CN111504295A - Method for overcoming low-speed self-locking effect of rate integral vibration gyro - Google Patents
Method for overcoming low-speed self-locking effect of rate integral vibration gyro Download PDFInfo
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- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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Abstract
The invention provides a method for overcoming the low-speed self-locking effect of a rate integral vibration gyro, which comprises the steps of adding virtual rotation control voltage to a drive control electrode, and further generating virtual rotation speed by the virtual rotation force generated by the voltage to apply to the vibration gyro, so that the total input rotation speed of the gyro is far greater than the damping asymmetry degree delta (1/tau) under any working condition, and further overcoming the low-speed self-locking effect of the rate integral vibration gyro; and then detecting the motion of the vibrating gyroscope through a detection module, calculating the precession angle of the standing wave, subtracting the virtual rotation angle of the standing wave caused by virtual rotation, and finally combining the precession factor to obtain the real external rotation angle. The method can effectively solve the problem that the precession angle of the standing wave approaches to a certain constant angle and keeps locking under the condition of low rotating speed input of the rate integral vibration gyro, so that the rate integral vibration gyro can work at high precision within the full rate range.
Description
Technical Field
The invention relates to a method for overcoming a low-speed self-locking effect of a rate integral vibration gyro, and belongs to the field of control systems.
Background
The frequency cracking △ omega and the damping asymmetry △ (1/tau) are main factors influencing the precision of the vibration gyro, the frequency cracking is caused by uneven mass distribution on the harmonic oscillator, in the assembly process of the vibration gyro, a focusing ion column or laser can be used for cutting off redundant mass blocks so as to achieve perfect axial symmetry, △ omega is made as small as possible, after the vibration gyro is assembled, the influence caused by the asymmetrical mass of the gyro can be compensated by using an electrostatic tuning method, the damping asymmetry is from error sources such as tiny cracks on the surface of the harmonic oscillator, residual internal stress and the like, obviously, the characteristic also depends on the precision of a processing method and processing equipment of the gyro, and cannot be improved after the finished gyro is manufactured at present.
Due to the asymmetric damping effect, even if the quadrature error of the gyroscope (mainly caused by frequency splitting) is well compensated, the standing wave precession angle of the rate integration vibration gyroscope at low rotation speed input (omega < △ (1/tau)) can approach a certain constant angle and keep locking, and the influence of the external input rotation angle is avoided.
The improvement of the application accuracy of the rate integral vibration gyro in the low rotating speed occasion depends on the machining accuracy to reduce the damping asymmetry △ (1/tau), the improvement of the accuracy by the method is extremely challenging, the existing method for eliminating the damping asymmetry influence not only depends on continuously identifying the damping asymmetry, but also needs a complex control circuit and a control method for processing the small damping asymmetry.
Disclosure of Invention
The invention aims to provide a simple and easy control method for overcoming the low-speed self-locking effect of a rate integral vibration gyro, which can effectively solve the problems that the precession angle of a standing wave approaches to a certain constant angle and the standing wave keeps locked under the condition of low-speed input of the rate integral vibration gyro, and further ensure that the rate integral vibration gyro can work at high precision within the full-rate range.
The purpose of the invention is realized as follows: the method comprises the following steps:
the method comprises the following steps: a virtual rotation control voltage is added to the drive control electrode,
step two: the virtual rotating force generated by the voltage in the step one further generates a virtual rotating speed to be applied to the vibrating gyroscope,
the total input rotation speed of the gyroscope is greater than the damping asymmetry △ (1/tau), and the low-speed self-locking effect of the rate integral vibration gyroscope is overcome;
step four: the detection module detects the movement of the vibrating gyroscope and calculates the precession angle of the standing wave,
step five: and subtracting the virtual rotating angle of the standing wave caused by the virtual rotation from the precession angle of the standing wave, and combining the precession factor to obtain the real external rotating angle.
The invention also includes such structural features:
1. the equation of motion of the standing wave precession angle theta when the vibration gyro normally works is as follows:
wherein, kappa is a precession factor; omega is the external input rotating speed; n is the order of the mode shape; thetaτIs the damping misalignment angle; omega is the working frequency of the vibrating gyroscope; mROTIs the virtual rotation voltage amplitude; a is the amplitude of the main wave antinode; omegavirtIs a virtual rotation speed; the standing wave precession angle theta obtained by simplification is as follows:
the real external rotation angle is obtained by subtracting the artificially applied standing wave virtual rotation angle from the measured standing wave precession angle and calculating by combining the precession factor.
Compared with the prior art, the invention has the beneficial effects that: generating a virtual rotation force by adding a virtual rotation voltage without adding any other device, thereby generating a virtual rotation speed to be applied to the velocityOn the integral vibration gyro, the amplitude a of the main wave antinode, the amplitude q of the orthogonal wave antinode and the initial vibration angle are not measured
Under the condition of generating influence, the total input rotation speed omega of the rate integration vibration gyro is adjusted according to the requirement, so that the rate integration vibration gyro overcomes the self-locking effect under the external low rotation speed input condition, and the aim of measuring the rotation angle in a full rate range at high precision is fulfilled.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The purpose of the invention is realized as follows:
virtual rotation control voltage is added to the control voltage to generate virtual rotating force, and then controllable virtual rotating speed is generated and applied to the rate integral vibration gyro, so that actual low-rotating-speed input can be modulated to virtual high-rotating-speed, and the self-locking effect of the rate integral vibration gyro under the low-rotating-speed input is overcome.
After the orthogonal error is well compensated, the equation of motion of the standing wave precession angle theta is as follows when the vibration gyro normally works
Wherein, kappa is a precession factor; omega is the external input rotating speed; n is the order of the mode shape; thetaτIs the damping misalignment angle; omega is the working frequency of the vibrating gyroscope; mROTIs the virtual rotation voltage amplitude; a is the amplitude of the main wave antinode; omegavirtIs the virtual rotation speed.
First, a virtual angular velocity Ω is assumedvirtIs 0, the solution is:
①|Ω|<|△(1/τ)|/2κ
②|Ω|>|△(1/τ)|/2κ
wherein, C2From an initial state θ (0) to θ0Determining:
in this case, the trigonometric identity and the small angle approximation are used, and the formula is simplified into
From the formula, under the condition of low rotating speed input, the standing wave precession angle theta is not a function of the external input rotating speed omega any more, but approaches to a fixed angle; from the formula, when the external input rotation speed omega is increased, the angular rate gain of the precession angle of the standing wave of the rate integral vibration gyro tends to the real angular rate gain (-kq), and the amplitude of the cos function of the interference term is reduced at the moment, so that the angular resolution of the vibration gyro working in the rate integral mode is improved.
Thus, when the virtual rotation speed Ω described in the equation is increasedvirtThe total input rotation speed of the gyroscope can be made to be large (far larger than delta (1/tau)) under any working condition, so that the rate integral vibration gyroscope overcomes the self-locking effect and works with high precision under the condition of low rotation speed input, and the real external rotation angle can be obtained by subtracting the artificially applied standing wave virtual rotation angle (formed by the virtual rotation speed omega) from the measured standing wave precession anglevirtIntegrated) and solved by combining with the precession factor.
To increase the virtual rotational speed in the equation of motion of the standing wave precession angle θ, we need only add a virtual rotational force of the form:
FIG. 1 is a schematic flow diagram illustrating a process for overcoming a low-speed self-locking effect of a rate-integrating vibratory gyroscope, in which a virtual rotation control voltage is added to a driving control electrode, and a virtual rotation force generated by the voltage further generates a virtual rotation speed to be applied to the vibratory gyroscope, so that the total input rotation speed of the gyroscope is far greater than a damping asymmetry △ (1/τ) under any working condition, and the low-speed self-locking effect of the rate-integrating vibratory gyroscope is overcome, then the motion of the vibratory gyroscope is detected by a detection module, a standing wave precession angle is calculated, a standing wave virtual rotation angle caused by the virtual rotation is subtracted, and finally a real external rotation angle is obtained by combining the precession factor.
The detailed expression is as follows:
adding a virtual rotation control voltage on the drive control electrode:
then the corresponding one-frequency-doubled driving virtual rotating force is
Wherein n is the order of mode shape
Obtaining a parameter equation of the elliptical motion track of the equivalent mass block of the vibration gyro by using an averaging method and a method for separating a fast variable from a slow variable
Wherein: a is the amplitude of the main wave antinode; q is the amplitude of the antinode of the orthogonal wave; theta is a standing wave precession angle;
the initial vibration angle.
As can be seen from the parametric equation, when the formula is expressedWhen the virtual rotating force is applied to the vibrating gyroscope, the virtual rotating force term only corresponds to the precession angle theta (angular velocity) of the standing wave in normal operation (a > q, q → 0)
) Has an influence on a, q,
Has no influence.
For a hemispherical resonator gyroscope, the order n of the mode shape is optimal to be 2, and neglecting the frequency splitting △ omega which is easy to process, the motion expression of the precession angle theta of the standing wave is as follows:
when the added virtual rotation speed is such that the total input rotation speed ΩsumMuch larger than the damping asymmetry △ (1/τ), i.e. | ΩsumI > | △ (1/τ) |, solved:
wherein,
the total input rotation speed omega of the gyroscope can be realized by adjusting the amplitude of the virtual rotation control voltagesumIn any case large (much greater than the damping asymmetry △ (1/tau)), to overcome the low-speed self-locking effect and to meet the requirement of high-precision operation in the full-speed range, and then detecting the stationary wave precession angle thetameasureSubtracting the standing wave angle change theta caused by virtual rotationvirtAnd finally, combining the precession factor to obtain the real external rotation angle.
Claims (2)
1. A method for overcoming the low-speed self-locking effect of a rate integral vibration gyro is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: a virtual rotation control voltage is added to the drive control electrode,
step two: the virtual rotating force generated by the voltage in the step one further generates a virtual rotating speed to be applied to the vibrating gyroscope,
step three: the total input rotation speed of the gyroscope is greater than the damping asymmetry degree delta (1/tau), and the low-speed self-locking effect of the rate integral vibration gyroscope is overcome;
step four: the detection module detects the movement of the vibrating gyroscope and calculates the precession angle of the standing wave,
step five: and subtracting the virtual rotating angle of the standing wave caused by the virtual rotation from the precession angle of the standing wave, and combining the precession factor to obtain the real external rotating angle.
2. The method for overcoming the low-speed self-locking effect of the rate-integrating vibration gyro in claim 1, wherein the method comprises the following steps: the equation of motion of the standing wave precession angle theta when the vibration gyro normally works is as follows:
wherein, kappa is a precession factor; omega is the external input rotating speed; n is the order of the mode shape; thetaτIs the damping misalignment angle; omega is the working frequency of the vibrating gyroscope; mROTIs the virtual rotation voltage amplitude; a is the amplitude of the main wave antinode; omegavirtIs a virtual rotation speed; the standing wave precession angle theta obtained by simplification is as follows:
the real external rotation angle is obtained by subtracting the artificially applied standing wave virtual rotation angle from the measured standing wave precession angle and calculating by combining the precession factor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166242A (en) * | 2021-10-29 | 2022-03-11 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for detecting signal nonuniformity of hemispherical resonator gyroscope |
| CN114370886A (en) * | 2021-11-23 | 2022-04-19 | 上海航天控制技术研究所 | Full-angle mode vibration gyro measurement error self-calibration method based on virtual rotation |
-
2020
- 2020-04-09 CN CN202010272944.XA patent/CN111504295A/en not_active Withdrawn
Non-Patent Citations (2)
| Title |
|---|
| IGOR P. PRIKHODKO 等: "Overcoming Limitations of Rate Integrating Gyroscopes by Virtual Rotation", 《2016 IEEE INTERNATIONAL SYMPOSIUM ON INERTIAL SENSORS AND SYSTEMS》 * |
| IGOR P. PRIKHODKO 等: "VIRTUALLY ROTATED MEMS GYROSCOPE WITH ANGLE OUTPUT", 《MEMS 2017》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166242A (en) * | 2021-10-29 | 2022-03-11 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for detecting signal nonuniformity of hemispherical resonator gyroscope |
| CN114166242B (en) * | 2021-10-29 | 2023-08-08 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Calibration method and system for hemispherical resonator gyro detection signal non-uniformity |
| CN114370886A (en) * | 2021-11-23 | 2022-04-19 | 上海航天控制技术研究所 | Full-angle mode vibration gyro measurement error self-calibration method based on virtual rotation |
| CN114370886B (en) * | 2021-11-23 | 2024-01-02 | 上海航天控制技术研究所 | Full-angle mode vibration gyro measurement error self-calibration method based on virtual rotation |
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Application publication date: 20200807 |