CN106354052B - A kind of photoelastic modulation controller for atom laser gyroscope - Google Patents
A kind of photoelastic modulation controller for atom laser gyroscope Download PDFInfo
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- CN106354052B CN106354052B CN201610632992.9A CN201610632992A CN106354052B CN 106354052 B CN106354052 B CN 106354052B CN 201610632992 A CN201610632992 A CN 201610632992A CN 106354052 B CN106354052 B CN 106354052B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
A kind of photoelastic modulation controller for atom laser gyroscope, including light ball modulator (PEM) current-voltage sampling module, A/D, D/A module, FPGA Digitized Closed Loops control module, high pressure amplifier module.Wherein PEM current-voltage samplings module samples the electric current of PEM, voltage respectively；The analog signal that sampling obtains is converted to digital signal by A/D modules；FPGA Digitized Closed Loop control modules realize PEM drive signal real-time tracking PEM resonant frequencies, Simultaneous Stabilization PEM current effective values；D/A modules convert the FPGA digital signals exported to analog signal；The square-wave signal exported by D/A modules is converted to the same frequency sinusoidal signal that amplitude is amplified by high pressure amplifier module, drives PEM.Present invention is mainly applied to photoelastic modulation aspect, it can be achieved that photoelastic modulation driving frequency tracks resonant frequency, make light ball modulator working efficiency highest；Simultaneous Stabilization photoelastic modulation current amplitude, to ensure that light ball modulator is operated in low-angle modulation condition.
Description
Technical field
The present invention relates to a kind of photoelastic modulation controller for atom laser gyroscope, being one kind can realize to photoelastic modulation drive
The digital display circuit of dynamic control signal frequency and amplitude control, belongs to the digital technology of Photoelastic Modulation.
Background technology
Inertial navigation technology is of great significance in the fields such as national defense construction and national economy, and gyroscope is inertial navigation
The key sensor of system.With the fast development of quantum Technology of Precision Measurement, the atomic gyroscope based on atomic spin effect
With the theoretical precision of its superelevation, it is expected to be applied in strategic weapons system of new generation.SERF atomic spin gyro model machines use PEM
Phase-modulation is carried out to detection laser, and PEM is required to be operated in low-angle modulation condition, detects gyro output signals.
TudorN.Buican et al. had developed a kind of more PEM concatenation types Resonant Frequency Tracking Systems in 2006, theoretical
On multiple branch circuit PEM can be stablized under same phase and frequency, but realize that difficulty is big, and car following-theory effect exist it is certain poor
Away from.The commodity PEM-100 of present Hinds companies existing on the market is general PEM controllers, is not modulated exclusively for low-angle
It is less reliable when carrying out low-angle modulation using being designed, and its volume is bigger, is unfavorable for SERF atomic spins
The integration and miniaturization of gyro model machine.The SERF atomic spin gyro model machines that BJ University of Aeronautics ＆ Astronautics develops are in the course of work
In, PEM can be because itself heat dissipation causes own temperature to change, and intrinsic frequency can drift about because of the change of temperature, cause light
The unstable and modulation efficiency of bullet modulation declines, therefore it is required that PEM driving frequencies want real-time tracking resonant frequency.In addition, model machine
It is required that PEM is operated in low-angle modulation condition, that is to say, that ensure that PEM phase-modulation amplitudes are sufficiently small, in PEM bandwidth ranges
Interior, PEM current effective values can be used as the measurement of phase retardation modulation amplitude, and PEM phases can be stablized by stablizing PEM current effective values
Postpone modulation amplitude.BJ University of Aeronautics ＆ Astronautics beam blueness et al. is in 2015 in the 7th Annual Conference of Chinese inertial technology association
On deliver《The design and realization of a kind of PEM controllers for atom laser gyroscope》The PEM for atom laser gyroscope of middle development is controlled
Device processed is realized using analog circuit, though short time interior energy reaches the performance roughly the same with commodity PEM-100, simulation control
The voltage controlled oscillator of phaselocked loop sets bound frequency using cheap patch Resistor-Capacitor Unit in circuit, is found in actual use
Component parameters drift has directly influenced the lower frequency limit of voltage controlled oscillator, has caused circuit cannot when serious than more serious
Normal starting of oscillation causes losing lock, and the control circuit use scope is narrow, is only used for the PEM modulation of fixed resonant frequency, such as
Fruit will be applied to different resonant frequencies PEM, need replacing the devices such as the resistance capacitance in circuit, be unfavorable for control circuit it is long when
Stable operation.
Therefore, PEM needs special driving circuit to provide drive signal, so that drive signal is met two and requires, first
It is to make driving signal frequency real-time tracking PEM resonant frequencies, to keep modulation efficiency highest, second is stabling current virtual value
To stablize PEM phase retardation modulation amplitudes.
Invention content
The technology of the present invention solves the problems, such as：In order to overcome the shortcomings of existing PEM controllers, provide a kind of for atom top
The photoelastic modulation controller of spiral shell, driving signal frequency follow PEM resonant frequencies, stablize the digital of PEM current effective values in real time
PEM controllers, the digital controller can be flexibly applied to the PEM of different resonant frequencies.
Technical solution of the invention is：A kind of photoelastic modulation controller for atom laser gyroscope, by PEM Current Voltages
Sampling module, A/D, D/A conversion module, FPGA Digitized Closed Loops control module, high pressure amplifier module composition.Wherein Current Voltage
The electric current for flowing through PEM and PEM both end voltages are sampled and are filtered by sampling module, are input to A/D conversion modules；A/D is converted
Module converts after digital signal the analog signal that sampling obtains to and is delivered to FPGA Digitized Closed Loop control modules；FPGA numbers
The driving signal frequency for changing closed loop control module control output tracks PEM resonant frequencies, and the current amplitude of Simultaneous Stabilization PEM will
The signal of output is sent to D/A conversion modules；After D/A conversion modules convert the FPGA digital controlled signals exported to analog signal
It send to high pressure amplifier module；The square-wave signal exported by D/A conversion modules is converted to what amplitude was amplified by high pressure amplifier module
With frequency sinusoidal signal, driving PEM work.
In the current-voltage sampling module, the both ends PEM are extracted by voltage attenuation circuit and bandwidth-limited circuit
Voltage signal flows through the current signal of PEM by voltage amplifier circuit and bandwidth-limited circuit extraction.
The A/D conversion modules, which convert after digital signal the analog signal that sampling obtains to, is delivered to FPGA digitlizations
Closed loop control module.
The FPGA Digitized Closed Loop control modules select the Spartan6 series of X C6SLX45- of Xilinx
2CSG324FPGA is as core processor, including tracks PEM resonant frequencies module and stablize PEM current amplitude modules.Wherein,
It is by PI controllers A, digital phase-locked loop (DPLL) and Direct Digital Synthesizer (DDS) to track PEM resonant frequency modules
The compound PI-DPLL-DDS frequency tracking methods of composition realize the resonant frequency of PEM driving control signal real-time trackings PEM；Surely
The digital current sampled signal that PEM current amplitudes module is exported according to A/D conversion modules is determined, by carrying out software volume in FPGA
Journey calculates current effective value, is compared later with the current effective value of setting, is input to PI controller B, is controlled by PI
Algorithm realizes the stabilization of PEM current effective values.
The D/A conversion modules convert the FPGA digital controlled signals exported to analog signal, follow-up high to drive
Press amplifier module.
The square-wave signal exported by D/A conversion modules is converted to the same frequency that amplitude is amplified by the high pressure amplifier module
Sinusoidal signal achievees the purpose that drive PEM.
The principle of the present invention is：Light ball modulator is made of the optical crystal and piezoelectric actuator of isotropic, utilizes
Resonant mode Polarization Modulation device made of the photoelastic effect of transparent optical material.Optical crystal and piezoelectric actuator through overmatching,
Mechanical resonant frequency having the same, piezoelectric actuator generate periodic mechanical oscillation under alternating voltage effect, drive light
It learns crystal and does forced vibration, so that optical crystal is generated periodical birefringence, and then make the phase delay volume production of the polarised light of transmission
The modulation to polarizing light phase is realized in raw cyclically-varying.
When PEM drive signal output frequencies be equal to resonant frequency when, drive efficiency highest, but the variation of environment temperature and
The heat dissipation of PEM itself can lead to its resonance frequency shifts, if driving PEM using the drive signal of fixed frequency output
It will be unfavorable for PEM long-term stable works, therefore the necessary real-time tracking resonant frequency of PEM drive signals output frequency, to keep
Highest drive efficiency.Pass through and analyze PEM electrical equivalent models, it can be deduced that the phase-frequency characteristic of PEM equiva lent impedances is：
Wherein, ω0For PEM resonant frequencies, ω is driving frequency.Therefore PEM equiva lent impedances phase withThere are an a pair
It should be related to, changing equiva lent impedance phase can changeValue, particularly, when equiva lent impedance phase be 0 when, ω=ω0, driving
Frequency is equal to resonant frequency.PEM equiva lent impedance phases are that the 0 namely phase difference of PEM both end voltages and electric current is 0, therefore is protected
The phase difference held PEM both end voltages and flow through the electric current of PEM is that 0 i.e. certifiable driving frequency tracks resonant frequency.
In addition, in PEM bandwidth ranges, the mechanical activation amplitude of PEM is directly proportional to current amplitude, and PEM electric currents are sinusoidal letters
Number, virtual value can be as the measurement of current amplitude, therefore PEM current effective values can be used as the degree of phase retardation modulation amplitude
Amount, PEM phase retardation modulation amplitudes can be stablized by stablizing PEM current effective values.
The advantages of the present invention over the prior art are that：
(1) a kind of photoelastic modulation controller for atom laser gyroscope of the invention, it is equal in addition to A/D, D/A conversion and high pressure amplifier
Realization, system flexible design, high degree of automation are digitized using FPGA.Compared with prior art due to avoiding simulation
The influence of component temperature drift in circuit, to have reliability height, the operation is stable, it is easy to adjust the advantages that.
(2) the combination frequency automatic tracking method that the present invention is combined by PI controls, digital phase-locked loop and DDS technologies,
The deficiency that PLL tracking frequencies narrow range can be made up simultaneously, tracking error easily occur, be easy losing lock and DDS spurious reduction differences, knot
PI controls, the advantage of DPLL and DDS respectively are closed, controls the coarse adjustment for realizing frequency using PI, DPLL realizes the accurate adjustment of frequency, DDS
Output frequency is equal to the signal of resonant frequency, and to reach, tracking frequency is adjustable, tracking frequency range is wide, tracking velocity is fast, tracking
Precision is high, meets the demand for control of different resonant frequency PEM.
(3) present invention is by realizing the calculating of current effective value with programming in FPGA and realizing that electric current has using PI algorithms
The stabilization of valid value, the complicated processes that can be adjusted to avoid simulation PI using digital PI controls, improves speed and precision that PI is adjusted,
PEM phase retardation modulation amplitudes are enable to stablize.
Description of the drawings
Fig. 1 is the structure composition block diagram of the present invention；
Fig. 2 is the signal acquisition and AD conversion functional block diagram of the present invention；
Fig. 3 is the FPGA Digitized Closed Loop control module composition frame charts of the present invention；
Fig. 4 is the high pressure operational amplifier circuit schematic diagram of the present invention.
Specific implementation mode
As shown in Figure 1, the present invention includes current sampling module 1, A/D conversion modules 2, voltage sample module 3, FPGA numbers
Change closed loop control module 4, D/A conversion modules 5, high pressure amplifier module 6.Wherein current sampling module 1 will be flowed by sampling resistor
The current signal for crossing PEM is converted into voltage signal and is amplified and after bandpass filtering, is input to A/D conversion modules 2；A/D turns
Mold changing block 2 converts after digital signal the analog voltage signal that sampling obtains to and is delivered to FPGA Digitized Closed Loops control module 4；
Similarly, after PEM both end voltages are carried out sampling and bandpass filtering by voltage sample module 3, A/D conversion modules 2 are input to；A/D turns
Mold changing block 2 converts after digital signal the analog voltage signal that sampling obtains to and is delivered to FPGA Digitized Closed Loops control module 4；
FPGA Digitized Closed Loops control module 4 controls the frequency-tracking PEM resonant frequencies of drive signal output, the electricity of Simultaneous Stabilization PEM
Amplitude is flowed, the signal of output is sent to D/A conversion modules 5；The digital controlled signal that D/A conversion modules 5 export FPGA converts
To be sent after analog signal to high pressure amplifier module 6；High pressure amplifier module 6 converts the square-wave signal exported by D/A conversion modules 5
For the same frequency sinusoidal signal that amplitude is amplified, PEM is driven.
As shown in Fig. 2, the PEM current and voltage signals acquisition of the present invention is with A/D transfer processes:PEM driving voltages are believed
Number by becoming the sizeable sinusoidal voltage of amplitude after voltage attenuation and bandpass filtering, then pass through 2 turns of A/D conversion modules
It is changed to digital signal；PEM electric currents are converted to voltage signal after sampling resistor, become after voltage amplification and bandpass filtering
The sizeable sinusoidal voltage of amplitude, then digital signal is converted to by A/D conversion modules 2.Later, two-way respectively from
The digital signal with PEM electric currents, information of voltage of ADC outputs is input to FPGA Digitized Closed Loops control module 4, for FPGA
Carry out subsequent processing.
As shown in figure 3, the FPGA Digitized Closed Loops control module 4 of the present invention is by digital phase discriminator 9, PI controllers A10, number
Word phaselocked loop 11, frequency control word program 12, Direct Digital Synthesizer (DDS) 13, current effective value calculation procedure 14,
Current effective value PI controllers B15 compositions.Wherein, digital phase discriminator 9, PI controllers A10, digital phase-locked loop 11, FREQUENCY CONTROL
Word program 12, Direct Digital Synthesizer (DDS) 13 collectively constitute PEM resonant frequencies tracking module 7, digital phase discriminator 9
By detecting the rising edge of the sampled digital signal of PEM driving voltages and electric current, generate with PEM electric currents, voltage phase difference at just
The voltage signal of ratio.This phase voltage signal is compared with designed phase error setting value, when
When phase error is more than error setting value, phase error corrections are carried out using PI digitial controllers A10, it is quick by closed-loop control
Phase error is reduced to the phase locking range of digital phase-locked loop 11 by ground；When PEM electric currents, voltage-phase error are less than error setting value
When, carry out fast frequency tracing control using digital phase-locked loop 11.It is exported from PI digitial controllers A10 or digital phase-locked loop 11
Control signal is input to frequency control word program 12, generates suitable frequency control word control Direct Digital Synthesizer
(DDS) 13 the signal that output frequency is equal to PEM resonant frequencies is generated, realizes the tracking to PEM resonant frequencies.Current effective value meter
Program 14, current effective value PI controllers B15 composition PEM current amplitudes stable module 8 are calculated, by PEM current sample digital signals
It is input to current effective value calculation procedure 14, virtual value calculation procedure 14 is adopted according to n sampled point in a sampling period
Sample value Xi(i=1,2 ..., n) finds out n sampled value XiThe average value of the quadratic sum of (i=1,2 ..., n), acquired results be
The virtual value of sampled value in one sampling period, in order to improve computational accuracy, the virtual value that can calculate m sampling period is made even
Afterwards as final virtual value result of calculation, wherein final virtual value calculation formula isLater
By XRMSWith PI controller B15 are input to together with the current effective value reference signal of setting, it is suitable to be generated by PI control algolithms
Control source is controlled to Direct Digital Synthesizer (DDS) 13, realizes the stabilization to PEM current amplitudes.In this way, by direct
Digital frequency synthesizer (DDS) 13 generates frequency-tracking resonant frequency, the output signal of amplitude stability, is input to D/A conversions
Module 5.Fpga chip selects the XC6SLX45-2CSG324FPGA of the Spartan6 series of Xilinx, and uses VerilogHDL
Language is programmed.
As shown in figure 4, the high pressure amplifier module 6 of the present invention receives the frequency-tracking resonance exported from D/A conversion modules 5
Frequency, the sinusoidal signal of amplitude stability generate high-voltage driven signal by the resonance step-up circuit being made of OPA561 and LC,
In, OPA561 is a high speed operation amplifier with High-current output ability, and can export can drive LC booster circuits
High current.LC series resonance frequencys areIt should meet when selecting L, C valueEqual to PEM resonance frequencies
Rate.
In short, photoelastic modulation driving frequency, which can be achieved, in the present invention tracks resonant frequency, make light ball modulator working efficiency most
It is high；Simultaneous Stabilization photoelastic modulation current amplitude, to ensure that light ball modulator is operated in low-angle modulation condition.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (5)
1. a kind of photoelastic modulation controller for atom laser gyroscope, it is characterised in that：It is adopted with FPGA cores in order to control, including electric current
Egf block (1), A/D conversion modules (2), voltage sample module (3), FPGA Digitized Closed Loops control module (4), D/A moduluss of conversion
Block (5) and high pressure amplifier module (6)；Wherein current sampling module (1) will flow through light ball modulator, i.e. the electric current of PEM is adopted
Sample amplifies and filtering, is input to A/D conversion modules (2)；The analog current signal that A/D conversion modules (2) obtain sampling converts
To be delivered to FPGA Digitized Closed Loops control module (4) after digital signal；Voltage sample module (3) carries out PEM both end voltages
Sampling and filtering, are input to A/D conversion modules (2)；A/D conversion modules (2) convert the analog voltage signal that sampling obtains to
FPGA Digitized Closed Loops control module (4) is delivered to after digital signal；FPGA Digitized Closed Loops control module (4) combines PEM electricity
Galvanic electricity presses sampling module (1), A/D conversion modules (2), D/A conversion modules (3) and high pressure amplifier module (6), realizes digitlization
The closed-loop control that PEM resonant frequencies track and PEM current effective values are stablized generates PEM driving control signal.
2. a kind of photoelastic modulation controller for atom laser gyroscope according to claim 1, it is characterised in that：Described
FPGA selects the Spartan6 series of X C6SLX45-2CSG324FPGA of Xilinx as core processor.
3. a kind of photoelastic modulation controller for atom laser gyroscope according to claim 1, it is characterised in that：The FPGA
Digitized Closed Loop control module (4) includes tracking PEM resonant frequencies module (7) and stablizes PEM current amplitudes module (8)；Wherein
Tracking PEM resonant frequencies module (7) phase of PEM current signals and voltage signal is compared, by by PI control algolithms,
The compound PI-DPLL-DDS frequency tracking methods of digital phase-locked loop (DPLL) and Direct Digital Synthesizer (DDS) composition,
Realize that PEM driving control signal quickly and stably tracks the resonant frequency of PEM；Stablize PEM current amplitudes module (8) by soft
Part program calculating current virtual value, then the stabilization by PI control algolithms realization PEM current effective values.
4. a kind of photoelastic modulation controller for atom laser gyroscope according to claim 1, it is characterised in that：The high pressure
The square-wave signal exported by D/A conversion modules is converted to the same frequency sinusoidal signal that amplitude is amplified by amplifier module (6), reaches drive
The purpose of dynamic PEM.
5. a kind of photoelastic modulation controller for atom laser gyroscope according to claim 1, it is characterised in that：The electric current
In voltage sample module (1), the voltage signal at the both ends PEM is extracted by voltage attenuation circuit and bandwidth-limited circuit, passes through electricity
The current signal of PEM is flowed through in pressure amplifying circuit and bandwidth-limited circuit extraction.
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|---|---|---|---|---|
| WO2000058699A1 (en) * | 1999-03-31 | 2000-10-05 | Hinds Instruments, Inc. | Integrated diagnostic system for photoelastic modulator |
| JP2001517774A (en) * | 1997-08-08 | 2001-10-09 | バイオ−ラッド ラボラトリーズ インコーポレイテッド | Digital signal processing technique for multiple modulation measurements of Fourier transform infrared spectroscopy using photoelastic modulator |
| CN104967444A (en) * | 2015-07-20 | 2015-10-07 | 中北大学 | Digital phase-locked hardware circuit for elastic-optic modulation |
| CN105136300A (en) * | 2015-05-18 | 2015-12-09 | 中北大学 | Photoelastic modulator driving control device and method |
| CN105222808A (en) * | 2015-10-28 | 2016-01-06 | 北京自动化控制设备研究所 | A kind of atom laser gyroscope closed loop detect method based on photoelastic modulation |
-
2016
- 2016-08-04 CN CN201610632992.9A patent/CN106354052B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001517774A (en) * | 1997-08-08 | 2001-10-09 | バイオ−ラッド ラボラトリーズ インコーポレイテッド | Digital signal processing technique for multiple modulation measurements of Fourier transform infrared spectroscopy using photoelastic modulator |
| WO2000058699A1 (en) * | 1999-03-31 | 2000-10-05 | Hinds Instruments, Inc. | Integrated diagnostic system for photoelastic modulator |
| CN105136300A (en) * | 2015-05-18 | 2015-12-09 | 中北大学 | Photoelastic modulator driving control device and method |
| CN104967444A (en) * | 2015-07-20 | 2015-10-07 | 中北大学 | Digital phase-locked hardware circuit for elastic-optic modulation |
| CN105222808A (en) * | 2015-10-28 | 2016-01-06 | 北京自动化控制设备研究所 | A kind of atom laser gyroscope closed loop detect method based on photoelastic modulation |
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