CN114396928B - Laser gyro frequency stabilization method and system - Google Patents
Laser gyro frequency stabilization method and system Download PDFInfo
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Abstract
The invention relates to a laser gyro frequency stabilization method and a system, wherein the system comprises a laser gyro resonant cavity, an optical power detection unit circuit, a control circuit and two micro-displacement regulators. First pass through the optical power detection unit circuitAcquiring optical power I in a laser gyro resonant cavity at current moment and previous moment t And I t‑1 And comparing; the control circuit determines the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the resonant cavity of the laser gyro at the next moment according to the comparison result L,t+1 And M R,t+1 . The invention simultaneously and respectively carries out frequency stabilization control on the two micro-displacement regulators, reduces the light path deflection in the frequency stabilization process caused by the factors of inconsistent driving capability of the two micro-displacement regulators, inconsistent wall thickness of the two high-reflection spherical mirrors, installation errors of the two micro-displacement regulators and the like, can effectively inhibit the additional zero offset and scale factor instability generated in the working process of the frequency stabilization component, and further can improve the zero offset stability and the scale factor repeatability of the laser gyro.
Description
Technical Field
The invention relates to the technical field of laser gyroscopes, in particular to a laser gyro frequency stabilization method and system.
Background
The laser gyro works based on the Sagnac effect: in the annular light path, two light beams in the clockwise and anticlockwise directions independently run, when the annular light path rotates relative to the inertia space, the optical path lengths in the clockwise and anticlockwise directions are different, and the rotation angular speed of the annular light path can be obtained by detecting the optical path difference through the photoelectric detector.
The frequency stabilization of the laser gyro means that the laser frequency in the resonant cavity of the laser gyro is stabilized at a maximum point of gain through certain measures, and according to the laser principle, the frequency stabilization of the laser gyro means that the cavity length of the resonant cavity is stabilized near an integral multiple of the laser wavelength.
The laser gyro usually uses two micro-displacement regulators to push the resonant cavity reflector to complete the frequency stabilization function, when the two reflectors move forward or backward at different distances, the annular light path generates additional rotation, and the additional zero offset appears on the laser gyro, so that the two reflectors need to be controlled to move forward or backward at the same time and with equal step length.
The scale factor of the laser gyroscope is the scale factor of the input angular velocity and the output value of the laser gyroscope, is one of the most critical parameters of the laser gyroscope, and the determining factor is given by the following formula:
wherein K is the scale factor of the laser gyroscope, A is the area surrounded by the annular light path, L is the optical path length of the annular light path, and lambda is the laser working wavelength of the laser gyroscope.
From the above equation, the length of the resonator ring light path, the area enclosed by the ring light path, and the operating wavelength of the laser have a critical effect on the scale factor of the laser gyroscope. During operation of the laser gyroscope, if the scale factor is to be kept stable, it is necessary that both the cavity length of the annular light path and the shape of the annular light path remain stable.
The traditional frequency stabilization method is to modulate two groups of piezoelectric micro-displacement regulators together through an analog circuit, namely, apply a high-frequency voltage signal on the micro-displacement regulators to modulate the cavity length of a laser gyroscope, a photoelectric detector receives light output by a resonant cavity, alternating current light intensity is obtained through bandpass, amplification and summation, and then a cavity length control error signal is obtained through demodulation of a phase discriminator and an integrating circuit, and the error signal is stabilized near a zero value through closed-loop control, so that the purpose of stabilizing the cavity length is achieved. The frequency stabilization method for modulating the two groups of micro-displacement regulators together through the analog circuit has larger power consumption and weaker anti-interference capability, and the shape of the annular light path cannot be kept stable due to incomplete consistency of the displacement driving capability of the two groups of micro-displacement regulators and the wall thickness of the two high-reflection spherical mirrors, so that the repeatability of the scale factor is reduced and additional zero offset is generated.
Disclosure of Invention
The invention provides a laser gyro frequency stabilization method and a system, aiming at the technical problems in the prior art, after the driving voltages of left and right micro-displacement regulators on a laser gyro resonant cavity at the next moment are determined according to the comparison result of optical power in the laser gyro resonant cavity at the current moment and the previous moment, control signals are synchronously output through two paths of output interfaces, and the control signals are amplified by a DA (digital-to-analog) converter and then loaded onto the two micro-displacement regulators so as to push a high-reflection spherical mirror to adjust the optical path length of the resonant cavity.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the present invention provides a method for stabilizing a frequency of a laser gyro, including:
acquiring the current time and the previous timeOptical power I in resonant cavity of laser gyro at one moment t And I t-1 And comparing;
determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result L,t+1 And M R,t+1 ：
If I t ＝I t-1 M is then L,t+1 ＝M L,t ，M R,t+1 ＝M R,t ；
If I t >I t-1 Then, the first and second data are obtained,
if I t <I t-1 Then, the first and second data are obtained,
m in the formula 0 The value range is 0.1-0.3V for the fixed value of the driving voltage; ΔM L And DeltaM R The mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively set; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of optical power in the laser gyro resonant cavity when the driving voltage of the micro-displacement regulator is continuously regulated.
Further, the method for acquiring the mode voltage interval includes:
after the laser gyro is started and before entering a formal working state, the driving voltage of the micro-displacement regulator is increased in an equal step length, and the optical power in a resonant cavity of the laser gyro is periodically changed;
the change of the optical power in the resonant cavity of the laser gyro is monitored in real time through a photoelectric detector, and the driving of the micro-displacement regulator corresponding to the maximum value of the optical power reached for the first time and the maximum value reached for the last time in the driving voltage regulating process is recordedDynamic voltage M first And M end Calculating a mode voltage interval Δm:
wherein N is the number of times that the optical power in the resonant cavity of the laser gyro reaches the maximum value point.
Further, when the mode voltage interval is acquired, the left and right micro-displacement regulators are sequentially operated, that is, the driving voltage of one micro-displacement regulator is firstly regulated, and after the mode voltage interval is calculated and recorded, the driving voltage of the other micro-displacement regulator is regulated.
Further, after the laser gyro enters a formal working state, the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator are synchronously regulated.
In a second aspect, the invention provides a laser gyro frequency stabilization system, which comprises a laser gyro resonant cavity, an optical power detection unit circuit, a control circuit and two micro-displacement regulators;
the optical power detection unit circuit is arranged in the laser gyro resonant cavity and is used for detecting the optical power in the resonant cavity and sending the optical power to the control circuit;
the control circuit is respectively and electrically connected with the optical power detection unit circuit and the two micro-displacement regulators and is used for comparing the optical power I in the laser gyro resonant cavity at the current moment and the previous moment t And I t-1 And determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the resonant cavity of the laser gyro at the next moment according to the comparison result L,t+1 And M R,t+1 ：
If I t ＝I t-1 M is then L,t+1 ＝M L,t ，M R,t+1 ＝M R,t ；
If I t >I t-1 Then
If I t <I t-1 Then
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M in the formula 0 The value range is 0.1-0.3V for the fixed value of the driving voltage; ΔM L And DeltaM R The mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively set; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of optical power in the laser gyro resonant cavity when the driving voltage of the micro-displacement regulator is continuously regulated.
Further, the laser gyro resonant cavity comprises a microcrystalline glass cavity, two high-reflection spherical mirrors and two semi-transparent semi-reflective plane mirrors; the two high-reflection spherical mirrors and the two semi-transparent semi-reflective plane mirrors are arranged at four corners of the microcrystalline glass cavity, the two high-reflection spherical mirrors are intersected with the central axes of the two semi-transparent semi-reflective plane mirrors, and the intersection point is positioned at the center of the microcrystalline glass cavity; the two micro-displacement regulators are respectively arranged on the two high-reflection spherical mirrors, and the optical path length of the resonant cavity is adjusted by pushing the high-reflection spherical mirrors so as to enable the optical path to be stabilized at a specific length.
Further, the optical power detection unit circuit comprises a power detection prism, a photoelectric detector and a preamplifier, wherein the optical glue of the power detection prism is arranged on one of the semi-transparent and semi-reflective mirrors, the photoelectric detector is connected with the power detection prism and monitors real-time optical power in the resonant cavity through the power detection prism, and the preamplifier amplifies the collected optical power signal and sends the amplified optical power signal to the control circuit.
Further, the control circuit comprises an FPGA control module, the FPGA control module comprises one path of input interface and two paths of output interfaces, and the optical power signals output by the optical power detection unit circuit are converted into digital signals through the AD converter and then sent into the FPGA control module through the input interfaces; and the FPGA control module determines the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result of the optical power in the laser gyro resonant cavity at the current moment and the previous moment, synchronously outputs control signals through two paths of output interfaces, and the control signals are amplified by the DA converter and then loaded on the two micro-displacement regulators so as to push the high-reflection spherical mirror to adjust the optical path length of the resonant cavity.
In a third aspect, the present invention provides an electronic device comprising:
a memory for storing a computer software program;
and the processor is used for reading and executing the computer software program so as to realize the laser gyro frequency stabilization method according to the first aspect of the invention.
In a fourth aspect, the present invention provides a non-transitory computer readable storage medium, where a computer software program for implementing a laser gyro frequency stabilization method according to the first aspect of the present invention is stored.
The beneficial effects of the invention are as follows: firstly, because the two micro-displacement regulators are simultaneously and respectively subjected to frequency stabilization control, the deflection of a resonant cavity optical path in the frequency stabilization process caused by the factors of inconsistent driving capability of the two micro-displacement regulators, inconsistent wall thickness of the two high-reflection spherical mirrors, installation errors of the two micro-displacement regulators and the like of the laser gyro is reduced, the instability of additional zero offset and scale factor generated in the working process of a frequency stabilization component can be effectively restrained, and the zero offset stability and the scale factor repeatability of the laser gyro can be improved; secondly, the digital circuit is used for carrying out frequency stabilization control on the laser gyro, and compared with an analog frequency stabilization circuit, the laser gyro has the advantages of simple structure, stability, reliability, strong anti-interference capability and low power consumption;
drawings
FIG. 1 is a schematic diagram of a frequency stabilization system of a laser gyro according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for stabilizing frequency of a laser gyro according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to the present invention;
fig. 4 is a schematic structural diagram of a computer readable storage medium according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. the micro-crystal glass comprises a micro-crystal glass cavity, 2 parts of micro-displacement regulator, 3 parts of micro-displacement regulator, 4 parts of high-reflection spherical mirror, 5 parts of high-reflection spherical mirror, 6 parts of semi-transparent mirror, 7 parts of semi-transparent mirror, 8 parts of power detection prism, 9 parts of photoelectric detector, 10 parts of pre-amplifier, 11 parts of AD converter, 12 parts of FPGA control module, 13 parts of DA converter, 14 parts of DA converter, 15 parts of voltage amplifier, 16 parts of voltage amplifier.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a digital frequency stabilization system of a laser gyro according to an embodiment of the present invention. In the figure, the system consists of a laser gyro resonant cavity, two micro-displacement regulators 2/3, an optical power detection unit circuit and a control circuit.
The laser gyro resonant cavity comprises a microcrystalline glass cavity body 1, two semi-transparent semi-reflective plane mirrors 6/7 and two high-reflection spherical mirrors 4/5. The two micro-displacement regulators 2/3 are fixedly arranged at the periphery of the two high-reflection spherical mirrors 4/5, the micro-displacement regulators are piezoelectric devices, different voltages are applied to the micro-displacement regulators, and the micro-displacement regulators can push the high-reflection spherical mirrors to generate displacements of different degrees, so that the cavity length of the ring-shaped resonant cavity is changed.
The optical power detection unit circuit includes a power detection prism 8, a photodetector 9, and a preamplifier 10.
The power detection prism 8 is optically glued on the half-mirror 7 and is used for supporting the photodetector 9. The photoelectric detector 9 monitors real-time optical power in the resonant cavity through the power detection prism 8, and then the pre-amplifier 10 amplifies the collected optical power signal and sends the amplified optical power signal to the control circuit.
The control circuit comprises an AD converter 11, an FPGA control module 12, two DA converters 13/14 and two voltage amplifiers 15/16. The AD converter 11 is configured to convert an optical power signal in the laser gyro resonant cavity output by the optical power detection unit circuit into a digital signal, and input the digital signal to the FPGA control module 12. The FPGA control module 12 determines the driving voltages of the left micro-displacement regulator 2/3 and the right micro-displacement regulator 2/3 on the laser gyro resonant cavity at the next moment according to the comparison result of the optical power in the laser gyro resonant cavity at the current moment and the previous moment, and then synchronously outputs two paths of driving voltages through two paths of output interfaces, and the two paths of driving voltages are amplified by the DA converter and then loaded on the two micro-displacement regulators so as to push the high-reflection spherical mirror to adjust the optical path length of the resonant cavity.
Based on the above system, the embodiment of the invention also provides a laser gyro frequency stabilization method, and fig. 2 is a schematic flow chart of the method. As shown in fig. 2, the specific steps of the method are as follows:
s1, after the laser gyro is started, obtaining the characterization quantity of the driving capability of the two micro-displacement regulators, namely a mode voltage interval, by utilizing a single-side mode scanning method.
Single side die sweeping method: firstly, the step size is increased by voltage, a micro-displacement regulator is driven, a high-reflection spherical mirror is gradually pushed, and the optical power in a resonant cavity of the laser gyro is periodically changed. The optical power of the laser gyro resonant cavity can be monitored in real time through a photoelectric detector; then, the optical power signal of the photoelectric detector is amplified and AD converted and then is input into an FPGA control module, and the FPGA control module calculates the mode voltage interval of the micro-displacement regulator through an extreme point correspondence method and stores the mode voltage interval in an FPGA digital circuit;
extreme point correspondence method: in the single-side mode sweeping process, a micro-displacement regulator driving signal corresponding to the first time when the optical power in the resonant cavity of the laser gyroscope reaches the maximum value is defined as M first The method comprises the steps of carrying out a first treatment on the surface of the In the unilateral mode sweeping process, defining a micro-displacement regulator driving signal corresponding to the last time the optical power in the resonant cavity of the laser gyroscope reaches the maximum value as M end The method comprises the steps of carrying out a first treatment on the surface of the The frequency of the maximum point of the optical power in the resonant cavity of the laser gyro is defined asN. The mode voltage interval delta M of the micro-displacement regulator L ：
S2, obtaining the mode voltage interval delta M of another micro-displacement regulator according to the step S1 R ；
S3, the laser gyro enters a formal working state, a photoelectric detector monitors the optical power in a resonant cavity of the laser gyro in real time, amplifies and AD (analog-to-digital) converts an optical power signal and inputs the optical power signal into an FPGA (field programmable gate array) digital circuit, the FPGA digital circuit determines to increase or decrease a driving voltage signal of the micro-displacement regulator by a comparison method, and the driving voltage signal is increased or decreased according to a mode voltage interval delta M (delta M) of the two micro-displacement regulators obtained in the step 1 and the step 2 L And DeltaM R Simultaneously, respectively and equally calculating driving voltage signals of the two micro-displacement regulators, respectively carrying out DA conversion and voltage amplification on the driving voltage signals, and then simultaneously inputting the driving voltage signals into the two micro-displacement regulators, so that the optical power in the resonant cavity of the laser gyro is stabilized at a maximum value.
The comparison method comprises the following steps: let the driving voltage of the micro-displacement regulator L at the previous moment be M L,t-1 The driving voltage of the micro-displacement regulator R is M R,t-1 The optical power in the resonant cavity of the corresponding laser gyro is I t-1 The method comprises the steps of carrying out a first treatment on the surface of the At the current moment, the driving voltage of the micro-displacement regulator L is M L,t The driving voltage of the micro-displacement regulator R is M R,t The optical power in the resonant cavity of the corresponding laser gyro is I t Comparative I t-1 And I t Determining the driving voltage M of the micro-displacement regulator L and the micro-displacement regulator R at the next moment L,t+1 、M R,t+1 The method is characterized by comprising the following steps:
if I t ＝I t-1 M is then L,t+1 ＝M L,t ，M R,t+1 ＝M R,t ；
If I t >I t-1 Then
If I t <I t-1 Then
M in the formula 0 The value range of the driving voltage is 0.1-0.3V.
According to the invention, as the two micro-displacement regulators are simultaneously and respectively subjected to frequency stabilization control, the optical path deflection of the resonant cavity in the frequency stabilization process caused by the factors of inconsistent driving capability of the two micro-displacement regulators, inconsistent wall thickness of the two high-reflection spherical mirrors, installation errors of the two micro-displacement regulators and the like is reduced, the additional zero offset and scale factor instability generated in the working process of the frequency stabilization component can be effectively restrained, and the zero offset stability and the scale factor repeatability of the laser gyro can be improved; meanwhile, the digital circuit is used for controlling the frequency stabilization of the laser gyro, and compared with an analog frequency stabilization circuit, the laser gyro has the advantages of simple structure, stability, reliability, strong anti-interference capability and low power consumption.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention provides an electronic device, including a memory 510, a processor 520, and a computer program 511 stored on the memory 520 and executable on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps:
acquiring optical power I in a laser gyro resonant cavity at current moment and previous moment t And I t-1 And comparing;
determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result L,t+1 And M R,t+1 ：
If I t ＝I t-1 M is then L,t+1 ＝M L,t ，M R,t+1 ＝M R,t ；
If I t >I t-1 Then
If I t <I t-1 Then
M in the formula 0 The value range of the driving voltage is 0.1-0.3V.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of a computer readable storage medium according to an embodiment of the invention. As shown in fig. 4, the present embodiment provides a computer-readable storage medium 600 having stored thereon a computer program 611, which computer program 611 when executed by a processor implements the steps of:
acquiring optical power I in a laser gyro resonant cavity at current moment and previous moment t And I t-1 And comparing;
determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result L,t+1 And M R,t+1 ：
If I t ＝I t-1 M is then L,t+1 ＝M L,t ，M R,t+1 ＝M R,t ；
If I t >I t-1 Then
If I t <I t-1 Then
M in the formula 0 The value range of the driving voltage is 0.1-0.3V.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The frequency stabilization method of the laser gyro is characterized by comprising the following steps of:
acquiring optical power I in a laser gyro resonant cavity at current moment and previous moment t And I t-1 And comparing;
determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result L，t+1 And M R，t+1 ：
If I t ＝I t-1 M is then L，t+1 ＝M L，t ，M R，t+1 ＝M R，t ；
If I t ＞I t-1 Then
If I t ＜I t-1 Then
M in the formula 0 The value range is 0.1-0.3V for the fixed value of the driving voltage; ΔM L And DeltaM R The mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively set; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of optical power in a laser gyro resonant cavity when the driving voltage of the micro-displacement regulator is continuously regulated;
the method for acquiring the mode voltage interval comprises the following steps:
after the laser gyro is started and before entering a formal working state, the driving voltage of the micro-displacement regulator is increased in an equal step length, and the optical power in a resonant cavity of the laser gyro is periodically changed;
the change of the optical power in the resonant cavity of the laser gyro is monitored in real time through a photoelectric detector, and the driving voltage M of the micro-displacement regulator corresponding to the maximum value of the optical power reached for the first time and the maximum value reached for the last time in the driving voltage regulating process is recorded first And M end Calculating a mode voltage interval Δm:
wherein N is the number of times that the optical power in the resonant cavity of the laser gyro reaches a maximum value point;
when the mode voltage interval is acquired, the left micro-displacement regulator and the right micro-displacement regulator are sequentially operated, namely, the driving voltage of one micro-displacement regulator is firstly regulated, and after the mode voltage interval is calculated and recorded, the driving voltage of the other micro-displacement regulator is regulated;
after the laser gyro enters a formal working state, the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator are synchronously regulated.
2. The laser gyro frequency stabilization system is characterized by comprising a laser gyro resonant cavity, an optical power detection unit circuit, a control circuit and two micro-displacement regulators;
the optical power detection unit circuit is arranged in the laser gyro resonant cavity and is used for detecting the optical power in the resonant cavity and sending the optical power to the control circuit;
the control circuit is respectively and electrically connected with the optical power detection unit circuit and the two micro-displacement regulators and is used for comparing the optical power I in the laser gyro resonant cavity at the current moment and the previous moment t And I t-1 And determining the driving voltage M of the left micro-displacement regulator and the right micro-displacement regulator on the resonant cavity of the laser gyro at the next moment according to the comparison result L，t+1 And M R，t+1 ：
If I t ＝I t-1 M is then L，t+1 ＝M L，t ，M R，t+1 ＝M R，t ；
If I t ＞I t-1 Then
If I t ＜I t-1 Then
M in the formula 0 The value range is 0.1-0.3V for the fixed value of the driving voltage; ΔM L And DeltaM R The mode voltage intervals of the left micro-displacement regulator and the right micro-displacement regulator are respectively set; the mode voltage interval refers to a driving voltage difference value corresponding to two adjacent maximum values of optical power in a laser gyro resonant cavity when the driving voltage of the micro-displacement regulator is continuously regulated;
the method for acquiring the mode voltage interval comprises the following steps:
after the laser gyro is started and before entering a formal working state, the driving voltage of the micro-displacement regulator is increased in an equal step length, and the optical power in a resonant cavity of the laser gyro is periodically changed;
the change of the optical power in the resonant cavity of the laser gyro is monitored in real time through a photoelectric detector, and the driving voltage M of the micro-displacement regulator corresponding to the maximum value of the optical power reached for the first time and the maximum value reached for the last time in the driving voltage regulating process is recorded first And M end Calculating a mode voltage interval Δm:
wherein N is the number of times that the optical power in the resonant cavity of the laser gyro reaches a maximum value point;
when the mode voltage interval is acquired, the left micro-displacement regulator and the right micro-displacement regulator are sequentially operated, namely, the driving voltage of one micro-displacement regulator is firstly regulated, and after the mode voltage interval is calculated and recorded, the driving voltage of the other micro-displacement regulator is regulated;
after the laser gyro enters a formal working state, the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator are synchronously regulated.
3. The system of claim 2, wherein the laser gyro resonant cavity comprises a glass-ceramic cavity, two highly reflective spherical mirrors, and two semi-transparent semi-reflective mirrors; the two high-reflection spherical mirrors and the two semi-transparent semi-reflective plane mirrors are arranged at four corners of the microcrystalline glass cavity, the two high-reflection spherical mirrors are intersected with the central axes of the two semi-transparent semi-reflective plane mirrors, and the intersection point is positioned at the center of the microcrystalline glass cavity; the two micro-displacement regulators are respectively arranged on the two high-reflection spherical mirrors, and the optical path length of the resonant cavity is adjusted by pushing the high-reflection spherical mirrors so as to enable the optical path to be stabilized at a specific length.
4. The system of claim 3, wherein the optical power detection unit circuit comprises a power monitoring prism, a photoelectric detector and a preamplifier, the power monitoring prism is optically glued on one of the half-mirror mirrors, the photoelectric detector is connected with the power monitoring prism and monitors real-time optical power in the resonant cavity through the power monitoring prism, and the preamplifier amplifies the collected optical power signal and sends the amplified signal to the control circuit.
5. The system according to claim 4, wherein the control circuit comprises an FPGA control module, the FPGA control module comprises an input interface and two output interfaces, and the optical power signal output by the optical power detection unit circuit is converted into a digital signal by the AD converter and then sent to the FPGA control module through the input interface; and the FPGA control module determines the driving voltages of the left micro-displacement regulator and the right micro-displacement regulator on the laser gyro resonant cavity at the next moment according to the comparison result of the optical power in the laser gyro resonant cavity at the current moment and the previous moment, synchronously outputs control signals through two paths of output interfaces, and the control signals are amplified by the DA converter and then loaded on the two micro-displacement regulators so as to push the high-reflection spherical mirror to adjust the optical path length of the resonant cavity.
6. An electronic device, comprising:
a memory for storing a computer software program;
the processor is used for reading and executing the computer software program so as to realize the laser gyro frequency stabilization method of claim 1.
7. A non-transitory computer readable storage medium having stored therein a computer software program for implementing a laser gyro stabilizing method according to claim 1.
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| CN101975574A (en) * | 2010-10-01 | 2011-02-16 | 中国人民解放军国防科学技术大学 | Small jitter frequency stabilization method of four-frequency laser gyro |
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