequency signal fSWAPAnd export to frequency-selecting module:
(3) starting of oscillation detection module is with system clock foscOn the basis of, to the square-wave signal f receivedsqCount, counted
Value is NHRG, then the resonant frequency of hemispherical resonator isJudge resonant frequency f of hemispherical resonatorHRGThe fullest
Foot condition fHRGL≤fHRG≤fHRGHIf meeting, represent that hemispherical resonator starting of oscillation, output starting of oscillation mark StartFlag=1 are given
Frequency-selecting module, if being unsatisfactory for, represents that the non-starting of oscillation of hemispherical resonator, output starting of oscillation mark StartFlag=0 are selected to frequency
Select module, fHRGLThe minimum of scope, f is judged for hemispherical resonator starting of oscillationHRGHThe the highest of scope is judged for hemispherical resonator starting of oscillation
Value, fHRGLAnd fHRGHValue determine according to the discrete range of the resonant frequency of hemispherical resonator；
(4) the phaselocked loop DPLL square-wave signal f to receivingsqCarry out phase locked track, and export the signal f after phase locked trackpllGive
Frequency-selecting module；
(5) frequency-selecting module is according to the starting of oscillation mark StartFlag received, if starting of oscillation mark StartFlag=1, then
Signal f after the phase locked track that will receivepllOutput is to Digital Frequency Synthesize DDS module, if starting of oscillation mark StartFlag
=0, then swept-frequency signal f that will receiveSWAPOutput is to Digital Frequency Synthesize DDS module；
(6) the signal f after the Digital Frequency Synthesize DDS module phase locked track to receivingpllOr swept-frequency signal fSWAPCarry out signal
Conversion, produces and signal fpllOr swept-frequency signal fSWAPThe sinusoidal signal digital quantity that frequency is identical, and export DA control module；
(7) DA control module is according to system clock foscProduce and control sequential together with the sinusoidal signal digital quantity received together
Output is to D/A converter module；
(8) the sinusoidal signal digital quantity received is converted to analog AC according to the control sequential received by D/A converter module
Signal, and analog AC signal is exported high drive module；
(9) the analog AC signal received is amplified by high drive module, the analog AC signal after then amplifying
Output is to exciting electrode.
A kind of hemispherical reso nance gyroscope high-reliability rising method of slight the most according to claim 6, it is characterised in that: described step
(2), in, frequency sweep starting of oscillation module is according to resonant frequency fSCProduce swept-frequency signal fSWAPProduction method be:
First, according to resonant frequency f receivedSCSwept-frequency signal f producedSWAPInitial value be f0SWAP=fSC-fSD, then
Carry out the generation f of the swept-frequency signal of the 2nd scanning element1SWAP=f0SWAP+fSTEP, the like, obtain the frequency sweep of i-th scanning element
Signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSDTime, further according to resonant frequency f receivedSCProduce
Swept-frequency signal fSWAPInitial value be f0SWAP=fSC-fSD, then carry out the generation f of the 2nd swept-frequency signal1SWAP=f0SWAP+
fSTEP, the like, obtain i-th swept-frequency signal fi+1SWAP=fiSWAP+fSTEP, until swept-frequency signal fnSWAP≥fSC+fSD, afterwards
Repeat above-mentioned process；It is t that each frequency scanning puts i.e. scanning frequency excitation stepping time of holding timeSTEP；Wherein, fSTEPFor frequency sweep
Step frequency, fSDFor scanning frequency excitation frequency range, n is scanning element.
A kind of hemispherical reso nance gyroscope high-reliability rising method of slight the most according to claim 6, it is characterised in that: hemispherical resonator top
Resonance signal detecting electrode in spiral shell is for the harmonic moving of detection hemi-sphere harmonic oscillator, and is turned by the harmonic moving of hemispherical resonator
It is changed to ac voltage signal.
A kind of hemispherical reso nance gyroscope high-reliability rising method of slight the most according to claim 6, it is characterised in that: hemispherical resonator top
Exciting electrode in spiral shell produces electrostatic force for the excitation control of hemispherical reso nance gyroscope harmonic oscillator according to the analog AC signal received
System.
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