CN113607150A - Quartz gyro error suppression method of time division driving and orthogonal force feedback closed loop - Google Patents
Quartz gyro error suppression method of time division driving and orthogonal force feedback closed loop Download PDFInfo
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- CN113607150A CN113607150A CN202110829952.4A CN202110829952A CN113607150A CN 113607150 A CN113607150 A CN 113607150A CN 202110829952 A CN202110829952 A CN 202110829952A CN 113607150 A CN113607150 A CN 113607150A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
- G01C19/5614—Signal processing
Abstract
The invention relates to a quartz gyroscope error suppression method based on time division driving and orthogonal force feedback closed loops, and belongs to the technical field of micro-mechanical inertial devices. The system comprises 1) a driving software unit and a driving module which output time-division sine driving excitation signals and alternately output the sine driving excitation signals and zero level signals in adjacent time periods; 2) when the driving excitation signal is in a period without a signal, the detection module starts to carry out signal detection to obtain an in-phase component and an orthogonal component of a detection signal; 3) establishing in-phase and quadrature signal PI closed-loop control, respectively generating in-phase and quadrature force feedback closed-loop signals, and generating force feedback closed-loop signals through digital-to-analog conversion; 4) and loading the force feedback signal to the quartz tuning fork detection end to perform force feedback closed-loop control, so that the displacement of the quartz tuning fork detection end is zero. The method realizes the suppression of electrostatic coupling and mechanical coupling errors of the gyroscope, effectively improves the zero drift of the gyroscope and is easy to realize.
Description
Technical Field
The invention relates to a quartz gyroscope error suppression method based on time division driving and orthogonal force feedback closed loops, and belongs to the technical field of micro-mechanical inertial devices.
Background
A gyroscope is an inertia-sensitive device used to measure the angular velocity of rotation of an object relative to an inertial space. Micromechanical gyroscopes are known as an important development direction in the gyroscope field and are receiving much attention due to their characteristics of small size, light weight, low power consumption, low cost, and easy mass production.
The quartz tuning fork gyroscope is a typical representative of a micromechanical gyroscope, the working principle is the piezoelectric/inverse piezoelectric effect and the Coriolis effect of quartz crystals, the quartz tuning fork gyroscope comprises two pairs of driving and detecting tuning forks, driving electrodes are designed and manufactured on the driving tuning forks, and detecting electrodes are arranged on the detecting tuning forks. When a driving excitation signal with the frequency of the resonance frequency of the driving tuning fork is loaded to the driving tuning fork, the driving interdigital generates reference vibration under an alternating driving voltage signal due to the inverse piezoelectric effect; when no angular velocity input exists, detecting that the tuning fork does not generate sensitive vibration; when an input angular velocity exists, the tuning fork is acted by the Coriolis inertia force, so that sensitive vibration is generated on the detection interdigital perpendicular to the input direction of the angular velocity and the reference vibration direction, due to the piezoelectric effect of the quartz crystal, electric charges proportional to the electric charges appear on the detection electrode, and the electric charges are amplified and demodulated to obtain direct current output proportional to the input angular velocity.
The difference between the resonant frequency of the driving tuning fork and the resonant frequency of the detection tuning fork of the quartz tuning fork gyroscope is called as the frequency difference of the quartz tuning fork gyroscope, the smaller the frequency difference is, the higher the sensitivity of the quartz tuning fork gyroscope is, and the better the performance is.
The prior art has a signal detection system design scheme of quartz tuning fork gyroscope, which mainly includes: a vibration unit (i.e., an angular velocity sensor), a detection circuit, a timing signal output circuit (a demodulation signal generation circuit), and a drive circuit. In this scheme, the vibration monitor signal is from the vibration section, and the signal passes through the low-pass filter, the comparator and the first phase shifter to generate a timing signal for synchronous detection. I.e. the part of the circuit generates the demodulation signal. The driving circuit includes a second phase shifter and an amplitude adjuster, and outputs a driving signal. The detection circuit is used for amplifying and detecting weak detection signals and mainly comprises a synchronous detector and a filter. The synchronous detector needs a demodulation signal generated from the synchronous signal output circuit for synchronous detection.
The technical scheme provides the working principle and the engineering realization scheme of the quartz tuning fork gyroscope, and the constant driving amplitude is realized through an analog AGC circuit in a driving part; in the detection section, angular velocity information is obtained by demodulation by an analog circuit. Due to the adoption of an analog circuit scheme, the electrostatic coupling effect of the quartz tuning fork gyroscope can only be shielded, and the mechanical coupling error can only depend on the processing precision of the watch core, so that the performance of the gyroscope watch core cannot be fully exerted. Although the existing scheme achieves good technical effects, a great improvement space exists in the aspects of suppression of electrostatic coupling and orthogonal coupling of two important error sources causing zero errors of the quartz tuning fork gyroscope. Therefore, the invention aims to solve the defects of the technology and provides a quartz tuning fork gyroscope error suppression method with time division driving and orthogonal force feedback closed loops.
Disclosure of Invention
The invention aims to provide a quartz gyroscope error suppression method of time division driving and orthogonal force feedback closed loop, aiming at the technical problem that the prior quartz gyroscope cannot effectively reduce electrostatic coupling and orthogonal coupling so as to cause the quartz tuning fork gyroscope to generate zero errors.
In order to achieve the purpose, the invention adopts the following technical scheme:
the quartz gyroscope device based on the quartz gyroscope error suppression method comprises a quartz tuning fork, a driving module, a detection module, a digital signal processing module and an orthogonal force feedback closed-loop module;
wherein, the quartz tuning fork is a micro mechanical structure device, and the rest is a circuit device; the quartz tuning fork is called as a tuning fork drive unit and a tuning fork detection unit for short, the tuning fork drive unit is also called as a quartz tuning fork drive end, and the tuning fork detection unit is also called as a quartz tuning fork detection end; the tuning fork driving unit is provided with a driving electrode; the tuning fork detection unit is provided with detection electrodes, wherein the detection electrodes comprise a detection electrode 1 and a detection electrode 2; the detection electrode 1 is used for extracting an angular velocity signal, and the detection electrode 2 is used for loading a force feedback signal.
The driving module comprises a driving amplifier unit, a driving DAC unit and a driving ADC unit; the detection module comprises a detection amplifier unit and a detection ADC unit; the orthogonal force feedback closed loop module comprises a force feedback DAC unit; the digital signal processing module comprises a digital processor, and a driving software unit, a detection software unit and a force feedback software unit are arranged in the digital processor; the driving software unit comprises a driving quadrature demodulation unit, a driving PI closed-loop control unit and a driving time division control unit; the detection software unit comprises a detection quadrature demodulation unit; the force feedback software unit comprises an in-phase force feedback PI closed-loop control unit and an orthogonal force feedback PI closed-loop control unit;
the connection relationship of each component in the quartz gyroscope device is as follows:
the digital signal processing module is connected with the driving module, the detection module and the orthogonal force feedback closed-loop module; the driving module is connected with a driving electrode of a quartz tuning fork driving end; the detection module is connected with a detection electrode 1 at the detection end of the quartz tuning fork; the orthogonal force feedback closed loop module is connected with a detection electrode 2 at the detection end of the quartz tuning fork;
the driving amplifier unit is externally connected with a quartz tuning fork driving end driving electrode, internally connected with a driving ADC unit, and externally connected with the digital signal processing module; the driving DAC unit is connected with a quartz tuning fork driving end driving electrode and a digital signal processing module;
the detection amplifier unit is externally connected with the detection electrode 1 at the detection end of the quartz tuning fork and internally connected with the detection ADC unit, and the detection ADC unit is externally connected with the digital signal processing module;
the orthogonal force feedback closed-loop module is characterized in that a force feedback DAC unit is connected with a quartz tuning fork detection end detection electrode 2 and a digital signal processing module;
the signal flow of each part in the quartz gyroscope device is as follows:
the driving software unit of the digital signal processing module generates a sinusoidal signal with the frequency about the resonant frequency of the quartz tuning fork driving end according to a pre-stored code table, and the sinusoidal signal is called as a driving excitation signal; the excitation signal is output to a quartz tuning fork driving end driving electrode through a driving module driving DAC unit, so that the quartz tuning fork driving end generates vibration at the resonance frequency of the quartz tuning fork driving end; the vibration of the quartz tuning fork driving end can generate a signal on a driving electrode, the signal is called a driving detection signal, a driving amplifier unit carries out charge amplification on the driving detection signal and inputs the amplified signal into a driving ADC unit, the driving ADC unit carries out analog-to-digital conversion on the amplified driving signal and inputs the converted driving signal into a driving software unit of a digital signal processing module, the driving software unit carries out frequency and amplitude control on a driving excitation signal through quadrature demodulation, driving PI closed-loop control, digital filtering and the like, the frequency of the driving excitation signal is kept at the resonant frequency of the quartz tuning fork driving end and constant amplitude vibration is maintained, the driving excitation signal is subjected to time division driving output under the control of the driving software unit, and a sinusoidal driving signal and a zero level signal are alternately output in adjacent time driving periods.
The detection module detection amplifier amplifies a signal on a detection electrode 1 at the detection end of the quartz tuning fork, the signal is called a detection signal, the detection signal is input into the detection amplifier, the detection amplifier completes signal analog-to-digital conversion and then inputs the signal into a digital signal processing module detection software unit, the detection software unit carries out processes of quadrature demodulation, detection PI closed-loop control, digital filtering and the like on the signal, the detection PI closed-loop control comprises in-phase signal PI closed-loop control and quadrature signal PI closed-loop control, an in-phase force feedback closed-loop signal and a quadrature force feedback closed-loop signal can be generated, the in-phase force feedback closed-loop signal and the quadrature force feedback closed-loop signal are collectively called a force feedback closed-loop signal, the detection signal is subjected to time division detection under the control of the detection software unit, namely, the detection is not carried out in the existence period of the driving excitation signal, and the detection is carried out when the driving excitation signal is zero.
And the force feedback closed-loop signal is input into a force feedback DAC unit in the orthogonal force feedback closed-loop module, the force feedback DAC unit performs digital-to-analog conversion on the signal, the converted analog signal is loaded to a quartz tuning fork detection end detection electrode 2, the force feedback closed-loop control is performed on the quartz tuning fork detection end, so that the quartz tuning fork detection end displacement is zero, and the in-phase force feedback closed-loop signal can be used for representing an angular velocity signal.
The error suppression method of the quartz gyroscope comprises the following steps:
step 1: the driving software unit and the driving module output time-division sine driving excitation signals and alternately output the sine driving excitation signals and zero level signals in adjacent time periods, and the method specifically comprises the following substeps:
step 1.1, a driving software unit generates a sine wave with the same resonant frequency as the resonant frequency in a code table query mode according to the resonant frequency of the quartz tuning fork and converts the sine wave into a simulated sine driving excitation signal through a driving DAC unit, and the signal is loaded to a driving electrode of a quartz tuning fork driving end to enable the quartz tuning fork driving end to start vibration and work at a resonant frequency point;
step 1.2, a driving software unit acquires a feedback displacement signal of a quartz tuning fork driving end by driving an ADC unit, drives an orthogonal demodulation unit to carry out orthogonal demodulation on the acquired feedback displacement signal, drives a PI closed-loop control unit to construct a closed-loop control model, calculates a phase and amplitude compensation coefficient by driving PI closed-loop control, and adjusts a driving excitation signal in real time by using the calculated phase and amplitude compensation coefficient;
step 1.3, the driving software unit carries out time division control on the driving excitation signal through the driving time division control unit, and alternately outputs a sinusoidal driving excitation signal and a zero level signal in adjacent time periods;
step 2: when the driving excitation signal is in a period without a signal, the detection module starts to perform signal detection to obtain an in-phase component and a quadrature component of the detection signal, and the method specifically comprises the following substeps:
step 2.1, amplifying a weak detection signal of the detection electrode 1 at the detection end of the quartz tuning fork by using a detection module detection amplifier unit;
step 2.2, the detection module detects that the ADC unit amplifies the detected weak detection signal, then performs analog-to-digital conversion and inputs the amplified weak detection signal into the digital signal processing module;
step 2.3, the detection software unit of the detection module performs time division control on the detection signal in the digital signal processing module through the detection time division control unit;
step 2.4, the detection software unit amplifies and orthogonally demodulates the signals after the analog-digital conversion in the digital signal processing module to obtain an in-phase component and an orthogonal component of the detection signals;
and step 3: establishing in-phase signal PI closed-loop control and quadrature signal PI closed-loop control of a quartz tuning fork detection end, respectively generating an in-phase force feedback closed-loop signal and a quadrature force feedback closed-loop signal, and then generating a force feedback closed-loop signal through digital-to-analog conversion, and specifically comprising the following substeps:
step 3.1, the in-phase force feedback PI closed-loop control unit carries out PI closed-loop control on the in-phase signal according to a transfer function model of the detection end of the quartz tuning fork and the in-phase component of the detection signal to obtain the in-phase force feedback closed-loop signal which has the same size as the in-phase component of the detection signal and is opposite in positive and negative;
step 3.2, the orthogonal force feedback PI closed-loop control unit carries out PI closed-loop control on the orthogonal signal according to the transfer function model of the detection end of the quartz tuning fork and the orthogonal component of the detection signal to obtain the orthogonal force feedback closed-loop signal which has the same size as the orthogonal component of the detection signal and is opposite in positive and negative;
3.3, inputting the in-phase force feedback closed-loop signal and the orthogonal force feedback closed-loop signal into a force feedback DAC unit in the orthogonal force feedback closed-loop module for digital-to-analog conversion to obtain a force feedback signal;
and 4, step 4: loading a force feedback signal output by a force feedback DAC unit in the orthogonal force feedback closed-loop module to a detection electrode 2 at the detection end of the quartz tuning fork; performing force feedback closed-loop control on the quartz tuning fork detection end to enable the displacement of the quartz tuning fork detection end to be zero;
so far, through the steps 1 to 4, the quartz gyroscope error suppression method of time division driving and orthogonal force feedback closed loop is completed.
Advantageous effects
Compared with the existing quartz tuning fork gyroscope error suppression method, the quartz gyroscope error suppression method based on time division driving and orthogonal force feedback closed loop has the following beneficial effects:
1. according to the method, the driving excitation signal is subjected to time division control through the driving time division control unit, the quartz tuning fork detection end angular velocity signal detection is not carried out in the driving period, and the quartz tuning fork driving excitation is carried out in the period in which the quartz tuning fork detection end angular velocity signal detection is not carried out, so that the gyro zero drift generated by electrostatic coupling is eliminated;
2. the method realizes the force feedback closed loop of the detection end of the quartz tuning fork, inhibits the influence of mechanical coupling errors on the zero drift of the gyroscope and effectively improves the zero drift of the gyroscope by loading in-phase and orthogonal force feedback closed loop signals to the detection electrode 2 of the quartz tuning fork;
3. the method adopts full-digital closed-loop control based on orthogonal force feedback, the closed-loop control is completed in a digital signal processing module, the gyro error caused by direct current offset and drift of an analog device can be eliminated, and the circuit principle is simple;
4. the method has the advantages that the circuit of the original gyroscope is slightly changed, only one DAC chip is added, the structure is not changed, and the engineering is simple to realize.
Drawings
FIG. 1 is a system schematic block diagram of a quartz gyroscope relied on by the quartz gyroscope error suppression method of time division driving and orthogonal force feedback closed loop of the invention;
FIG. 2 is a signal timing diagram of a quartz gyroscope error suppression method of time division driving and quadrature force feedback closed loop according to the present invention;
FIG. 3 is a driving time division control function diagram of the quartz gyroscope error suppression method of the invention with time division driving and orthogonal force feedback closed loop;
FIG. 4 is a diagram of a time-division detection function of the quartz gyroscope error suppression method of the time-division driving and orthogonal force feedback closed loop according to the present invention;
FIG. 5 is a structure diagram of the quartz tuning fork driving frequency PI closed loop control of the quartz gyroscope error suppression method of time division driving and orthogonal force feedback closed loop of the present invention;
FIG. 6 is a structure diagram of the quartz tuning fork driving amplitude PI closed loop control of the quartz gyroscope error suppression method of time division driving and orthogonal force feedback closed loop of the present invention;
FIG. 7 is a structure diagram of the quartz tuning fork detection quadrature component PI closed loop control of the quartz gyroscope error suppression method of time division driving and quadrature force feedback closed loop of the present invention;
FIG. 8 is a structure diagram of the quartz tuning fork detection in-phase component PI closed loop control of the quartz gyroscope error suppression method of time division driving and quadrature force feedback closed loop of the present invention;
FIG. 9 is a circuit diagram of an orthogonal force feedback closed loop module in a supporting system for the quartz gyro error suppression method based on time division driving and orthogonal force feedback closed loops.
Detailed Description
The method for suppressing the error of the quartz gyroscope with time division driving and orthogonal force feedback closed loop according to the present invention is further illustrated and described in detail below with reference to the accompanying drawings and embodiments.
Example 1
This example illustrates the detailed method of the present invention for implementing a quartz gyroscope error suppression method with time division driving and quadrature force feedback closed loop in a specific product. The method comprises the steps that 1) a driving software unit and a driving module output time-division sine driving excitation signals, and sine driving excitation signals and zero level signals are alternately output in adjacent time periods; 2) when the driving excitation signal is in a period without a signal, the detection module starts to carry out signal detection to obtain an in-phase component and an orthogonal component of a detection signal; 3) establishing in-phase and quadrature signal PI closed-loop control, respectively generating in-phase and quadrature force feedback closed-loop signals, and generating force feedback closed-loop signals through digital-to-analog conversion; 4) and loading the force feedback signal to the quartz tuning fork detection end to perform force feedback closed-loop control, so that the displacement of the quartz tuning fork detection end is zero. The method realizes the suppression of electrostatic coupling and mechanical coupling errors of the gyroscope, effectively improves the zero drift of the gyroscope and is easy to realize.
The invention discloses a quartz gyro error suppression method based on time division driving and orthogonal force feedback closed loops, and in specific implementation, a schematic block diagram of the system is shown in fig. 1.
In the digital processor in fig. 1, in specific implementation, an STM32F405 is adopted, a time division driving module generates a sinusoidal driving excitation signal with the same frequency as the resonant frequency of a quartz tuning fork gyroscope driving end in a code table query mode, the resonant frequency of the quartz tuning fork gyroscope driving end is 9kHz, a code table adopts a 3600 point sinusoidal code table, conversion is performed every 4us inside the STM32F405, the STM32F405 completes DAC conversion in a DMA mode to generate a 9kHz driving voltage signal with the same resonant frequency as the quartz tuning fork driving end, and the amplitude of the voltage signal is 5V; and the driving excitation signal is loaded to the quartz tuning fork driving end through a driving DAC chip DAC80501, wherein the digit of the DAC is 16. The ADC chip ADS8885 is driven to collect feedback signals of the quartz tuning fork gyroscope driving end, the number of bits of the ADS8885 chip is 18 bits, and the sampling rate is 400 ksps. The ADC conversion time is 4us, and the acquisition time of the ADC needs to be strictly synchronous with the drive DAC unit; the feedback signal of the quartz tuning fork gyroscope driving end acquired by ADS8885 is expressed as:
Vqjin＝Ain*sin(Wd*t+p1)
where Vqjin is the ADC sampling signal, Ain is the drive amplitude, Wd is the drive resonant frequency, and P1 is the total phase shift or delay including the circuit and tuning fork. The STM32F405 performs certain phase compensation on the output driving excitation signal to generate in-phase demodulation signals and quadrature demodulation signals which are sin (Wd t + P1') and cos (Wd t + P1'), multiplies Vqjin by the two reference signals respectively, performs low-pass filtering, and according to the in-phase demodulation reference signals and the quadrature demodulation reference signals, the in-phase component reflects amplitude information of driving reference vibration, and the quadrature component/the in-phase component is about 0; and (3) using the ratio of the orthogonal component to the in-phase component as an input parameter for frequency adjustment, generating a frequency adjustment quantity through a PI algorithm, and dynamically adjusting the driving frequency to enable the driving frequency to vibrate at a resonance frequency point all the time. The driving excitation signal is subjected to time division control through a time division driving module in the digital processor to generate a time division driving excitation signal, and the driving excitation signal is alternately output in adjacent periods.
When the driving excitation signal is zero, the detection module starts to detect the angular velocity signal, the weak signal of the detection end amplified by the detection end amplifier OPA2320 AIRG can enter the detection ADC after being amplified by the amplifier, and the type of the detection ADC is ADS8885, and is consistent with that of the driving ADC; the detection ADC unit ADS8885 chip converts the signal into digital signals and inputs the digital signals into a digital processor STM32F 405; the detection software unit carries out quadrature demodulation in the digital processor to obtain an in-phase component and a quadrature component of a quartz tuning fork gyroscope detection signal; the input signal of the ADC at the detection end is also phase-shifted P2 relative to the output sinusoidal signal at the driving end, and the expression is Vjcin-Bin sin (Wd t + P2);
bin is the angular velocity AC amplitude. And performing certain phase compensation on the output digital driving signals to generate in-phase demodulation reference signals and quadrature demodulation reference signals, namely sin (Wd × t + P2') and cos (Wd × t + P2'), multiplying the two demodulation reference signals by Vjcin respectively, performing low-pass filtering, and obtaining an in-phase component amplitude value of Bin/2 × cos (P2-P2') through in-phase demodulation and a quadrature component amplitude value of Bin/2 × sin (P2-P2') through quadrature demodulation when P2' is equal to P2. When P2 is P2', the in-phase component reaches a maximum value Bin/2 and the quadrature component reaches a minimum; the DAC80501 is adopted as the detection end DAC, the force feedback closed-loop module is detected inside the digital processor to generate a force feedback closed-loop signal, the signal comprises an in-phase component and a quadrature component, the force feedback closed-loop signal is converted into an analog signal through the detection DAC80501, the analog signal is connected to the detection electrode 2 of the detection end of the quartz tuning fork gyroscope, and the detection end of the quartz tuning fork gyroscope can generate displacement opposite to quadrature coupling vibration generated by mechanical coupling and in-phase vibration generated by the Coriolis effect according to the piezoelectric effect, so that the displacement of the detection end of the quartz tuning fork gyroscope is kept near 0.
Fig. 2 is a signal timing diagram of the present invention, which shows the signal timing generated by the above steps, and it can be seen from fig. 2 that the driving signal is a sinusoidal signal after time division, the driving signal is alternately output as a sinusoidal signal and a zero level signal in two adjacent periods, and due to the inertia effect of the driving vibration of the quartz tuning fork, the tuning fork will still keep vibrating after the driving voltage signal disappears, but the vibration amplitude is reduced. The detection displacement signal is a sinusoidal signal modulated by angular velocity, although the driving voltage signal exists alternately along the time period, the displacement signal of the driving vibration exists in the whole period due to the inertia effect, so the detection displacement signal exists in the whole period according to the quartz gyrocompass working principle, but the amplitude in the detection period is smaller than that in the driving period. The local demodulation signal is a signal used for orthogonal demodulation, the signal is also subjected to time division control, the time-divided local demodulation signal and the drive signal are completely staggered in time, namely, the demodulation of the detection end is not carried out when the drive signal is loaded, the demodulation of the detection end is carried out in a period when the drive signal is zero, the drive-end tuning fork still maintains resonance under the inertia effect in the period when the drive signal is zero, and the electrostatic coupling disappears as the drive voltage signal disappears, so the electrostatic coupling error of the gyroscope is completely eliminated under the conditions of drive time division and detection time division, and the elimination of the electrostatic coupling is one of two reasons for generating the zero error of the gyroscope, so the elimination of the electrostatic coupling improves the zero drift of the gyroscope.
Fig. 3 is a driving time division control module of the present invention, in which the driving excitation signal is a continuous sinusoidal signal, and the driving time division output signal is alternately connected to the driving original output signal and zero under the control of the time division control signal, so as to complete the time division control function of the driving signal.
Fig. 4 is a detection time-division control module of the present invention, which has the same principle as the driving time-division control module, except that the input is a detection original output signal, the output is a detection time-division output signal, and the phase of the detection time-division control signal is opposite to that of the driving time-division control signal.
In fig. 5, the reference phase is set to 180 degrees, the core phase frequency transfer function is measured by experiments according to the characteristics of the quartz tuning fork driving end, and the transfer function of the low-pass filter is obtained according to filter design parameters and can also be measured by experiments; and controlling the quartz tuning fork driving end to work at the resonant frequency through a PI controller and loop gain adjustment. In the step 1.2, a driving software unit acquires a feedback displacement signal of a quartz tuning fork driving end through a driving ADC unit to construct a closed-loop control model; the frequency closed-loop control model comprises a core phase frequency transfer function, a low-pass filter transfer function, a phase adder-subtractor of reference phase input, a PI controller and a loop gain; the amplitude closed-loop control model comprises a watch core amplitude-frequency transfer function, a low-pass filter transfer function, a phase adder-subtractor of a reference phase input, a PI controller and a loop gain. Through the driving PI closed-loop control shown in FIG. 6 and FIG. 5, phase and amplitude compensation coefficients are respectively calculated, and the driving excitation signal is adjusted in real time by using the calculated phase and amplitude compensation coefficients.
Fig. 6 is a closed-loop amplitude control block diagram of the driving end of the quartz tuning fork gyroscope, and the amplitude of the driving end of the quartz tuning fork gyroscope directly affects the performance of the quartz tuning fork gyroscope, so that it is not only necessary to ensure that the driving end vibrates at the resonant frequency, but also to ensure that the driving end vibrates at a constant amplitude. The difference from fig. 5 is that the reference becomes the amplitude value, i.e. the target amplitude value, and the watch core transfer function is changed from a phase frequency transfer function to an amplitude frequency transfer function, which can be obtained experimentally according to the characteristics of the driving end of the quartz tuning fork. By adjusting the PI and the loop gain coefficient, the quartz tuning fork driving end can work in a constant amplitude vibration mode.
Fig. 7 and fig. 8 correspond to the specific implementation of step 3, respectively, that is, an in-phase signal PI closed-loop control (fig. 8) and an orthogonal signal PI closed-loop control (fig. 7) of the detection end of the quartz tuning fork are established, and an in-phase force feedback closed-loop signal and an orthogonal force feedback closed-loop signal are generated respectively and then are subjected to digital-to-analog conversion to generate a force feedback closed-loop signal.
FIG. 7 is a diagram of a PI (quadrature component) closed-loop control of the detecting end of the quartz tuning fork gyroscope, which can generate the quadrature component of the force feedback closed-loop signal. The orthogonal coupling input signal is a mechanical coupling signal from a quartz tuning fork gyroscope driving end to a quartz tuning fork gyroscope detecting end, a PI closed loop control system is designed according to a phase frequency transfer function and a digital filter transfer function of a quartz tuning fork gyroscope core, a force feedback closed loop signal orthogonal component corresponding to the orthogonal coupling signal is obtained by adjusting a PI and a loop gain coefficient, the component is loaded to a quartz tuning fork gyroscope detecting end detecting electrode 2 through a detecting DAC, vibration displacement opposite to orthogonal coupling is generated at the quartz tuning fork gyroscope detecting end through a quartz crystal piezoelectric effect, and accordingly displacement of the quartz tuning fork gyroscope detecting end in an orthogonal direction is kept near zero.
FIG. 8 is a block diagram of the in-phase component PI closed-loop control of the detection end of the quartz tuning fork gyroscope, which can generate the in-phase component of the force feedback closed-loop signal. The method comprises the steps that an angular velocity input signal is a signal which is generated by a quartz tuning fork gyroscope detection end through a Coriolis effect and is proportional to the angular velocity, a PI closed-loop control system is designed according to a phase-frequency transfer function and a digital filter transfer function of a quartz tuning fork gyroscope watch core, a force feedback closed-loop signal in-phase component corresponding to the in-phase component signal is obtained by adjusting a PI and a loop gain coefficient, the component is loaded to a quartz tuning fork gyroscope detection end detection electrode 2 through a detection DAC, vibration displacement opposite to the in-phase is generated by the quartz crystal piezoelectric effect, and therefore the displacement of the quartz tuning fork gyroscope detection end in the in-phase direction is kept near zero.
By combining the two force feedback closed-loop controls of fig. 7 and fig. 8, the displacement of the detection end of the quartz tuning fork gyroscope under the influence of the orthogonal and in-phase component signals can be made to be zero, so that the detection end of the quartz tuning fork gyroscope is always kept near the zero displacement; the in-phase component of the force feedback closed-loop signal has a definite corresponding relation with the angular velocity component, so that the measured value of the angular velocity can be obtained through the in-phase component of the force feedback closed-loop signal.
FIG. 9 is a circuit diagram of an orthogonal force feedback closed loop module of a quartz tuning fork gyroscope, which comprises a DAC80501, wherein the left side of the DAC chip is provided with an analog part, and the right side of the DAC chip is provided with a digital part; force feedback closed-loop signals generated by the digital processor through force feedback closed-loop control enter the DAC80501 through an SPI (serial peripheral interface) on the right side of the DAC80501, the DAC80501 converts the digital signals into analog signals, the analog signals are output through a VOUT (voltage output) pin on the left side, and the analog signals are directly loaded to a detection electrode 2 of a quartz tuning fork gyroscope detection end, so that the force feedback closed-loop control function is completed.
And (3) loading the orthogonal force feedback closed-loop signal generated in the step (3) of the method to the detection end of the quartz tuning fork gyroscope, and enabling the detection end to generate vibration displacement opposite to orthogonal coupling and coriolis motion through the piezoelectric effect of the quartz crystal, so that the displacement of the detection end of the quartz tuning fork gyroscope is always maintained near zero. Because the mechanical coupling error is just caused by the orthogonal coupling movement of the detection end of the quartz tuning fork gyroscope, the displacement of the detection end is kept near zero, an orthogonal coupling error signal cannot enter a digital processor through a detection amplifier and a detection ADC (analog to digital converter), the orthogonal coupling error signal is effectively inhibited, and the zero position precision of the gyroscope can be improved through the inhibition of the orthogonal mechanical coupling error.
In the method, all functions except the amplifier, the ADC and the DAC chip are completed in the digital signal processor by a software method, so that the gyro error caused by direct current offset and drift caused by an analog circuit filter and an analog demodulation circuit can be effectively eliminated, and the circuit principle is simple;
compared with the prior art, the method has the advantages that the detection DAC chip is added, the DAC output is directly connected to the detection electrode 2 at the detection end of the quartz tuning fork gyroscope, and therefore the circuit is simple to change. The digital PI control algorithm belongs to the software range, and is realized by software programming without adding a new hardware circuit, so that the circuit of the original gyroscope is slightly changed, the structure is not changed, the realization is simple, and the product can be conveniently upgraded.
Thus, the quartz gyro error suppression method of time division driving and orthogonal force feedback closed loop is completed.
While the foregoing is directed to the preferred embodiment of the present invention, it is not intended that the invention be limited to the embodiment and the drawings disclosed herein. Equivalents and modifications may be made without departing from the spirit of the disclosure, which is to be considered as within the scope of the invention.
Claims (7)
1. A quartz gyro error suppression method of time division driving and orthogonal force feedback closed loop is characterized in that: the device comprises a quartz tuning fork, a driving module, a detection module, a digital signal processing module and an orthogonal force feedback closed-loop module;
wherein, the quartz tuning fork is a micro mechanical structure device, and the rest is a circuit device; the quartz tuning fork is called as a tuning fork drive unit and a tuning fork detection unit for short, the tuning fork drive unit is also called as a quartz tuning fork drive end, and the tuning fork detection unit is also called as a quartz tuning fork detection end; the tuning fork driving unit is provided with a driving electrode; the tuning fork detection unit is provided with detection electrodes, wherein the detection electrodes comprise a detection electrode 1 and a detection electrode 2; the detection electrode 1 is used for extracting an angular velocity signal, and the detection electrode 2 is used for loading a force feedback signal;
the driving module comprises a driving amplifier unit, a driving DAC unit and a driving ADC unit; the detection module comprises a detection amplifier unit and a detection ADC unit; the orthogonal force feedback closed loop module comprises a force feedback DAC unit; the digital signal processing module comprises a digital processor, and a driving software unit, a detection software unit and a force feedback software unit are arranged in the digital processor; the driving software unit comprises a driving quadrature demodulation unit, a driving PI closed-loop control unit and a driving time division control unit; the detection software unit comprises a detection quadrature demodulation unit; the force feedback software unit comprises an in-phase force feedback PI closed-loop control unit and an orthogonal force feedback PI closed-loop control unit;
the connection relationship of each component in the quartz gyroscope device is as follows:
the digital signal processing module is connected with the driving module, the detection module and the orthogonal force feedback closed-loop module; the driving module is connected with a driving electrode of a quartz tuning fork driving end; the detection module is connected with a detection electrode 1 at the detection end of the quartz tuning fork; the orthogonal force feedback closed loop module is connected with a detection electrode 2 at the detection end of the quartz tuning fork;
the error suppression method of the quartz gyroscope comprises the following steps:
step 1: the driving software unit and the driving module output time-division sine driving excitation signals and alternately output the sine driving excitation signals and zero level signals in adjacent time periods;
step 2: when the driving excitation signal is in a period without a signal, the detection module starts to carry out signal detection to obtain an in-phase component and an orthogonal component of a detection signal;
and step 3: establishing in-phase signal PI closed-loop control and quadrature signal PI closed-loop control of a quartz tuning fork detection end, respectively generating an in-phase force feedback closed-loop signal and a quadrature force feedback closed-loop signal, and then generating a force feedback closed-loop signal through digital-to-analog conversion, and specifically comprising the following substeps:
step 3.1, the in-phase force feedback PI closed-loop control unit carries out PI closed-loop control on the in-phase signal according to a transfer function model of the detection end of the quartz tuning fork and the in-phase component of the detection signal to obtain the in-phase force feedback closed-loop signal which has the same size as the in-phase component of the detection signal and is opposite in positive and negative;
step 3.2, the orthogonal force feedback PI closed-loop control unit carries out PI closed-loop control on the orthogonal signal according to the transfer function model of the detection end of the quartz tuning fork and the orthogonal component of the detection signal to obtain the orthogonal force feedback closed-loop signal which has the same size as the orthogonal component of the detection signal and is opposite in positive and negative;
3.3, inputting the in-phase force feedback closed-loop signal and the orthogonal force feedback closed-loop signal into a force feedback DAC unit in the orthogonal force feedback closed-loop module for digital-to-analog conversion to obtain a force feedback signal;
and 4, step 4: loading a force feedback signal output by a force feedback DAC unit in the orthogonal force feedback closed-loop module to a detection electrode 2 at the detection end of the quartz tuning fork; and performing force feedback closed-loop control on the quartz tuning fork detection end to enable the displacement of the quartz tuning fork detection end to be zero.
2. The method for suppressing the error of the quartz gyroscope with time division driving and orthogonal force feedback closed loops as claimed in claim 1, wherein: a driving amplifier unit in a driving module of the supported quartz gyroscope device is externally connected with a driving electrode of a quartz tuning fork driving end, internally connected with a driving ADC unit, and externally connected with a digital signal processing module; and the driving DAC unit is connected with the quartz tuning fork driving end driving electrode and the digital signal processing module.
3. The method for suppressing the error of the quartz gyroscope with the time-division driving and the orthogonal force feedback closed loop as claimed in claim 2, wherein: a detection amplifier unit in a detection module of the supported quartz gyroscope device is externally connected with a detection electrode 1 at a detection end of a quartz tuning fork and internally connected with a detection ADC unit, and the detection ADC unit is externally connected with a digital signal processing module.
4. The method for suppressing the error of the quartz gyroscope with time division driving and orthogonal force feedback closed loops according to claim 3, characterized in that: a force feedback DAC unit in an orthogonal force feedback closed-loop module of the supported quartz gyroscope device is connected with a quartz tuning fork detection end detection electrode 2 and a digital signal processing module.
5. The method for suppressing the error of the quartz gyroscope with the time-division driving and the orthogonal force feedback closed loop according to claim 4, is characterized in that: the signal flow of each part in the quartz gyroscope device is as follows:
the driving software unit of the digital signal processing module generates a sinusoidal signal with the frequency about the resonant frequency of the quartz tuning fork driving end according to a pre-stored code table, and the sinusoidal signal is called as a driving excitation signal; the excitation signal is output to a quartz tuning fork driving end driving electrode through a driving module driving DAC unit, so that the quartz tuning fork driving end generates vibration at the resonance frequency of the quartz tuning fork driving end; the vibration of the quartz tuning fork driving end can generate a signal on a driving electrode, the signal is called a driving detection signal, a driving amplifier unit is used for amplifying the charge of the driving detection signal and inputting the amplified signal into a driving ADC unit, the driving ADC unit is used for performing analog-to-digital conversion on the amplified driving signal and inputting the amplified driving signal into a driving software unit of a digital signal processing module, the driving software unit is used for controlling the frequency and amplitude of a driving excitation signal through quadrature demodulation, driving PI closed-loop control, digital filtering and the like, so that the frequency of the driving excitation signal is kept at the resonant frequency of the quartz tuning fork driving end and constant-amplitude vibration is maintained, the driving excitation signal is subjected to time division driving output under the control of the driving software unit, and a sinusoidal driving signal and a zero level signal are alternately output in adjacent time driving periods;
the detection module detection amplifier amplifies a signal on a detection electrode 1 at the detection end of the quartz tuning fork, the signal is called a detection signal, the detection signal is input into the detection amplifier, the detection amplifier completes signal analog-to-digital conversion and then inputs the signal into a digital signal processing module detection software unit, the detection software unit carries out processes such as quadrature demodulation, detection PI closed-loop control and digital filtering on the signal, the detection PI closed-loop control comprises in-phase signal PI closed-loop control and quadrature signal PI closed-loop control, an in-phase force feedback closed-loop signal and a quadrature force feedback closed-loop signal can be generated, the in-phase force feedback closed-loop signal and the quadrature force feedback closed-loop signal are collectively called a force feedback closed-loop signal, the detection signal is subjected to time division detection under the control of the detection software unit, namely, the detection is not carried out in the existence period of the driving excitation signal, and the detection is carried out when the driving excitation signal is zero;
and the force feedback closed-loop signal is input into a force feedback DAC unit in the orthogonal force feedback closed-loop module, the force feedback DAC unit performs digital-to-analog conversion on the signal, the converted analog signal is loaded to a quartz tuning fork detection end detection electrode 2, the force feedback closed-loop control is performed on the quartz tuning fork detection end, so that the quartz tuning fork detection end displacement is zero, and the in-phase force feedback closed-loop signal can be used for representing an angular velocity signal.
6. The method for suppressing the error of the quartz gyroscope with the time-division driving and the orthogonal force feedback closed loop according to claim 5, is characterized in that: step 1, specifically comprising the following substeps:
step 1.1, a driving software unit generates a sine wave with the same resonant frequency as the resonant frequency in a code table query mode according to the resonant frequency of the quartz tuning fork and converts the sine wave into a simulated sine driving excitation signal through a driving DAC unit, and the signal is loaded to a driving electrode of a quartz tuning fork driving end to enable the quartz tuning fork driving end to start vibration and work at a resonant frequency point;
step 1.2, a driving software unit acquires a feedback displacement signal of a quartz tuning fork driving end by driving an ADC unit, drives an orthogonal demodulation unit to carry out orthogonal demodulation on the acquired feedback displacement signal, drives a PI closed-loop control unit to construct a closed-loop control model, calculates a phase and amplitude compensation coefficient by driving PI closed-loop control, and adjusts a driving excitation signal in real time by using the calculated phase and amplitude compensation coefficient;
and step 1.3, the driving software unit carries out time division control on the driving excitation signal through the driving time division control unit, and alternately outputs a sinusoidal driving excitation signal and a zero level signal in adjacent time periods.
7. The method for suppressing the error of the quartz gyroscope with the small frequency difference and the orthogonal force feedback closed loop as claimed in claim 6, wherein the method comprises the following steps: step 2, specifically comprising the following substeps:
step 2.1, amplifying a weak detection signal of the detection electrode 1 at the detection end of the quartz tuning fork by using a detection module detection amplifier unit;
step 2.2, the detection module detects that the ADC unit amplifies the detected weak detection signal, then performs analog-to-digital conversion and inputs the amplified weak detection signal into the digital signal processing module;
step 2.3, the detection software unit of the detection module performs time division control on the detection signal in the digital signal processing module through the detection time division control unit;
and 2.4, the detection software unit amplifies and orthogonally demodulates the signals after the analog-digital conversion in the digital signal processing module to obtain an in-phase component and an orthogonal component of the detection signals.
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