CN110570734A - Portable comprehensive experiment box and method for measurement and control circuit - Google Patents

Portable comprehensive experiment box and method for measurement and control circuit Download PDF

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Publication number
CN110570734A
CN110570734A CN201910762844.2A CN201910762844A CN110570734A CN 110570734 A CN110570734 A CN 110570734A CN 201910762844 A CN201910762844 A CN 201910762844A CN 110570734 A CN110570734 A CN 110570734A
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circuit
experiment
signal
module
axis
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李醒飞
鲁建宇
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Tianjin University
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Tianjin University
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
    • G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
    • G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits

Abstract

The invention discloses a portable comprehensive experiment box and a method of a measurement and control circuit, and each experiment of the portable comprehensive experiment box of the measurement and control circuit is designed based on the content of each section of theoretical teaching materials of measurement and control circuit. The system mainly comprises a power supply module, a sensor interface, a plurality of gating switches and a plurality of independent experiment modules, so that students can perform independent basic experiments, a complete closed-loop system can be formed after the experiment modules are connected in series, and the students can replace any module in the system by themselves so as to deeply understand the system. The system integrates a DSP and a peripheral circuit module thereof, and is used for students to carry out digital circuit experiments and know the difference between a digital circuit and an analog circuit by comparing the effect with the effect of the analog experiment. In addition, the system can also communicate with a PC, and the closed loop and debugging of the system are realized through the PC. Expands the thinking of students and improves the comprehensive quality of students in all directions.

Description

portable comprehensive experiment box and method for measurement and control circuit
Technical Field
The invention relates to the technical field of measurement and control circuit experiments, in particular to a portable comprehensive experiment box and a method for a measurement and control circuit based on a dynamically tuned gyroscope analog/digital rebalance loop.
background
The modern information society is an era of rapid development of science and technology, and the progress of modern science and technology continuously promotes the measurement and control technology to realize intellectualization, digitalization, informatization and integration. The measurement and control system plays an important role in the development of the aviation, aerospace and weapon industries in China, food safety monitoring in life, design and application of an intelligent sprinkling irrigation system in the agricultural field, grain storage monitoring and the like. The measurement and control circuit, the sensor and the sensor feedback control jointly form a measurement and control system. Along with the improvement of the social requirement on talent ability of colleges and universities, a 'measurement and control circuit' course is listed as a core course by instruments and electronic information related specialties of colleges and universities nationwide, and a measurement and control circuit experiment is taken as a necessary link for consolidating theoretical course knowledge and practical application and is listed as a necessary course for practice by related specialties.
in the existing test and control circuit experiment box, one or more specific sensors or actuators are adopted for signal processing experiments, the dependence on the principle, materials and process of the sensors is strong, most sensors have a fixed signal processing mode, the improvement of the circuit design capability of an experimenter is limited, the experimenter is limited in the processing and measurement of open-loop signals, and the learned control theory knowledge is difficult to link with the test and control system experiment. Even more, some experimental boxes integrate a digital processing chip and integrated processing software too much, so that an experimenter can hardly understand the signal processing method in depth, and the experimental box can not completely correspond to the theoretical knowledge learned by the experimenter in the process of carrying out the experiment and can not digest and absorb the theoretical knowledge. Therefore, with the conventional measurement and control circuit experimental box, an experimenter can only learn the use method of a specific circuit module, and the knowledge of the whole measurement and control system is seriously insufficient.
the existing experimental box can not enable an experimenter to clearly know the functions of all parts of circuits in a measurement and control system in an experiment, can not improve the capability of the experimenter in designing various circuit modules, and is more difficult to apply the learned measurement control knowledge, particularly the closed-loop control theory. Therefore, the development of the experimental box capable of improving the design capability of the measurement and control circuit of an experimenter and exercising the system thinking of the experimenter has very important value.
disclosure of Invention
the invention aims to overcome the defects in the prior art and provides a comprehensive test box and a comprehensive test method for a measurement and control circuit of a dynamically tuned gyroscope analog/digital rebalance loop, which are based on comprehensive circuit modules and combination of control knowledge application and measurement and control circuit knowledge and crossed by multidisciplinary knowledge.
The purpose of the invention is realized by the following technical scheme:
a portable comprehensive experiment box of a measurement and control circuit comprises a dynamic tuning gyroscope mechanical gauge head and a power supply module, and is also provided with a dynamic tuning gyroscope simulator, a signal amplification experiment module, a signal filtering experiment module, a signal demodulation experiment module, a signal zero setting experiment module, a signal operation circuit module, a correction circuit module and a circuit module experiment box of an actuator driving experiment module, wherein the signal operation circuit module and the correction circuit module comprise a signal operation experiment simulation circuit module, a correction circuit simulation experiment module and a digital operation control loop; each circuit module is an independent module. The power supply module provides power for the dynamic tuning gyroscope mechanical gauge head, the dynamic tuning gyroscope simulator and the circuit module experimental box, the dynamic tuning gyroscope mechanical gauge head is connected with the circuit module experimental box through a mechanical gauge head interface to form a closed loop, and the dynamic tuning gyroscope simulator is connected with the circuit module experimental box through a simulator interface to form a closed loop;
the circuit module experimental box comprises an X-axis circuit and a Y-axis circuit which have the same structure, and a signal operation circuit module and a correction circuit module for realizing matrix operation and amplitude-frequency characteristic adjustment, wherein the X-axis circuit and the Y-axis circuit are respectively composed of a signal amplification experiment module, a signal filtering experiment module, a signal demodulation experiment module, a signal zero-setting experiment module and an actuator driving experiment module which are sequentially connected in series, the signal input end of the signal amplification experiment module is connected with the X-axis signal output end and the Y-axis signal output end of a mechanical gauge head interface or a simulator interface through gauge head gating switches, the signal output end of the signal zero-setting experiment module is connected with an upper computer interface or a signal operation circuit module and a correction circuit module through mode gating switches, and the input ends of the signal operation circuit module and the correction circuit module are connected with the X-axis signal operation experiment analog circuit module through analog/digital mode gating The signal output end of the actuator driving experiment module is correspondingly connected with the X-axis signal input end and the Y-axis signal input end of a mechanical gauge head interface or a simulator interface through gauge head gating switches.
furthermore, the signal input end of the signal amplification experiment module, and the connection points of the signal amplification experiment module, the signal filtering experiment module, the signal demodulation experiment module, the signal zeroing experiment module, the signal operation circuit module and the correction circuit module, the signal operation experiment simulation circuit module, the correction circuit simulation experiment module and the actuator driving experiment module, and the signal output end of the actuator driving experiment module are respectively provided with a wiring terminal for connecting and replacing the corresponding circuit module.
further, the dynamically tuned gyroscope simulator comprises a first function simulator, a second function simulator, a third function simulator and a fourth function simulator, wherein signal input ends of the first function simulator and the third function simulator are connected with a signal output end of an actuator driving experiment module in a second X-axis circuit of the circuit module experiment box, signal input ends of the second function simulator and the fourth function simulator are connected with a signal output end of an actuator driving experiment module in a second Y-axis circuit of the circuit module experiment box, signal outputs of the first function simulator and the second function simulator are respectively connected with a signal input end of a first adder, a signal output end of the first adder is connected with a signal input end of a signal amplifying experiment module in a first X-axis circuit of the circuit module experiment box through a first modulation module, and the signal output ends of the third function simulator and the fourth function simulator are respectively connected with the signal input end of a second adder, and the signal output end of the second adder is connected with the signal input end of a signal amplification experiment module in a first Y-axis circuit of the circuit module experiment box through a second signal modulation module.
Furthermore, the first function simulator is composed of a first combination circuit and a first inverter which are sequentially connected in series, the second function simulator is composed of a second combination circuit, a first Delhi-glass integrator circuit, a first comparator circuit and a second inverter circuit which are sequentially connected in series, the third function simulator is composed of a third combination circuit, a second Delhi-glass integrator circuit and a second comparator circuit which are sequentially connected in series, the fourth function simulator is composed of a fourth combination circuit and a third inverter circuit which are sequentially connected in series, wherein signal input ends of the first combination circuit and the third combination circuit are connected with a signal output end of an actuator driving experiment module in a second X-axis circuit of the circuit module experiment box, signal input ends of the second combination circuit and the fourth combination circuit are connected with a signal output end of an actuator driving experiment module in a second Y-axis circuit of the circuit module experiment box, the signal outputs of the first inverter circuit and the second inverter circuit are respectively connected with the signal input end of the first adder, and the signal outputs of the second proportioner circuit and the third inverter circuit are respectively connected with the signal input end of the second adder.
Further, the first combination circuit, the second combination circuit, the third combination circuit and the fourth combination circuit have the same structure, and each of the first combination circuit, the second combination circuit, the third combination circuit and the fourth combination circuit comprises: the third adder, the fourth phase inverter circuit, the third glass integrator circuit, the fourth glass integrator circuit and the fifth phase inverter circuit which are sequentially connected in series to form a loop, wherein one input end of the two input ends of the third adder is connected with a signal output end of an actuator driving experiment module in a second X-axis circuit of a circuit module experiment box or connected with a signal output end of an actuator driving experiment module in a second Y-axis circuit of the circuit module experiment box, and the output of the fourth glass integrator circuit forms the output of the first combination circuit or the second combination circuit or the third combination circuit or the fourth combination circuit and is correspondingly connected with the first phase inverter or the first glass integrator circuit or the second glass integrator circuit or the third phase inverter circuit.
the other technical scheme is as follows: the utility model provides an application of portable comprehensive experiment case, through portable comprehensive experiment case can realize that signal amplification circuit experiment, signal filter circuit experiment, signal demodulation circuit experiment, signal operation circuit experiment, correction circuit experiment and executor drive experiment, at signal amplification circuit experiment, signal filter circuit experiment, signal demodulation circuit experiment, signal operation circuit experiment, the closed circuit debugging experiment that goes on the basis of correction circuit experiment and executor drive experiment, and the closed circuit debugging experiment that goes on and carry out based on the host computer on the basis of signal amplification circuit experiment, signal filter circuit experiment, signal demodulation circuit experiment, signal zero setting circuit experiment and executor drive experiment.
The other technical scheme is as follows: an experiment method of a portable comprehensive experiment box comprises a signal amplification circuit experiment, a signal filtering circuit experiment, a signal demodulation circuit experiment, a signal operation circuit experiment, a correction circuit experiment, an actuator driving experiment, a closed loop debugging experiment, an identification experiment and a closed loop debugging experiment based on an upper computer;
The signal amplification circuit experiment comprises the following steps:
101) According to the amplitude and the frequency of an input signal and the designed amplification factor, an experimenter designs and builds a single-stage amplification circuit;
102) Respectively recording the response of the built single-stage amplification circuit and the instrument amplification circuit used for the signal amplification experimental module in the circuit module experimental box to the common-mode input signals of 1Hz, 10HZ, 100Hz, 1KHz and 10KHz, and respectively obtaining the common-mode rejection ratio of the built single-stage amplification circuit and the instrument amplification circuit;
103) the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit are adjusted to be 20 times, then the frequency of the differential mode input signal is gradually increased, the frequency when the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit reach the set 20 times is obtained respectively, and the relationship between the bandwidth and the gain of the single-stage amplification circuit and the instrument amplification circuit is obtained;
104) The input of the built single-stage amplifying circuit is connected to the signal output end of the gauge outfit gating switch through a wiring terminal to replace a signal amplifying experimental module in a circuit module experimental box, and the noise level of the output signal of the built single-stage amplifying circuit in a loop is observed;
the signal filtering circuit experiment comprises the following steps:
201) according to the setting of the center frequency and the quality factor to be realized by the band-pass filtering, an experimenter selects the circuit structure of the band-pass filter and calculates the resistance and the capacitance in the corresponding circuit structure;
202) obtaining a frequency domain response curve of the designed circuit, actual center frequency and quality factor by using circuit simulation software, and further adjusting the structure and parameters of the circuit if the design requirement is not met;
203) Building a corresponding actual circuit according to a simulation result, testing a circuit frequency domain response curve, comparing the circuit frequency domain response curve with a curve obtained by simulation, replacing a signal filtering experiment module in a circuit module experiment box if the circuit frequency domain response curve is connected to a loop through a wiring terminal uniformly, and observing the band-pass filtering effect of the built signal filtering circuit;
the signal demodulation circuit experiment comprises the following steps:
301) determining the amplitude and frequency of an input signal, and building a multiplier demodulation circuit by an experimenter;
302) Adjusting the phase of a phase shifter in the built multiplier demodulation circuit until the output of the phase shifter is completely consistent with the output signal phase of a signal filtering experiment module in a circuit module experiment box, connecting the phase shifter to a loop through a wiring terminal, replacing the signal demodulation experiment module in the circuit module experiment box, and observing the amplitude and noise level of the output signal of the built multiplier demodulation circuit;
The signal operation circuit experiment comprises the following steps:
401) An experimenter determines resistance and capacitance parameters in a circuit for realizing matrix operation according to set matrix parameters;
402) performing matrix operation simulation in circuit simulation software, verifying a circuit operation result by using a square wave signal, observing the simulation result, adjusting parameters until a triangular wave signal is obtained from a shaft, and coaxially obtaining the square wave signal in a proportional relation with an input square wave signal;
403) Building a signal operation circuit, carrying out experimental verification by using square waves, observing an experimental result, connecting the signal operation circuit into a loop through a wiring terminal if the experimental result is consistent with a simulation result, replacing a signal operation experimental analog circuit module in a circuit module experimental box, and observing the decoupling effect of the built signal operation circuit in the loop;
The calibration circuit experiment comprises the following steps:
501) Determining a predicted correction target parameter, an expected cut-off frequency and a phase angle margin based on the dynamically tuned gyroscope rebalance loop;
502) an experimenter utilizes mathematical simulation software to simulate to obtain correction circuit parameters and the amplitude-frequency characteristics of an open-close loop of a loop, and calculates to obtain specific capacitance and resistance values in the correction circuit;
503) An experimenter builds a correction circuit, the correction circuit is connected into the loop through a wiring terminal, the correction circuit in the circuit module experiment box is replaced by the simulation experiment module, the step response test of the loop is carried out, and the actual bandwidth of the loop is obtained according to the test curve;
The actuator driving experiment comprises the following steps:
601) An experimenter tests the driving capability of the common operational amplifier circuit to obtain the maximum output current of the common operational amplifier circuit;
602) Selecting a power amplification chip suitable for coil driving, building an amplification circuit by using the selected power amplification chip, testing the maximum current output by the amplification circuit, if the maximum current is greater than 2A, accessing a simulation torque coil, checking whether the 2A driving can be provided, if so, connecting the simulation torque coil to a loop through a wiring terminal, replacing an actuator on a circuit module experimental box to drive an experimental module, otherwise, reselecting the power amplification chip.
further, the closed loop debugging experiment comprises the following steps:
801) changing the input angular speed of a mechanical gauge head of the dynamically tuned gyroscope or a dynamically tuned gyroscope simulator, and observing the change of a modulated signal output by the mechanical gauge head of the dynamically tuned gyroscope or the dynamically tuned gyroscope simulator;
802) Observing the output of the built signal amplifying circuit and the built signal filtering circuit in sequence;
803) adjusting a phase shift circuit in the built signal demodulation circuit, and observing the output of the signal demodulation circuit;
804) Observing and recording the output of the built signal operation experiment simulation circuit module when the mechanical gauge head of the dynamically tuned gyroscope or the angular speed of the x axis or the y axis input by the dynamically tuned gyroscope simulator;
805) Connecting the built correction circuit and the actuator driving circuit into the loop to form a closed loop, observing whether the output amplitude of the mechanical gauge head of the dynamically tuned gyroscope or the x-axis and y-axis of the dynamically tuned gyroscope simulator is less than 200mv or not when no angular velocity disturbance exists, and if so, successfully closing the loop; otherwise, if the closing is not realized, the parameters of the correction circuit are further adjusted according to the simulation result of the correction circuit experiment.
Further, the identification experiment and the closed loop debugging experiment based on the upper computer comprise the following steps:
901) The mode gating switch is switched to a state of being connected with an upper computer interface, an output port of the upper computer interface is respectively connected with input ends of an x axis and a y axis of an actuator driving experiment module, and an input port of the upper computer interface is respectively connected with input ports of the x axis and the y axis of a signal zero setting experiment module;
902) the gauge outfit gating switch is connected with the simulator interface, an upper computer program is called to identify the dynamically tuned gyroscope simulator, an upper computer program of the signal operation circuit module and the correction circuit module is called, parameters of signal operation are set according to the identification result to form a closed loop, whether the output amplitude values of the x axis and the y axis of the dynamically tuned gyroscope simulator are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing is not realized;
903) The gauge head gating switch is connected with a mechanical gauge head interface, an upper computer program is called to identify the mechanical gauge head of the dynamically tuned gyroscope, an upper computer program of a signal operation and correction circuit is called, parameters of the signal operation are set according to an identification result to form a closed loop, whether the output amplitude values of an x axis and a y axis of the mechanical gauge head of the dynamically tuned gyroscope are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing is not realized;
904) In step 902), step 903) after the loop is successfully closed, switching the mode gating switch to a state of connecting the signal operation circuit module and the correction circuit module, switching the analog/digital mode gating to a state of connecting the digital operation control loop, transmitting the identification data into the DSP, and detecting the loop closing effect; meanwhile, an experimenter can design a signal operation simulation circuit according to the identification data, and replaces the signal operation experiment simulation circuit module to perform a contrast experiment.
compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the experimental box and the method of the invention design and debug the comprehensive experiment of the measurement and control circuit based on the rebalance loop of the gyroscope, integrate the design and debugging of eight circuit modules such as signal modulation, amplification, filtering, demodulation, zero setting, operation, control, actuator driving and the like, can not only carry out the independent experiment of each module in the experimental system, but also can mutually link each independent module of the experimental system to form a closed loop system to complete the comprehensive experiment of the rebalance loop of the gyroscope, thereby not only enabling an experimenter to be familiar with and master the design of various circuit modules, but also guiding the experimenter to learn the design method of the closed loop system circuit.
2. traditional analog operation and control circuit relatively solidify, and this experimental system has increased the digital module part, adopts DSP and peripheral circuit's realization, all has very big help to the derivation of experimenter's analog circuit digitization theory to and the promotion of practice operation ability, makes this experimental system's operation and control circuit's design more nimble, strengthens this experimental system's experimental nature.
3. in order to provide parameter basis for an operation circuit of the experimental system, the experimental system is additionally provided with a dynamically tuned gyroscope identification part, and the problem of model ambiguity of the dynamically tuned gyroscope applied to experimenters is effectively solved. The system has the advantages that an experimenter can master the design and application of basic independent modules in the measurement and control circuit and master the functions of the measurement and control circuit in the closed-loop control system in the learning process of one set of experiment system. The system identification part mainly adopts an NI acquisition card and NI-LabVIEW software to realize the signal processing of an upper computer, expands the cognition of the communication method of the upper computer and a lower computer of an experimenter and the research of the digital realization mode of an analog circuit.
4. The invention also provides a design method of the gyroscope simulator, which can completely replace a mechanical gauge head of the gyroscope, and an experimenter can also design the gyroscope simulator according to the identified result, thereby not only exercising the circuit design capability of the simulator, but also effectively overcoming the problem of overhigh manufacturing cost of the dynamically tuned gyroscope.
5. the experimental box can complete various experiments such as a signal amplification circuit experiment, a signal filtering circuit experiment, a signal demodulation circuit experiment, a signal operation circuit experiment, a correction circuit experiment, an actuator driving experiment, a closed loop debugging experiment, an identification experiment, a closed loop debugging experiment based on an upper computer and the like.
Drawings
FIG. 1 is a schematic diagram of a system structure of a measurement and control circuit comprehensive experiment box.
Fig. 2 is a schematic structural diagram of a signal operation circuit module and a correction circuit module.
Fig. 3a to 3g are schematic circuit diagrams of modules of the simulation part of the experimental system. Wherein:
Fig. 3a is a signal amplification experimental circuit. Fig. 3b shows a signal filtering experimental circuit. Fig. 3c shows a signal demodulation experimental circuit.
FIG. 3d shows an experimental circuit for signal operation. FIG. 3e shows a calibration experiment circuit. Fig. 3f is a zeroing experimental circuit.
fig. 3g shows an actuator driving circuit.
FIG. 4 is a block diagram of a dynamically tuned gyroscope simulator design.
Fig. 5 is a schematic diagram of a hardware circuit of a dynamically tuned gyroscope simulator.
reference numerals:
101: the power supply module 102: dynamically tuned gyroscope mechanical gauge head
103: dynamically tuned gyroscope simulator 104: mechanical gauge head interface
105: simulator interface 106: meter head gating switch
107: signal amplification experiment module 108: signal filtering experiment module
109: the signal demodulation experiment module 110: signal zero setting experiment module
111: the upper computer interface 112: mode gating switch
113: signal arithmetic circuit block and correction circuit block 115: actuator driving experiment module
1031: first function simulator 1032: second function simulator
1033: third function simulator 1034: fourth function simulator
1035: the first adder 1036: first signal modulation module
1037: the second adder 1038: second signal modulation module
10311: first combining circuit 10312: first inverter circuit
10321: second combination circuit 10322: first Debo integrator circuit
10323: first scaler circuit 10324: second inverter circuit
10331: third combination circuit 10332: second delta-glass integrator circuit
10333: the second proportional circuit 10341: fourth combination circuit
10342: third inverter circuit 103111: fourth inverter circuit
103112: third adder 103113: third Debo integrator circuit
103114: fourth delta-glass integrator circuit 103115: fifth inverter circuit
11301: analog/digital mode gating 11302: digital operation control loop
11303: signal operation experiment analog circuit module
11304: correction circuit simulation experiment module
113021: AD conversion 113022: DA conversion
113023: digital operation control main control chip and external circuit
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
the invention discloses a measurement and control circuit comprehensive experiment box and a method of a dynamically tuned gyroscope analog/digital rebalance loop, and aims to overcome the defects that the design capability of a measurement and control circuit of an experimenter and the thinking capability of the experimenter system cannot be comprehensively improved in a circuit module, and the application loss of control knowledge and the like are made up in the conventional experiment box. A gyroscope rebalance loop is an important link between two sensing and executing parts, namely a dynamically tuned gyroscope annunciator and a torquer, is a key component of a measurement and control system based on a gyroscope, which stably works in a closed-loop mode, and is used for designing a measurement and control circuit comprehensive experiment on the basis of the key component, so that an experimenter can be familiar with and master the design of various circuit modules and know the effect of the circuit modules in the system, and can also be guided to learn a design method of a closed-loop measurement control circuit.
as shown in fig. 1, the integrated test box and method for measurement and control circuit of dynamically tuned gyroscope analog/digital rebalance loop of the present invention comprises a power module 101 and a mechanically tuned gyroscope gauge outfit 102, further comprises a dynamically tuned gyroscope simulator 103, a mechanical gauge outfit interface 104 for respectively connecting to the mechanically tuned gyroscope gauge outfit 102, a simulator interface 105 for connecting to the dynamically tuned gyroscope simulator 103, a gauge outfit gating switch 106, a signal amplification experiment module 107, a signal filtering experiment module 108, a signal demodulation experiment module 109, a signal zeroing experiment module 110, a mode gating switch 112, an upper computer interface 111, a signal operation circuit module and correction circuit module 113, and a circuit module test box 114 for driving the experiment module 115 by an actuator, wherein the power module 101 provides power for the mechanically tuned gyroscope gauge outfit 102, the dynamically tuned gyroscope simulator 103, and the circuit module box 114, when the mode gating switch 112 is in the state shown in fig. 1, and the head gating switch 106 is in different states, the dynamically tuned gyroscope mechanical head 102 can be connected to the circuit module experimental box 114 through the mechanical head interface 104 to form a closed loop, and the dynamically tuned gyroscope simulator 103 can be connected to the circuit module experimental box 114 through the simulator interface 105 to form a closed loop, respectively.
As shown in fig. 2, when the analog/digital mode gate 11301 is in the current state, the signal operation circuit module and the correction circuit module 113 of the circuit module experimental box 114 are embodied in the system in the form of an analog circuit, and the signal is subjected to matrix operation D(s) by the signal operation experiment analog circuit module 11303 and then output after passing through the correction circuit analog experiment module 11304; after the analog/digital mode gating 11301 is switched, the signal operation circuit module and the correction circuit module 113 of the circuit module experimental box 114 are embodied in the system in a digital circuit form, the digital operation control circuit 11302 also plays a role of the signal operation circuit module and the correction circuit module 113 in an analog circuit situation, and after the signals are subjected to AD conversion 113021, the signals are processed by the digital operation control main control chip and the external circuit 113023 and then output through the DA conversion 113022.
as shown in fig. 1, after the mode gating switch 112 is switched, the upper computer interface 111 is connected to an NI acquisition card and connected to a PC, and the dynamically tuned gyroscope mechanical header 102 or the dynamically tuned gyroscope simulator 103, the signal amplification experiment module 107, the signal filtering experiment module 108, the signal demodulation experiment module 109, the signal zeroing experiment module 110, the actuator driving experiment module 115, and the upper computer system together form a dynamically tuned gyroscope closed-loop identification system, and the mode gating switch 112 can also implement the circuit functions of the signal operation circuit module and the correction circuit module by the upper computer in this state.
As shown in fig. 4, the dynamically tuned gyroscope simulator 103 includes a first function simulator 1031, a second function simulator 1032, a third function simulator 1033, and a fourth function simulator 1034, wherein signal input terminals of the first function simulator 1031 and the third function simulator 1033 are connected to each otherthe actuator in the second X-axis circuit of the circuit module experimental box 114 drives the signal output terminal M of the experimental module 115Xthe signal input terminals of the second function simulator 1032 and the fourth function simulator 1034 are connected with the signal output terminal M of the actuator driving experiment module 115 in the second Y-axis circuit of the experiment box 114YThe signal outputs of the first function simulator 1031 and the second function simulator 1032 are respectively connected to the signal input terminal of a first adder 1035, and the signal output terminal of the first adder 1035 is connected to the signal input terminal U of the signal amplification experiment module 107 in the first X-axis circuit of the circuit module experiment box 114 through a first signal modulation module 1036OXthe signal outputs of the third function simulator 1033 and the fourth function simulator 1034 are respectively connected to the signal input terminal of the second adder 1037, the signal output terminal of the second adder 1037 is connected to the signal input terminal U of the signal amplification experimental module 107 in the first Y-axis circuit of the circuit module experimental box 114 through the second signal modulation module 1038OY。
the first function simulator 1031 is composed of a first combination circuit 10311 and a first inverter 10312 connected in series in sequence, the second function simulator 1032 is composed of a second combination circuit 10321, a first delta-sigma circuit 10322, a first proportional circuit 10323 and a second inverter 10324 connected in series in sequence, the third function simulator 1033 is composed of a third combination circuit 10331, a second delta-sigma circuit 10332 and a second proportional circuit 10333 connected in series in sequence, the fourth function simulator 1034 is composed of a fourth combination circuit 10341 and a third inverter 10342 connected in series in sequence, wherein signal input terminals of the first function simulator 1031 and the third combination circuit 10331 are connected with a signal output terminal M of an actuator driving experiment module 115 in a second X-axis circuit of an experiment box 114 in sequence, and signal output terminals M of the actuator driving experiment module 115 are connected in sequenceXThe signal input terminals of the second and fourth combinational circuits 10321 and 10341 are connected to the signal output terminal M of the actuator driving experiment module 115 in the second Y-axis circuit of the experiment box 114YThe signal outputs of the first inverter 10312 and the second inverter 10324 are respectively connected to the signal of the first adder 1035And signal outputs of the second and third inverter circuits 10333 and 10342 are respectively connected to signal inputs of a second adder 1037.
as shown in fig. 5, the first combined circuit 10311, the second combined circuit 10321, the third combined circuit 10331, and the fourth combined circuit 10341 have the same structure, and each of them includes: a third adder 103112, a fourth inverter circuit 103111, a third delta-glass integrator circuit 103113, a fourth delta-glass integrator circuit 103114 and a fifth inverter circuit 103115 which are sequentially connected in series to form a loop, wherein one of two input ends of the third adder 103112 is connected with a signal output end M of the actuator driving experiment module 115 in the second X-axis circuit of the circuit module experiment box 114XOr the signal output end M of the actuator driving experiment module 115 in the second Y-axis circuit of the connection circuit module experiment box 114YAn output U of the fourth delta-glass integrator circuit 103114Othe outputs constituting the first combining circuit 10311 or the second combining circuit 10321 or the third combining circuit 10331 or the fourth combining circuit 10341 are connected to the first inverter 10312 or the first delta-sigma circuit 10322 or the second delta-sigma circuit 10332 or the third inverter circuit 10342, respectively.
as shown by the arrow in fig. 5, MX、MYThe output of the third adder, which is one input terminal of the third adder 103112, is connected to the fourth inverter circuit 103111, the third and fourth delta-glass integrator circuits 103113 and 103114 to obtain the output signal UoIs fed back to the other input terminal of the third adder 103112 through the fifth inverter circuit 103115 to form negative feedback, thereby obtaining
the dynamically tuned gyroscope simulator 103 effectively simulates the input and output forms of the mechanically tuned gyroscope gauge head 102 through the design of a combined circuit of the first function simulator 1031, the second function simulator 1032, the third function simulator 1033 and the fourth function simulator 1034, so as to replace a mechanical gauge head with higher cost. The method mainly realizes the functions of a mathematical model and signal modulation of the gyroscope. The phenomenon of cross-axis coupling exists inside the dynamically tuned gyroscope simulator 103, the realized specific transfer function G(s) (shown in fig. 4) is the following formula (1), and the difficulty of circuit design lies in the realization of a second-order/third-order undamped system.
wherein J represents the angular momentum of the dynamically tuned gyroscope mechanical gauge head 102, and H represents the moment of inertia of the dynamically tuned gyroscope mechanical gauge head 102;the term represents the precession characteristic of the dynamically tuned gyroscope mechanical gauge head 102, i.e., the moment of action on one axis produces rotation around the other axis, and is the main transmission term of the dynamically tuned gyroscope mechanical gauge head 102;the term represents the rigid body characteristic of the dynamically tuned gyroscope mechanical head 102, i.e., the moment of action on one axis produces rotation about the same axis, and is an undesirable coupling term for the dynamically tuned gyroscope mechanical head 102.
The transfer function G(s) is implemented in the dynamically tuned gyroscope mechanical header 102 as:
Wherein M isx、MyInput for X-and Y-axis actuator drives, U, respectivelyxAnd UyIs the output of an X-axis and Y-axis annunciator, phix、ΦyThe X-axis and Y-axis ambient angular velocity inputs, respectively.
the circuit module experimental box 114 is connected with the dynamically tuned gyroscope mechanical gauge head 102 and the dynamically tuned gyroscope simulator 103. The mechanical gauge head interface 104 and the simulator interface 105 are respectively connected with the dynamically tuned gyroscope mechanical gauge head 102 and the dynamically tuned gyroscope simulator 103, and the gauge head gating switch 106 is responsible for selecting two modes of the dynamically tuned gyroscope mechanical gauge head 102 and the dynamically tuned gyroscope simulator 103. The meter head gating switch 106 is connected with the signal amplification experiment module 107, the signal filtering experiment module 108, the signal demodulation experiment module 109, the signal zero setting experiment module 110, and the mode gating switch 112 is connected with the signal operation circuit module and correction circuit module 113 and the actuator driving experiment module 115 to form a closed loop.
As shown in fig. 1, the circuit module experimental box 114 includes two paths of X-axis circuits and Y-axis circuits with the same structure, and a signal operation experiment simulation circuit module 11303 in the signal operation circuit module and the correction circuit module 113 shown in fig. 2, where the X-axis circuits and the Y-axis circuits are respectively composed of a signal amplification experiment module 107, a signal filtering experiment module 108, a signal demodulation experiment module 109, and a signal zeroing experiment module 110, which are sequentially connected in series, and a correction circuit simulation experiment module 11304 and an actuator driving experiment module 115 in the signal operation circuit module and the correction circuit module 113. The signal input end of the signal amplification experiment module 107 is connected to the X-axis signal output end and the Y-axis signal output end of the mechanical gauge head interface 104 or the simulator interface 105 through the gauge head gating switch 106, the signal output end of the signal zero-setting experiment module 110 is correspondingly connected to the X-axis signal input end and the Y-axis signal input end of the signal operation circuit module and the correction circuit module 113, the X-axis signal output end and the Y-axis signal output end of the signal operation experiment simulation circuit module 11303 are correspondingly connected to the signal input end of the correction circuit simulation experiment module 11304, and the signal output end of the actuator driving experiment module 115 is correspondingly connected to the X-axis signal input end and the Y-axis signal input end of the mechanical gauge head interface 104 or the simulator interface 105 through the gauge head gating switch 106.
As shown in fig. 1, the signal output end of the signal amplification experimental module 107, the signal filtering experimental module 108, the signal demodulation experimental module 109, the signal zeroing experimental module 110, the signal operation experimental simulation circuit module 11303, the correction circuit simulation experimental module 11304, and the actuator driving experimental module 115 are respectively provided with a connection terminal for connecting and replacing the corresponding circuit module. In the experiment process, an experimenter can build an equivalent circuit by himself and replace the circuit on the circuit module experiment box 114 by the wiring terminal on the circuit module experiment box 114 to carry out a comparison experiment.
Fig. 3a to 3g show basic circuits in the circuit module experiment box 114, where fig. 3a is a schematic circuit diagram of 107, fig. 3b is a schematic circuit diagram of the signal filtering experiment module 108, fig. 3c is a schematic circuit diagram of the signal demodulation experiment module 109, fig. 3d is a schematic circuit diagram of the signal operation experiment simulation circuit module 11303, fig. 3e is a schematic circuit diagram of the correction circuit simulation experiment module 11304, fig. 3g is a schematic circuit diagram of the actuator driving experiment module 115, and fig. 3f is a schematic circuit diagram of the signal zeroing experiment module 110.
The signal amplification experiment module 107 is used for measuring and amplifying a weak voltage signal output by an inductance sensor inside the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103 so as to improve the signal-to-noise ratio and facilitate impedance matching. The circuit module experimental box 114 is equipped with an amplification circuit for testing, as shown in FIG. 3 a.
After the signal of the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103 is pre-amplified by the signal filtering experiment module 108 through the signal output by the signal amplification experiment module 107, the interference from the environment and the device itself needs to be further filtered. It is necessary to perform frequency-selective amplification on the input amplitude-modulated signal by using a band-pass filter circuit. The circuit module experimental box 114 is equipped with a band-pass filter circuit as shown in FIG. 3b, and can be tested by the experimenter.
The signal demodulation experiment module 109, the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103 output deflection signals are amplitude modulation signals modulated on excitation signals, and after preamplification and band-pass filtering, a detection circuit is needed to restore the amplitude modulation signals to voltage signals linearly related to the deflection of the gyroscope rotor relative to the gyroscope shell. The circuit module experiment box 114 prepares a multiplier demodulation circuit, as shown in fig. 3c, students can build other forms of demodulation circuits by themselves to replace the signal demodulation experiment module 109 in the circuit module experiment box 114 externally, so as to better understand the characteristics of different demodulation circuits. The circuit module experimental box 114 prepares a zero-setting circuit experimental circuit (as shown in fig. 3f) when a voltage bias may exist in the preliminarily processed signal and has a certain influence on the closed loop of the system. The signal operation experiment simulation circuit module 11303 implements decoupling operation of the dynamically tuned gyroscope mechanical header 102 or the dynamically tuned gyroscope simulator 103, and the circuit module experimental box 114 prepares a signal operation experiment circuit (as shown in fig. 3d) for implementing matrix operation for an experimenter to perform a comparison experiment. The matrix operation specifically implemented by the signal operation experiment simulation circuit module 11303 is D(s) as shown in formula (3):
and (4) after multiplying G(s) and D(s), obtaining a diagonal matrix and realizing decoupling operation.
Calibration circuit simulation experiment module 11304: the rebalance loop of the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103 is a closed loop for realizing self-locking of the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103, and is a typical follow-up system. Through correction, the system should meet certain index requirements. The basic requirements for a rebalance loop can be summarized as:
1) The closed loop is stable and has a certain amplitude and phase angle stability margin.
2) meet the specified dynamic and static indexes. The static index refers to the steady state deviation of the system under the input signals of the angle constant value, the speed and the angular acceleration; good dynamic index refers to the ability of the system to track angular rate changes in time, with sufficient bandwidth.
3) Can provide enough torque current to balance the maximum input angular speed, and the rotor deflection angle does not exceed the specified range when the maximum angular acceleration is borne.
the circuit module experiment box 114 is equipped with a calibration circuit experiment circuit, as shown in FIG. 3e, for the experimenter to test.
the actuator drives the experiment module 115, and generally, the signal power processed by each previous link is very small, which is not enough to drive the torque coil to output sufficient torque, so that the signal power needs to be amplified, and the driving capability of the rebalance loop is improved. The power amplification circuit consists of a linear power amplification device, outputs torque current and drives a dynamic tuning gyroscope mechanical gauge head 102 or a dynamic tuning gyroscope simulator 103 to apply torque to a gyroscope rotor. And the torque current output by the rebalance loop is converted into voltage by using the torque current sampling resistor, and the external angular velocity is measured after filtering and amplifying. The circuit module experimental box 114 is equipped with an actuator driving experimental circuit, and fig. 3g is provided for the experimenter to test.
the invention relates to an experimental method of a measurement and control circuit comprehensive experimental box based on a dynamically tuned gyroscope rebalance loop, which comprises the following steps of: the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of the correction circuit and the experiment of the actuator drive, and the experiment of the closed loop debugging and the experiment of the expansion which are carried out on the basis of the experiment of the signal amplification circuit, the experiment of the signal filter circuit, the experiment of the signal demodulation circuit, the experiment of the signal operation circuit, the experiment of the correction circuit and the experiment of the actuator drive. Wherein:
The signal amplifying circuit experiment comprises the following steps:
1) according to the amplitude and the frequency of an input signal and the designed amplification factor, an experimenter designs and builds a single-stage amplification circuit;
2) respectively recording the response of the built single-stage amplification circuit and the instrument amplification circuit for the signal amplification experimental module 107 in the circuit module experimental box 114 to the common-mode input signals of 1Hz, 10HZ, 100Hz, 1KHz and 10KHz, and respectively obtaining the common-mode rejection ratio of the built single-stage amplification circuit and the instrument amplification circuit;
3) Adjusting the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit to be 20 times, then gradually increasing the frequency of the differential mode input signal to respectively obtain the frequency when the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit cannot reach the set 20 times, and obtaining the relationship between the bandwidth and the gain of the single-stage amplification circuit and the instrument amplification circuit;
4) The input of the built single-stage amplifying circuit is connected to the loop through the connecting terminal, the signal amplifying experiment module 107 in the circuit module experiment box 114 is replaced, and the noise level of the output signal of the built single-stage amplifying circuit in the loop is observed.
second) the signal filtering circuit experiment includes the following steps:
1) According to the setting of the center frequency and the quality factor to be realized by the band-pass filtering, an experimenter selects the circuit structure of the band-pass filter, such as an infinite gain multi-path feedback type filter, a voltage-controlled voltage source type filter and the like, and calculates the resistance and the capacitance value in the corresponding circuit structure;
2) obtaining a frequency domain response curve of the designed circuit, as well as an actual center frequency and a quality factor by using circuit simulation software (for example, circuit simulation is carried out by multisim, preteus and the like), and further adjusting the structure and parameters of the circuit if the design requirement is not met;
3) And building a corresponding actual circuit according to the simulation result, testing a circuit frequency domain response curve, comparing the circuit frequency domain response curve with the curve obtained by simulation, replacing the signal filtering experiment module 108 in the circuit module experiment box 114 if the circuit frequency domain response curve is connected to the loop through the wiring terminal uniformly, and observing the band-pass filtering effect of the built signal filtering circuit at the moment.
thirdly), the signal demodulation circuit experiment comprises the following steps:
1) determining the amplitude and frequency of an input signal, and building a multiplier demodulation circuit by an experimenter;
2) Adjusting the phase of a phase shifter in the built multiplier demodulation circuit until the output of the phase shifter is completely consistent with the phase of an output signal of a signal filtering experiment module 108 in a circuit module experiment box 114, connecting the phase shifter to a loop through a wiring terminal, replacing a signal demodulation experiment module 109 in the circuit module experiment box 114, and observing the amplitude and noise level of the output signal of the built multiplier demodulation circuit;
Selecting and making:
3) an experimenter builds a switch demodulation circuit, observes whether the amplitude of the output signal of the switch demodulation circuit is consistent under the conditions of in-phase and anti-phase of a reference input signal in the built switch demodulation circuit and the output signal of the signal filtering experiment module 108 in each period, and if so, stores the switch demodulation circuit, otherwise, corrects the switch demodulation circuit.
Fourthly), the signal operation circuit experiment comprises the following steps:
1) An experimenter determines resistance and capacitance parameters in a circuit for realizing matrix operation according to set matrix parameters;
2) performing matrix operation simulation in circuit simulation software, verifying a circuit operation result by using a square wave signal, observing the simulation result, adjusting parameters until a triangular wave signal is obtained from a shaft, and coaxially obtaining the square wave signal in a proportional relation with an input square wave signal;
3) And (3) building a signal operation circuit, carrying out experimental verification by using square waves, observing an experimental result, connecting the signal operation circuit to the loop through a wiring terminal if the experimental result is consistent with the simulation result, replacing the signal operation experiment simulation circuit module 11303 in the circuit module experimental box 114, and observing the decoupling effect of the built signal operation circuit in the loop.
fifthly), the correction circuit experiment comprises the following steps:
1) determining a predicted correction target parameter, an expected cut-off frequency and a phase angle margin based on the dynamically tuned gyroscope rebalance loop;
2) An experimenter utilizes mathematical simulation software (such as LabVIEW, MATLAB and the like to carry out control system design simulation) to simulate to obtain correction circuit parameters and the amplitude-frequency characteristics of a switching loop of a loop, and calculates to obtain specific capacitance and resistance values in the correction circuit;
3) An experimenter builds a correction circuit, the correction circuit is connected into the loop through a wiring terminal, the correction circuit in the circuit module experiment box 114 is replaced by the simulation experiment module 11304, the step response test of the loop is carried out, and the actual bandwidth of the loop is obtained according to the test curve.
Sixthly), the actuator driving circuit experiment comprises the following steps:
1) an experimenter tests the driving capability of a common operational amplifier circuit such as op07 to obtain the maximum output current of the common operational amplifier circuit;
2) selecting a power amplification chip suitable for coil driving, building an amplification circuit by using the selected power amplification chip, testing the maximum current output by the amplification circuit, if the maximum current is greater than 2A, accessing a simulation torque coil, checking whether the 2A driving can be provided, if so, connecting the simulation torque coil into a loop through a wiring terminal, replacing an actuator on a circuit module experimental box 114 to drive an experimental module 115, otherwise, reselecting the power amplification chip.
seventhly), the closed loop debugging experiment comprises the following steps:
1) changing the input angular speed of the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103, and observing the change of a modulated signal output by the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103;
2) Observing the output of the built signal amplifying circuit and the built signal filtering circuit in sequence;
3) adjusting a phase shift circuit in the built signal demodulation circuit, and observing the output of the signal demodulation circuit;
4) observing and recording the output of the built signal operation circuit when the dynamic tuning gyroscope mechanical gauge head 102 or the dynamic tuning gyroscope simulator 103 inputs the angular speed of the x axis or the y axis;
5) the built correction circuit and the actuator driving circuit are also connected into the loop to form a closed loop, whether the output amplitude of the x axis and the y axis of the dynamically tuned gyroscope mechanical gauge head 102 or the dynamically tuned gyroscope simulator 103 is less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing cannot be realized, namely the output of the power supply is a saturated power supply direct current level or an oscillation signal, the closing cannot be realized, and the parameters of the correction circuit need to be further adjusted according to the simulation result of the correction circuit experiment.
Eighthly), the development experiment comprises the following steps:
The mode gating switch 112 is switched to be connected with the state of the upper computer interface 111, the output port of the upper computer interface 111 is respectively connected with the input ends of the x axis and the y axis of the actuator driving experiment module, and the input port of the upper computer interface 111 is respectively connected with the input ports of the x axis and the y axis of the signal zero setting experiment module.
1) The gauge outfit gating switch 106 is connected with the simulator interface 105, an upper computer program is called to identify the dynamically tuned gyroscope simulator, an upper computer program of a signal operation and correction circuit is called, parameters of the signal operation are set according to the identification result to form a closed loop, whether the output amplitude values of the x axis and the y axis of the dynamically tuned gyroscope simulator 103 are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise closure is not achieved.
2) the gauge outfit gating switch 106 is connected with the mechanical gauge outfit interface 104, calls an upper computer program to identify the mechanical gauge outfit of the dynamic tuning gyroscope, calls an upper computer program of a signal operation and correction circuit, sets parameters of the signal operation according to the identification result to form a closed loop, observes whether the output amplitude values of the x axis and the y axis of the mechanical gauge outfit 102 of the dynamic tuning gyroscope are less than 200mv or not when no angular velocity disturbance exists, and if so, the loop is successfully closed; otherwise closure is not achieved.
3) Experiment 1) and experiment 2), after the loop is successfully closed, the mode gating switch 112 is switched to the state of being connected with the signal operation circuit module and the correction circuit module 113, the analog/digital mode gating 11301 is switched to the state of being connected with the digital operation control loop 11302, the identification data is transmitted into the DSP, and the loop closing effect is detected. The student also can design signal operation analog circuit by oneself according to the identification data, replaces signal operation experiment analog circuit module 11303, carries out the contrast experiment.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (9)

1. A portable comprehensive experiment box of a measurement and control circuit comprises a power tuning gyroscope mechanical gauge head (102) and a power supply module (101), and is characterized by further comprising a power tuning gyroscope simulator (103), a signal amplification experiment module (107), a signal filtering experiment module (108), a signal demodulation experiment module (109), a signal zero setting experiment module (110), a signal operation circuit module and correction circuit module (113) and a circuit module experiment box (114) of an actuator driving experiment module (115), wherein the signal operation circuit module and correction circuit module (113) comprises a signal operation experiment simulation circuit module, a correction circuit simulation experiment module and a digital operation control loop; each circuit module is an independent module. The power module (101) provides power for the dynamically tuned gyroscope mechanical gauge head (102), the dynamically tuned gyroscope simulator (103) and the circuit module experimental box (114), the dynamically tuned gyroscope mechanical gauge head (102) is connected with the circuit module experimental box (114) through a mechanical gauge head interface (104) to form a closed loop, and the dynamically tuned gyroscope simulator (103) is connected with the circuit module experimental box (114) through a simulator interface to form a closed loop;
The circuit module experiment box (114) comprises an X-axis circuit and a Y-axis circuit which have the same structure, a signal operation circuit module for realizing matrix operation and adjusting amplitude-frequency characteristics and a correction circuit module (113), wherein the X-axis circuit and the Y-axis circuit are respectively composed of a signal amplification experiment module (107), a signal filtering experiment module (108), a signal demodulation experiment module (109), a signal zero-setting experiment module (110) and an actuator driving experiment module (115) which are sequentially connected in series, wherein the signal input end of the signal amplification experiment module (107) is connected with the X-axis signal output end and the Y-axis signal output end of a mechanical gauge head interface (104) or a simulator interface through a gauge head gating switch (106), the signal output end of the signal zero-setting experiment module (110) is connected with an upper computer interface (111) or the signal operation circuit module and the correction circuit module (113) through a mode gating switch (112), the input end of the signal operation circuit module and the input end of the correction circuit module (113) are connected with the X-axis signal input end and the Y-axis signal input end of the signal operation experiment analog circuit module (11303) or the input end of the digital operation control loop (11302) through an analog/digital mode gating (11301), the X-axis signal output end and the Y-axis signal output end of the signal operation experiment analog circuit module (11303) are correspondingly connected with the X-axis signal input end and the Y-axis signal input end of the correction circuit simulation experiment module (11304), and the signal output end of the actuator driving experiment module (115) is correspondingly connected with the X-axis signal input end and the Y-axis signal input end of the mechanical gauge head interface (104) or the simulator interface (105) through a gauge head gating switch (106).
2. the portable comprehensive experiment box of the measurement and control circuit as claimed in claim 1, wherein the signal input end of the signal amplification experiment module (107), and the connection points of the signal amplification experiment module (107), the signal filtering experiment module (108), the signal demodulation experiment module (109), the signal zeroing experiment module (110), the signal operation circuit module and the correction circuit module (113), the signal operation experiment simulation circuit module (11303), the correction circuit simulation experiment module (11304) and the actuator driving experiment module (115), and the signal output end of the actuator driving experiment module (115) are respectively provided with a connection terminal for connecting and replacing the corresponding circuit module.
3. The portable integrated test box of a measurement and control circuit according to claim 1, characterized in that the dynamically tuned gyroscope simulator (103) comprises a first function simulator (1031), a second function simulator (1032), a third function simulator (1033) and a fourth function simulator (1034), wherein signal input terminals of the first function simulator (1031) and the third function simulator (1033) are connected to a signal output terminal (M) of an actuator driving test module (115) in a second X-axis circuit of the test box (114) of the circuit moduleX) Said second function simulator (1032) andthe signal input end of the fourth function simulator (1034) is connected with the signal output end (M) of the actuator driving experiment module (115) in the second Y-axis circuit of the circuit module experiment box (114)Y) The signal outputs of the first function simulator (1031) and the second function simulator (1032) are respectively connected with the signal input end of a first adder (1035), and the signal output end of the first adder (1035) is connected with the signal input end (U) of a signal amplification experiment module (107) in a first X-axis circuit of a circuit module experiment box (114) through a first modulation module (1036)OX) The signal outputs of the third function simulator (1033) and the fourth function simulator (1034) are respectively connected with the signal input end of a second adder (1037), the signal output end of the second adder (1037) is connected with the signal input end (U) of a signal amplification experiment module (107) in a first Y-axis circuit of the circuit module experiment box (114) through a second signal modulation module (1038)OY)。
4. A portable comprehensive experiment box of measurement and control circuit according to claim 3, wherein the first function simulator (1031) is composed of a first combination circuit (10311) and a first inverter (10312) connected in series in sequence, the second function simulator (1032) is composed of a second combination circuit (10321), a first delta-sigma circuit (10322), a first proportional circuit (10323) and a second inverter circuit (10324) connected in series in sequence, the third function simulator (1033) is composed of a third combination circuit (10331), a second delta-sigma circuit (10332) and a second proportional circuit (10333) connected in series in sequence, the fourth function simulator (1033) is composed of a fourth combination circuit (10341) and a third inverter circuit (10342) connected in series in sequence, wherein the input terminals of the first combination circuit (10311) and the third combination circuit (31) are connected to the second X-axis circuit (103114) of the experiment box, and the input terminals of the first combination circuit (10311) and the third combination circuit (1034) are connected in series in sequence The actuator drives the signal output end (M) of the experiment module (115)X) The signal input ends of the second combined circuit (10321) and the fourth combined circuit (10341) are connected with the signal output end (M) of an actuator driving experiment module (115) in the second Y-axis circuit of the circuit module experiment box (114)Y) The first inverter (10312) and the second inverterthe signal outputs of the inverter circuits (10324) are connected to the signal inputs of the first adder (1035), respectively, and the signal outputs of the second and third inverter circuits (10333, 10342) are connected to the signal inputs of the second adder (1037), respectively.
5. the portable comprehensive experiment box of a measurement and control circuit according to claim 4, wherein the first combinational circuit (10311), the second combinational circuit (10321), the third combinational circuit (10331) and the fourth combinational circuit (10341) have the same structure, and each of them comprises: a third adder (103112), a fourth inverter circuit (103111), a third delta-glass integrator circuit (103113), a fourth delta-glass integrator circuit (103114) and a fifth inverter circuit (103115) which are sequentially connected in series to form a loop, wherein one input end of two input ends of the third adder (103112) is connected with a signal output end (M) of an actuator driving experiment module (115) in a second X-axis circuit of the circuit module experiment box (114)X) Or a signal output terminal (M) of an actuator driving experiment module (115) in a second Y-axis circuit connected to the circuit module experiment box (114)Y) An output (U) of the fourth delta-glass integrator circuit (103114)O) Outputs of the first combination circuit (10311), the second combination circuit (10321), the third combination circuit (10331), and the fourth combination circuit (10341) are formed and connected to the first inverter (10312), the first delta-glass integrator circuit (10322), the second delta-glass integrator circuit (10332), and the third inverter circuit (10342), respectively.
6. an application of a portable comprehensive experimental box based on the measurement and control circuit of claim 1, wherein the portable comprehensive experimental box is capable of implementing a signal amplification circuit experiment, a signal filtering circuit experiment, a signal demodulation circuit experiment, a signal operation circuit experiment, a correction circuit experiment and an actuator driving experiment, a closed loop debugging experiment performed on the basis of the signal amplification circuit experiment, the signal filtering circuit experiment, the signal demodulation circuit experiment, the signal operation circuit experiment, the correction circuit experiment and the actuator driving experiment, an identification experiment performed on the basis of the signal amplification circuit experiment, the signal filtering circuit experiment, the signal demodulation circuit experiment, the signal zero setting circuit experiment and the actuator driving experiment, and a closed loop debugging experiment performed on the basis of an upper computer.
7. An experiment method of a portable comprehensive experiment box based on the measurement and control circuit of claim 1 is characterized by comprising a signal amplification circuit experiment, a signal filter circuit experiment, a signal demodulation circuit experiment, a signal operation circuit experiment, a correction circuit experiment, an actuator driving experiment, a closed loop debugging experiment, an identification experiment and a closed loop debugging experiment based on an upper computer;
The signal amplification circuit experiment comprises the following steps:
101) According to the amplitude and the frequency of an input signal and the designed amplification factor, an experimenter designs and builds a single-stage amplification circuit;
102) respectively recording the response of the instrument amplifying circuit for the signal amplification experimental module (107) in the built single-stage amplifying circuit and the circuit module experimental box (114) to common-mode input signals of 1Hz, 10HZ, 100Hz, 1KHz and 10KHz, and respectively obtaining the common-mode rejection ratio of the built single-stage amplifying circuit and the instrument amplifying circuit;
103) the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit are adjusted to be 20 times, then the frequency of the differential mode input signal is gradually increased, the frequency when the amplification factors of the built single-stage amplification circuit and the instrument amplification circuit reach the set 20 times is obtained respectively, and the relationship between the bandwidth and the gain of the single-stage amplification circuit and the instrument amplification circuit is obtained;
104) connecting the input of the built single-stage amplifying circuit to the signal output end of the gauge outfit gating switch (106) through a wiring terminal, replacing a signal amplification experiment module (107) in a circuit module experiment box (114), and observing the noise level of the output signal of the built single-stage amplifying circuit in a loop;
the signal filtering circuit experiment comprises the following steps:
201) according to the setting of the center frequency and the quality factor to be realized by the band-pass filtering, an experimenter selects the circuit structure of the band-pass filter and calculates the resistance and the capacitance in the corresponding circuit structure;
202) Obtaining a frequency domain response curve of the designed circuit, actual center frequency and quality factor by using circuit simulation software, and further adjusting the structure and parameters of the circuit if the design requirement is not met;
203) building a corresponding actual circuit according to the simulation result, testing a circuit frequency domain response curve, comparing the circuit frequency domain response curve with the curve obtained by simulation, replacing a signal filtering experiment module (108) in a circuit module experiment box (114) if the circuit frequency domain response curve is connected to the loop through a wiring terminal uniformly, and observing the band-pass filtering effect of the built signal filtering circuit;
the signal demodulation circuit experiment comprises the following steps:
301) Determining the amplitude and frequency of an input signal, and building a multiplier demodulation circuit by an experimenter;
302) Adjusting the phase of a phase shifter in the built multiplier demodulation circuit until the output of the phase shifter is completely consistent with the phase of an output signal of a signal filtering experiment module (108) in a circuit module experiment box (114), connecting the phase shifter to a loop through a connecting terminal, replacing a signal demodulation experiment module (109) in the circuit module experiment box (114), and observing the amplitude and noise level of an output signal of the built multiplier demodulation circuit;
The signal operation circuit experiment comprises the following steps:
401) An experimenter determines resistance and capacitance parameters in a circuit for realizing matrix operation according to set matrix parameters;
402) Performing matrix operation simulation in circuit simulation software, verifying a circuit operation result by using a square wave signal, observing the simulation result, adjusting parameters until a triangular wave signal is obtained from a shaft, and coaxially obtaining the square wave signal in a proportional relation with an input square wave signal;
403) building a signal operation circuit, carrying out experimental verification by using square waves, observing an experimental result, connecting the circuit through a wiring terminal if the experimental result is consistent with a simulation result, replacing a signal operation experimental simulation circuit module (11303) in a circuit module experimental box (114), and observing the decoupling effect of the built signal operation circuit in the circuit;
The calibration circuit experiment comprises the following steps:
501) determining a predicted correction target parameter, an expected cut-off frequency and a phase angle margin based on the dynamically tuned gyroscope rebalance loop;
502) An experimenter utilizes mathematical simulation software to simulate to obtain correction circuit parameters and the amplitude-frequency characteristics of an open-close loop of a loop, and calculates to obtain specific capacitance and resistance values in the correction circuit;
503) An experimenter builds a correction circuit, the correction circuit is connected into the loop through a wiring terminal, a correction circuit simulation experiment module (11304) in a circuit module experiment box (114) is replaced, step response test of the loop is carried out, and the actual bandwidth of the loop is obtained according to a test curve;
The actuator driving experiment comprises the following steps:
601) An experimenter tests the driving capability of the common operational amplifier circuit to obtain the maximum output current of the common operational amplifier circuit;
602) Selecting a power amplification chip suitable for coil driving, building an amplification circuit by using the selected power amplification chip, testing the maximum current output by the amplification circuit, if the maximum current is greater than 2A, accessing a simulation torque coil, checking whether the 2A driving can be provided, if so, connecting the simulation torque coil into a loop through a wiring terminal, replacing an actuator on a circuit module experimental box (114) to drive an experimental module (115), otherwise, reselecting the power amplification chip.
8. The experimental method of a portable integrated experimental box of claim 7, wherein said closed loop debugging experiment comprises the steps of:
801) Changing the input angular speed of the dynamically tuned gyroscope mechanical gauge head (102) or the dynamically tuned gyroscope simulator (103), and observing the change of a modulated signal output by the dynamically tuned gyroscope mechanical gauge head (102) or the dynamically tuned gyroscope simulator (103);
802) Observing the output of the built signal amplifying circuit and the built signal filtering circuit in sequence;
803) adjusting a phase shift circuit in the built signal demodulation circuit, and observing the output of the signal demodulation circuit;
804) When the angular speed of an x axis or a y axis input by a mechanical gauge head (102) or a simulator (103) of the dynamically tuned gyroscope is input, observing and recording the output of the built signal operation experiment simulation circuit module (11303);
805) The built correction circuit and the actuator driving circuit are also connected into the loop to form a closed loop, whether the output amplitude of the x axis and the y axis of the dynamically tuned gyroscope mechanical gauge head (102) or the dynamically tuned gyroscope simulator (103) is less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, if the closing is not realized, the parameters of the correction circuit are further adjusted according to the simulation result of the correction circuit experiment.
9. The experimental method of a portable integrated experimental box of claim 7, wherein the identification experiment and the closed loop debugging experiment based on the upper computer comprise the following steps:
901) the mode gating switch is switched to be in a state of being connected with an upper computer interface (111), an output port of the upper computer interface (111) is respectively connected with input ends of an x axis and a y axis of an actuator driving experiment module, and an input port of the upper computer interface (111) is respectively connected with input ports of the x axis and the y axis of a signal zero setting experiment module;
902) The gauge outfit gating switch (106) is connected with the simulator interface (105), an upper computer program is called to identify the dynamic tuning gyroscope simulator, an upper computer program of the signal operation circuit module and the correction circuit module (113) is called, parameters of signal operation are set according to the identification result to form a closed loop, whether the output amplitude values of the x axis and the y axis of the dynamic tuning gyroscope simulator (103) are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing is not realized;
903) The gauge outfit gating switch (106) is connected with a mechanical gauge outfit interface (104), an upper computer program is called to identify the mechanical gauge outfit of the dynamic tuning gyroscope, an upper computer program of a signal operation and correction circuit is called, parameters of the signal operation are set according to the identification result to form a closed loop, whether the output amplitude values of the x axis and the y axis of the mechanical gauge outfit (102) of the dynamic tuning gyroscope are less than 200mv or not is observed when no angular velocity disturbance exists, and if yes, the loop is successfully closed; otherwise, the closing is not realized;
904) after the loop is successfully closed in the steps 902) and 903), switching the mode gating switch (112) to a state of connecting the signal operation circuit module and the correction circuit module (113), switching the analog/digital mode gating (11301) to a state of connecting the digital operation control loop (11302), transmitting the identification data into the DSP, and detecting the loop closing effect; meanwhile, an experimenter can design a signal operation simulation circuit according to the identification data, and replaces the signal operation experiment simulation circuit module (11303) to perform a contrast experiment.
CN201910762844.2A 2019-08-19 2019-08-19 Portable comprehensive experiment box and method for measurement and control circuit Pending CN110570734A (en)

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CN111583765A (en) * 2020-05-28 2020-08-25 星酉(天津)智能科技有限公司 Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit
CN114267228A (en) * 2021-12-28 2022-04-01 深圳市潜流科技有限公司 Analog circuit, detection circuit and circuit checking method for electronic experiment box

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CN111583765A (en) * 2020-05-28 2020-08-25 星酉(天津)智能科技有限公司 Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit
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