CN107063227B - Method for accurately controlling 2 pi voltage parameter in closed-loop fiber-optic gyroscope - Google Patents
Method for accurately controlling 2 pi voltage parameter in closed-loop fiber-optic gyroscope Download PDFInfo
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Abstract
The invention discloses a method for accurately controlling a 2 pi voltage parameter in a closed-loop fiber-optic gyroscope, which comprises the following steps: 1) respectively sampling the optical power of the light wave reaching the detector in the positive and negative modulation half periods of the intrinsic square wave to obtain the non-reset step wave, and the fiber-optic gyroscope is based on the intrinsic square waveThe parity sampling value modulated by the eigen square wave is based on the parity sampling value modulated by the intrinsic square wave by the fiber-optic gyroscope when the step wave is reset; 2) correspondingly subtracting the odd/even sampling value in the reset from the odd/even sampling value before or after the reset; 3) will be delta P2πThe 2 pi voltage parameter is servo-controlled as a 2 pi voltage adjustment signal. The invention can accurately judge whether the step wave is reset or not and whether the 2 pi voltage parameter is accurate or not, thereby accurately adjusting the 2 pi voltage parameter of the optical fiber gyroscope, reducing the temperature drift of the optical fiber gyroscope and improving the accuracy of the optical fiber gyroscope.
Description
Technical Field
The invention belongs to the field of fiber optic gyroscopes, and particularly relates to a method for accurately controlling a 2 pi voltage parameter in a closed-loop fiber optic gyroscope.
Background
The closed-loop fiber-optic gyroscope based on digital step wave feedback is widely applied to the fiber-optic gyroscope due to the advantages of high precision, large dynamic range, good nonlinearity and the like. However, due to the influence of temperature, the zero offset and the scale factor of the fiber-optic gyroscope have certain changes, and the two parameters are particularly important for the system. Among them, the 2 pi voltage variation of the integrated optical modulator (Y waveguide) with temperature is one of the important causes for the drift of two parameters of the fiber-optic gyroscope. Therefore, the method for accurately adjusting the 2 pi voltage parameter in the optical fiber gyroscope to adapt to the change of the 2 pi voltage has important significance for inhibiting the temperature drift of the optical fiber gyroscope.
Currently, in an intrinsic square wave modulated fiber optic gyroscope, the main method adopted is to introduce a second closed loop to perform servo control on a 2 pi voltage parameter. The signal on which the second closed loop is based is the error signal at the time of the reset of the step wave feedback signal 2 pi. This requires an accurate determination of the 2 pi reset of the stepped wave feedback signal to achieve an accurate adjustment of the 2 pi voltage.
This involves a method of determining the reset of the step wave and a method of adjusting the 2 pi voltage parameter. At present, the commonly adopted step wave reset method is to use the automatic overflow of the D/a or the register to realize the 2 pi reset, and the corresponding 2 pi reset determination method is to determine whether the step wave is reset by determining the change of the high bit (high 1 bit or high several bits) of the step wave signal: if the high level changes (from 1 to 0 or from 0 to 1), the step wave is judged to be reset, and the 2 pi voltage parameter is adjusted; if not, the step wave is judged not to be reset, and the 2 pi voltage parameter adjustment is not carried out.
The judgment method has certain misjudgment probability, namely when the rotation speed of the fiber-optic gyroscope is larger or very large, the step height of the step wave is inevitably increased (the step height is in proportional relation with the rotation speed), the high position of the step wave signal may be changed, but the step wave is not reset, or the step wave is not changed, and the step wave is reset.
The following is an example: if the step wave signal is defined as an 8-bit signed number (the principle of defining an unsigned number is similar), the range of representation of the step wave signal is: -27～+27-1 (-128- +127), discussed in three cases below:
1) under a small angular velocity, the step height is small, namely the change amplitude of the step wave is small (not larger than 255), if the step height is 5, the value of the step wave signal at a certain moment is 124, when the step wave signal rises again, the value of the step wave signal is 124+5 ═ 129, but the register can only store the number less than 127, 129 can overflow automatically and is changed into-127 (129-;
2) under a large angular rate, the step height is large, the amplitude of change of the step wave is large, if the value of the step wave signal at a certain time is 124, and if the step height is 140, when the step wave signal rises again, the value of the step wave signal is 124+140 ═ 264, which exceeds 127, reset inevitably occurs, the value after reset is 264-;
3) in another case, when the step wave signal crosses the zero point, i.e. the value of the step wave signal changes from negative to positive or positive to negative, the high level will change, for example: the value of the step wave signal at a certain time is-3, if the step height is +10, when the step wave signal rises again, the value of the step wave signal is-3 + 10-7, which does not exceed 127, and reset cannot occur, but the high position of the step wave signal changes (the coincidence position changes), so that misjudgment is caused;
from the three conditions, the possibility of missed judgment and misjudgment existing in the process of judging the reset of the step wave by judging the change of the high level of the step wave is shown, so that the method for searching a new step wave reset judgment method and a method for adjusting the 2 pi voltage parameter have important significance.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: the method for accurately controlling the 2 pi voltage parameter in the closed-loop fiber-optic gyroscope can accurately judge whether the step wave is reset and whether the 2 pi voltage parameter is accurate, thereby accurately adjusting the 2 pi voltage parameter of the fiber-optic gyroscope, reducing the temperature drift of the fiber-optic gyroscope and improving the accuracy of the fiber-optic gyroscope.
In order to solve the technical problems, the invention adopts a technical scheme that: a method for accurately controlling a 2 pi voltage parameter in a closed-loop fiber-optic gyroscope is characterized by comprising the following steps:
1) the method comprises the following steps of performing intrinsic square wave modulation and step wave feedback closed loop on light waves input into a fiber ring through a Y waveguide, and respectively sampling the light power of the light waves reaching a detector in a positive and negative modulation half period of the intrinsic square wave to obtain a parity sampling value of the fiber-optic gyroscope after the modulation of the intrinsic square wave when the step wave is not reset:
when the step wave is reset, the odd-even sampling value of the fiber-optic gyroscope based on the intrinsic square wave modulation is as follows:
in the formula: p0The optical power reaching the detector when the optical fiber gyroscope is absolutely static; phiSA phase difference caused for rotation; phi (mIs a square wave modulated signal with a value of + phi0Or phi0，Φ0Modulating the amplitude for square waves; phifFor closed-loop feedback of phase, phifwFor the phase difference introduced during the step wave reset, when the 2 pi voltage parameter is accurate, it satisfies:
Φfw＝Φf±2π*k；
wherein k is a positive integer; wherein when phifIf the time is positive, the negative sign is taken in the above formula; when phi isfWhen the sign is negative, the positive sign is taken in the above formula;
2) subtracting the odd/even sampling value in the reset with the odd/even sampling value before or after the reset correspondingly to obtain:
odd subtraction:
even-even subtraction:
when the voltage of 2 pi changes, delta P2πNot equal to 0, whereby the 2 pi voltage parameter can be adjusted by servo control to accommodate the new 2 pi voltage;
3) will be delta P2πAnd performing servo control on the 2 pi voltage parameter as a 2 pi voltage adjusting signal:
D2π(2)＝D2π(1)+k*ΔP2π；
in the formula: d2π(1) For servo-controlling the pre-original 2 pi voltage parameter, D2π(2) And k is a coefficient, namely a new 2 pi voltage parameter after servo control.
Compared with the prior art, the invention has the following advantages: the invention can simply, effectively and accurately judge whether the step wave is reset or not, thereby accurately judging whether the 2 pi voltage parameter is accurate or not, further more accurately adjusting the 2 pi voltage parameter to adapt to the new 2 pi voltage, reducing the temperature drift of the optical fiber gyroscope and further improving the measurement accuracy of the optical fiber gyroscope.
Drawings
Fig. 1 is a block diagram of an optical path structure of a fiber-optic gyroscope.
Fig. 2 is a schematic diagram of an ascending step wave.
Fig. 3 is a schematic diagram of a descending step wave.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A method for accurately controlling 2 pi voltage parameters in a closed-loop fiber optic gyroscope is disclosed, wherein, referring to fig. 1, the fiber optic gyroscope comprises a light source, a detector, a coupler, a Y waveguide, a fiber optic ring and an FPGA control chip.
The specific control method comprises the following steps:
1) intrinsic square wave modulation is carried out on the light wave input into the optical fiber ring through the Y waveguide;
the optical power reaching the detector under square wave modulation can be expressed by the following formula:
in the formula: p0For absolute rest of fibre-optic gyroscopeS0) the optical power reaching the detector; phiSIs the phase difference caused by rotation.
In the formula: phimComprises the following steps:
in the formula: phi0For square wave modulation amplitude, τ is the transit time of the fiber ring (the time that the light wave travels one revolution in the fiber ring).
Respectively sampling the optical power of the optical wave reaching the detector in the positive and negative modulation half periods of the intrinsic square wave, thereby obtaining the odd-even sampling value of the Y waveguide in the modulation period:
the parity sample values are subtracted to yield:
ΔP＝P--P+＝P0sinΦ0sinΦS；…………..……………(4)；
since the square wave modulation amplitude is constant once determined, P is0sinΦ0Is a constant term and can be represented by a. On the other hand, when phiSIn small amounts, there is sin ΦS＝ΦSThe difference of the parity samples is then:
ΔP＝AΦS；…………..……………(5)；
as can be seen from equation (5), the difference between the odd and even samples in the square wave modulation is proportional to the phase difference due to the rotation, and can be output as the rotation angular rate, while the total phase difference is servo-controlled by the closed-loop control to be near zero. Thus, the odd-even sampling value after the closed-loop control of the fiber-optic gyroscope is obtained as follows:
in the formula: phifIs a closed loop feedback phase which satisfies:
Φf＝-ΦS；…………..……………(7)
therefore, the formula (6) can also be expressed as:
2) the output light of the optical fiber ring is subjected to step wave feedback through the Y waveguide;
the step wave closed loop feedback is realized by introducing a step wave signal on an electrode of the Y waveguide modulator and utilizing the piezoelectric effect of the crystal. The Y waveguide is made of lithium niobate crystal, and when voltage is applied to the crystal, the phase difference is generated by the light waves passing through the crystal; the phase difference is proportional to the magnitude of the voltage.
As shown in FIG. 1, the optical path structure of fiber-optic gyroscope is provided with light emitted from light sourceThe wave is modulated once by the modulated signal when passing through the Y waveguide, and is modulated again when returning to the Y waveguide after being transmitted by the optical fiber ring (meanwhile, the subsequent optical wave is modulated for the first time), and the time interval of the two-time modulation is the optical wave transmission time of the optical fiber ring, namely the transit time. Since the transmission channels of the two optical waves are exchanged during the two modulations, the phase difference actually introduced into the optical path is the difference of the two modulated phase differences (hereinafter referred to as modulation phase). Namely, the modulation phase is the first difference of the modulation voltage waveform with the transition time of the optical fiber ring as the step length. So that a constant feedback phase difference phi is generatedfThe feedback voltage signal must be made to continuously rise or fall (rising corresponds to positive and falling corresponds to negative), wherein the magnitude of the rise or fall corresponds to the feedback phase difference, and according to this principle, the implementation of closed-loop control can be achieved by applying the following feedback waveform on the Y waveguide:
or:
in the formula VΦfTo correspond to the phase difference phifThe voltage value of (1), (9) represents introduction of a positive phase difference (step rise), and (10) represents introduction of a negative phase difference (step fall).
The waveform is in a step shape called a step wave, and fig. 2 and 3 are schematic diagrams of the step wave. The step wave can not rise or fall infinitely, resetting is necessary, and the phase difference introduced by the reset voltage difference and the feedback phase difference introduced by the normal rising or falling of the step wave have to be different by 2 pi or integral multiple of 2 pi, so that the reset rotation error can not be caused. I.e. reset, the detector signal is:
in the formula phifwFor phase difference introduced during step wave reset, when 2 pi electricityWhen the pressure is accurate, it satisfies:
Φfw＝Φf±2π*k；…………..……………(12)
in the formula, k is a positive integer (generally 1 in practical application), and the sign in the formula is obtained by the following method: when phi isfIf the time is positive, the negative sign is taken in the above formula; when phi isfWhen the sign is negative, the above formula takes a positive sign.
Comparing the equation (8) and the equation (11) shows that when the 2 pi voltage of the fiber-optic gyroscope is accurate, it can be seen that no reset error is introduced during the reset period according to the periodicity of the trigonometric function. However, when the 2 pi voltage of the fiber optic gyroscope changes (particularly when the temperature changes), a reset error is introduced. Therefore, it is necessary to introduce the second closed loop to perform servo control on the 2 pi voltage according to the magnitude of the reset error before and after the reset.
3) When the voltage of 2 pi is inaccurate, the odd-even sampling value in the reset is correspondingly subtracted from the odd-even sampling value before or after the reset, and the following results are obtained:
odd subtraction:
even-even subtraction:
when the voltage of 2 pi changes, delta P2πNot equal to 0, whereby the 2 pi voltage parameter can be adjusted by servo control to accommodate the new 2 pi voltage.
4) Will be delta P2πAnd performing servo control on the 2 pi voltage parameter as a 2 pi voltage adjusting signal:
D2π(2)＝D2π(1)+k*ΔP2π；…………..……………(15)
in the formula: d2π(1) For servo-controlling the pre-original 2 pi voltage parameter, D2π(2) And k is a coefficient, namely a new 2 pi voltage parameter after servo control.
The following formula derivation is performed by taking odd-odd subtraction as an example (even subtraction only needs to be performed on phi)0Conversion to-phi0That is):
according to equation (8), the sampling value of the previous odd modulation period can be set as:
the sampled values for the latter odd modulation period are:
in the formula phi1For closed-loop feedback of phase, phi, for the previous odd modulation period2For the closed-loop feedback phase of the latter odd modulation period, the two feedback phases meet:
subtracting equations (16) and (17) to obtain:
the following is an analysis of the formula (19),
a) if no reset occurs in both odd sample periods, then equation (19) must be zero; whether the 2 pi voltage is accurate or not cannot be known (which is also a limitation of an intrinsic square wave modulation gyro, and whether the 2 pi voltage is accurate or not can be perceived only when reset is carried out), so that any operation of 2 pi voltage parameters is not required;
b) if the reset occurs, for the 2 π voltage, exactly (12), (18) is substituted into (19), which results in zero, and no 2 π voltage operation is required;
c) if a reset occurs, for 2 π voltage inaccuracies, the second term in (19) is
Not necessarily equal to zero, as for the first term for a particular point (particular rotation speed, particular modulation amplitude, particular phase-reset combination)) Possibly zero, but these points are unstable, due to slight variations in the rotation speed or due to environmental factors etc., so that in practice this does not exist, i.e. the second term is not zero, that is to say the expression (19) is not zero. At this time, the 2 pi voltage parameter needs to be servo-controlled to adjust the 2 pi voltage parameter.
The following conclusions can be drawn in conjunction with a), b), c):
when the difference value of odd subtraction and odd subtraction (or even subtraction and even subtraction) is zero, the step wave is not reset or the step wave is reset but the 2 pi voltage is accurate, and the operation of any 2 pi voltage is not needed; when the difference value of odd subtraction and odd subtraction (or even subtraction and even subtraction) is not zero, it indicates that the step wave is reset indeed and the 2 pi voltage is inaccurate, and the 2 pi voltage parameter needs to be servo-controlled according to the formula (15) to realize the adjustment of the 2 pi voltage parameter.
According to the embodiment of the invention, the odd difference value in the fiber-optic gyroscope is monitored in real time, when the difference value is not zero, the step wave is reset, the difference value is used as a 2 pi voltage adjusting signal to carry out servo closed-loop control on the voltage, whether the reset is generated can be accurately judged, and the 2 pi voltage parameter is adjusted according to the error parameter; thereby improving the accuracy of the fiber-optic gyroscope.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (1)
1. A method for accurately controlling a 2 pi voltage parameter in a closed-loop fiber-optic gyroscope is characterized by comprising the following steps:
1) the method comprises the following steps of performing intrinsic square wave modulation and step wave feedback closed loop on light waves input into a fiber ring through a Y waveguide, and respectively sampling the light power of the light waves reaching a detector in a positive and negative modulation half period of the intrinsic square wave to obtain a parity sampling value of the fiber-optic gyroscope after the modulation of the intrinsic square wave when the step wave is not reset:
when the step wave is reset, the odd-even sampling value of the fiber-optic gyroscope based on the intrinsic square wave modulation is as follows:
in the formula: p0The optical power reaching the detector when the optical fiber gyroscope is absolutely static; phiSA phase difference caused for rotation; phi (mIs a square wave modulated signal with a value of + phi0Or phi0，Φ0Modulating the amplitude for square waves; phifFor closed-loop feedback of phase, phifwFor the phase difference introduced during the step wave reset, when the 2 pi voltage parameter is accurate, it satisfies:
Φfw＝Φf±2π*k；
wherein k is a positive integer; wherein when phifIf the time is positive, the negative sign is taken in the above formula; when phi isfWhen the sign is negative, the positive sign is taken in the above formula;
2) subtracting the odd/even sampling value in the reset with the odd/even sampling value before or after the reset correspondingly to obtain:
odd subtraction:
even-even subtraction:
when the voltage of 2 pi changes, delta P2πNot equal to 0, whereby the 2 pi voltage parameter can be adjusted by servo control to accommodate the new 2 pi voltage;
3) will be delta P2πAnd performing servo control on the 2 pi voltage parameter as a 2 pi voltage adjusting signal:
D2π(2)＝D2π(1)+k*ΔP2π；
in the formula: d2π(1) For servo-controlling the pre-original 2 pi voltage parameter, D2π(2) And k is a coefficient, namely a new 2 pi voltage parameter after servo control.
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| CN109737946B (en) * | 2018-12-28 | 2020-07-03 | 北京航空航天大学 | Automatic adjustment method for modulation depth in high-precision fiber-optic gyroscope four-state modulation |
| 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 |
| 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 |
| CN111998843B (en) * | 2020-08-10 | 2022-10-21 | 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 |
| 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 |
| 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 |
| CN116026304B (en) * | 2023-03-30 | 2023-06-23 | 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 |
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