CN114608612B - Full-angle mode resonant gyro damping uneven drift online compensation system and method - Google Patents
Full-angle mode resonant gyro damping uneven drift online compensation system and method Download PDFInfo
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Abstract
The invention relates to a full angle mode resonance gyro damping uneven drift online compensation system and method, comprising the following steps: a harmonic oscillator; an electrode for driving and detecting the vibration of the harmonic oscillator; buffer amplifier for extracting harmonic oscillator vibration obtained from electrodeSignal V x 、V y Playing a role in signal conversion, isolation and amplification; analog-to-digital converter, which converts V x 、V y Converting into digital quantity; a signal calculation unit for obtaining error signals of each loop through mathematical operation; the signal synthesis unit is used for synthesizing an active modulation force C preset by a user p Vector synthesis generates a drive electrode voltage V X And V Y The standing wave azimuth angle theta is controlled to rotate positively and negatively; digital-to-analog converter for converting signal V X And V Y The signals converted into analog voltage are applied to the corresponding driving electrodes X, Y of the harmonic oscillator; an error extraction unit for normalizing the standing wave azimuth angle theta and calculating the error zero offset omega b And a rotation rate Ω c The method comprises the steps of carrying out a first treatment on the surface of the The function fitting unit is used for obtaining an error compensation equation by fitting, and the compensation signal C is obtained by calculation of the output compensation unit pc Applied to the top to realize drift suppression. The invention suppresses the expression of error zero bias.
Description
Technical Field
The invention belongs to the technical field of inertial instrument control, and particularly relates to a full angle mode resonant gyro damping uneven drift online compensation system and method.
Background
The resonance gyroscope is used as a solid fluctuation gyroscope based on the Gong effect and comprises a quartz hemispherical resonance gyroscope, a metal cylinder type resonance gyroscope, a nested ring gyroscope, a micro hemispherical gyroscope and the like. Compared with the traditional force feedback control mode, the dynamic range, bandwidth, scale factor and other aspects of the gyroscope in the full-angle mode show outstanding advantages, and the application scene is wider.
The full angle mode resonant gyro is used as an angle sensor, the standing wave azimuth angle is open-loop, and the outside angle change is directly sensitive. Due to errors of harmonic oscillators, electrodes, control circuits and the like, the gyroscope has error output under zero input, and shows correlation with standing wave azimuth angles. The coupling in-phase error component caused by the uneven damping of the harmonic oscillator is difficult to separate and reject because the phase characteristic of the coupling in-phase error component is the same as that of the external input.
In the traditional method, damping unevenness is calibrated by leaving a factory, and compensation force is added to restrain the zero offset error when the gyro works. However, with gyro fatigue and aging, error parameters change; meanwhile, the conversion coefficient of the compensation force changes along with the current working condition. Therefore, the single off-line calibration compensation mode is difficult to achieve the ideal compensation effect.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a full-angle mode resonant gyro damping uneven drift online compensation system and method.
One of the above objects of the present invention is achieved by the following technical solutions:
the utility model provides a full angle mode resonance gyro damping uneven drift online compensation system which characterized in that: the device comprises a harmonic oscillator, an electrode, a buffer amplifier, an analog-to-digital converter, a signal resolving unit, an error extracting unit, a function fitting unit, an output compensation unit, a signal synthesizing unit and a digital-to-analog converter;
the harmonic oscillator is a gyro core sensitive unit;
the electrode is used for driving and detecting the vibration of the harmonic oscillator;
the buffer amplifier is used for extracting the vibration signal V of the harmonic oscillator acquired from the electrode x 、V y Playing a role in signal conversion, isolation and amplification;
the analog-to-digital converter is used for converting the vibration signal V x 、V y Converting into digital quantity;
the signal resolving unit is used for resolving the two-mode vibration signal V according to the detection x 、V y Obtaining error signals of each loop through mathematical operation, including time delay phase difference
The normal mode deviation Q, the vibration energy E and the standing wave azimuth angle theta are simplified;
the signal synthesis unit is used for presetting an active modulation force C by a user p Generating a nominal drive electrode voltage V according to a vector synthesis formula X And V Y The device is used for operating the standing wave azimuth angle theta to rotate positively and negatively;
the D/A converter is used for converting the signal V X And V Y The signals converted into analog voltage are applied to the driving electrode X and the driving electrode Y corresponding to the harmonic oscillator;
the error extraction unit is used for normalizing the standing wave azimuth angle theta according to the resolving signal and calculating the error zero offset omega b And a rotation rate Ω c ；
The function fitting unit is used for fitting to obtain an error compensation equation and calculating to obtain a compensation signal C through the output compensation unit pc Applied to the gyro, the drift suppression is realized.
The second object of the present invention is achieved by the following technical scheme:
the full angle mode resonance gyro damping uneven drift online compensation method is based on the full angle mode resonance gyro damping uneven drift online compensation system and is characterized in that: the method comprises the following steps:
step 1, when a gyroscope works normally, starting damping uneven drift calibration when a calibration triggering instruction is received;
step 3, actively modulating the signal C by a user preset p Generating a nominal drive signal V by vector synthesis X And V Y The azimuth angle theta of the standing wave is controlled to rotate positively to a position of k pi/4, wherein k is a positive integer;
step 4, changing the active modulation signal C p The symbol is used for controlling the standing wave azimuth angle theta to reversely rotate to reach the position of-kpi/4, wherein k is a positive integer;
and 11, waiting for a next calibration triggering instruction.
Further: in step 1, the trigger instruction is preset by a user or acquired from an upper system.
Further: in step 2, the error signal of each loop is shown in formula (1):
middle-C x And S is x Cosine and sine components of the x-axis detection signal respectively;
——C y and S is y The cosine and sine components of the y-axis detection signal, respectively.
Further: in step 3, the vector synthesis formula is shown in formula (2):
middle-V X And V Y Driving voltages of an X axis and a Y axis respectively;
——C a is a stable control signal;
——C p is a standing wave modulation signal;
——C q is a quadrature control signal;
——ω d is the driving frequency;
-t is time.
Further: in step 6, the error is zero offset omega b And a rotation rate Ω c See formula (3)
Middle-omega c Is the rotation rate;
——Ω b zero offset for error;
——
is the forward (clockwise) standing wave angular rate;
——
to reverse (counter-clockwise) the standing wave angular rate.
Further: in step 7, the force application scale SF at each standing wave azimuth θ is calculated as formula (4):
further: in step 8, compensation force C pc See equation (5):
C pc (θ)＝Ω b (θ)/SF(θ) (5)。
further: in step 10, the driving electrode voltage V is compensated X And V Y Vector synthesis of (2) is shown in formula (6);
the invention has the advantages and positive effects that:
1. according to the invention, the standing wave angle is actively modulated, so that the on-line identification of the damping uneven zero offset of each angle is realized.
2. According to the invention, the functional relation between the standing wave angle and the error zero offset is calibrated on line through the fitting algorithm, so that the accuracy of an error equation is improved, the accurate compensation signal is ensured to be applied to the gyroscope, and the expression of the error zero offset is effectively inhibited.
Drawings
FIG. 1 is a block diagram of a system of the present invention;
FIG. 2 is a calibration compensation flow chart of the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It should be noted that the present embodiments are illustrative and not restrictive.
FIG. 1 is a block diagram of an on-line compensation system for damping uneven drift of a full angle mode resonant gyro provided by the invention. The composition and function are as follows:
the device mainly comprises a harmonic oscillator, an electrode, a buffer amplifier, an analog-to-digital converter, a signal resolving unit, an error extracting unit, a function fitting unit, an output compensation unit, a signal synthesizing unit and a digital-to-analog converter.
The harmonic oscillator 1 is a gyro core sensitive unit, and can be made of quartz, silicon base, metal and the like according to different application requirements and precision grades. The electrodes 2 are used for driving and detecting the vibration of the harmonic oscillator, and comprise contact type and non-contact type, such as piezoelectric ceramics, capacitors and the like. The buffer amplifier 3 is used for extracting vibration information V of the harmonic oscillator acquired on the electrode x 、V y Acting as signal conversion and isolation amplification, e.g. chargeAn amplifier, etc. Voltage signal V containing gyro vibration information obtained by buffer amplifier x 、V y The digital quantity is acquired and converted by an analog-to-digital converter 4. The signal calculation unit 5 obtains error signals (including delay phase difference) of each loop through mathematical operation
Normal mode deviation Q, vibrational energy E, standing wave azimuth θ). The signal synthesis unit 6 sets the active modulation force C preset by the user p Generating the driving electrode voltage V according to a vector synthesis formula X And V Y For manipulating the forward and backward rotation of the standing wave azimuth angle theta. The digital-to-analog converter 7 converts the signal V X And V Y The converted analog voltage signal is applied to the corresponding driving electrode X, Y of the resonator. The error extraction unit 8 normalizes the standing wave azimuth angle θ based on the solution signal and calculates an error zero offset Ω b And a rotation rate Ω c . The function fitting unit 9 fits to obtain an error compensation equation, and calculates the compensation force C through the output compensation unit 10 pc Applied to the gyro, the drift suppression is realized.
FIG. 2 is a flow chart of calibration and compensation implementation of the full angle mode resonance gyro damping uneven drift on-line compensation method provided by the invention. The implementation steps of the method are as follows:
1. when the gyroscope works normally, damping uneven drift calibration is started when a calibration triggering instruction is received. The triggering instruction can be preset by a user, namely, the triggering instruction is used for judging whether to start calibration according to time counting or the working state of the gyroscope; or the trigger instruction for starting calibration can be actively sent to the gyroscope by the upper system through serial communication according to the operation requirement of the upper system.
2. And calculating to obtain error signals of each loop according to the detected two-mode detection vibration signals.
3. By an active modulation signal C preset by a user p The standing wave azimuth angle theta is controlled to rotate positively (clockwise) to a position of kpi/4, and k is a positive integer.
4. Changing the active modulation signal C p Sign, steering standing wave azimuth angle theta reverseCounterclockwise) rotates to-kpi/4, k is a positive integer.
5. The standing wave angular velocity at each standing wave azimuth angle theta recorded in the forward and reverse rotation process is calculated
Normalization is performed according to the angle.
6. Normalized standing wave angular rate according to forward and reverse rotation process
Zero offset omega of calculation error b And a rotation rate Ω c 。
7. According to the rotation rate omega c And actively modulating signal C p The forcing scale SF at each standing wave azimuth angle θ is calculated.
8. Zero offset omega according to error b And the force application scale SF, fitting to obtain a compensation signal C taking the standing wave azimuth angle theta as an independent variable pc Is a function of the equation (c).
9. And (3) ending the calibration process when the calibration termination condition is met, namely the coefficient error of the compensation signal equation is converged to be smaller than the set value, otherwise, repeating the steps (2-7).
10. The gyroscope is restored to a normal running state, and a compensation signal C at the azimuth angle theta of the current standing wave is calculated in real time according to a compensation signal equation pc And generates the driving electrode voltage V through a synthesis formula X And V Y To compensate for damping non-uniform drift.
11. Waiting for a next calibration triggering instruction;
the specific working process and principle are as follows:
(1) Signal calculation unit
First, X-axis and Y-axis detection signals V x 、V y Respectively carrying out decomposition demodulation on polar coordinate axes to obtain respective in-phase and quadrature components S x And C x 、S y And C y . The demodulation may be switched demodulation or multiplicative demodulation. Obtaining 4 signals representing the working state of the harmonic oscillator according to a formula (1) deduced by a kinetic equation, wherein the 4 signals are respectively: phase difference of time delay
The normal mode deviation Q, the vibration energy E and the standing wave azimuth angle theta are respectively corresponding to controlled variables of frequency control, quadrature control, amplitude control and rate control. />
middle-C x And S is x Cosine and sine components of the x-axis detection signal respectively;
——C y and S is y The cosine and sine components of the y-axis detection signal, respectively.
(2) Signal synthesis unit
On the basis of a normal control loop, in a calibration stage, active modulation force C is superposed p Generating a calibration driving signal V by a vector synthesis formula (2) X And V Y The method comprises the steps of carrying out a first treatment on the surface of the While in the compensation phase, the compensation force C is superimposed pc (θ) generating the compensation driving signal V by the vector synthesis formula (6) X And V Y The harmonic oscillator standing wave azimuth angle theta is driven to positively and negatively scan on a path + -kpi/4 (k is a positive integer).
middle-V X And V Y Driving voltages of an X axis and a Y axis respectively;
——C a is a stable control signal;
——C p is a standing wave modulation signal;
——C q is a quadrature control signal;
——ω d is the driving frequency;
-t is time.
(3) Error extraction unit
The standing wave azimuth angle information theta provided by the differential signal resolving unit is used for obtaining the standing wave angular velocity at each azimuth
Delta theta is the difference value of standing wave azimuth angle theta between the current moment and the last moment, and the sampling frequency f is calculated demod Characterizing the calculation frequency of the calculation unit), and carrying out angle normalization on the calculation frequency. According to the formula (3), the error zero offset omega is obtained by adding and subtracting positive and negative rotation output modes respectively b And a rotation rate Ω c 。
Middle-omega c Is the rotation rate;
——Ω b zero offset for error;
——
is the forward (clockwise) standing wave angular rate;
——
to reverse (counter-clockwise) the standing wave angular rate.
According to the rotation output, the active modulation force C at each azimuth theta can be calculated p The force application scale SF of (2) as in formula (4):
(5) Function fitting unit
Zero offset omega of each azimuth error obtained by calculation b (theta) performing least square fitting by taking the standing wave azimuth angle theta as an independent variable to obtain a compensation force C pc Is defined by the functional equation:
C pc (θ)＝Ω b (θ)/SF(θ) (5)
(7) Output compensation unit
When the gyroscope works normally, calculating compensation force C according to the current standing wave azimuth angle theta and a compensation equation acquired by the fitting unit pc (θ) and output to the standing wave adjusting unit.
Compensation by standing wave adjusting unit to generate driving signal V X And V Y Applied to the gyro, realizes the on-line compensation of zero offset.
The method for carrying out online compensation by adopting the full-angle mode resonance gyro damping uneven drift online compensation system comprises a gyro calibration stage and a gyro compensation stage, wherein the two stages are operated alternately, the gyro calibration operation time period is far smaller than the gyro compensation time period, the gyro calibration time period is generally a few minutes, and the gyro calibration time period is a few hours or even longer.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (9)
1. The utility model provides a full angle mode resonance gyro damping uneven drift online compensation system which characterized in that: the device comprises a harmonic oscillator, an electrode, a buffer amplifier, an analog-to-digital converter, a signal resolving unit, an error extracting unit, a function fitting unit, an output compensation unit, a signal synthesizing unit and a digital-to-analog converter;
the harmonic oscillator is a gyro core sensitive unit;
the electrode is used for driving and detecting the vibration of the harmonic oscillator;
the buffer amplifier is used for extracting the vibration signal V of the harmonic oscillator acquired from the electrode x 、V y Playing a role in signal conversion, isolation and amplification;
the A/D converter is used for vibratingSignal V x 、V y Converting into digital quantity;
the signal resolving unit is used for resolving the two-mode vibration signal V according to the detection x 、V y Obtaining error signals of each loop through mathematical operation, including time delay phase difference
The normal mode deviation Q, the vibration energy E and the standing wave azimuth angle theta are simplified;
the signal synthesis unit is used for presetting an active modulation force C by a user p Generating the driving electrode voltage V according to a vector synthesis formula X And V Y The device is used for operating the standing wave azimuth angle theta to rotate positively and negatively;
the D/A converter is used for converting the signal V X And V Y The signals converted into analog voltage are applied to the driving electrode X and the driving electrode Y corresponding to the harmonic oscillator;
the error extraction unit is used for normalizing the standing wave azimuth angle theta according to the resolving signal and calculating the error zero offset omega b And a rotation rate Ω c ；
The function fitting unit is used for fitting to obtain an error compensation equation and calculating to obtain a compensation signal C through the output compensation unit pc Applied to the gyro, the drift suppression is realized.
2. The full angle mode resonance gyro damping uneven drift online compensation method is based on the full angle mode resonance gyro damping uneven drift online compensation system according to claim 1, and is characterized in that: the method comprises the following steps:
step 1, when a gyroscope works normally, starting damping uneven drift calibration when a calibration triggering instruction is received;
step 2, according to the detected two-mode detection vibration signals, calculating to obtain error signals of each loop;
step 3, actively modulating the signal C by a user preset p Generating a nominal drive signal V by vector synthesis X And V Y The azimuth angle theta of the standing wave is controlled to rotate forward to reachk is a positive integer at k pi/4;
step 4, changing the active modulation signal C p The symbol is used for controlling the standing wave azimuth angle theta to reversely rotate to reach the position of-kpi/4, wherein k is a positive integer;
step 5, standing wave angular velocity at each standing wave azimuth angle theta recorded in the forward and reverse rotation process
Normalizing according to the angle;
step 6, normalizing the angular velocity of the standing wave according to the forward and reverse rotation process
Zero offset omega of calculation error b And a rotation rate Ω c ；
Step 7, according to the rotation rate omega c And actively modulating signal C p Calculating a force application scale SF at each standing wave azimuth angle theta;
step 8, zero offset omega according to the error b And the force application scale SF, fitting to obtain a compensation signal C taking the standing wave azimuth angle theta as an independent variable pc Is a function of (2);
step 9, ending the calibration process when the calibration termination condition is met, namely the compensation signal equation coefficient error is converged to be smaller than the set value, otherwise repeating the steps 2-7;
step 10, recovering the gyroscope to a normal running state, and calculating a compensation signal C at the azimuth angle theta of the current standing wave in real time according to a compensation signal equation pc And generating the compensation driving electrode voltage V through a vector synthesis formula X And V Y To compensate for damping non-uniform drift;
and 11, waiting for a next calibration triggering instruction.
3. The online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 2, wherein the online compensation method is characterized by comprising the following steps: in step 1, the trigger instruction is preset by a user or acquired from an upper system.
4. The online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 2, wherein the online compensation method is characterized by comprising the following steps: in step 2, the error signal of each loop is shown in formula (1):
middle-C x And S is x Cosine and sine components of the x-axis detection signal respectively;
——C y and S is y The cosine and sine components of the y-axis detection signal, respectively.
5. The online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 4, wherein the online compensation method is characterized by comprising the following steps: in step 3, the vector synthesis formula is shown in formula (2):
middle-V X And V Y Driving voltages of an X axis and a Y axis respectively;
——C a is a stable control signal;
——C p is a standing wave modulation signal;
——C q is a quadrature control signal;
——ω d is the driving frequency;
-t is time.
6. The online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 5, wherein the online compensation method is characterized by comprising the following steps: in step 6, the error is zero offset omega b And a rotation rate Ω c See formula (3)
Middle-omega c Is the rotation rate;
——Ω b zero offset for error;
——
is the angular velocity of the forward rotation standing wave;
——
to reverse the standing wave angular rate.
7. The online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 6, wherein the online compensation method is characterized by comprising the following steps: in step 7, the force application scale SF at each standing wave azimuth θ is calculated as formula (4):
8. the online compensation method for damping uneven drift of a full angle mode resonance gyro according to claim 7, wherein the online compensation method is characterized by comprising the following steps: in step 8, compensation force C pc See equation (5):
C pc (θ)＝Ω b (θ)/SF(θ) (5)。
9. the full angle mode resonator gyro damping non-uniform drift online compensation method of claim 8, wherein the method comprises the following steps: in step 10, the driving electrode voltage V is compensated X And V Y Vector synthesis of (c) is shown in formula (6):
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| CN114964197B (en) * | 2022-07-29 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | Resonant gyroscope phase reference self-compensation system and compensation method |
| CN114964199B (en) * | 2022-08-03 | 2022-11-25 | 中国船舶重工集团公司第七0七研究所 | Electrode gain self-compensation system of hemispherical resonator gyroscope and implementation method |
| CN115790665B (en) * | 2023-01-05 | 2023-05-05 | 中国船舶集团有限公司第七〇七研究所 | Gyro error compensation method and device, electronic equipment and storage medium |
| CN116576886B (en) * | 2023-05-06 | 2024-01-26 | 哈尔滨工业大学 | Hemispherical resonator gyro damping non-uniformity identification method |
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| CN113739779A (en) * | 2021-08-31 | 2021-12-03 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonance gyro multi-element temperature compensation system and method based on BP neural network |
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