CN107063227A - A kind of method of 2 π voltage parameters in accurate control closed-loop fiber optic gyroscope - Google Patents
A kind of method of 2 π voltage parameters in accurate control closed-loop fiber optic gyroscope Download PDFInfo
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- 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
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/726—Phase nulling gyrometers, i.e. compensating the Sagnac phase shift in a closed loop system
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Abstract
The invention discloses a kind of method of 2 π voltage parameters in accurate control closed-loop fiber optic gyroscope, comprise the following steps：1) luminous power of light wave respectively to reaching detector in the positive negatively-modulated half period of intrinsic square wave is sampled, when obtaining staircase waveform and not resetting, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation, when staircase waveform resets, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation；2) the even odd sampled value correspondence in reset is subtracted each other with the even odd sampled value before or after resetting；3) by Δ P2πSERVO CONTROL is carried out to 2 π voltage parameters as 2 π voltage adjustment signals.The present invention can accurately judge whether staircase waveform occurs to reset and whether 2 π voltage parameters are accurate, so as to accurately adjust the 2 π voltage parameters of optical fibre gyro, reduce the temperature drift of optical fibre gyro, improve the accuracy of optical fibre gyro.
Description
Technical field
The invention belongs to optical fibre gyro field, and in particular to 2 π voltage parameters in a kind of accurate control closed-loop fiber optic gyroscope
Method.
Background technology
The closed-loop fiber optic gyroscope fed back based on digital staircase is because its precision is high, dynamic range is big, nonlinearity is good etc.
Advantage is widely used in optical fibre gyro.But due to the influence of temperature, optical fibre gyro zero partially and constant multiplier also
It is the presence of certain change, and the two parameters are particularly important for system.Wherein, integrated optical modulator (Y ripples
Lead) 2 π voltages as the change of temperature is one of the major reason that causes two parameter drifts of optical fibre gyro.Therefore, it is accurate to adjust
2 π voltage parameters have important meaning to adapt to temperature drift of the change of 2 π voltages for suppressing optical fibre gyro in whole optical fibre gyro
Justice.
At present, in the optical fibre gyro of intrinsic square-wave frequency modulation, using main method be introduce the second closed loop come to 2 π electricity
Parameter is pressed to carry out SERVO CONTROL.The signal of second closed loop institute foundation is the error signal when π of staircase waveform feedback signal 2 resets.This
It is accomplished by resetting 2 π of staircase waveform feedback signal and is accurately judged, realizes the accurate adjustment to 2 π voltages.
This relates to the decision method and 2 π voltage parameter methods of adjustment of the reset of staircase waveform.At present, frequently with
Staircase waveform repositioning method is to realize that 2 π reset using D/A or register automatic spilling, and its corresponding 2 π, which resets decision method, is
Judge whether staircase waveform is resetted by judging that the high position (high 1 or several in height) of step signal changes：If
A high position changes and (becomes 0 by 1 or become 1 by 0), then judges that staircase waveform there occurs reset to carry out the adjustment of 2 π voltage parameters；If
Do not change, then judge that staircase waveform does not reset, adjusted without 2 π voltage parameters.
There is certain erroneous judgement probability in the decision method, i.e., it is inevitable when optical fibre gyro rotary speed is larger or very big
So that staircase waveform shoulder height becomes big (shoulder height relation proportional to rotary speed), it may be such that step signal is high-order
Changed, but staircase waveform does not reset, it is also possible to do not change, really resetted.
Below for example：If it is 8 signed numbers (defining unsigned number principle similar) to define step signal, then
The expression scope of step signal is：-27~+27- 1 (- 128~+127), divide three kinds of situation discussion below：
1) under small angular speed, shoulder height is small, i.e., staircase waveform amplitude of variation is small (not more than 255), if step is high
Spend for 5, certain moment step signal value is 124, when step signal rises again, step signal value is 124+5=129,
But register can only deposit the number less than 127,129 can overflow automatically, be changed into -127 (129-256), i.e., staircase waveform resets, and
Signal -127 are provided, front and rear step signal 124 and -127 are resetted by comparing, it can be seen that a high position is to be changed, from
And judge staircase waveform and resetted；
2) under larger velocity gauge, shoulder height is big, and staircase waveform amplitude of variation is big, if certain moment step signal value is
124, if shoulder height is 140, when step signal rises again, step signal value is 124+140=264, is exceeded
127, necessarily resetted, the value after reset is 264-256=8, signal is all that just a high position does not change before and after resetting, or
Person's shoulder height can also reset for 255, and signal value is 124+255-256=123 after reset, and signal value is only poor before and after resetting
One code, that is, high several of signal value do not change before and after resetting, but staircase waveform is resetted really, so as to result in Lou
Sentence；
3) there is a kind of situation, when being that step signal crosses over zero point, i.e. negative become of step signal value just or just becomes negative, high
Position can change, such as：Certain moment step signal value is -3, if shoulder height is+10, when step signal rises again
When, step signal value is -3+10=7, is not above 127, will not reset, but a step signal high position is changed
(meeting position to become), so as to result in erroneous judgement；
From three cases above as can be seen that judging that it is multiple that staircase waveform occurs by judging that a high position for staircase waveform changes
Position there is a possibility that to fail to judge and judge by accident, therefore, explore the side that new staircase waveform resets 2 π voltage parameters of decision method and adjustment
Method is significant.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：A kind of accurate control is provided to close
The method of 2 π voltage parameters in ring optical fibre gyro, can accurately judge whether staircase waveform occurs to reset and 2 π voltage parameters are
It is no accurate, so as to accurately adjust the 2 π voltage parameters of optical fibre gyro, reduce the temperature drift of optical fibre gyro, improve optical fibre gyro
Accuracy.
In order to solve the above technical problems, one aspect of the present invention is：A kind of accurate control closed-loop optical fiber top
The method of 2 π voltage parameters in spiral shell, it is characterised in that comprise the following steps：
1) intrinsic square-wave frequency modulation and staircase waveform feedback closed loop are carried out to the light wave of input optical fibre ring by Y waveguide, and respectively
The luminous power of light wave to reaching detector in the positive negatively-modulated half period of intrinsic square wave is sampled, and obtains staircase waveform not multiple
During position, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation：
When staircase waveform resets, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation：
In formula：P0The luminous power of detector is reached during for optical fibre gyro absolute rest；ΦSThe phase difference caused by rotation；
ФmFor square-wave modulation signal, its value is+Ф0Or-Ф0, Φ0For square-wave frequency modulation amplitude；ΦfFor closed loop feedback phase, ΦfwFor rank
The phase difference that terraced ripple is introduced during resetting, when 2 π voltage parameters are accurate, it meets：
Φfw=Φf±2π*k；
K is positive integer in formula；Wherein, Φ is worked asfFor timing, above formula takes negative sign；Work as ΦfDuring to bear, above formula takes positive sign；
2) the even odd sampled value correspondence in reset is subtracted each other with the even odd sampled value before or after resetting, obtained：
Chi Chi subtracts each other：
It is even to subtract each other：
When 2 π voltages change, Δ P2π≠ 0, it is possible thereby to 2 π voltage parameters are adjusted by SERVO CONTROL,
To adapt to 2 new π voltages；
3) by Δ P2πSERVO CONTROL is carried out to 2 π voltage parameters as 2 π voltage adjustment signals：
D2π(2)=D2π(1)+k*ΔP2π；
In formula：D2π(1) it is former 2 π voltage parameters, D before SERVO CONTROL2π(2) it is new 2 π voltage parameters after SERVO CONTROL, k is
Coefficient.
Compared with prior art, the invention has the advantages that：The present invention can be easy and effective and judges rank exactly
Whether terraced ripple resets, so as to accurately judge whether 2 π voltage parameters are accurate, and then more precisely carries out 2 π voltage parameters
Adjustment, to adapt to 2 new π voltages, reduces the temperature drift of optical fibre gyro, so as to improve the measuring accuracy of optical fibre gyro.
Brief description of the drawings
Fig. 1 is fiber-optic gyroscope light path structured flowchart.
Fig. 2 is rising staircase waveform schematic diagram.
Fig. 3 is decline staircase waveform schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of method of 2 π voltage parameters in accurate control closed-loop fiber optic gyroscope, wherein, referring to Fig. 1, optical fibre gyro includes
Light source, detector, coupler, Y waveguide, fiber optic loop and FPGA control chip.
Specific control method comprises the following steps：
1) intrinsic square-wave frequency modulation is carried out to the light wave of input optical fibre ring by Y waveguide；
Detector luminous power is reached under square-wave frequency modulation to be expressed with following formula：
In formula：P0(Φ during for optical fibre gyro absolute restS=0) reach detector luminous power；ΦSCaused by rotation
Phase difference.
In formula：ΦmFor：
In formula：Φ0For square-wave frequency modulation amplitude, τ for fiber optic loop transition time (light wave transmitted in fiber optic loop one week when
Between).
The luminous power that light wave in the positive negatively-modulated half period of intrinsic square wave reaches detector is sampled respectively, so that
To Y waveguide modulation period odd even sampled value：
Odd even sampled value is subtracted each other：
Δ P=P--P+=P0sinΦ0sinΦS；.............................(4)；
Due to square-wave frequency modulation amplitude once it is determined that as definite value, therefore P0sinΦ0For constant term, it can be represented with A.The opposing party
Face, works as ΦSFor it is a small amount of when, have sin ΦS=ΦS, then odd even sampling difference be：
Δ P=A ΦS；.............................(5)；
From (5) formula, the difference that odd even is sampled under square-wave frequency modulation is directly proportional to phase difference caused by rotation, can conduct
Turning rate is exported, while by closed-loop control by near total phase difference servo-controlled zero.Closed so as to obtain optical fibre gyro
Odd even sampled value after ring is controlled is：
In formula：ΦfFor closed loop feedback phase, it meets：
Φf=-ΦS；.............................(7)
Therefore, (6) formula is also referred to as：
2) staircase waveform feedback is carried out to the output light of fiber optic loop by Y waveguide；
Staircase waveform closed loop feedback is by introducing the piezoelectricity that step signal utilizes crystal on the electrode of Y waveguide modulator
What effect was realized.Y waveguide is made up of lithium columbate crystal, will be produced by its light wave when applying voltage on the crystal
Phase difference；The phase difference is directly proportional to voltage swing.
Fiber-optic gyroscope light path structure as shown in Figure 1, modulated signals modulation one when the light wave that light source is sent passes through Y waveguide
It is secondary, (while first time modulation is carried out to follow-up light wave) is modulated when Y waveguide is returned after fiber optic loop is transmitted again, twice
The time interval of modulation is that fiber optic loop transmits light wave time, i.e. transition time.The transmission of two-beam ripple is led to during due to modulating twice
Road is exchanged, therefore, and the real phase difference being introduced into light path (is hereinafter referred to as modulated for the difference of the difference of phase modulation twice
Phase).I.e. phase modulation is first-order difference of the modulation voltage waveform using the fiber optic loop transition time as step-length.Therefore it is permanent to produce
Fixed feedback phase difference Φf, it is necessary to feedback voltage signal is constantly risen or fallen and (is being risen correspondence just, decline correspondence negative), its
In the amplitude that rises or falls it is corresponding with feedback phase difference, being embodied as in Y ripples of closed-loop control can be obtained according to this principle
Lead the following feedback waveform of application：
Or：
V in formulaΦfFor corresponding to phase difference ΦfMagnitude of voltage, (9) formula represent introduce forward phase it is poor (staircase waveform rising),
(10) formula represents to introduce negative sense phase difference (staircase waveform decline).
Above-mentioned waveform is in step shape, referred to as staircase waveform, and Fig. 2 and 3 is the schematic diagram of staircase waveform.Staircase waveform can not infinitely on
Rise or decline, must be resetted, the phase difference and staircase waveform of the voltage difference introducing of reset normally rise or fall introducing
2 π or 2 π integral multiple are had to differ by between feedback phase difference, will not just cause reset rotation error.When resetting, detector letter
Number it is：
Φ in formulafwThe phase difference introduced during being resetted for staircase waveform, when 2 π voltages are accurate, it meets：
Φfw=Φf±2π*k；.............................(12)
K is positive integer (typically taking 1 in practical application) in formula, in above formula sign follow the example of for：Work as ΦfFor timing, on
Formula takes negative sign；Work as ΦfDuring to bear, above formula takes positive sign.
It is can be seen that by comparing (8) formula and (11) formula when the 2 π voltages of optical fibre gyro are accurate, according to trigonometric function
Periodically, it can be seen that reset error will not be introduced during resetting.But when the 2 π voltages of optical fibre gyro change
(particularly when the temperature is changed), can introduce reset error.Therefore, before and after according to resetting, reset error size introduces second and closed
It is very necessary that ring carries out SERVO CONTROL to 2 π voltages.
3) when 2 π voltages are inaccurate, by the odd even sampled value correspondence in reset and the odd even sampled value phase before or after reset
Subtract, obtain：
Chi Chi subtracts each other：
It is even to subtract each other：
When 2 π voltages change, Δ P2π≠ 0, it is possible thereby to 2 π voltage parameters are adjusted by SERVO CONTROL,
To adapt to 2 new π voltages.
4) by Δ P2πSERVO CONTROL is carried out to 2 π voltage parameters as 2 π voltage adjustment signals：
D2π(2)=D2π(1)+k*ΔP2π；.............................(15)
In formula：D2π(1) it is former 2 π voltage parameters, D before SERVO CONTROL2π(2) it is new 2 π voltage parameters after SERVO CONTROL, k is
Coefficient.
Below by taking strange subtract very as an example, carrying out the derivation of equation, (occasionally subtracting even need to be by Φ0Change-Φ into0)：
According to formula (8), can set the sampled value of previous strange modulation period as：
The sampled value of latter strange modulation period is：
In formula, Φ1For previous strange closed loop feedback modulation period phase, Φ2For latter strange closed loop feedback modulation period phase,
Two feedback phases are met：
(16) formula and (17) formula are subtracted each other：
(19) formula is analyzed below,
A) it were it not for and all do not resetted in two strange sampling time sections, then it is necessarily zero to have (19) formula；Now 2 π
Whether voltage is accurate, can not also know that (this is also the limitation of intrinsic square-wave frequency modulation gyro, and 2 π electricity can be just discovered when only resetting
Whether pressure is accurate), this does not need the operation of any 2 π voltage parameters；
If b) resetting, for 2 π voltages are accurate, (12), (18) are substituted into (19) formula, its result is necessarily
Zero, now also without the operation of any 2 π voltages；
If c) reset, for 2 π voltages are inaccurate, Section 2 in (19) formulaIt is inevitable
In zero, as Section 1, for specified point, (special rotary speed, special modulation amplitude, special reset phase combination are come
Say) may be zero, but these point be it is unstable, rotary speed slight variation or environmental factor etc. can cause it is unstable, because
This in practice, above-mentioned situation is non-existent, i.e., Section 2 is not zero, that is to say, that (19) formula is not zero.Now need to 2
π voltage parameters carry out SERVO CONTROL to realize the adjustment of 2 π voltage parameters.
With reference to can a), b), c) obtain to draw a conclusion：
When the strange difference for subtracting strange (or occasionally subtracting idol) is zero, show that staircase waveform does not reset or staircase waveform has resetted but 2 π
Voltage is accurate, it is not necessary to the operation of any 2 π voltages；When the strange difference for subtracting strange (or occasionally subtracting idol) is not zero, show that staircase waveform is true
Resetted in fact and 2 π voltages are inaccurate, it is necessary to carry out SERVO CONTROL to 2 π voltage parameters to realize 2 π voltages according to (15) formula
The adjustment of parameter.
Embodiment of the present invention, by monitoring Chi Chi difference in optical fibre gyro in real time, when above-mentioned difference is not zero, then
Show that staircase waveform is resetted, and regard difference as the servo closed control of 2 π voltage adjustment signals progress voltage, Neng Gouzhun
Really determine whether to produce reset, and adjust according to error parameter 2 π voltage parameters；So as to improve the accuracy of optical fibre gyro.
Embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize the present invention
Equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other related technologies
Field, is included within the scope of the present invention.
Claims (1)
1. a kind of method of 2 π voltage parameters in accurate control closed-loop fiber optic gyroscope, it is characterised in that comprise the following steps：
1) intrinsic square-wave frequency modulation and staircase waveform feedback closed loop are carried out to the light wave of input optical fibre ring by Y waveguide, and respectively to this
The luminous power for levying the light wave that detector is reached in the positive negatively-modulated half period of square wave is sampled, and is obtained staircase waveform and is not resetted
When, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation：
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When staircase waveform resets, optical fibre gyro is based on the odd even sampled value after intrinsic square-wave frequency modulation：
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In formula：P0The luminous power of detector is reached during for optical fibre gyro absolute rest；ΦSThe phase difference caused by rotation；ФmFor
Square-wave modulation signal, its value is+Ф 0 or-Ф0, Φ0For square-wave frequency modulation amplitude；ΦfFor closed loop feedback phase, ΦfwFor staircase waveform
The phase difference introduced during reset, when 2 π voltage parameters are accurate, it meets：
Φfw=Φf±2π*k；
K is positive integer in formula；Wherein, Φ is worked asfFor timing, above formula takes negative sign；Work as ΦfDuring to bear, above formula takes positive sign；
2) the even odd sampled value correspondence in reset is subtracted each other with the even odd sampled value before or after resetting, obtained：
Chi Chi subtracts each other：
It is even to subtract each other：
When 2 π voltages change, Δ P2π≠ 0, it is possible thereby to be adjusted by SERVO CONTROL to 2 π voltage parameters, with suitable
Answer 2 new π voltages；
3) by Δ P2πSERVO CONTROL is carried out to 2 π voltage parameters as 2 π voltage adjustment signals：
D2π(2)=D2π(1)+k*ΔP2π；
In formula：D2π(1) it is former 2 π voltage parameters, D before SERVO CONTROL2π(2) it is new 2 π voltage parameters after SERVO CONTROL, k is coefficient.
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| CN110006416A (en) * | 2019-03-20 | 2019-07-12 | 北京航空航天大学 | A kind of square-wave frequency modulation method for high-precision optical fiber gyro |
| CN110906920A (en) * | 2019-12-10 | 2020-03-24 | 西安航天精密机电研究所 | Method for restraining digital closed-loop fiber optic gyroscope reset error |
| CN111998843A (en) * | 2020-08-10 | 2020-11-27 | 中国科学院光电技术研究所 | Low-noise digital double-closed-loop fiber-optic gyroscope signal modulation and demodulation method |
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| CN116046022A (en) * | 2023-03-30 | 2023-05-02 | 中国船舶集团有限公司第七〇七研究所 | Simulation test method and system of fiber-optic gyroscope |
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| CN109459012A (en) * | 2018-12-29 | 2019-03-12 | 重庆华渝电气集团有限公司 | A kind of 2 π voltage parameter full-digital servo of optical fibre gyro adjustment device and method |
| CN110006416A (en) * | 2019-03-20 | 2019-07-12 | 北京航空航天大学 | A kind of square-wave frequency modulation method for high-precision optical fiber gyro |
| CN110906920A (en) * | 2019-12-10 | 2020-03-24 | 西安航天精密机电研究所 | Method for restraining digital closed-loop fiber optic gyroscope reset error |
| CN110906920B (en) * | 2019-12-10 | 2021-05-14 | 西安航天精密机电研究所 | Method for restraining digital closed-loop fiber optic gyroscope reset error |
| CN111998843A (en) * | 2020-08-10 | 2020-11-27 | 中国科学院光电技术研究所 | Low-noise digital double-closed-loop fiber-optic gyroscope signal modulation and demodulation method |
| CN114111754A (en) * | 2022-01-25 | 2022-03-01 | 西安中科华芯测控有限公司 | Fiber optic gyroscope closed-loop control method and system for eliminating reset error and storage medium |
| CN114111754B (en) * | 2022-01-25 | 2022-04-29 | 西安中科华芯测控有限公司 | Fiber optic gyroscope closed-loop control method and system for eliminating reset error and storage medium |
| CN116026304A (en) * | 2023-03-30 | 2023-04-28 | 中国船舶集团有限公司第七〇七研究所 | Optical fiber gyro 2 pi voltage resetting method based on optical path extension |
| CN116046022A (en) * | 2023-03-30 | 2023-05-02 | 中国船舶集团有限公司第七〇七研究所 | Simulation test method and system of fiber-optic gyroscope |
| CN116046022B (en) * | 2023-03-30 | 2023-06-02 | 中国船舶集团有限公司第七〇七研究所 | Simulation test method and system of fiber-optic gyroscope |
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