CN109827594B - Zero-position self-compensation system and method for in-plane modal rotation-based symmetrical gyroscope - Google Patents
Zero-position self-compensation system and method for in-plane modal rotation-based symmetrical gyroscope Download PDFInfo
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Abstract
The invention discloses a zero self-compensation system of a symmetrical gyroscope based on in-plane modal rotation, which comprises an axisymmetric harmonic oscillator, a gyroscope driving and detecting modal control subsystem and an in-plane modal rotation control system, wherein the gyroscope driving and detecting modal control subsystem comprises a driving modal control part and a detecting modal control part, the driving modal control part is used for keeping the harmonic oscillator driving direction to work in a resonance state, and the detecting modal control part is used for balancing the stationary wave precession generated by the Coriolis effect and outputting the balanced voltage as the measuring result of the angular velocity. Compared with the rotation modulation of the traditional IMU, the method disclosed by the invention does not need a rotation mechanism, does not additionally increase the complexity of a gyroscope mechanism, and has the advantages of small volume and low cost. Compared with the zero offset suppression technology of the existing axial symmetry gyroscope based on mode inversion, the method disclosed by the invention does not need the switching time of the mode inversion, and can realize uninterrupted sensitivity to the external angular velocity.
Description
Technical Field
The invention relates to the field of gyroscopes, in particular to a zero self-compensation system and a zero self-compensation method for a symmetrical gyroscope based on in-plane modal rotation.
Background
The gyroscope is a sensor for measuring the rotation angular velocity of an object, is a core element in the field of inertial measurement, has very important application in the civil and military fields, and is indispensable in more and more intelligent weapon equipment particularly in the military field. Zero drift is a critical factor faced by gyroscopes that degrades gyroscope accuracy. At present, most gyroscopes adopt a calibration method to compensate null shift. However, because the relationship between the null shift of the gyroscope and the environmental factors has a certain uncertainty, the calibration compensation by using a general method often faces a repetitive challenge, so that the reliability of the compensation is greatly limited.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the technical problem, the invention provides a zero self-compensation system and a zero self-compensation method for a axisymmetric gyroscope rotating on the basis of an in-plane mode.
The technical scheme is as follows: the invention relates to a zero self-compensation system of a symmetrical gyroscope based on in-plane modal rotation, which comprises an axisymmetric harmonic oscillator, a gyroscope driving and detecting modal control subsystem and an in-plane modal rotation control system, wherein the gyroscope driving and detecting modal control subsystem comprises a driving modal control part and a detecting modal control part, the driving modal control part is used for keeping the harmonic oscillator driving direction to work in a resonance state, and the detecting modal control part is used for balancing the stationary wave precession generated by the Coriolis effect and outputting the balanced voltage as the measuring result of the angular velocity.
The in-plane modal rotation control system comprises a rotation matrix calculation algorithm module and an in-plane modal rotation control system; the rotation matrix calculation algorithm module is used for realizing conversion between an electrode coordinate system and a rotation coordinate system, designing an in-plane modal rotation control system under the rotation coordinate system, establishing direct connection with a gyroscope drive and detection modal control subsystem, and taking output under the rotation coordinate system as detection output of the system; the in-plane modal rotation control system eliminates the detection zero position introduced by in-plane modal rotation by utilizing the forward and reverse rotation of the in-plane mode.
The invention also provides a zero self-compensation method of the axisymmetric gyroscope based on in-plane modal rotation, which comprises the following steps:
step 1: under the combined action of the gyroscope driving and detecting mode control subsystem and the in-plane mode rotation control system, the axial direction of the standing wave motion of the axisymmetric harmonic oscillator is at a slow angular speed omega r Rotating;
the motion equation of the gyroscope harmonic oscillator is as follows:
step 2: the in-plane modal rotation control system is utilized to realize the in-plane modal rotation forward and backward transformation;
and step 3: harmonic oscillator displacement signals v under an electrode coordinate system in a gyroscope driving and detection mode control subsystem are realized through a rotation torque array resolving algorithm module in an in-plane mode rotation control system x 、v y Converting the signal into harmonic oscillator displacement signal r under a rotating coordinate system d 、r s ；
At this time, the zero formed by the mechanical error of the harmonic oscillator is:
and 4, step 4: and a signal demodulation means is utilized to inhibit zero drift formed by structural errors of the harmonic oscillator, eliminate detection zero introduced by in-plane modal rotation and output a system measurement result.
Has the advantages that: the invention has the following beneficial effects:
(1) Compared with the rotation modulation of the traditional IMU, the method disclosed by the invention does not need a rotation mechanism, does not additionally increase the complexity of a gyroscope mechanism, and has the advantages of small volume and low cost.
(2) Compared with the zero offset suppression technology of the existing axial symmetry gyroscope based on mode inversion, the method disclosed by the invention does not need the switching time of the mode inversion, and can realize uninterrupted sensitivity to the external angular velocity.
Drawings
FIG. 1 is a block diagram of an axisymmetric gyroscope zero self-compensation system based on in-plane modal rotation modulation;
fig. 2 is a schematic diagram of an axisymmetric resonator in-plane modal rotation (n = 2);
FIG. 3 is a gyroscope drive and detection mode control subsystem;
figure 4 is an in-plane modal rotation control system.
Detailed Description
The technical solution of the present invention will be further described with reference to the following embodiments.
The invention relates to a zero self-compensation system and a zero self-compensation method of a symmetrical gyroscope rotating based on an in-plane modal, which have the following specific implementation theories:
the equation of motion for an axisymmetric gyroscope with harmonic number n can be expressed as:
in the formula, P τ And P ω X, y to the damping principal axis theta τ And a principal axis of stiffness theta ω The rotation matrix of (a);
τ 1,2 and ω 1,2 Time constant and resonant frequency, respectively; eta is precession coefficient. Under the ideal condition, the parameters of two shafts of the harmonic oscillator are the same, and the direction of the main shaft is arbitrary; machining errors and environmental factors lead to inter-axis coupling and uncontrollable spindle orientation.
When harmonic oscillator standing wave is controlled by the force application electrode to be in slow angular velocity omega r When rotating, the displacement of harmonic oscillator is:
r＝P r L (2)
wherein L = [ x y =] T Is the displacement of harmonic oscillator in xy coordinate system, r = [ r ] d r s ] T Is the displacement of harmonic oscillator in rotating coordinate system, P r Is an xy coordinate system to r d r s Transformation matrix of coordinate system:
the combination of formula (1) and formula (2) gives:
wherein,
the method is obtained easily by the formula (3), and under the in-plane modal rotation modulation, the zero position formed by the mechanical error of the harmonic oscillator is as follows:
therefore, the zero position introduced by the structural error of the harmonic oscillator is modulated to 2n omega by the in-plane mode rotation technology r And frequency can effectively inhibit zero drift.
Specifically, as shown in fig. 1, the zero self-compensation system for a axisymmetric gyroscope based on in-plane modal rotation of the present invention includes an axisymmetric resonator 1, a gyroscope driving and detection modal control subsystem 2, and an in-plane modal rotation control system 3.
The axisymmetric resonator 1 is suitable for ring-shaped, disk-shaped, disc-shaped, hemispherical, bell-shaped resonators, etc., and is a schematic diagram of the in-plane modal rotation of a ring-shaped resonator (n = 2) as shown in fig. 2, and under the action of a control system, the standing wave motion of the resonator axially uses a slow angular velocity Ω r Rotating while driving direction r d Is maintained at amplitude A, the detection direction r s And remain static.
The gyroscope drive and detection mode control subsystem 2 is shown in fig. 3 and includes two parts, a gyroscope drive mode controller 2a and a gyroscope detection mode controller 2 b. In the gyro drive mode controller 2a, the drive displacement signal x is output as an electric signal V through the C/V converter 2a1 and the amplification filter 2a2 x And then converted into a rotating coordinate system r by a rotating calculation matrix 3b1 of the in-plane mode rotating control system 3 d Then re-input to the subsystem 2 for driving and detecting mode control of gyroscope, and output as signal r 'through the phase controller 2a3 and the amplitude controller 2a 4' d Then changed into the electrode signal s again by the transpose matrix 362 of the rotation calculation matrix x Is inputted to a voltage/acceleration converter 2a5, converts the electric signal into a drive excitation signal a x And inputting the harmonic oscillator to keep the harmonic oscillator in the driving direction to work in a resonance state. In the detection mode controller, the drive displacement signal y is output as an electric signal V through a C/V converter 2b1 and an amplification filter 2b2 y And then converted into a rotating coordinate system r by a rotating calculation matrix 3b1 of the in-plane mode rotating control system 3 s Then re-input gyroscope drive and detectionThe mode measurement control subsystem 2 outputs a signal r 'through a phase-sensitive demodulator 2b3 and a phase and quadrature controller 2b 4' s Then changed into the electrode signal s again through the transposition matrix 3b2 of the rotation resolving matrix y The input voltage/acceleration converter 2b5 converts the electric signal into a detection excitation signal a y The harmonic oscillator is input to balance the precession of standing wave generated by the Goldfish effect and the measurement result of the output angular velocity of the mode controller is detected
. Wherein 2a1 and 2b1,2a2 and 2b2,2a5 and 2b5 have the same structure.
The in-plane modal rotation control system is shown in fig. 4, and mainly comprises two parts, namely an in-plane modal forward and backward rotation controller 3a and a rotation matrix calculation algorithm 3 b. Resolving the matrix P by rotation r The conversion between the electrode coordinate system and the rotating coordinate system is realized, the control system is designed under the rotating coordinate system, and the direct connection can be established with the gyroscope driving and detection mode control subsystem 2. When the in-plane mode rotation control system 3 works, the gyroscope drive and detection mode control subsystem 2 outputs drive and detection displacement signals x and y as electric signals V after passing through the C/V converters 2a1 and 2b1 and the amplification filters 2a2 and 2b2 x 、v y The electrode coordinate system is converted into a rotating coordinate system r through a rotating resolving matrix 3b1 d 、r s Then inputting the signal into the gyroscope driving and detection mode control subsystem 2 again for subsequent processing, and processing the processed signal r' d And r' s The transposed matrix 3b2 of the rotational solution matrix is transformed into the electrode signal s again x 、s y And the gyroscope driving and detection mode control subsystem 2 is used for processing again to form closed-loop control.
According to theoretical and simulation calculation, modal rotation introduces a sum of eta only, eta is hardly influenced by environment, and sum of n omega r The zero position is concerned, and for this purpose, a forward and reverse rotation mechanism of the in-plane mode is introduced to counteract the error. As shown in fig. 4, the in-plane mode rotation controller gives a positive and negative rotation instruction with a certain period, and the rotation matrix calculation algorithm module determines the rotation matrix and the rotation transpose according to the positive and negative rotation instructionAnd (4) a matrix.
Claims (1)
1. A zero self-compensation method for a rotational axis symmetric gyroscope based on an in-plane mode is characterized by comprising the following steps: the gyroscope driving and detecting mode control subsystem comprises a driving mode control part and a detecting mode control part, the driving mode control part is used for keeping the harmonic oscillator driving direction to work in a resonance state, and the detecting mode control part is used for balancing the stationary wave precession generated by the Coriolis effect and outputting the balanced voltage as the measuring result of the angular velocity;
the in-plane modal rotation control system comprises a rotation matrix resolving algorithm module and an in-plane modal rotation control system; the rotation matrix calculation algorithm module is used for realizing conversion between an electrode coordinate system and a rotation coordinate system, designing an in-plane modal rotation control system under the rotation coordinate system, establishing direct connection with a gyroscope drive and detection modal control subsystem, and taking the output under the rotation coordinate system as the detection output of the system; the in-plane modal rotation control system eliminates a detection zero position introduced by in-plane modal rotation by utilizing the forward and reverse rotation of in-plane modes;
the method comprises the following steps:
step 1: under the combined action of the gyroscope driving and detecting mode control subsystem and the in-plane mode rotation control system, the axial direction of the standing wave motion of the axisymmetric harmonic oscillator is at a slow angular speed omega r Rotating;
the motion equation of the gyroscope harmonic oscillator is as follows:
step 2: the in-plane modal rotation control system is utilized to realize the in-plane modal rotation forward and backward transformation;
and step 3: the gyroscope is driven and detected by a rotation torque array resolving algorithm module in an in-plane modal rotation control systemHarmonic oscillator displacement signal v under electrode coordinate system in state control subsystem x 、v y Converting into harmonic oscillator displacement signal r under rotating coordinate system d 、r s ；
At this time, the zero formed by the mechanical error of the harmonic oscillator is:
and 4, step 4: and a signal demodulation means is utilized to inhibit zero drift caused by structural errors of the harmonic oscillator, eliminate detection zero caused by in-plane modal rotation and output a system measurement result.
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