CN114264318B - Method and device for testing natural frequency of closed-loop fiber optic gyroscope - Google Patents
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Abstract
The invention discloses a method and a device for testing the natural frequency of a closed-loop fiber optic gyroscope. The sine input or the step input is overlapped at the output end of the detector, then the angular velocity output response data of the fiber-optic gyroscope is acquired through the upper computer, the natural frequency of the fiber-optic gyroscope is obtained through calculation according to the response data, the measurement of the natural frequency of the fiber-optic gyroscope up to more than ten kHz can be realized, the software and the hardware of the fiber-optic gyroscope are not required to be changed, and the fiber-optic gyroscope is suitable for mass production of the fiber-optic gyroscope, and has high efficiency and low cost. Meanwhile, the fiber optic gyroscope is placed in a temperature test box, so that the natural frequency of the fiber optic gyroscope in the full temperature range can be very conveniently tested.
Description
Technical Field
The invention relates to the technical field of natural frequency testing of fiber-optic gyroscopes, in particular to a method and a device for testing the natural frequency of a closed-loop fiber-optic gyroscope.
Background
The fiber optic gyroscope is an angular velocity sensor based on the sagnac effect. When the fiber-optic gyroscope rotates relative to the inertial space, two beams of light transmitted along the clockwise and counterclockwise directions of the fiber-optic ring inside the fiber-optic gyroscope generate a phase difference due to the Sagnac effect, and then the detector detects the phase difference. The optical fiber gyro closed-loop control circuit calculates the angular velocity of the optical fiber gyro rotation based on the detected phase difference. The natural frequency is a very important performance index of the fiber optic gyroscope and determines the dynamic response of the angular velocity output of the fiber optic gyroscope. The natural frequency test method is to apply a step input or a set of sine inputs to the fiber-optic gyroscope. If the step input is applied, the natural frequency can be obtained according to the overshoot and the rising time of the output response of the angular velocity of the fiber-optic gyroscope. If a group of sine inputs with different frequencies are applied, the natural frequency can be obtained according to the output amplitude of the angular velocity corresponding to the fiber-optic gyroscope.
The traditional step input or sine input application method is:
1) A sudden stop is used to apply a step input to the fiber-optic gyroscope. However, the step input generated by the sudden stop is larger in error than the ideal step input, and the overshoot and rise time of the angular velocity output response of the fiber-optic gyroscope are larger in difference from the ideal value, so that the error of the calculated natural frequency is larger.
2) A sinusoidal input is applied to the fiber-optic gyroscope using an angular vibration table. The natural frequency of the fiber-optic gyroscope can reach thousands of Hz, and the angular vibration table is only hundreds of Hz, which is far lower than the natural frequency of the fiber-optic gyroscope. This approach does not allow measurement of high natural frequency fiber optic gyroscopes, and has significant limitations.
And the two devices can not test the natural frequency of the fiber-optic gyroscope in the full temperature range.
There is a mode at present that 3) a sine input or a step input is superimposed in a closed loop control program or an optical path of a closed loop control circuit of the fiber-optic gyroscope to test the natural frequency of the fiber-optic gyroscope. However, the technology needs to change the technical state of the fiber-optic gyroscope, does not meet the specification of mass production of the fiber-optic gyroscope, reduces the production efficiency and brings inconvenience to the technical state control.
Disclosure of Invention
In view of the above, the invention provides a method for testing the natural frequency of a closed-loop fiber optic gyroscope, which comprises the steps of superposing sine input or step input at the output end of a detector, collecting angular velocity output response data of the fiber optic gyroscope by an upper computer, and calculating the natural frequency of the fiber optic gyroscope according to the response data.
According to the method for testing the natural frequency of the closed-loop fiber optic gyroscope, the natural frequency of the fiber optic gyroscope is obtained through calculation by applying a step input or a group of sine inputs to the fiber optic gyroscope; the sine input or the step input is superposed in the output signal of the detector of the closed-loop fiber-optic gyroscope; wherein, the step input is: amplitude is + -A i, frequency isWherein τ is the transit time of the fiber-optic gyroscope; the sine input is: amplitude is + -B i, frequency is/>Wherein B i varies according to a sinusoidal law with a frequency/>Wherein f c is the crystal oscillator frequency of the closed-loop control circuit; d f is the frequency of the analog sinusoidal input; n is the number of bits of the accumulated data.
Preferably, the bipolar square wave generating method comprises the following steps:
Firstly, carrying out differential processing on amplitude data A i/Bi according to a synchronous clock sent by a fiber-optic gyroscope closed-loop control circuit to obtain a pair of differential square waves: when the synchronous clock is a rising edge, one path of differential output is A i/Bi, and the other path is 0; when the synchronous clock is a falling edge, the differential output is reversed;
And then carrying out operational amplification subtraction processing on the differential square wave to obtain a bipolar square wave.
Preferably, when step input is overlapped, the natural frequency of the fiber optic gyroscope is calculated according to the overshoot and the rise time of the angular velocity output response of the fiber optic gyroscope; when sine input is overlapped, the natural frequency of the fiber-optic gyroscope is calculated according to the output amplitude of the angular velocity corresponding to the fiber-optic gyroscope.
The invention also provides a device for testing the natural frequency of the closed-loop fiber optic gyroscope, which applies a step input or a group of sine inputs to the fiber optic gyroscope; comprising the following steps: the system comprises a main control chip, a multichannel D/A converter, a crystal oscillator, a memory, an operational amplifier I and an operational amplifier II; the main control chip is connected with the optical fiber gyro closed-loop control circuit, the crystal oscillator, the memory and the upper computer, and differential processing is carried out on the amplitude data A i/Bi according to the synchronous clock frequency output by the optical fiber gyro closed-loop control circuit; when step input is overlapped, the synchronous clock frequency is f t: τ is the transit time of the fiber optic gyroscope; when sine inputs are superimposed, the synchronous clock frequency is f t: /(I) The sinusoidal input frequency is f: /(I)F c is the crystal oscillator frequency of the closed-loop control circuit; d f is the frequency data of the analog sinusoidal input; n is the number of bits of the accumulated data;
The multichannel D/A converter generates a pair of differential square waves according to the data which are output by the main control chip and subjected to differential processing; the operational amplifier II performs operational amplifier subtraction processing on the differential square wave output by the multichannel D/A converter to generate a bipolar square wave; the operational amplifier I superimposes the detector output of the fiber-optic gyroscope with the bipolar square wave output by the operational amplifier II and outputs the superimposed bipolar square wave to a closed-loop control circuit of the fiber-optic gyroscope;
The main control chip calculates the natural frequency of the fiber-optic gyroscope according to the fiber-optic gyroscope data calculated by the fiber-optic gyroscope closed-loop control circuit.
Preferably, the main control chip is a DSP or an FPGA.
Preferably, when the main control chip performs differential processing, the method specifically comprises the following steps: when the synchronous clock is a rising edge, one path of differential output is A i/Bi, and the other path is 0; when the synchronous clock is at the falling edge, the differential output is reversed.
The beneficial effects are that:
(1) The invention can realize the measurement of the natural frequency of the fiber-optic gyroscope up to tens of kHz, which is far higher than the measurement range of hundreds of Hz of the angular vibration table, and can obtain more ideal step response than the sudden stop table, thereby having higher measurement precision and range relative to the angular vibration table and the sudden stop table.
(2) In the process of testing the natural frequency, the original shaped software and hardware technical state of the fiber-optic gyroscope is not required to be changed, the realization circuit is simple and reliable, the method is very suitable for mass production of the fiber-optic gyroscope, the production efficiency is improved, and the production cost is saved.
(3) The fiber-optic gyroscope is placed in a temperature test box, so that the natural frequency of the fiber-optic gyroscope in the full-temperature range can be conveniently tested.
Drawings
FIG. 1 is a schematic diagram of a testing apparatus according to the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a natural frequency test method of a closed-loop fiber optic gyroscope, which is characterized in that a group of sine inputs or a step input are applied to the fiber optic gyroscope to test the natural frequency, wherein the sine inputs/the step input are superposed in an output signal of a detector of the fiber optic gyroscope; when step input is overlapped in the output signal of the detector, calculating the natural frequency of the fiber optic gyroscope according to the overshoot and the rise time of the angular velocity output response of the fiber optic gyroscope; when the output signals of the detectors are superimposed with sinusoidal input, the natural frequency of the fiber-optic gyroscope is calculated according to the output amplitude of the angular velocity corresponding to the fiber-optic gyroscope.
Wherein, the sine input or the step input is bipolar square wave.
The operation mode of the present invention is divided into an amplitude mode and a frequency mode. The main control chip judges which mode is executed according to the command data sent by the upper computer. The data sent by the upper computer comprises command data, amplitude data or frequency data.
(1) In the amplitude mode, the subsequent data received by the main control chip is amplitude data A i for simulating the input angular speed of the fiber-optic gyroscope, namely the amplitude of bipolar square waves input in a step mode is +/-A i, and the frequency is the same as the frequency of a synchronous clock output by a closed-loop control circuit of the fiber-optic gyroscope; the frequency of the synchronous clock is the same as the eigenfrequency of the fiber-optic gyroscope and is synchronous with the output of the detector. In step input mode, the synchronous clock frequency is f t:
Where τ is the transit time of the fiber optic gyroscope.
Specifically, the amplitude data a i may be differentially processed according to the synchronous clock sent by the fiber optic gyroscope closed loop control circuit, to obtain a pair of differential square waves: when the synchronous clock is a rising edge, one path of differential output is A i, and the other path is 0; when the synchronous clock is a falling edge, differential output is reversed, one path is 0, the other path is A i, a pair of differential square waves are obtained, the frequency of the differential square waves is the same as that of the synchronous clock, the amplitude is A i, the phase difference of the differential square waves is 180 degrees, and the differential square waves are reversed. And then carrying out operational amplification subtraction processing on the differential square wave to obtain a bipolar square wave, wherein the amplitude of the bipolar square wave is +/-A i, and the frequency of the bipolar square wave is identical to that of the synchronous clock f t.
Under the control of a synchronous clock, the bipolar square wave and the output of the detector of the fiber-optic gyroscope are overlapped together and output to the input end of the closed-loop control circuit of the fiber-optic gyroscope, namely, the input end of the fiber-optic gyroscope is overlapped with a step input A i, the closed-loop control circuit of the fiber-optic gyroscope calculates angular velocity data omega i, and the step response of the fiber-optic gyroscope is obtained according to the angular velocity data omega i. And calculating the natural frequency of the fiber-optic gyroscope according to the overshoot and the rising time of the step response.
(2) If the command received by the main control circuit is in a frequency mode, the subsequent data received by the main control chip is frequency data D f which simulates sinusoidal input of the fiber-optic gyroscope. The data stored in the storage is amplitude data B i of the analog sine excitation of one complete period, and the number of B i stored in the storage is 2 m.
After the main control chip receives the frequency data D f, the D f is accumulated under the control of the crystal oscillator, and the bit number of the accumulated data is n. The frequency of the analog sinusoidal input is f:
Wherein f c is the crystal oscillator frequency; d f is the frequency of the analog sinusoidal input; n is the number of bits of the accumulated data.
The high m bits of the accumulated data are taken as pointers for reading the memory data, and the amplitude data B i is circularly read.
Similarly, the amplitude data B i may be differentially processed according to the synchronous clock sent by the fiber optic gyroscope closed loop control circuit, to obtain a pair of differential square waves:
When the synchronous clock is a rising edge, one path of differential output is B i, the other path is 0, and when the synchronous clock is a high level, differential output data is kept unchanged; when the synchronous clock is at a falling edge, the differential output is reverse, one path is 0, the other path is B i, and when the synchronous clock is at a low level, the differential output data is kept unchanged, so that a pair of differential square waves are obtained, the frequency of the differential square waves is the same as that of the synchronous clock, the phase difference is 180 degrees, and the differential square waves are reverse. The amplitude B i of the differential square wave changes according to the sine rule, and the change frequency is f. And then carrying out operational amplification subtraction processing on the differential square wave to obtain a bipolar square wave, wherein the amplitude of the bipolar square wave is +/-B i, the frequency is the same as that of the synchronous clock, the amplitude B i is changed according to a sine rule, and the change frequency is f.
Under the control of a synchronous clock, the bipolar square wave and the output of the detector of the fiber-optic gyroscope are overlapped together and output to the input end of the closed-loop control circuit of the fiber-optic gyroscope, namely, the input of the fiber-optic gyroscope is overlapped with sine excitation, and the closed-loop control circuit of the fiber-optic gyroscope solves angular velocity data omega i of corresponding frequency.
Changing the numerical value of D f to obtain a group of angular velocity data omega i, and calculating the natural frequency of the fiber-optic gyroscope according to the angular velocity data omega i under different frequencies f and the amplitude of the analog sine input angular velocity.
The invention also provides a device for testing the natural frequency of the closed-loop fiber optic gyroscope, as shown in figure 1, comprising: the system comprises an operational amplifier I, an operational amplifier II, a multichannel D/A converter, a main control chip (not limited to a DSP (digital signal processor) and an FPGA (field programmable gate array), a crystal oscillator, a memory and an upper computer. The input end of the main control chip is respectively connected with the output end of the crystal oscillator, the output end of the memory, the output end of the upper computer and the output end of the optical fiber gyro closed-loop control circuit, and the output end of the main control chip is connected with the input end of the multichannel D/A converter. The output end of the multichannel D/A converter is connected with the input end of the operational amplifier II. The output end of the operational amplifier II is connected with the input end of the operational amplifier I. The output end of the detector of the fiber-optic gyroscope is connected with the other input end of the operational amplifier I. The output end of the operational amplifier I is connected with the input end of a closed-loop control circuit of the fiber-optic gyroscope.
The testing device comprises two working modes: amplitude mode and frequency mode. Applying step input to the fiber-optic gyroscope in the amplitude mode, and calculating the natural frequency of the fiber-optic gyroscope according to the overshoot and the rise time of the angular velocity output response of the fiber-optic gyroscope; and applying sine inputs with different frequencies to the fiber-optic gyroscope by the frequency mode, and calculating the natural frequency of the fiber-optic gyroscope according to the output amplitude of the angular velocity corresponding to the fiber-optic gyroscope. The main control chip judges which mode is executed according to the command data sent by the upper computer. The data sent by the upper computer comprises command data, amplitude data or frequency data.
1) If the command received by the main control chip is in an amplitude mode, the subsequent data received by the main control chip is amplitude data A i for simulating the input angular speed of the fiber-optic gyroscope. The main control chip receives the synchronous clock sent by the fiber-optic gyroscope closed-loop control circuit, the frequency of the synchronous clock is the same as the eigenfrequency of the fiber-optic gyroscope, and the synchronous clock is synchronous with the output of the detector.
The frequency of the synchronous clock is f t:
Where τ is the transit time of the fiber optic gyroscope.
1-A) the main control chip performs differential processing on the amplitude data A i according to the synchronous clock to obtain a pair of differential data: when the synchronous clock is a rising edge, one path of differential data is A i, and the other path is 0; when the synchronous clock is the falling edge, the differential data is reversed, one path is 0, and the other path is A i.
1-B) the amplitude data A i is subjected to differential processing and then is output to a multi-channel D/A converter to obtain a pair of differential square waves, wherein the frequency of the differential square waves is the same as that of a synchronous clock, the phase difference is 180 degrees, the phases are opposite, and the amplitudes are A i.
And 1-c) subtracting the pair of differential square waves output by the multichannel D/A converter by using an operational amplifier II to obtain a bipolar square wave, wherein the amplitude of the bipolar square wave is +/-A i, and the frequency of the bipolar square wave is the same as that of the synchronous clock f t.
1-D) under the control of a synchronous clock, the bipolar square wave and the detector output are overlapped together through an operational amplifier I and output to the input end of the optical fiber gyroscope closed-loop control circuit, which is equivalent to overlapping a step input A i on the input end of the optical fiber gyroscope, under the influence of the step input, the optical fiber gyroscope closed-loop control circuit completes the closed-loop control process and sends the calculated angular velocity data omega i to a main control chip, and the step response output of the optical fiber gyroscope is obtained. And the main control chip sends the step response output data of the fiber optic gyroscope to the upper computer.
1-E) after the upper computer receives the step response output omega i of the optical fiber gyroscope, calculating the natural frequency of the optical fiber gyroscope according to the overshoot and the rising time of the corresponding omega i of the step.
2) If the command received by the main control circuit is in a frequency mode, the subsequent data received by the main control chip is frequency data D f which simulates sinusoidal input of the fiber-optic gyroscope. The data stored in the storage is amplitude data B i of the analog sine excitation of one complete period, and the number of B i stored in the storage is 2 m.
2-A) after the main control chip receives the frequency data D f, accumulating the D f under the control of the crystal oscillator, wherein the number of bits of the accumulated data is n. The frequency f of the analog sinusoidal input is:
wherein f c is the crystal oscillator frequency.
2-B) taking the high m-bit data of the accumulated data as a pointer of the main control chip for reading the data of the storage, and circularly reading 2 m amplitude data B i.
2-C) the master control chip receives the synchronous clock sent by the fiber-optic gyroscope at the same time, and the master control chip carries out differential processing on the amplitude data B i under the control of the synchronous clock:
When the synchronous clock is the rising edge, the main control chip takes the read B i as the first path output of the multi-channel D/A converter, and the second path output is 0. And differential output data remains unchanged when the synchronous clock is high.
When the synchronous clock is the falling edge, the main control chip takes the read B i as the second path output of the multi-channel D/A converter, and the first path output is 0. And differential output data remains unchanged when the synchronizing clock is low.
2-D) B i is subjected to differential processing and then is output to a multi-channel D/A converter to obtain a pair of differential square waves, wherein the frequency of the differential square waves is the same as that of a synchronous clock, the phase difference is 180 degrees, and the differential square waves are opposite to each other. The amplitude B i of the differential square wave changes according to the sine rule, and the change frequency is f.
The differential square wave output by the 2-e) multichannel D/A converter is subtracted by an operational amplifier II to obtain a bipolar square wave, the frequency of the bipolar square wave is the same as that of the synchronous clock f, the amplitude of the bipolar square wave is +/-B i, and the bipolar square wave changes according to the sine rule of the frequency f.
2-F) the bipolar square wave and the output of the detector are overlapped together through the operational amplifier I and output to the input end of the closed-loop control circuit of the fiber-optic gyroscope, which is equivalent to overlapping a sine excitation at the input end of the fiber-optic gyroscope. Under sinusoidal excitation, the closed-loop control circuit transmits the calculated angular velocity data omega i to the main control chip. And the main control chip sends the collected omega i to the upper computer.
2-G) changing the value of the frequency data D f to obtain a group of optical fiber gyro angular velocity data omega i under different frequencies f.
2-H) the upper computer calculates the natural frequency of the fiber-optic gyroscope according to the angular velocity data omega i under different frequencies f and the amplitude B i of the analog sine excitation.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A natural frequency test method of a closed-loop fiber optic gyroscope is characterized in that:
Carrying out natural frequency test by applying a group of sine inputs or a step input to the fiber-optic gyroscope, wherein the sine inputs/step inputs are superposed in the output signal of the detector of the fiber-optic gyroscope; when the output signals of the detector are superimposed with step input, calculating the natural frequency of the fiber optic gyroscope according to the overshoot and the rise time of the step response, wherein the overshoot and the rise time of the step response are output according to the angular speed of the fiber optic gyroscope; when sine input is overlapped in the output signal of the detector, calculating the natural frequency of the fiber-optic gyroscope according to the output amplitude of the angular velocity corresponding to the fiber-optic gyroscope;
wherein, the sine input or the step input is bipolar square wave;
The working mode is divided into an amplitude mode and a frequency mode, and the main control chip judges which mode is executed according to command data sent by the upper computer; the data sent by the upper computer comprises command data, amplitude data or frequency data;
(1) In the amplitude mode, the subsequent data received by the main control chip is amplitude data A i for simulating the input angular speed of the fiber-optic gyroscope, namely the amplitude of bipolar square waves input by a step is +/-A i, and the frequency is the same as the frequency of a synchronous clock output by a closed-loop control circuit of the fiber-optic gyroscope; the frequency of the synchronous clock is the same as the eigenfrequency of the fiber-optic gyroscope and is synchronous with the output of the detector; in step input mode, the synchronous clock frequency is f t:
wherein τ is the transit time of the fiber optic gyroscope;
Specifically, the amplitude data a i is subjected to differential processing according to a synchronous clock sent by the fiber-optic gyroscope closed-loop control circuit, so as to obtain a pair of differential square waves: when the synchronous clock is a rising edge, one path of differential output is A i,, and the other path of differential output is 0; when the synchronous clock is a falling edge, differential output is reversed, one path is 0, the other path is A i, a pair of differential square waves are obtained, the frequency of the differential square waves is the same as that of the synchronous clock, the amplitude is A i, the phase difference of the differential square waves is 180 degrees, and the differential square waves are reversed; then carrying out operational amplification subtraction processing on the differential square wave to obtain a bipolar square wave, wherein the amplitude of the bipolar square wave is +/-A i, and the frequency is the same as that of the synchronous clock f t;
Under the control of a synchronous clock, the bipolar square wave and the output of the detector of the fiber-optic gyroscope are overlapped together and output to the input end of a closed-loop control circuit of the fiber-optic gyroscope, namely, a step input A i is overlapped at the input end of the fiber-optic gyroscope, the closed-loop control circuit of the fiber-optic gyroscope calculates angular velocity data omega i, and the step response of the fiber-optic gyroscope is obtained according to the angular velocity data omega i; calculating the natural frequency of the fiber-optic gyroscope according to the overshoot and the rise time of the step response;
(2) If the command received by the main control circuit is in a frequency mode, the subsequent data received by the main control chip is frequency data D f of sinusoidal input of the analog fiber-optic gyroscope, the data stored in the storage is amplitude data B i of analog sinusoidal excitation in a complete period, and the number of B i stored in the storage is 2 m;
After the main control chip receives the frequency data D f, accumulating the D f under the control of the crystal oscillator, wherein the number of bits of the accumulated data is n; the frequency of the analog sinusoidal input is f:
Wherein f c is the crystal oscillator frequency; d f is the frequency of the analog sinusoidal input; n is the number of bits of the accumulated data;
Taking the high m bits of the accumulated data as a pointer for reading the data of the storage, and circularly reading the amplitude data B i;
similarly, the amplitude data B i is subjected to differential processing according to the synchronous clock sent by the fiber-optic gyroscope closed-loop control circuit, so that a pair of differential square waves are obtained:
When the synchronous clock is a rising edge, one path of differential output is B i,, the other path is 0, and when the synchronous clock is a high level, differential output data is kept unchanged; when the synchronous clock is a falling edge, the differential output is reverse, one path is 0, the other path is B i, and when the synchronous clock is a low level, the differential output data is kept unchanged, so that a pair of differential square waves are obtained, the frequency of the differential square waves is the same as that of the synchronous clock, the phase difference is 180 degrees, and the differential square waves are reverse; the amplitude B i of the differential square wave is changed according to a sine rule, and the change frequency is f; then carrying out operational amplification subtraction processing on the differential square wave to obtain a bipolar square wave, wherein the amplitude of the bipolar square wave is +/-B i, the frequency is the same as that of the synchronous clock, the amplitude B i is changed according to a sine rule, and the change frequency is f;
Under the control of a synchronous clock, the bipolar square wave and the output of the detector of the fiber-optic gyroscope are overlapped together and output to the input end of a closed-loop control circuit of the fiber-optic gyroscope, namely, the input of the fiber-optic gyroscope is overlapped with sine excitation, and the closed-loop control circuit of the fiber-optic gyroscope calculates angular velocity data omega i of corresponding frequency;
Changing the numerical value of D f to obtain a group of angular velocity data omega i, and calculating the natural frequency of the fiber-optic gyroscope according to the angular velocity data omega i under different frequencies f and the amplitude of the analog sine input angular velocity.
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