CN112146638B - Resonant gyroscope amplitude-stabilized excitation effective value detection circuit and method thereof - Google Patents
Resonant gyroscope amplitude-stabilized excitation effective value detection circuit and method thereof Download PDFInfo
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- CN112146638B CN112146638B CN202010954102.2A CN202010954102A CN112146638B CN 112146638 B CN112146638 B CN 112146638B CN 202010954102 A CN202010954102 A CN 202010954102A CN 112146638 B CN112146638 B CN 112146638B
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- resistor
- effective value
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- wave rectification
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/30—Structural combination of electric measuring instruments with basic electronic circuits, e.g. with amplifier
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
- G01R19/2506—Arrangements for conditioning or analysing measured signals, e.g. for indicating peak values ; Details concerning sampling, digitizing or waveform capturing
- G01R19/2509—Details concerning sampling, digitizing or waveform capturing
Abstract
The invention relates to a detection circuit and a method for a stable amplitude excitation effective value of a resonant gyroscope, which are technically characterized in that: the detection circuit of the amplitude stabilizing excitation effective value of the resonant gyroscope is formed by a half-wave rectification circuit, a tri-state buffer, an RC filter circuit, an adder with a correction network, an ARM chip and a precise voltage reference, and the formed circuit is a static error free system controlled in a closed loop mode, so that a direct current signal after PWM filtering, a full-wave rectification signal and the precise voltage reference are balanced, high-precision measurement of the amplitude stabilizing excitation effective value of the resonant gyroscope is achieved, and the detection circuit can be widely applied to application occasions of precise measurement of the sine signal effective value. The PWM period of the invention can be configured according to the requirement of the measurement period, and the noise of the measurement result in the ARM sheet can be further reduced by average filtering. The invention fully utilizes the low-digit ADC and the timer integrated in the ARM chip, adopts the filtering technology and the closed-loop system to realize high-precision measurement, and simultaneously reduces the manufacturing cost.
Description
Technical Field
The invention belongs to the field of signal detection, and particularly relates to a circuit and a method for detecting a stable amplitude excitation effective value of a resonant gyroscope.
Background
When the resonant gyroscope works in a force feedback mode, an effective value of amplitude-stabilized excitation on a gyroscope electrode needs to be accurately acquired for compensating gyroscope output in real time.
Currently, a peak detection circuit and a true effective value measurement circuit are mainly used for measuring the effective value of a sinusoidal signal. The peak value detection circuit measures the peak value of the signal and divides the peak value by the crest factor to obtain the effective value of the signal, which is easily affected by the glitch noise and has poor stability. The true effective value measuring circuit adopts a special chip to carry out square → average → square opening operation on the input signal, and the effective value of the alternating current signal is obtained. The true effective value measuring circuit generally needs to be configured with an external capacitor to set an average time constant, and the magnitude of the average error depends on the capacitance value of the average capacitor and is greatly influenced by temperature. In addition, the two modes belong to an open loop detection circuit, the measurement precision is low, and the method is difficult to be applied to occasions requiring high precision and low noise.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a circuit and a method for detecting the amplitude-stabilized excitation effective value of a resonant gyroscope, and can realize high-precision measurement of the amplitude-stabilized excitation effective value of the resonant gyroscope.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a resonant gyroscope steady amplitude excitation effective value detection circuitry, including half-wave rectifier circuit, tristate buffer, first RC filter circuit, second RC filter circuit, the ARM chip, accurate voltage reference, the adder of network is rectified in the area, the signal under test connects the adder input and the half-wave rectifier circuit input of area correction network respectively, the adder input of network is rectified in the area of half-wave rectifier circuit output connection band, the adder input of network is rectified in the voltage reference connection band, the adder input of network is rectified in the area of first RC filter circuit output connection band, the output of the adder of network is rectified in the area connects second RC filter circuit input, ARM chip ADC input is connected to the RC filter circuit output, ARM chip timer output connects tristate buffer input, tristate buffer output connects first RC filter circuit input.
Moreover, the adder with correction network comprises: operational amplifier, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, electric capacity C1 and electric capacity C2, the negative pole input, resistance R5 and electric capacity C2 of operational amplifier are connected respectively to the other end of resistance R1, the other end of resistance R2, the other end of resistance R3 and the other end of resistance R4, and electric capacity C1 is connected to the other end of resistance R5, and electric capacity C1's the other end and the other end of electric capacity C2 are connected respectively to the output of operational amplifier.
And the half-wave rectification signal and the detected signal are combined into a full-wave rectification signal through an adder by adjusting the proportional relation of the resistor R1 and the resistor R2.
And the resistor R3, the capacitor C1 and the capacitor C2 form an adjusting end of the correction network, and parameters of the correction network are changed according to actual bandwidth and stability margin.
A detection method of a resonant gyroscope amplitude stabilization excitation effective value detection circuit comprises the following steps:
step 2, adding the full-wave rectification signal with a voltage reference and a PWM wave direct current component;
step 4, obtaining digital quantity after RC filtering and AD conversion of the output signal after PI correction;
and 6, calculating an effective value of the full-wave rectification signal in the ARM by using the voltage reference and the PWM duty ratio, wherein the effective value is a resonant gyroscope amplitude-stabilizing excitation effective value.
The invention has the advantages and positive effects that:
1. the invention forms the detection circuit of the amplitude stabilizing excitation effective value of the resonant gyroscope by a half-wave rectification circuit, a tri-state buffer, an RC filter circuit, an adder with a correction network, an ARM chip and a precise voltage reference, and the formed circuit is a static error free system controlled in a closed loop mode, so that a direct current signal after PWM filtering, a full-wave rectification signal and the precise voltage reference are balanced, thereby realizing the high-precision measurement of the amplitude stabilizing excitation effective value of the resonant gyroscope, and being widely applied to the application occasions of precise measurement of the sine signal effective value.
2. The PWM period of the invention can be configured according to the requirement of the measurement period, and the noise of the measurement result in the ARM sheet can be further reduced by average filtering.
3. The invention fully utilizes the low-digit ADC and the timer integrated in the ARM chip, adopts the filtering technology and the closed-loop system to realize high-precision measurement, and simultaneously reduces the manufacturing cost.
Drawings
FIG. 1 is a circuit schematic of the present invention;
FIG. 2 is a control schematic of the present invention;
fig. 3 is a flow chart of the present invention.
Description of the reference numerals
The circuit comprises a 1-resistor R1, a 2-half-wave rectifying circuit, a 3-resistor R2, a 4-precision voltage reference, a 5-resistor R3, a 6-tri-state buffer, a 7-first RC filter circuit, an 8-resistor R4, a 9-resistor R5, a 10-capacitor C1, a 11-capacitor C2, a 12-operational amplifier, a 13-second RC filter circuit, an ADC (analog to digital converter) in a 14-ARM chip, a 15-ARM chip and a 16-ARM chip timer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A detection circuit for amplitude-stabilized excitation effective values of a resonant gyroscope comprises a 2-half-wave rectification circuit, a 6-tri-state buffer, a 7-first RC filter circuit, a 13-second RC filter circuit, a 15-ARM chip, a 4-precision voltage reference and an adder with a correction network, wherein a detected signal is respectively connected with the input end of the adder of the correction network and the input end of the half-wave rectification circuit, the output end of the half-wave rectification circuit is connected with the input end of the adder of the correction network, the voltage reference is connected with the input end of the adder of the correction network, the output end of the first RC filter circuit is connected with the input end of the adder of the correction network, the output end of the adder with the correction network is connected with the input end of the second RC filter circuit, the output end of the RC filter circuit is connected with the input end of the 14-ARM chip ADC, the output end of a 15-ARM chip timer is connected with the input end of the tri-state buffer, and the output end of the tri-state buffer is connected with the input end of the first RC filter circuit.
Moreover, the adder with correction network comprises: the circuit comprises an operational amplifier 12, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a capacitor R3 and a capacitor R2 1, wherein the resistor R1, the resistor R2, the resistor R3 and the capacitor R4 are connected with the other end of the operational amplifier 1, the other end of the resistor R2, the other end of the resistor R3 and the other end of the resistor R4 respectively, the other end of the resistor R5 is connected with the capacitor C1, and the output end of the operational amplifier is connected with the other end of the capacitor C1 and the other end of the capacitor C2 respectively.
And the half-wave rectification signal and the detected signal are combined into a full-wave rectification signal through an adder by adjusting the proportional relation of the resistor R1 and the resistor R2.
And the resistor R3, the capacitor C1 and the capacitor C2 form an adjusting end of the correction network, and parameters of the correction network are changed according to actual bandwidth and stability margin.
Furthermore, the full-wave rectified signal and the PWM filtered dc signal are both positive values, so the voltage reference must be negative to balance.
And the output of the operational amplifier is processed by a second RC filter circuit to obtain a direct current signal, the direct current signal is acquired by an ADC (analog to digital converter) in an ARM (advanced RISC machine) chip, and the PWM duty ratio is controlled according to the magnitude of the direct current signal, the full-wave rectification signal and the precision voltage reference, so that the direct current signal after PWM filtering is balanced.
And the PWM is generated by an ARM on-chip timer, the PWM period can be configured according to the requirement of the measurement period, and the effective value of the measured signal can be obtained according to the PWM duty ratio.
FIG. 2 is a control schematic block diagram of the circuit, in which
In order to be able to measure the signal,
is a half-wave rectified signal and is,
is used as a reference of the voltage,
is a PWM filtered dc signal.
Is a resistance of the resistor R5, and the resistor R is a resistor,
is a capacitor C1, and is,
which are capacitances C2, they form a correction network.
Is the proportional gain between the ADC input and the output of the first RC filter circuit.
A method for detecting a resonant gyroscope amplitude-stabilized excitation effective value detection circuit, as shown in fig. 3, includes the following steps:
step 2, adding the full-wave rectification signal with a voltage reference and a PWM wave direct current component;
step 4, obtaining digital quantity after the output signal after PI correction is subjected to RC filtering and AD conversion;
and 6, calculating an effective value of the full-wave rectification signal in the ARM by using the voltage reference and the PWM duty ratio, wherein the effective value is a resonant gyroscope amplitude-stabilizing excitation effective value.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (2)
1. A resonant gyroscope amplitude stabilization excitation effective value detection circuit is characterized in that: the circuit comprises a half-wave rectification circuit, a tristate buffer, a first RC filter circuit, a second RC filter circuit, an ARM chip, a precision voltage reference and an adder with a correction network, wherein a detected signal is respectively connected with the input end of the adder with the correction network and the input end of the half-wave rectification circuit;
the adder with the correction network comprises: the circuit comprises an operational amplifier, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a capacitor C1 and a capacitor C2, wherein one end of the resistor R1, one end of the resistor R2, one end of the resistor R3 and one end of the resistor R4 are respectively connected with the negative input end of the operational amplifier, the resistor R5 and the capacitor C2, the other end of the resistor R5 is connected with the capacitor C1, and the output end of the operational amplifier is respectively connected with the other end of the capacitor C1 and the other end of the capacitor C2;
the proportional relation of the resistor R1 and the resistor R2 is adjusted to enable the half-wave rectification signal and the detected signal to be combined into a full-wave rectification signal through an adder;
the resistor R3, the capacitor C1 and the capacitor C2 form an adjusting end of the correction network, and parameters of the correction network are changed according to actual bandwidth and stability margin.
2. A detection method of the resonant gyroscope amplitude stabilized excitation effective value detection circuit according to claim 1, characterized in that: the method comprises the following steps:
step 1, combining a detected signal and a half-wave rectification signal to form a full-wave rectification signal;
step 2, adding the full-wave rectification signal with a voltage reference and a PWM wave direct current component;
step 3, correcting the added signals in a PI correction mode;
step 4, obtaining digital quantity after the output signal after PI correction is subjected to RC filtering and AD conversion;
step 5, the ARM chip adjusts the duty ratio of the PWM wave according to the control digital quantity, and the sum of the direct current component after RC filtering, the full-wave rectification signal and the voltage reference is zero;
and 6, calculating an effective value of the full-wave rectification signal in the ARM by using the voltage reference and the PWM duty ratio, wherein the effective value is a resonant gyroscope amplitude-stabilizing excitation effective value.
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| CN202010954102.2A CN112146638B (en) | 2020-09-11 | 2020-09-11 | Resonant gyroscope amplitude-stabilized excitation effective value detection circuit and method thereof |
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| CN112146638B true CN112146638B (en) | 2022-10-28 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8301037D0 (en) * | 1982-01-14 | 1983-02-16 | British Aerospace | Gyroscopes |
| JP2006047184A (en) * | 2004-08-06 | 2006-02-16 | Japan Aviation Electronics Industry Ltd | Driving circuit and oscillating gyroscope |
| CH696572A5 (en) * | 2003-04-02 | 2007-07-31 | Eidgenoess Tech Hochschule | Apparatus for electrical isolation and output signal-dependent routing of the supply voltages of a linear power amplifier. |
| CN109510625A (en) * | 2019-01-02 | 2019-03-22 | 中国船舶重工集团公司第七0七研究所 | A kind of high-precision AD sampling of quartz flexible accelerometer and conversion circuit |
| CN109946540A (en) * | 2019-03-21 | 2019-06-28 | 西安联飞智能装备研究院有限责任公司 | A kind of detection circuit and detection method of sine and cosine resolver |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5365173B2 (en) * | 2008-02-29 | 2013-12-11 | セイコーエプソン株式会社 | Physical quantity measuring device and electronic device |
| JP4678427B2 (en) * | 2008-06-23 | 2011-04-27 | 株式会社村田製作所 | Vibrating gyro |
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2020
- 2020-09-11 CN CN202010954102.2A patent/CN112146638B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8301037D0 (en) * | 1982-01-14 | 1983-02-16 | British Aerospace | Gyroscopes |
| CH696572A5 (en) * | 2003-04-02 | 2007-07-31 | Eidgenoess Tech Hochschule | Apparatus for electrical isolation and output signal-dependent routing of the supply voltages of a linear power amplifier. |
| JP2006047184A (en) * | 2004-08-06 | 2006-02-16 | Japan Aviation Electronics Industry Ltd | Driving circuit and oscillating gyroscope |
| CN109510625A (en) * | 2019-01-02 | 2019-03-22 | 中国船舶重工集团公司第七0七研究所 | A kind of high-precision AD sampling of quartz flexible accelerometer and conversion circuit |
| CN109946540A (en) * | 2019-03-21 | 2019-06-28 | 西安联飞智能装备研究院有限责任公司 | A kind of detection circuit and detection method of sine and cosine resolver |
Non-Patent Citations (2)
| Title |
|---|
| Nonlinear distortion of an FM signal by half-wave linear rectification;Muhammad Taher Abuelma"atti;《Applied Mathematics and Computation》;19990331;全文 * |
| 半球谐振陀螺误差模型分析及补偿技术研究;覃施甦;《中国优秀硕士学位论文全文数据库(信息科技辑)》;20160315(第03期);全文 * |
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