CN106768290A - One kind finds dithering-wheel resonant frequency method - Google Patents

One kind finds dithering-wheel resonant frequency method Download PDF

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Publication number
CN106768290A
CN106768290A CN201510824252.0A CN201510824252A CN106768290A CN 106768290 A CN106768290 A CN 106768290A CN 201510824252 A CN201510824252 A CN 201510824252A CN 106768290 A CN106768290 A CN 106768290A
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CN
China
Prior art keywords
dithering
frequency
wheel
shake
resonant frequency
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Pending
Application number
CN201510824252.0A
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Chinese (zh)
Inventor
樊锦川
高瑞冰
吕航伟
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No 618 Research Institute of China Aviation Industry
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No 618 Research Institute of China Aviation Industry
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Application filed by No 618 Research Institute of China Aviation Industry filed Critical No 618 Research Institute of China Aviation Industry
Priority to CN201510824252.0A priority Critical patent/CN106768290A/en
Publication of CN106768290A publication Critical patent/CN106768290A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01HMEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H13/00Measuring resonant frequency
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58Turn-sensitive devices without moving masses
    • G01C19/64Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/66Ring laser gyrometers
    • G01C19/661Ring laser gyrometers details
    • G01C19/662Ring laser gyrometers details signal readout; dither compensators
    • G01C19/664Ring laser gyrometers details signal readout; dither compensators means for removing the dither signal

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

The present invention is a kind of shake shaking laser gyroscope control technology, and in particular to a kind of method of initial power-on Automatic-searching dithering-wheel resonant frequency point.The method that the present invention uses frequency sweep, driving and the amplitude versus frequency characte of dither amplitude output according to dithering-wheel, the amplitude characteristic of dither feedback signal is monitored in frequency sweep, so as to find the work of dithering-wheel resonant frequency point.The present invention is the prioritization scheme that a kind of frequency sweep finds shake resonant frequency point, and its principle is simple, and it is convenient to realize, especially portable strong, can be realized in various main control platforms.

Description

One kind finds dithering-wheel resonant frequency method
First, technical field
The present invention is a kind of shake shaking laser gyroscope control technology, and in particular to a kind of initial power-on Automatic-searching dithering-wheel resonance The method of frequency operating points.
2nd, background technology
Shake laser gyro is the core sensor of current main flow inertial navigation system.Due to the presence of latch up effect, it uses machine The offset frequency mode of tool shake reduces the error that lock zone is come.Because dithering-wheel resonant frequency is different, electricity is needed according to shake on gyro Wheel characteristic, is automatically found dithering-wheel resonant frequency point.The general method for all adopting the frequency sweep that has access to electricity, i.e., connect within the specific limits It is continuous to change shake driving frequency, find dithering-wheel resonant frequency point by monitoring dither feedback signal feature.Traditional method root Driving and the phase-frequency characteristic of feedback signal according to dithering-wheel, shake drive signal are monitored in frequency sweep and are closed with the phase of feedback signal System, so as to find dithering-wheel resonant frequency point, this method is relative complex, and hardware there are certain requirements, portable poor.
3rd, the content of the invention
The purpose of the present invention is:
Using the method for frequency sweep, driving and the amplitude versus frequency characte of dither amplitude output according to dithering-wheel monitor shake in frequency sweep anti- The amplitude characteristic of feedback signal, so as to find the work of dithering-wheel resonant frequency point.
The technical scheme is that:
One kind finds dithering-wheel resonant frequency method, comprises the following steps:
After the first step, upper electricity are initial, main control processor sets initial swept frequency.
Second step, main control processor export PWM drive signal by shaking drive circuit by setting swept frequency to dithering-wheel.
3rd step, by after time delay, it is ensured that after dithering-wheel is sufficiently responded to, using AD sample now by conditioning amplify and detect The shake feedback magnitude signal of sinusoidal magnitude value processing of circuit.
4th step, judge whether the shake feedback magnitude signal of new sampling is bigger than previous maximum by main control processor, such as than previous Maximum is big, that is, record new maximum amplitude and its correspondence driving frequency, and such as previous maximum is small, is directly entered the 5th step.
5th step, judge whether to frequency sweep to terminate frequency, if it is not, then increasing by step-length or reducing driving frequency, and return to the Two steps;If it is, into the 6th step.
Driving frequency corresponding to 6th step, the maximum amplitude of selection record is dithering-wheel resonant frequency, and is transferred to follow-up shake Closed-loop control.
The beneficial effects of the invention are as follows:
The present invention is the prioritization scheme that a kind of frequency sweep finds shake resonant frequency point, and its principle is simple, and it is convenient to realize, especially may be used Transplantability is strong, can be realized in various main control platforms.
4th, illustrate
Fig. 1 is the hardware capability block diagram of the method;
Fig. 2 is the method flow chart.
5th, specific embodiment
According to shake wheel drive and the amplitude versus frequency characte fed back, the transmission function of dithering-wheel is the bandpass filter of a high q-factor, Drive signal has maximum amplitude in resonant frequency point, and then can rapid decay outside resonant frequency point.During initialization, make Frequency sweep driving is carried out in the range of certain frequency to dithering-wheel with PWM ripples signal, i.e., its frequency from original frequency by etc. frequency become Change step-length increasing or decreasing (300~1000Hz), and record the dither feedback signal amplitude of each Frequency point.Frequency sweep drives and completes Afterwards, according to the dither feedback signal amplitude for being recorded, the Frequency point corresponding to its maximum is dithering-wheel resonant frequency point.
Specific embodiment of the invention is:
The present invention needs simple hardware circuit to realize, such as Fig. 1.Wherein, main control processor exports PWM ripples through power amplification Shake drive signal is formed afterwards, acts on dithering-wheel.And angular rate sensor sensitivity jitter motion, and by conditioning amplifying circuit And form shake feedback magnitude signal after sinusoidal magnitude detection circuit.Continuation is controlled by main control processor after most being sampled through AD afterwards Frequency sweep drives or finds resonant frequency point and is transferred to shake closed-loop control.
The specific control realization flow such as Fig. 2 of main control processor.After power-up initializing, initial frequency sweep driving frequency is set, and it is defeated Go out PWM drive signal, after delay guarantee dithering-wheel is sufficiently responded to, start AD samplings and now believe through the dither amplitude after treatment Number, judge whether sampled value is bigger than the amplitude maximum of previous record, such as record new maximum amplitude and its correspondence greatly than previous Driving frequency, such as than it is previous it is small i.e. directly arrive next step, then as judgement arrived frequency sweep termination frequency, that is, select most significantly The corresponding driving frequency of value is resonant frequency, and exports PWM drive signal and be transferred to shake closed-loop control, is not terminated to frequency sweep such as Frequency, i.e., still increased by step-length or reduce shake driving frequency, proceeds frequency sweep operation.

Claims (1)

1. it is a kind of to find dithering-wheel resonant frequency method, it is characterized in that, comprise the following steps:
After the first step, upper electricity are initial, main control processor sets initial swept frequency;
Second step, main control processor export PWM drive signal by shaking drive circuit by setting swept frequency to dithering-wheel;
3rd step, by after time delay, it is ensured that after dithering-wheel is sufficiently responded to, using AD sample now by conditioning amplify and detect The shake feedback magnitude signal of sinusoidal magnitude value processing of circuit;
4th step, judge whether the shake feedback magnitude signal of new sampling is bigger than previous maximum by main control processor, such as than previous Maximum is big, that is, record new maximum amplitude and its correspondence driving frequency, and such as previous maximum is small, is directly entered the 5th step;
5th step, judge whether to frequency sweep to terminate frequency, if it is not, then increasing by step-length or reducing driving frequency, and return to the Two steps;If it is, into the 6th step;
Driving frequency corresponding to 6th step, the maximum amplitude of selection record is dithering-wheel resonant frequency, and is transferred to follow-up shake Closed-loop control.
CN201510824252.0A 2015-11-24 2015-11-24 One kind finds dithering-wheel resonant frequency method Pending CN106768290A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510824252.0A CN106768290A (en) 2015-11-24 2015-11-24 One kind finds dithering-wheel resonant frequency method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510824252.0A CN106768290A (en) 2015-11-24 2015-11-24 One kind finds dithering-wheel resonant frequency method

Publications (1)

Publication Number Publication Date
CN106768290A true CN106768290A (en) 2017-05-31

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CN201510824252.0A Pending CN106768290A (en) 2015-11-24 2015-11-24 One kind finds dithering-wheel resonant frequency method

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109682366A (en) * 2017-12-15 2019-04-26 西安邮电大学 Adaptive tracing for digital laser gyro shakes control system and implementation method
CN110530354A (en) * 2019-07-22 2019-12-03 北京航天时代激光导航技术有限责任公司 A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding
CN114910099A (en) * 2022-05-27 2022-08-16 四川图林科技有限责任公司 Method for measuring time delay of mechanically dithered laser gyro control circuit

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006177720A (en) * 2004-12-21 2006-07-06 Yaskawa Electric Corp Method for detecting oscillation frequency of motion controller and its device
CN1949105A (en) * 2006-11-08 2007-04-18 北京航空航天大学 Closed loop controlling system based on amplitude-frequency feature of resonance type sensor
CN103728494A (en) * 2013-12-17 2014-04-16 中国科学院上海微系统与信息技术研究所 System and method for measuring and tracking resonance frequency

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006177720A (en) * 2004-12-21 2006-07-06 Yaskawa Electric Corp Method for detecting oscillation frequency of motion controller and its device
CN1949105A (en) * 2006-11-08 2007-04-18 北京航空航天大学 Closed loop controlling system based on amplitude-frequency feature of resonance type sensor
CN103728494A (en) * 2013-12-17 2014-04-16 中国科学院上海微系统与信息技术研究所 System and method for measuring and tracking resonance frequency

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109682366A (en) * 2017-12-15 2019-04-26 西安邮电大学 Adaptive tracing for digital laser gyro shakes control system and implementation method
CN110530354A (en) * 2019-07-22 2019-12-03 北京航天时代激光导航技术有限责任公司 A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding
CN114910099A (en) * 2022-05-27 2022-08-16 四川图林科技有限责任公司 Method for measuring time delay of mechanically dithered laser gyro control circuit
CN114910099B (en) * 2022-05-27 2024-01-23 四川图林科技有限责任公司 Method for measuring delay of mechanically-jittered laser gyro control circuit

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Application publication date: 20170531