CN109945894A - The installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame - Google Patents
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Abstract
A kind of installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame, is related to field of inertia technology.The present invention is in order to improve the output accuracy of HRG.The described method includes: calculating installation error vector according to the installation error between harmonic oscillator and outer frame；According to harmonic oscillator vibration displacement relationship and installation error vector, the variable quantity of the excitation capacitor between harmonic oscillator and outer frame is calculated；According to the relational expression of excitation capacitance change and drive factor, drive factor and excitation amplitude after changing are calculated；According to gyroscope output error models, calculates gyroscope output error and carry out error compensation.With the application of the invention, can influence with the installation error of quantitative analysis harmonic oscillator and outer frame to gyro output accuracy, the output of hemispherical reso nance gyroscope is compensated according to gyroscope output error, improves the output accuracy of hemispherical resonant gyro.
Description
Technical field
The present invention relates to the processing and manufacturings of field of inertia technology more particularly to hemispherical resonant gyro and output error to calculate
Compensation method.
Background technique
Hemispherical resonant gyro (Hemispherical Resonant Gyroscope, HRG) is a kind of high-precision, Gao Ke
By property, the novel inertial navigation grade solid vibratory gyroscope of long-life.Compared with traditional mechanical gyroscope and optical gyroscope, hemisphere
Resonator gyroscope has the advantage that the starting time is short, and signal band is wide without high speed rotor, no-movable part in structure, drift
Noise is low, can bear big motor-driven overload, capability of resistance to radiation is strong, and potential failure factor is few, and can be subjected to short time power interruptions
Influence, it is small in size, it is light-weight, it is low in energy consumption, be especially that it has up to 20 years or more working lives.Due to hemispherical resonator
Gyroscope has the advantages that be very suitable to space mission above, it is considered to be one of optimal sensor of field of inertia technology.
In HRG, excitation capacitor is the imagination electricity in the harmonic oscillator by excitation electrode plate and metal-coated membrane on outer frame
Pole plate composition.The starting of oscillation and stabilized amplitude of harmonic oscillator are the driving voltages by being applied on the excitation electrode plate of outer frame
Come what is completed, exciting force is generated by driving voltage to control the amplitude of harmonic oscillator.Force feedback for harmonic oscillator standing wave nodal point
Control is by motivating applied force feedback excitation voltage on capacitor that standing wave nodal point is made to be maintained at initial position in force feedback.?
During harmonic oscillator is vibrated, excitation capacitor is a highly important ring in HRG, and precision and performance to HRG have important shadow
It rings.In the actual processing manufacture of gyroscope and assembling process, the complete weight at resonance subcenter and outer frame center not can guarantee
It closes, the installation error of harmonic oscillator and outer frame is inevitable, they can make excitation system output generate error, leads to gyro
Instrument output parameter drifts about.The installation error of harmonic oscillator and outer frame is specified to the Influencing Mechanism of gyroscope precision, is to formulate
The basis of corresponding error compensating scheme and the gyroscope precision stability for improving batch production, has a very important significance.
The installation error that the present invention devises a kind of easy hemispherical reso nance gyroscope harmonic oscillator and outer frame calculates compensation side
Method, mainly output speed error brought by installation error and output amplitude error.After error has been determined, so that it may to HRG
Output compensate, to improve the output accuracy of HRG.
Summary of the invention
Technical problems to be solved
Goal of the invention of the invention is the provision of the installation error of a kind of hemispherical resonant gyro harmonic oscillator and outer frame
Compensation method, with according to the installation error relationship of foundation, excitation capacitor model and gyroscope output error models to the defeated of HRG
It compensates out, improves the output accuracy of HRG.
The technical solution adopted by the present invention to solve the above technical problem is:
The installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame, the realization process of the method are as follows:
Step 1: calculating excitation electricity by the installation error relationship between hemispherical reso nance gyroscope harmonic oscillator and outer frame
Hold the knots modification of bounds and capacitance gap；
Step 2: integrating out the drive factor and excitation amplitude of excitation capacitor using bounds and capacitance gap；
Step 3: it is defeated to calculate gyroscope according to the output error models that drive factor, excitation amplitude and gyroscope export
Error and carry out error compensation out.
Further, in step 1,
The quantitative description of installation error relationship between hemispherical resonant gyro harmonic oscillator and outer frame is as follows:
Installation error is defined along harmonic oscillator coordinate system xr、yr、zrThe installation error component of axis direction is ix、iy、iz；
Gap between harmonic oscillator and outer frame is not uniformly distributed, and outer frame offsets by original position relative to harmonic oscillator
It sets, deviation post vector is i, and a point N is displaced to outer frame actual bit when there are installation error on outer frame ideal position
N ' the point set, it can thus be concluded that offset relationship
Γ '=Γ+i (1)
Component form of the installation error relationship under harmonic oscillator coordinate system be
In formula: Re、θ、For the corresponding known quantity of ideal position；Re' for the practical outer frame after offset motivate electrode half
Diameter, θ ',The bounds of electrode or more, left and right, R are motivated for practical outer framee′、θ′、For unknown quantity；
Finding out Re' later, need to calculate capacitance gap, expression formula is as follows:
D=Re′-R-h/2 (3)
H is the wall thickness of harmonic oscillator；
Installation error results in the variation of excitation boundary electrode range and capacitance gap, utilizes actual excitation electrode parameter
(bounds and capacitance gap) calculates practical drive factor；
Further, in step 2, the drive factor and excitation amplitude calculating process of capacitor are motivated are as follows:
By known excitation electrode parameter (bounds and capacitance gap), calculates the drive factor of excitation capacitor and swash
Encourage amplitude.
Drive factor are as follows:
Wherein, i is excitation number of poles；
Wherein, U2、V2、W2For the Mode Equation of harmonic oscillator second order resonance stable state.
In calculating, using the maximum value of capacitance gap variation as the operation values of capacitance gap d.
Excitation amplitude fmDescribe the size of electric field force.
Wherein, R is radius surface in harmonic oscillator, ε0For dielectric constant, VmThe voltage magnitude of electrode is motivated for the force feedback of HRG.
M in above formula0It can be calculated according to the following formula:
In formula (7), ρ is the mass density of harmonic oscillator, and h is the wall thickness of harmonic oscillator, and θ is the up-and-down boundary model of harmonic oscillator
It encloses.
Further, in step 3, according to drive factor, excitation amplitude and gyroscope export output error models,
It calculates gyroscope output speed error and carries out error compensation, detailed process are as follows:
It is carried out calculating output speed Ω according to following gyroscope output error models,
In formula (8), Fs45For the force feedback drive factor of HRG, Fs45=Fs2；fmFor force feedback excitation amplitude；ω2It is humorous
Oscillator second order resonance angular frequency；K is the precession coefficient of harmonic oscillator；A is the amplitude of harmonic oscillator, is constant；
According to the installation error of given HRG, model described in formula (8) calculates output shift amount, the output to HRG
Rate compensates, to improve the output accuracy of HRG.
The beneficial effects of the present invention are:
The method of the present invention is related to installation error quantization, the output of excitation capacitance signal, motivates capacitance signal error, gyroscope defeated
Several committed steps such as error out.To realize a whole set of installation error analysis, calculate and compensation scheme, need to excitation system into
Row modeling constructs capacitor incentive program, and carries out analysis of components to the excitation capacitance signal with installation error, can just obtain humorous
The specific influence that the installation error of oscillator and outer frame exports gyro.
By the installation error relationship between hemispherical reso nance gyroscope harmonic oscillator and outer frame, excitation capacitor boundary model is calculated
Enclose the knots modification with capacitance gap；Using excitation boundary electrode range and capacitance gap integrate out excitation capacitor drive factor and
Exciting amplitude；According to the output error models of drive factor and gyroscope output, calculates gyroscope output error and missed
Difference compensation.With the application of the invention, can influence with the installation error between quantitative analysis harmonic oscillator and outer frame to output accuracy, root
The output of hemispherical reso nance gyroscope is compensated according to installation error, improves the output accuracy of hemispherical reso nance gyroscope.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
The mode of applying is used together to explain the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the installation error schematic diagram of harmonic oscillator and outer frame of the invention, and Fig. 2 is gyroscope output error calculating side
The flow chart of method,
Fig. 3 is xr、yr(in figure: a indicates drive factor F to practical drive factor figure in the presence of the eccentric error in directionc0Change
The amount of changing, b indicate drive factor Fs45Knots modification), Fig. 4 zrPractical drive factor figure (figure in the presence of the eccentric error in direction
In: a corresponds to drive factor Fc0, b corresponds to drive factor Fs45), Fig. 5 xr、yrGyroscopic drift caused by the eccentric error in direction
Figure.
Specific embodiment
Such as Fig. 1 to 5, present embodiment is directed to the installation error compensation method of hemispherical resonant gyro harmonic oscillator and outer frame
It is illustrated as follows:
It is as follows to the quantitative description of the installation error between hemispherical resonant gyro harmonic oscillator and outer frame:
Installation error is given along xr、yr、zrThe margin of error i of axis directionx、iy、iz, installation error component is divided into along harmonic oscillator
Sensitive axes deflection error and the sub- sensitive axes deflection error of vertical resonant；xrAxis, yrThe component i of axis directionx、iyFor vertical sensitive axes
Deflection error；zrAxis direction component izIt acts in harmonic oscillator sensitive axes, for along sensitive axes deflection error.
As shown in Figure 1, the gap between harmonic oscillator and outer frame is not uniformly distributed, outer frame is deviated relative to harmonic oscillator
Original position, deviation post vector is i, a point N on outer frame ideal position, when there are installation error, is displaced to outer
N ' point in pedestal physical location, it can thus be concluded that offset relationship
Q '=q+i (1)
Component form of the installation error relationship under harmonic oscillator coordinate system be
In formula: Re、θ、For known quantity；Re' for offset after practical outer frame motivate electrode radius, θ ',For reality
Border outer frame motivates boundary electrode range, Re′、θ′、For unknown quantity.
Finding out Re' later, need to calculate capacitance gap, expression formula is as follows:
D=Re′-R-h/2 (3)
Installation error leads to the variation for motivating boundary electrode range and capacitance gap, and actual excitation electrode parameter is substituted into
Capacitor model is motivated to calculate practical drive factor.
The drive factor and exciting amplitude calculating process of excitation capacitor with installation error are as follows:
Under the conditions of given resonance sub-parameter value, by calculating the capacitance gap under resonance sub-parameter value, force feedback swashs
Encourage the drive factor and exciting amplitude of capacitor.
Drive factor
Wherein, U2、V2、W2For the Mode Equation of second order resonance stable state under this group of resonance sub-parameter value.
By formula (4) it is found that the up-and-down boundary range [θ of electrodet,θb], right boundary rangeAnd capacitance gap d
Electric field excitation coefficient will be had an impact.In calculating, using the maximum value of capacitance gap variation as the operation of capacitance gap d
Value.
Excitation amplitude fmDescribe the size of electric field force.
Wherein, R is radius surface in harmonic oscillator, ε0For dielectric constant, VmThe voltage magnitude of electrode is motivated for the force feedback of HRG.
M in above formula0It can be calculated according to the following formula:
In formula (7), ρ is the mass density of harmonic oscillator, and h is the thickness of harmonic oscillator shell under this group of resonance sub-parameter value, θ
For the latitude value of harmonic oscillator.
The solution process of gyroscope output speed are as follows:
In this step, for the excitation capacitor of HRG, carried out calculating output speed according to following gyroscope output error models
Rate Ω.
In formula (8), Fs45For the force feedback drive factor of HRG, Fs45=Fs2；fmFor force feedback excitation amplitude；ω2It is humorous
Oscillator second order resonance angular frequency；K is the precession coefficient of harmonic oscillator；A is the amplitude of harmonic oscillator, is constant.
In practical applications, it can be calculated according to the model that the installation error and the above method of given HRG are established
Output shift amount compensates the output of HRG, to improve the output accuracy of HRG.
According to another aspect of the present invention, a kind of gyroscope output error calculation process, gyroscope output are additionally provided
Error model algorithm is as shown in Figure 2.
Effect of the invention is verified as follows:
Installation error component is divided into along harmonic oscillator sensitive axes deflection error component izSensitive axis direction is missed with vertical resonant
Difference component ix、iy；Therefore by installation error component according to acting on along harmonic oscillator sensitivity axis direction and the sub- sensitive axes side of vertical resonant
It is studied to being divided into two groups.
Eccentric error ix、iyFor first group: working as ix、iyVariation and i in [- 5 μm, 5 μm] rangezWhen=0, error ix、iy
Caused practical drive factor, as shown in Figure 3.
Eccentric error izFor second group: working as izVariation and i in [- 5 μm, 5 μm] rangex=iyWhen=0, error izIt is caused
Practical drive factor, as shown in Figure 4.
That Fig. 3 is indicated is eccentric error ix、iyIn the presence of practical drive factor.From the figure 3, it may be seen that perpendicular to harmonic oscillator sensitivity
Eccentric error i in axis directionx、iyLead to drive factor Fc0、Fs45Knots modification it is very big, illustrate what eccentric error exported HRG
It influences very big.
zrThe changing rule of drive factor caused by the eccentric error of direction changes linearly, and can pass through calibration compensation
Fall, therefore to z in assembling processrThe alignment precision in direction is of less demanding.
It can be seen that gyroscopic drift and xrDurection component ixVariation be in non-linear relation, with yrDurection component iyAlmost
It is not related, this is because force feedback excitation capacitor be excitation capacitor composition and caused by, it is inclined in single related direction
The presence of heart error leads to driving voltage output error, to be reflected as the drift of gyroscope.It can be right according to this output error
HRG carries out error compensation, as shown in Figure 5.
From above scheme as can be seen that can specifically be counted process provides process a set of reliable and with feasibility
Hemispherical reso nance gyroscope harmonic oscillator installation error is calculated to influence caused by output, and needle is carried out to this error by post-processing
Compensation to property is finally reached the purpose for improving hemispherical reso nance gyroscope precision.
Claims (4)
1. the installation error compensation method of a kind of hemispherical resonant gyro harmonic oscillator and outer frame, which is characterized in that the method
Realization process are as follows:
Step 1: calculating excitation capacitor side by the installation error relationship between hemispherical reso nance gyroscope harmonic oscillator and outer frame
The knots modification of boundary's range and capacitance gap；
Step 2: integrating out the drive factor and excitation amplitude of excitation capacitor using bounds and capacitance gap；
Step 3: calculating gyroscope output according to the output error models that drive factor, excitation amplitude and gyroscope export and missing
Difference simultaneously carries out error compensation.
2. the installation error compensation method of a kind of hemispherical resonant gyro harmonic oscillator and outer frame according to claim 1,
It is characterized in that, in step 1,
The quantitative description of installation error relationship between hemispherical resonant gyro harmonic oscillator and outer frame is as follows:
Installation error is defined along harmonic oscillator coordinate system xr、yr、zrThe installation error component of axis direction is ix、iy、iz；
Gap between harmonic oscillator and outer frame is not uniformly distributed, and outer frame offsets by original position relative to harmonic oscillator,
Deviation post vector is i, and a point N is displaced in outer frame physical location when there are installation error on outer frame ideal position
N ' point, it can thus be concluded that offset relationship
Γ '=Γ+i (1)
Component form of the installation error relationship under harmonic oscillator coordinate system be
In formula: Re、θ、For the corresponding known quantity of ideal position；Re' for offset after practical outer frame motivate electrode radius,
θ′、The bounds of electrode or more, left and right, R are motivated for practical outer framee′、θ′、For unknown quantity；
Finding out Re' later, need to calculate capacitance gap, expression formula is as follows:
D=Re′-R-h/2 (3)
H is the wall thickness of harmonic oscillator；
Installation error results in the variation of excitation boundary electrode range and capacitance gap, is calculated using actual excitation electrode parameter
Practical drive factor out.
3. the installation error compensation method of a kind of hemispherical resonant gyro harmonic oscillator and outer frame according to claim 2,
It is characterized in that, motivating the drive factor and excitation amplitude calculating process of capacitor in step 2 are as follows:
By known excitation electrode parameter, the drive factor and excitation amplitude of excitation capacitor are calculated.
Drive factor
Wherein, i is excitation number of poles；
Wherein, U2、V2、W2For the Mode Equation of harmonic oscillator second order resonance stable state.
In calculating, using the maximum value of capacitance gap variation as the operation values of capacitance gap d.
Excitation amplitude fmDescribe the size of electric field force.
Wherein, R is radius surface in harmonic oscillator, ε0For dielectric constant, VmThe voltage magnitude of electrode is motivated for the force feedback of HRG.
M in above formula0It can be calculated according to the following formula:
In formula (7), ρ is the mass density of harmonic oscillator, and h is the wall thickness of harmonic oscillator, and θ is the up-and-down boundary range of harmonic oscillator.
4. the installation error compensation method of a kind of hemispherical resonant gyro harmonic oscillator and outer frame according to claim 3,
It is characterized in that, in step 3,
According to the output error models that drive factor, excitation amplitude and gyroscope export, gyroscope output speed error is calculated
And carry out error compensation, detailed process are as follows:
It is carried out calculating output speed Ω according to following gyroscope output error models,
In formula (8), Fs45For the force feedback drive factor of HRG, Fs45=Fs2；fmFor force feedback excitation amplitude；ω2For harmonic oscillator
Second order resonance angular frequency；K is the precession coefficient of harmonic oscillator；A is the amplitude of harmonic oscillator, is constant；
According to the installation error of given HRG, model described in formula (8) calculates output shift amount, to the output speed of HRG
It compensates, to improve the output accuracy of HRG.
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| CN111578966A (en) * | 2020-04-09 | 2020-08-25 | 哈尔滨工程大学 | Hemisphere harmonic oscillator characteristic parameter identification method based on LMS algorithm |
| CN113804172A (en) * | 2021-09-29 | 2021-12-17 | 中国船舶重工集团公司第七0七研究所 | Precision assembly device and method for hemispherical resonant gyroscope with planar electrode structure |
| CN114166242A (en) * | 2021-10-29 | 2022-03-11 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for detecting signal nonuniformity of hemispherical resonator gyroscope |
| CN114440851A (en) * | 2022-03-15 | 2022-05-06 | 哈尔滨工业大学 | Method for identifying static installation error and parameters of flat-plate electrode type hemispherical resonator gyroscope, storage medium and equipment |
| CN114858191A (en) * | 2022-07-05 | 2022-08-05 | 中国船舶重工集团公司第七0七研究所 | Error calibration method for detecting electrode of full-angle hemispherical resonator gyroscope |
| CN115031713A (en) * | 2022-04-07 | 2022-09-09 | 哈尔滨工程大学 | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal |
| CN115127533A (en) * | 2022-08-31 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation |
| CN117029874A (en) * | 2023-07-14 | 2023-11-10 | 北京自动化控制设备研究所 | Hemispherical gyroscope assembly error rapid identification method and adjusting device |
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| CN111578966B (en) * | 2020-04-09 | 2021-07-16 | 哈尔滨工程大学 | Hemisphere harmonic oscillator characteristic parameter identification method based on LMS algorithm |
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| CN113804172A (en) * | 2021-09-29 | 2021-12-17 | 中国船舶重工集团公司第七0七研究所 | Precision assembly device and method for hemispherical resonant gyroscope with planar electrode structure |
| CN114166242A (en) * | 2021-10-29 | 2022-03-11 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for detecting signal nonuniformity of hemispherical resonator gyroscope |
| CN114166242B (en) * | 2021-10-29 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for hemispherical resonator gyro detection signal non-uniformity |
| CN114440851A (en) * | 2022-03-15 | 2022-05-06 | 哈尔滨工业大学 | Method for identifying static installation error and parameters of flat-plate electrode type hemispherical resonator gyroscope, storage medium and equipment |
| CN115031713B (en) * | 2022-04-07 | 2023-02-10 | 哈尔滨工程大学 | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal |
| CN115031713A (en) * | 2022-04-07 | 2022-09-09 | 哈尔滨工程大学 | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal |
| CN114858191B (en) * | 2022-07-05 | 2022-09-06 | 中国船舶重工集团公司第七0七研究所 | Error calibration method for detecting electrode of full-angle hemispherical resonator gyroscope |
| CN114858191A (en) * | 2022-07-05 | 2022-08-05 | 中国船舶重工集团公司第七0七研究所 | Error calibration method for detecting electrode of full-angle hemispherical resonator gyroscope |
| CN115127533B (en) * | 2022-08-31 | 2022-11-18 | 中国船舶重工集团公司第七0七研究所 | Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation |
| CN115127533A (en) * | 2022-08-31 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation |
| CN117029874A (en) * | 2023-07-14 | 2023-11-10 | 北京自动化控制设备研究所 | Hemispherical gyroscope assembly error rapid identification method and adjusting device |
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