CN109459012A - A kind of 2 π voltage parameter full-digital servo of optical fibre gyro adjustment device and method - Google Patents
A kind of 2 π voltage parameter full-digital servo of optical fibre gyro adjustment device and method Download PDFInfo
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- CN109459012A CN109459012A CN201811631055.7A CN201811631055A CN109459012A CN 109459012 A CN109459012 A CN 109459012A CN 201811631055 A CN201811631055 A CN 201811631055A CN 109459012 A CN109459012 A CN 109459012A
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- 230000033228 biological regulation Effects 0.000 claims description 4
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Classifications
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- 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
- G01C19/72—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
- G01C19/721—Details
Abstract
The invention discloses a kind of 2 π voltage parameter full-digital servos of optical fibre gyro to adjust device and method, wherein adjustment device includes optical detector, main circuit board and phase-modulator；The main circuit board includes analog switch, amplifying circuit, FPGA, D/A converter and output serial ports；Method of adjustment includes the following steps: 1) to acquire by A/D converter and convert to obtain 2 π voltage parameters；2) whether it is zero by calculating reset error, judges whether 2 π voltage parameters are accurate；3) serrodyne's reset amplitude adjustment is carried out；4) step 3) is repeated, the elimination of reset error is completed.The present invention uses digital resolving mode, can effectively adjust 2 π voltage parameters, and adjusting accuracy is higher, while being conducive to reduce circuit board volume, reduces cost.
Description
Technical field
The present invention relates to 2 π voltage parameter full-digital servo tune of fiber-optics gyroscope field more particularly to a kind of optical fibre gyro
Engagement positions and method.
Background technique
Closed-loop fiber optic gyroscope based on digital staircase feedback is since its precision is high, dynamic range is big, nonlinearity is good etc.
Advantage is widely used in optical fibre gyro.Due to the influence of temperature, the zero bias and constant multiplier of optical fibre gyro are still
There are certain variations, and the two parameters are particularly important for system.Wherein, integrated optical modulator (Y waveguide)
2 π voltages as the variation of temperature is to cause the one of the major reasons of two parameter drifts of optical fibre gyro.Therefore, according to optical fiber
The variation of 2 π voltages carries out temperature drift of the servo adjustment for inhibition optical fibre gyro to 2 π voltage parameters in circuit in gyro
It is of great significance.
Currently, the main method of use is to adjust D/A converter by servo in the optical fibre gyro of intrinsic square-wave frequency modulation
The reference voltage of (referred to as staircase waveform D/A converter) realizes the adjustment of 2 π voltage parameters.This method needs to be re-introduced into a D/A and turns
Parallel operation (referred to as 2 π D/A converters) exports the reference voltage as staircase waveform D/A converter.But it not only causes so whole
The volume of a circuit board increases, and also increases the cost of circuit board.Meanwhile after increasing component, wiring etc. is not only caused
Trouble, and production and processing is also more troublesome, is also easy to cause more error propagations, so that adjusting accuracy be caused to reduce.
Summary of the invention
In view of the above shortcomings of the prior art, it is an object of the invention to solve above-mentioned technical problem, one kind is provided
2 π voltage parameter full-digital servo of optical fibre gyro adjusts device and method, does not need to increase by 2 π D/A converters, using digital solution
Calculation mode can effectively adjust 2 π voltage parameters, and adjusting accuracy is higher, while be conducive to reduce circuit board volume, drop
Low cost.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that such: a kind of 2 π parameter of optical fibre gyro
Full-digital servo adjusts device, including optical detector, main circuit board and phase-modulator；It is characterized by: the main circuit board
Including analog switch, amplifying circuit, FPGA, D/A converter and output serial ports；The optical detector, analog switch, amplification electricity
Road, FPGA, D/A converter and phase-modulator are sequentially connected, and the output serial ports is connected with FPGA.
A kind of 2 π parameter full-digital servo methods of adjustment of 2 π parameter full-digital servo of optical fibre gyro adjustment device, feature
It is: includes the following steps:
1) collected signal is converted to by digital signal by A/D converter, and converts and obtains 2 π voltage parameters；
2) whether it is zero by calculating reset error, judges whether 2 π voltage parameters are accurate, that is, judge Φfw=Φf±2π*
Whether k is true；
In formula, ΦfwThe phase difference introduced during resetting for staircase waveform, k is positive integer, ΦfFor closed loop feedback phase, when
ΦfFor timing, negative sign is taken, works as ΦfWhen being negative, positive sign is taken；
3) if step 2) is set up, show that 2 π voltage parameters are accurate；If step 2) is invalid, pass through formula: JTBh 'n
=Δ P2π*k‘+JTBhn-1Carry out serrodyne's reset amplitude adjustment；
In formula, JTBh 'nFor ladder wave height adjusted, Δ P2πFor reset error, k ' is regulation coefficient, JTBhn-1For
Ladder wave height before adjustment；
And by JTBh 'nAs ladder wave height after D/A converter, it is transported to phase-modulator, passes through phase-modulator
Carry out phase-modulation；
4) step 3) is repeated, until JTBh 'n=JTBhn-1, complete the elimination of reset error.
Further, the corresponding even odd sampled value with before or after resetting of even odd sampled value in reset is subtracted each other, is obtained
Reset error Δ P2π:
Chi Chi subtracts each other:
It is even to subtract each other:
Compared with prior art, the present invention has the advantage that
1, this programme does not need to increase by 2 π D/A converters, by using digital resolving mode, can effectively adjust 2 π electricity
Parameter is pressed, also, after one component of reduction, correspondence reduces relevant peripheral circuit, so as to reduce the generation of error
And introduce, so as to keep the adjusting accuracy of whole device higher.
2, after reducing by a component, correspondence reduces relevant peripheral circuit, is conducive to reduce circuit board volume, reduce
Cost.
3, this method carries out phase-modulation using Digital Way, resolving efficiency can be greatly improved, when making phase-modulation
Between it is shorter, phase-modulation is rapidly completed to be more advantageous to, and guarantee output stability.
Detailed description of the invention
Fig. 1 is the functional block diagram of regulating device in the present invention.
Fig. 2 is 2 π voltage parameter method of adjustment algorithm block diagrams in the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment: referring to Fig. 1, a kind of 2 π parameter full-digital servo of optical fibre gyro adjustment device, including optical detector, main electricity
Road plate and phase-modulator.The main circuit board includes analog switch, amplifying circuit, FPGA, D/A converter and output string
Mouthful；The optical detector, analog switch, amplifying circuit, FPGA, D/A converter and phase-modulator are sequentially connected, described defeated
Serial ports is connected with FPGA out.This programme, which does not need 2 π D/A converters of increase, can effectively adjust 2 π voltages by digital operation
Parameter, also, reduce a component after, correspondence reduce relevant peripheral circuit, so as to reduce error generation and
It introduces, so as to keep the adjusting accuracy of whole device higher.Meanwhile after reducing by a component, correspondence reduces correlation
Peripheral circuit, be conducive to reduce circuit board volume, reduce cost.
Referring to fig. 2, a kind of 2 π parameters based on above-mentioned 2 π parameter full-digital servo of optical fibre gyro adjustment device are digital
Service regulation method, in this programme:
One, optical fibre gyro closed loop principle under intrinsic square-wave frequency modulation:
Detector optical power is reached under square-wave frequency modulation to be expressed with following formula:
In formula: P0(Φ when for optical fibre gyro absolute restS=0) optical power of detector is reached；ΦSFor caused by rotation
Phase difference.
In formula: ΦmAre as follows:
In formula: Φ0For square-wave frequency modulation amplitude, τ be fiber optic loop transition time (light wave transmitted in fiber optic loop one week when
Between).
It, can be respectively to being sampled in the half period of positive negatively-modulated by the above square-wave frequency modulation, the odd even for obtaining optical fibre gyro is adopted
Sample value:
Odd even sampled value is subtracted each other:
Δ P=P--P+=P0sinΦ0sinΦS…………..……………(4)
Square-wave frequency modulation amplitude is once it is determined that as definite value, therefore P0sinΦ0For constant term, can be indicated with A.On the other hand,
Work as ΦSWhen being a small amount of, there is sin ΦS=ΦS, then odd even sampling difference are as follows:
Δ P=A ΦS…………..……………(5)
By (5) formula it is found that the difference that odd even samples under square-wave frequency modulation is directly proportional to caused phase difference is rotated, can be used as
Turning rate output, while will be near total phase difference servo-controlled zero by closed-loop control.Odd even samples after closed-loop control
Value are as follows:
In formula: ΦfFor closed loop feedback phase, meet:
Φf=-ΦS…………..……………(7)
(6) formula may also indicate that are as follows:
Two, staircase waveform closed loop feedback realization principle
Staircase waveform closed loop feedback is the piezoelectricity for utilizing crystal by introducing step signal on the electrode of Y waveguide modulator
What effect was realized.Y waveguide is exactly that will be generated when applying voltage on the crystal by its light wave made of lithium columbate crystal
Phase difference.Phase difference is directly proportional to voltage swing.
In fiber-optic gyroscope light path structure, modulated signals modulation is primary when the light wave that light source issues passes through Y waveguide, passes through
(while first time modulation is carried out to subsequent light wave) is modulated when returning to Y waveguide after fiber optic loop transmission again, is modulated twice
Time interval is that fiber optic loop transmits light wave time, i.e. transition time.The transmission channel of two-beam wave occurs when due to modulating twice
Therefore exchange is introduced into the phase difference in optical path really as the difference (hereinafter referred to as phase modulation) of phase modulation difference twice.
I.e. phase modulation is modulation voltage waveform using the fiber optic loop transition time as the first-order difference of step-length.Therefore constant anti-to generate
Present phase difference Φf, it is necessary to so that feedback voltage signal is constantly risen or fallen and (is risen and correspond to just, decline corresponding negative), wherein rising
Or the amplitude of decline is corresponding with feedback phase difference, is embodied as applying on Y waveguide according to the available closed-loop control of this principle
Add following feedback waveform:
Or:
V in formulaΦfFor corresponding to phase difference ΦfVoltage value, (9) formula indicate introduce forward phase it is poor (staircase waveform rising),
(10) formula indicates to introduce negative sense phase difference (staircase waveform decline).
Above-mentioned waveform is in step shape, referred to as staircase waveform.Staircase waveform cannot infinitely rise or fall, and must be answered
Position, the phase difference and staircase waveform that the voltage difference of reset introduces normally rise or fall and have to differ by between the feedback phase difference of introducing
The integral multiple of 2 π or 2 π will not just cause to reset rotation error.When resetting, detector signal are as follows:
Φ in formulafwIn general (2 π voltages are accurate) phase difference introduced during resetting for staircase waveform meets:
Φfw=Φf±2π*k…………..……………(12)
K is positive integer (1 is generally taken in practical application) in formula, and sign follows the example of in above formula are as follows: works as ΦfFor timing, take
Negative sign；Work as ΦfWhen being negative, positive sign is taken.
By comparing (8) formula and (11) formula can be seen that when the 2 π voltage parameters of optical fibre gyro are accurate (i.e. (12) formula at
It is vertical), according to the periodicity of trigonometric function, it can be seen that reset error will not be introduced during reset.
However (especially when the temperature is changed) when the 2 π voltages of optical fibre gyro change, i.e., (12) formula is invalid,
Reset error can be introduced.Therefore, according to front and back is resetted, reset error size introduces the second closed loop and carries out servo to 2 π voltage parameters
Adjustment is very necessary.
This modulator approach includes the following steps:
Include the following steps:
1) collected signal is converted to by digital signal by A/D converter, and converts and obtains 2 π voltage parameters.
2) whether it is zero by calculating reset error, judges whether 2 π voltage parameters are accurate, that is, judge Φfw=Φf±2π*
Whether k is true；
In formula, ΦfwThe phase difference introduced during resetting for staircase waveform, k is positive integer, ΦfFor closed loop feedback phase, when
ΦfFor timing, negative sign is taken, works as ΦfWhen being negative, positive sign is taken.
3) if step 2) is set up, show that 2 π voltage parameters are accurate；It is public by (mathematical operation) if step 2) is invalid
Formula: JTBh 'n=Δ P2π*k‘+JTBhn-1Serrodyne's reset amplitude adjustment is carried out, to achieve the purpose that adjust 2 π voltage parameters；
In formula, JTBh 'nFor ladder wave height adjusted, Δ P2πFor reset error, k ' is regulation coefficient, JTBhn-1For
Ladder wave height before adjustment；
And by JTBh 'nAs ladder wave height after D/A converter, it is transported to phase-modulator, passes through phase-modulator
Carry out phase-modulation.
Wherein, the corresponding even odd sampled value with before or after resetting of even odd sampled value in reset is subtracted each other, is resetted
Error delta P2π:
Chi Chi subtracts each other:
It is even to subtract each other:
4) step 3) is repeated, until JTBh 'n=JTBhn-1, complete the elimination of reset error.
This method carries out phase-modulation using Digital Way, can greatly improve resolving efficiency, make the phase-modulation time
It is shorter, phase-modulation is rapidly completed to be more advantageous to, and guarantee output stability.
Finally, it should be noted that technical side the above examples are only used to illustrate the technical scheme of the present invention and are not limiting
Case, those skilled in the art should understand that, modification or equivalent replacement of the technical solution of the present invention are made for those, and
The objective and range for not departing from the technical program, are intended to be within the scope of the claims of the invention.
Claims (3)
1. a kind of 2 π voltage parameter full-digital servo of optical fibre gyro adjusts device, including optical detector, main circuit board and phase tune
Device processed；It is characterized by: the main circuit board includes analog switch, amplifying circuit, FPGA, D/A converter and output serial ports；
The optical detector, analog switch, amplifying circuit, FPGA, D/A converter and phase-modulator are sequentially connected, the output
Serial ports is connected with FPGA.
2. a kind of 2 π voltage parameters based on 2 π voltage parameter full-digital servo of optical fibre gyro described in claim 1 adjustment device
Full-digital servo method of adjustment, characterized by the following steps:
1) collected signal is converted to by digital signal by A/D converter, and converts and obtains 2 π voltage parameters；
2) whether it is zero by calculating reset error, judges whether 2 π voltage parameters are accurate, that is, judge Φfw=Φf± 2 π * k are
No establishment；
In formula, ΦfwThe phase difference introduced during resetting for staircase waveform, k is positive integer, ΦfFor closed loop feedback phase, work as ΦfIt is positive
When, negative sign is taken, Φ is worked asfWhen being negative, positive sign is taken；
3) if step 2) is set up, show that 2 π voltage parameters are accurate；If step 2) is invalid, pass through formula: JTBh 'n=Δ
P2π*k‘+JTBhn-1Carry out serrodyne's reset amplitude adjustment；
In formula, JTBh 'nFor ladder wave height adjusted, Δ P2πFor reset error, k ' is regulation coefficient, JTBhn-1For adjustment
Preceding ladder wave height；
And by JTBh 'nAs ladder wave height after D/A converter, it is transported to phase-modulator, is carried out by phase-modulator
Phase-modulation；
4) step 3) is repeated, until JTBh 'n=JTBhn-1, complete the elimination of reset error.
3. 2 π parameter full-digital servo method of adjustment of a kind of optical fibre gyro according to claim 2, it is characterised in that:
The corresponding even odd sampled value with before or after resetting of even odd sampled value in reset is subtracted each other, reset error Δ P is obtained2π:
Chi Chi subtracts each other:
It is even to subtract each other:
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729272A (en) * | 2020-12-21 | 2021-04-30 | 重庆华渝电气集团有限公司 | 2 pi parameter full-digital adjustment method for adjusting step wave coincidence degree of fiber-optic gyroscope |
| 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 |
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| CN112729272A (en) * | 2020-12-21 | 2021-04-30 | 重庆华渝电气集团有限公司 | 2 pi parameter full-digital adjustment method for adjusting step wave coincidence degree of fiber-optic gyroscope |
| 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 |
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