CN110530354B - Laser gyroscope jitter circuit with single-side power supply and jitter control method - Google Patents
Laser gyroscope jitter circuit with single-side power supply and jitter control method Download PDFInfo
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- 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
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
- G01C19/662—Ring laser gyrometers details signal readout; dither compensators
- G01C19/664—Ring laser gyrometers details signal readout; dither compensators means for removing the dither signal
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Abstract
The invention relates to a single-side power supply laser gyroscope jitter circuit and a jitter control method, wherein the circuit comprises a microcontroller, a feedback unit and a driving unit; the microcontroller controls other units to carry out laser gyro jitter control; the feedback unit is used for feeding back the conditioning of the laser gyro jitter feedback signal; the driving unit is used for amplifying a dither wheel driving signal of the laser gyroscope; all circuit chips are powered by single 5V, the operational amplifier bias voltage adopts 2.5V bias, and the driving unit adopts 300V power supply. The invention can reduce the complexity, volume and power consumption of the system power supply design.
Description
Technical Field
The invention relates to the field of laser gyro control, and is suitable for controlling the shaking of a laser gyro shaking wheel.
Background
With the wide application of laser inertial navigation in various national defense fields, the market demand of miniaturized and high-precision laser gyros is also increased rapidly. The miniaturized laser inertial measurement unit has the characteristics of small volume, low power consumption, long service life, high reliability, strong space environment adaptability and the like, and is suitable for being applied to space detectors of missiles, weapons, carrier rockets, upper-level and orbit transfer aircrafts, synchronous satellites, low-orbit, high-orbit, deep space and the like and other space aerospace application fields needing high miniaturization and low power consumption.
It is known that, because a "lock area" exists in a laser gyro and can have a great influence on the precision of the gyro, a "frequency offset" method must be adopted when the laser gyro is used to lock the gyro, so that the laser gyro can be normally used. The design, power consumption, volume and the requirement on an external power supply of the traditional laser gyro dither circuit are complex, so that the power consumption and the volume of the whole laser inertial measurement unit are greatly influenced.
A laser gyro dither control system is a system for realizing laser gyro dither wheel control, a traditional hardware circuit comprises an amplitude adjusting link, an error integrating link, a multiplier, a zero-crossing comparator, a sampling pulse generator, a sampling retainer and other devices, the device has numerous structures, the hardware circuit is complex and large in volume, with the development of digital miniaturization, some dither control circuits realized by a microcontroller are also appeared at present, most of feedback circuits and driving circuit chips usually adopt +/-15V or +/-5V for power supply, the dither wheel driving mode adopts a mode that the microcontroller combines a triode mode to form tristate square waves for control or the microcontroller combines a multiplier and a power tube for bilateral amplification to form sine wave driving signals, the two modes still need a positive power supply and a negative power supply for bilateral driving power supply, and the system needs to separately design a power supply module for driving power supply, and the complexity, the volume and the power consumption of the system power supply design are increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the laser gyroscope shaking circuit with single-side power supply and the shaking control method are provided, and the complexity, the size and the power consumption of the system power supply design can be reduced.
The technical scheme of the invention is as follows: a laser gyro dither circuit with single-side power supply comprises a microcontroller, a feedback unit and a driving unit; the microcontroller controls other units to carry out laser gyro jitter control; the feedback unit is used for feeding back the conditioning of the laser gyro jitter feedback signal; the driving unit is used for amplifying a dither wheel driving signal of the laser gyroscope; all circuit chips are powered by single 5V, the operational amplifier bias voltage adopts 2.5V bias, and the driving unit adopts 300V power supply.
The microcontroller comprises an external trigger IO and an analog-to-digital converter; the frequency signal of a wheel feedback signal is fed back by an external trigger IO, the analog-to-digital converter is used for feeding back the amplitude signal of the wheel feedback signal, the driving unit generates a wheel driving signal of a variable frequency, meanwhile, the analog-to-digital converter obtains the maximum amplitude value of the wheel feedback signal in a frequency conversion frequency range, the corresponding driving frequency is the resonant frequency point of the wheel, and the feedback signal through the external trigger IO can be closed-loop to generate a corresponding driving signal.
The feedback unit consists of a gain adjusting unit, a filtering unit, a comparator unit and an amplitude extracting unit;
the gain adjusting unit is used for linearly adjusting the jitter feedback signal of the jitter wheel to an acceptable voltage range, and sending the adjusted signal to the filtering unit as a sine wave signal of the jitter frequency of the jitter wheel;
the filtering unit is used for filtering the sine wave signal sent by the gain adjusting unit and sending the filtered sine wave signal to the comparator unit and the amplitude extracting unit;
the comparator unit is a high-speed comparator powered by a single power supply, the comparator compares an input filtered sine wave signal with 2.5V in a hysteresis comparison mode to generate a square wave signal and sends the square wave signal to an external trigger IO;
the amplitude extraction unit obtains the peak voltage of the input filtered sine wave signal by adopting a peak extraction circuit and sends the peak voltage to the analog-to-digital converter.
The driving unit consists of a driving signal processing unit and a driving amplifying unit; the driving amplification unit adopts single 300V for power supply; the driving processing unit is used for processing a driving signal generated by the microcontroller, the microcontroller forms a required output waveform through PWM or DAC and sends the output waveform to the driving processing unit, and the driving processing unit shapes the signal to form a small-signal driving waveform with direct current offset and sends the small-signal driving waveform to the driving amplifying unit; the driving amplification unit amplifies the output signal of the driving processing unit to generate an amplified driving signal with direct current bias, and then the amplified driving signal is isolated by a capacitor to form an alternating current driving signal which is sent to the shaking wheel for driving.
The driving amplification unit consists of an amplifier N1, resistors R1-R7, capacitors C1-C3, triodes V1-V3 and a diode V4, wherein the N1 is powered by a 5V single power supply, and a driving part is powered by 300V; the C1 is used for preventing the circuit from self-excitation, the C1 is connected to the negative phase input end and the output end of the N1, the R2 and the R6 are used as the feedback part of the circuit, and the amplification factor is changed by adjusting the resistance value of the R6, so that the peak-to-peak value of the driving signal is adjusted; r2 is connected to the positive phase input end of N1 and the ground, R6 is connected to the positive phase input end of N1 and the emitter of V3, the middle of the output of N1 and the B pole of V1 is connected by R3, one end of R4 is connected to the B poles of R3 and V1, one end of R4 is connected to the ground, the E pole of V1 is connected to the ground, the C pole is connected to the B pole of V2 and the negative terminals of C2 and V4, and is connected to 300V through R5, the E pole of V2 is connected to the B pole of V3, the C pole of V2 is connected to the C pole of V3 and is connected with 300V, C2 is connected to the in-phase amplification end of operational amplifier, the driving signal filters out the direct current signal through C3, and forms an alternating current driving.
The driving waveform with the direct current bias of the small signal is a tri-state wave with bias or a sine wave with bias.
All devices related to voltage power supply in the feedback unit and the driving unit are supplied with power by single 5V, and the microcontroller selects a singlechip supplied with power by 5V or 3.3V.
A method for controlling the laser gyro dithering by utilizing the laser gyro dithering circuit with single-side power supply comprises the following steps:
(1) the microprocessor forms a driving signal which generates linear frequency change between 300Hz and 1000Hz by controlling the driving unit, the analog-to-digital converter reads a direct current signal fed back by the amplitude extraction unit, the amplitude extraction unit generates a maximum value signal when the frequency of the shaking wheel driving signal is a shaking wheel resonant frequency point in the frequency conversion process, the microcontroller finds out the resonant frequency of the shaking wheel in such a way, and then sends out the frequency control signal, and the comparator unit generates square waves of the shaking wheel resonant frequency;
(2) and the microprocessor turns off the driving signal, interrupts the edge triggered by the external trigger IO through the comparator unit according to the signal fed back by the dither wheel, calculates the driving waveform, controls and drives and controls the dither wheel, and enables the system to be closed-loop.
(3) The microcontroller continuously monitors the quantity of the analog-to-digital converter, compares the quantity with an internal reference, and adjusts the amplitude or pulse width value of an output signal according to a comparison result to adjust the driving energy so as to stabilize the dither wheel.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts single power supply design, the whole system chip only needs single 5V power supply, the requirement on an external power supply is reduced, and the power consumption of the system can be reduced.
(2) The design of the driving amplification circuit enables the shaking system to adopt single 300V power supply to form a driving signal of the shaking wheel, reduces the power supply of the original system which needs a positive power supply and a negative power supply independently, and can be combined with the 300V frequency stabilization control system to supply power, thereby greatly reducing the requirement on an external power module.
Drawings
FIG. 1 is a block diagram of the present invention.
Fig. 2 is a schematic diagram of a driving amplifying unit according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
FIG. 1 shows a schematic diagram of a system, comprising: the system comprises a microcontroller 1, a feedback unit 2 and a driving unit 3; the microcontroller 1 controls other units to carry out laser gyro jitter control; the feedback unit 2 is used for feeding back the conditioning of the laser gyro jitter feedback signal; the driving unit 3 is used for amplifying a dither wheel driving signal of the laser gyroscope; all circuit chips are powered by single 5V, the operational amplifier bias voltage adopts 2.5V bias, and the driving unit 3 adopts 300V power supply. The microcontroller 1 comprises an external trigger IO101 and an analog-to-digital converter 102; the external trigger IO101 feeds back a frequency signal of a wheel shaking feedback signal, the analog-to-digital converter 102 is configured to feed back an amplitude signal of the wheel shaking feedback signal, the driving unit 3 generates a frequency-variable wheel shaking driving signal, meanwhile, the analog-to-digital converter 102 obtains a maximum amplitude value of the wheel shaking feedback signal within a frequency-variable frequency range, a corresponding driving frequency is a resonant frequency point of the wheel shaking, and a corresponding driving signal can be generated in a closed loop through the feedback signal of the external trigger IO 101. The feedback unit 2 is composed of a gain adjusting unit 201, a filtering unit 202, a comparator unit 203 and an amplitude extracting unit 204; the gain adjustment unit 201 is configured to linearly condition a jitter feedback signal of the jitter wheel to an acceptable voltage range, and send the conditioned signal to the filtering unit 202 as a sine wave signal of a jitter frequency of the jitter wheel; the filtering unit 202 is configured to filter the sine wave signal sent by the gain adjusting unit 201, and send the filtered sine wave signal to the comparator unit 203 and the amplitude extracting unit 204; the comparator unit 203 is a high-speed comparator powered by a single power supply, and the comparator compares an input filtered sine wave signal with 2.5V in a hysteresis comparison mode to generate a square wave signal and sends the square wave signal to the external trigger IO 101; the amplitude extraction unit 204 obtains the peak voltage of the input filtered sine wave signal by using a peak extraction circuit, and sends the peak voltage to the analog-to-digital converter 102. The driving unit 3 consists of a driving signal processing unit 301 and a driving amplifying unit 302; the driving amplification unit 302 adopts single 300V power supply; the driving processing unit 301 is used for processing the driving signal generated by the microcontroller 1, the microcontroller 1 forms a required output waveform through PWM or DAC and sends the output waveform to the driving processing unit 301, the driving processing unit 301 shapes the signal to form a small-signal driving waveform with dc offset, and sends the small-signal driving waveform to the driving amplifying unit 302; the driving amplification unit 302 amplifies the output signal of the driving processing unit 301 to generate an amplified driving signal with a dc bias, and then forms an ac driving signal after being isolated by a capacitor and sent to the dither wheel for driving.
All the devices related to the voltage supply in the feedback unit 2 and the driving unit 3 are supplied with single 5V power, and the driving amplification unit 302 is supplied with single 300V power. Microcontroller 1 can select 5V power supply or 3.3V power supply's singlechip for use, when selecting for use the microcontroller of different power supplies, whether to pay attention to microcontroller interface and peripheral circuit matching.
The gain adjustment unit 201 is configured to linearly amplify or reduce a jitter feedback signal of the jitter wheel to a range acceptable by a subsequent circuit, and the circuit adopts a single power supply 5V in combination with a 2.5V dc offset mode, so that the output of the stage is a jitter driving feedback signal after 2.5V dc offset superposition processing, and the signal is a sine wave signal of a jitter frequency of the jitter wheel and then sent to the filtering unit 202.
The filtering unit 202 is configured to filter the signal sent by the gain adjusting unit 201, similarly output a 2.5V dc offset superimposed and filtered signal by adopting a single 5V power supply and 2.5V offset mode, and send the signal to the comparator unit 203 and the amplitude extracting unit 204.
The comparator unit 203 adopts a high-speed comparator powered by a single power supply, the comparator adopts a hysteresis comparator mode, an input signal is compared with 2.5V, and a square wave signal is generated and sent to an external trigger IO101 of the microcontroller 1.
The amplitude extraction unit 204 obtains the peak voltage of the input signal by using a peak extraction circuit, and sends the peak voltage to the analog-to-digital converter 102 of the microcontroller 1.
The microcontroller 1 finds a resonance point of the dither wheel according to the input of the external trigger IO101 and the analog-to-digital converter 102, and generates a corresponding driving signal.
The driving processing unit 301 is configured to process the driving signal generated by the microcontroller 1, the microcontroller 1 forms a required output waveform through PWM or DAC, and sends the output waveform to the driving processing unit 301, and the driving processing unit 301 shapes the signal to form a small-signal driving waveform with dc bias, where the waveform may be a tri-state wave with bias or a sine wave with bias, and sends the waveform to the driving amplifying unit 302.
The driving amplification unit 302 amplifies the output signal of the driving processing unit 301 to generate an amplified driving signal with a dc bias, and then forms an ac driving signal after dc blocking by a capacitor, and sends the ac driving signal to the dither wheel for driving.
Fig. 2 is a schematic diagram of a driving amplifying unit, an input signal is a processed driving small voltage signal output by the front microcontroller 1, already contains driving information of a dither driving signal, including noise information, frequency information, relative amplitude information, etc., the input signal is connected to the driving amplifying unit through a resistor R1, the driving amplifying unit is composed of an amplifier N1, resistors R1-R7, capacitors C1-C3, triodes V1-V3, and a diode V4, the N1 is powered by a 5V single power supply, the driving part is powered by 300V,
c1 can prevent the circuit from self-exciting, C1 is connected to the negative phase input and output of N1, R2 and R6 are used as the feedback part of the circuit, the amplification factor can be changed by adjusting the resistance of R6, so that the peak-to-peak value of the driving signal can be adjusted, R2 is connected to the positive phase input of N1 and ground, R6 is connected to the positive phase input of N1 and the emitter of V3, the output of N1 is connected to the B pole of V1 by R3, R4 is connected to the B poles of R3 and V3 at one end and is connected to ground at the other end, the E pole of V3 is connected to the B pole of V3 and the negative pole of V3, the C pole of V3 is connected to the B pole of V3 and is connected to the negative pole of C3, the C3 is connected to the in-phase amplification end of the V3, the driving signal filters the direct current through C3, so as to form the driving signal of the oscillating wheel.
The system has the working flow as follows:
(1) the microprocessor 1 forms a driving signal generating a frequency linear change between 300Hz and 1000Hz by controlling the driving unit 3, the analog-to-digital converter 102 reads the DC signal fed back by the amplitude extraction unit 204, the amplitude extraction unit 204 generates a maximum value signal when the frequency of the dither wheel driving signal is a dither wheel resonant frequency point in the frequency conversion process of the dither wheel driving signal, the microcontroller 1 finds out the resonant frequency of the dither wheel by the way, and then sends out the frequency control signal, and the comparator unit 203 generates a square wave of the dither wheel resonant frequency.
(2) The microprocessor 1 turns off the driving signal, then interrupts the edge triggered by the external trigger IO101 through the comparator unit 203 according to the signal fed back by the dither wheel, calculates the driving waveform, and then controls and drives and controls the dither wheel, so that the system is closed-loop.
(3) The microcontroller constantly monitors the amount of the analog-to-digital converter 102, compares the amount with an internal reference, and adjusts the amplitude or pulse width value of the output signal according to the comparison result to adjust the driving energy, so that the dither wheel is stabilized.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. The utility model provides a laser gyro of unilateral power supply shakes circuit which characterized in that: comprises a microcontroller (1), a feedback unit (2) and a driving unit (3); the microcontroller (1) controls the feedback unit (2) and the driving unit (3) to carry out laser gyro jitter control; the feedback unit (2) is used for feeding back the conditioning of the jitter feedback signal of the laser gyroscope; the driving unit (3) is used for amplifying a dither wheel driving signal of the laser gyroscope; all circuit chips are powered by single 5V, and the operational amplifier bias voltage is biased by 2.5V;
the driving unit (3) consists of a driving signal processing unit (301) and a driving amplifying unit (302); the driving signal processing unit (301) is used for processing a driving signal generated by the microcontroller (1), the microcontroller (1) forms a required output waveform through PWM or DAC and sends the output waveform to the driving signal processing unit (301), the driving signal processing unit (301) shapes the signal to form a small-signal driving waveform with direct current bias and sends the small-signal driving waveform to the driving amplification unit (302); the driving amplification unit (302) amplifies an output signal of the driving signal processing unit (301) to generate an amplified driving signal with direct current bias, and then forms an alternating current driving signal after the direct current is blocked by a capacitor and sends the alternating current driving signal to the shaking wheel for driving;
the driving amplification unit (302) consists of an amplifier N1, resistors R1-R7, capacitors C1-C3, triodes V1-V3 and a diode V4, wherein the N1 is powered by a 5V single power supply, and a driving part is powered by 300V; an input signal of the driving amplification unit (302) is connected to a negative phase input end of the N1 through R1; the C1 is used for preventing the circuit from self-excitation, and two ends of the C1 are respectively connected to the negative phase input end and the output end of the N1; r2 and R6 are used as a feedback part of the circuit, the amplification factor is changed by adjusting the resistance value of R6, so that the peak-to-peak value of a driving signal is adjusted, two ends of R2 are respectively connected to a positive phase input end of N1 and the ground, two ends of R6 are respectively connected to a positive phase input end of N1 and an E stage of V3, and an output end of N1 is connected with a B stage of V1 through R3; one end of R4 is connected to R3 and the B pole of V1, and the other end is connected to the ground; the C pole of V1 is connected to the B pole of V2, one end of C2 and the negative end of V4, and is connected to 300V through R5, and the E pole of V1 is connected to the ground; the C pole of V2 is connected to the C pole of V3 and connected with 300V, and the E pole of V2 is connected to the B pole of V3; the E pole of V3 is connected to one end of C3 and the positive end of V4, the other end of C3 is connected to R7, and the other end of R7 is connected to ground; the other end of the C2 is connected to the non-inverting input end of the amplifier N1, and the C3 is used for filtering out the DC signal in the driving signal to form an AC driving signal to drive the dither wheel to move.
2. The single-side-powered laser gyro dither circuit of claim 1, characterized in that: the microcontroller (1) comprises an external trigger IO (101) and an analog-to-digital converter (102); the external trigger IO (101) feeds back a frequency signal of the jitter feedback signal, the analog-to-digital converter (102) is used for feeding back an amplitude signal of the jitter feedback signal, the driving unit (3) generates a variable-frequency jitter wheel driving signal, meanwhile, the analog-to-digital converter (102) obtains the maximum amplitude value of the jitter feedback signal in a variable-frequency range, the corresponding driving frequency is a resonance frequency point of the jitter wheel, and the feedback signal of the external trigger IO (101) can be used for generating the corresponding driving signal in a closed loop mode.
3. The single-side-powered laser gyro dither circuit of claim 2, characterized in that: the feedback unit (2) is composed of a gain adjusting unit (201), a filtering unit (202), a comparator unit (203) and an amplitude extracting unit (204);
the gain adjusting unit (201) is used for linearly conditioning the jitter feedback signal to an acceptable voltage range, and sending the conditioned signal to the filtering unit (202) as a sine wave signal of the jitter frequency of the wheel jitter;
the filtering unit (202) is used for filtering the sine wave signal sent by the gain adjusting unit (201) and sending the filtered sine wave signal to the comparator unit (203) and the amplitude extracting unit (204);
the comparator unit (203) is a high-speed comparator powered by a single power supply, the comparator compares an input filtered sine wave signal with 2.5V in a hysteresis comparison mode to generate a square wave signal and sends the square wave signal to an external trigger IO (101);
the amplitude extraction unit (204) adopts a peak value extraction circuit to obtain the peak value voltage of the input filtered sine wave signal, and sends the peak value voltage into the analog-to-digital converter (102).
4. The single-side-powered laser gyro dither circuit of claim 1, characterized in that: the driving waveform with the direct current bias of the small signal is a tri-state wave with bias or a sine wave with bias.
5. The single-side-powered laser gyro dither circuit of claim 1, characterized in that: the microcontroller (1) adopts a 5V power supply singlechip.
6. A method for controlling the dithering of a laser gyro by using the single-side powered laser gyro dithering circuit of claim 3, characterized by the steps of:
1) the microcontroller (1) forms a driving signal with the frequency varying linearly between 300Hz and 1000Hz by controlling the driving unit (3), the analog-to-digital converter (102) reads a direct current signal fed back by the amplitude extraction unit (204), and the amplitude extraction unit (204) generates a maximum value signal when the frequency of the driving signal of the vibration wheel is a vibration wheel resonance frequency point in the frequency variation process; the microcontroller (1) finds the resonant frequency of the wheel shaker in the mode, then sends out a frequency control signal, and at the moment, the comparator unit (203) can generate square waves of the resonant frequency of the wheel shaker;
2) the microcontroller (1) turns off a driving signal, then the edge triggered by an external trigger IO (101) is interrupted through a comparator unit (203) according to a signal fed back by the dither wheel, a driving waveform is calculated, and the dither wheel is subjected to driving control, so that a system is closed-loop;
3) the microcontroller continuously monitors the amount of the analog-to-digital converter (102), compares the amount with an internal reference, and adjusts the amplitude or pulse width value of the output signal according to the comparison result to adjust the driving energy so as to stabilize the dither wheel.
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| JP3718786B2 (en) * | 1997-02-17 | 2005-11-24 | 日本航空電子工業株式会社 | Vibrating gyro |
| CN202229762U (en) * | 2011-07-04 | 2012-05-23 | 北京自动化控制设备研究所 | Laser gyro digital machine shaking control circuit |
| CN102607546B (en) * | 2012-03-06 | 2014-09-17 | 中国人民解放军国防科学技术大学 | Orthogonal error processing method for micromechanical gyroscope and device |
| CN103438876B (en) * | 2013-09-05 | 2016-08-17 | 新乡学院 | A kind of Magnetic Heading System based on numeral fluxgate |
| CN106768290A (en) * | 2015-11-24 | 2017-05-31 | 中国航空工业第六八研究所 | One kind finds dithering-wheel resonant frequency method |
| CN105606084A (en) * | 2015-12-21 | 2016-05-25 | 河北汉光重工有限责任公司 | Mechanically dithered ring laser gyro dither device based on DSP and FPGA |
| CN206656736U (en) * | 2017-03-31 | 2017-11-21 | 北京菲波森思科技有限公司 | A kind of fibre optic gyroscope low-work voltage modulating signal circuit |
| CN108400517A (en) * | 2018-02-13 | 2018-08-14 | 北京航天控制仪器研究所 | A kind of magnetic resonance gyroscope instrument laser drive current modulation circuit and method |
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