CN106768290A - One kind finds dithering-wheel resonant frequency method - Google Patents
One kind finds dithering-wheel resonant frequency method Download PDFInfo
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- 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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- Prior art keywords
- dithering
- frequency
- wheel
- shake
- resonant frequency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H13/00—Measuring resonant frequency
-
- 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
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
- G01C19/662—Ring laser gyrometers details signal readout; dither compensators
- G01C19/664—Ring 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
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.
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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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510824252.0A Pending CN106768290A (en) | 2015-11-24 | 2015-11-24 | One kind finds dithering-wheel resonant frequency method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106768290A (en) |
Cited By (3)
| 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)
| 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 |
-
2015
- 2015-11-24 CN CN201510824252.0A patent/CN106768290A/en active Pending
Patent Citations (3)
| 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)
| 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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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |