CN114964198A - Time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and implementation method - Google Patents
Time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and implementation method Download PDFInfo
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Abstract
The invention relates to a time-sharing multiplexing-based fast frequency tracking system and an implementation method of a resonant gyroscope, wherein a broadband pulse signal is generated according to a pulse form preset by a user; adding the broadband pulse signal and the frequency driving signal, and generating a mixed driving signal through a signal modulation unit; the mixed driving signal is converted into analog quantity through a digital-to-analog converter, and is applied to the harmonic oscillator in a driving period after power amplification is carried out by a driving amplifier; in the detection period, a harmonic oscillator vibration signal is obtained through detection of an I/V converter and an analog-to-digital converter; measuring the frequency of the harmonic oscillator vibration signal; generating a frequency driving signal according to the measured vibration frequency of the harmonic oscillator; and adding the frequency driving signal and the broadband pulse signal for driving the harmonic oscillator in the next period to complete the frequency tracking closed loop. The method directly measures the vibration frequency of the free-state harmonic oscillator, realizes the rapid and accurate tracking of the frequency, reduces the frequency locking time overhead in the oscillation starting process, and improves the frequency characteristic of the gyroscope.
Description
Technical Field
The invention relates to a time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and an implementation method, belonging to the technical field of inertial instrument control.
Background
The resonance gyroscope is a solid fluctuation gyroscope based on the Goldfish 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. The harmonic oscillator of the core component works in a resonance state, and the driving frequency is locked with the natural frequency through the frequency tracking loop.
The natural frequency of the harmonic oscillator is in range distribution due to working condition changes such as processing difference, temperature and the like. In a traditional mode, for example, in patent CN202011454728.3 (a Costas loop-based all-digital hemispherical resonator gyro frequency tracking loop), a phase-locked loop is used to implement a frequency stabilization function, and when an initial frequency is far away from a natural frequency, a gain of the frequency loop is sharply reduced, so that it is difficult to start oscillation. Usually, the gyro start-up is assisted in a frequency sweep manner, such as patent cn201610829068.x (a hemispherical resonator gyro high-reliability start-up system and method) and patent CN202110025001.1 (a metal resonator gyro fast start-up system and method), but the time overhead and reliability of start-up are limited by parameters such as frequency sweep range and step size.
The document silicon micromechanical gyroscope self-excitation driving digital technology and the document micromechanical vibration gyroscope closed-loop self-excitation driving theory analysis and verification adopt self-excitation oscillation to realize frequency stabilization function, can ensure quick and reliable frequency locking, but because the micromechanical vibration gyroscope works in a positive feedback mode, the state stability and phase noise of the micromechanical vibration gyroscope are poor, and are usually 10 -5 And the order of magnitude is difficult to meet the frequency stabilization index requirement of the high-precision resonant gyroscope.
The document "fast start-up control of high-Q micro-electromechanical gyroscope" adopts a self-excited-phase-locked loop switching scheme to start up by self-excited oscillation and switch to a phase-locked loop for stable operation so as to balance the start-up time and the steady-state precision. However, the logic of the scheme is complex, the switching process has a reliability problem, and the practical engineering application is difficult to meet.
Disclosure of Invention
The invention provides a frequency tracking method for actively measuring and tracking the vibration frequency of a free-state harmonic oscillator, aiming at the problems of low frequency locking speed, poor reliability, low stability and low accuracy in the quick frequency tracking of the initial vibration of a solid wave/resonant gyroscope. According to the invention, a broadband pulse signal is applied to the harmonic oscillator, natural strong frequency-selecting characteristics of the harmonic oscillator are utilized to excite the natural frequency expression of the harmonic oscillator, and the time-sharing multiplexing technology is utilized to directly measure the vibration frequency of the free-state harmonic oscillator, so that the frequency is quickly and accurately tracked, the frequency locking time overhead in the oscillation starting process is reduced, and the frequency characteristics of the gyroscope are improved.
The technical scheme adopted by the invention is as follows: a resonance gyro fast frequency tracking system based on time division multiplexing comprises an analog part, a frequency divider, a drive amplifier, a harmonic oscillator, an electrode, a drive detection time division switching unit, an I/V converter, an analog-to-digital converter, a digital-to-analog converter and a drive amplifier, wherein the harmonic oscillator is connected with the electrode;
the digital part consists of a frequency measuring unit, a frequency generating unit, a broadband pulse generating unit, an adder, a signal modulating unit and a time sequence control unit;
the harmonic oscillator is a gyro core sensitive unit;
the electrodes are used for driving and detecting the vibration of the harmonic oscillator;
the I/V converter is used for converting a current signal caused by the vibration of the harmonic oscillator on the electrode into an analog voltage signal;
the analog-to-digital converter is used for converting the analog voltage signal output by the I/V converter into digital quantity;
the frequency measuring unit is used for measuring the frequency of the digital signal obtained by the analog-to-digital converter;
the frequency generating unit is used for generating a frequency driving signal according to the signal frequency measured by the frequency measuring unit;
the broadband pulse generating unit is used for generating a broadband pulse signal according to a pulse form preset by a user;
the adder is used for adding the frequency driving signal generated by the frequency generation unit and the broadband pulse signal generated by the broadband pulse generation unit;
the signal modulation unit modulates the superposed signal obtained by the adder according to the switching time sequence provided by the time sequence control unit to generate a mixed driving signal;
the time sequence control unit is used for calculating and generating a switching time sequence signal for driving detection time division and providing the switching time sequence signal for the driving detection time division switching unit, the frequency measuring unit and the signal modulation unit; the drive detection time-sharing switching unit is used for switching the electrode working circuit according to a switching time sequence and respectively placing the electrode in a drive state, a detection state and an idle state; the digital-to-analog converter is used for converting the mixed driving signal generated by the signal modulation unit into an analog quantity to be output;
the drive amplifier is used for amplifying the power of the mixed drive signal which is converted into analog quantity by the digital-to-analog converter and is used for driving the harmonic oscillator to vibrate.
The frequency generation unit adopts a direct digital frequency synthesizer based on a table look-up method, a Taylor series expansion sine generator or a coordinate rotation digital calculation sine approximator based on an iteration method, and generates a frequency driving signal according to the signal frequency measured by the frequency measurement unit.
The pulse signal generated by the broadband pulse generating unit is in the form of rectangular wave, sawtooth wave, step wave, sharp pulse or sinusoidal pulse.
The harmonic oscillator is in a hemispherical shape, a cylindrical shape, a ring shape or a butterfly wing shape and is made of quartz, silicon base or metal.
The electrodes are in contact type or non-contact type, and the electrodes are piezoelectric ceramics or capacitors.
A method for realizing a time-sharing multiplexing-based resonant gyroscope fast frequency tracking system comprises the following steps:
step 2, adding the broadband pulse signal and the frequency driving signal by an adder, and generating a mixed driving signal through a signal modulation unit for exciting the harmonic oscillator to vibrate;
step 4, in a detection period, a current signal on the electrode caused by the vibration of the harmonic oscillator is changed into an analog voltage signal through an I/V converter and then is changed into a digital quantity through an analog-to-digital converter, and the electrode is placed in a detection state by a drive detection time-sharing switching unit under the condition that a time sequence control unit switches a time sequence;
step 5, measuring the frequency of the harmonic oscillator vibration signal by a frequency measuring unit by adopting a time-to-digital conversion algorithm according to the digital signal obtained by the analog-to-digital converter, and generating a subsequent frequency driving signal;
and 7, adding the frequency driving signal and the broadband pulse signal for driving the harmonic oscillator in the next period to finish frequency tracking closed loop.
The method for adding the broadband pulse signal and the frequency driving signal and generating the hybrid driving signal in the step 2 is as follows: the broadband pulse signal adopts a Gaussian modulated sinusoidal pulse signal;
the frequency driving signal is a sinusoidal signal with the same frequency as the current harmonic oscillator vibration signal, the broadband pulse signal and the frequency driving signal are superposed, and the frequency driving signal is modulated by a switching time sequence square wave signal generated by the time sequence control unit to generate a mixed driving signal which only responds in a driving period.
The generation method of the driving period and the detection period described in step 3 and step 4 is as follows: under the control of the drive detection time-sharing switching unit, the switching time-sequence square wave signal generated by the time sequence control unit separates the drive state and the detection state on a time domain according to a fixed period, a working period is divided into 4 parts, C1 is an X-axis drive time period, C2 is a Y-axis drive time period, D1 is an X-axis detection time period, D2 is a Y-axis detection time period, the system alternately works in the 4 parts and stays for a short time in each switching process, and r is an idle time period for the short stay.
The method for measuring the frequency of the harmonic oscillator vibration signal in the step 5 comprises the following steps: synchronizing the preset gate signal with the rising edge of the signal to be detected through a trigger to generate an actual gate signal, starting timing, and passing t 1 After time, giving a termination signal, starting measurement of the reference signal, starting second timing on the first rising edge of the signal to be measured when the preset gate is closed, and terminating measurement of the signal to be measured after t 2 After the time, giving a termination signal again, stopping measuring the reference signal, and calculating the frequency of the signal to be measured by the following formula:
in the formula: f. of c Is the vibration signal frequency;
f 0 is the reference signal frequency;
N c the number of signal cycles to be measured;
N 0 is the number of reference signal cycles;
t 1 timing time for the first time;
t 2 time is counted for the second time.
The method for generating the frequency driving signal according to the measured vibration frequency of the harmonic oscillator in the step 6 is as follows: harmonic oscillator vibration signal frequency f obtained by frequency measuring unit c According to the number of bits N and the sampling frequency f of the direct digital frequency synthesizer clk And calculating a frequency control word K, wherein the formula is as follows:
and at each clock pulse, the adder adds the frequency control word K and the accumulated phase data and sends the added data to the accumulation register, the accumulation register feeds back new phase data generated after the action of the previous clock period to the input end of the adder for continuous accumulation at the next moment, meanwhile, the new phase data is taken as a sampling address and sent to a look-up table LUT, and a corresponding waveform is output according to the address to generate a frequency driving signal with the same frequency as the vibration frequency of the harmonic oscillator.
The invention has the advantages and positive effects that:
1. according to the time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and the implementation method, the wide-frequency response range is adopted to continuously excite the natural frequency response of the harmonic oscillator, the problems of no oscillation starting and lock losing caused by the fact that the harmonic oscillator is submerged by noise in the frequency sweeping process and the mode switching process are avoided, and the oscillation starting reliability of the gyroscope is guaranteed.
2. According to the time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and the implementation method, the time-sharing multiplexing technology is utilized to directly measure the frequency signal of the free-state harmonic oscillator, so that frequency deviation and drift caused by forced vibration response are avoided, and the accuracy of frequency tracking is ensured.
3. According to the time-sharing multiplexing-based resonant gyroscope rapid frequency tracking system and the implementation method, the frequency driving signal is generated according to the free-state resonant frequency, the processes of frequency sweeping, self-excitation convergence and mode switching are not needed, the starting frequency tracking speed is improved, and the time consumed by starting and locking the frequency is reduced.
Drawings
FIG. 1 is a block diagram of the system connections of the present invention;
FIG. 2 is a waveform diagram of Gaussian modulated sinusoidal pulses in accordance with the present invention;
FIG. 3 is a frequency domain diagram of Gaussian modulated sinusoidal pulses of the present invention;
FIG. 4 is a timing diagram of TDC frequency measurement according to the present invention;
FIG. 5 is a timing diagram illustrating the detecting state and the driving state according to the present invention;
FIG. 6 is a basic block diagram of the DDS of the present invention;
FIG. 7 is a flow chart of a method for implementing the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a time-division multiplexing-based fast frequency tracking system for a resonant gyroscope includes a digital part and an analog part, wherein the digital part is used for signal measurement, signal generation and signal modulation, and the analog part is used for signal acquisition, signal conditioning, signal amplification and signal conversion; the digital part and the analog part are connected for signal flow by a digital-to-analog converter and an analog-to-digital converter.
One end of the electrode 2 is connected with the harmonic oscillator 1 and is connected with the same end of the electrode 2 sequentially through the drive detection time-sharing switching unit 3, the I/V converter 4, the analog-to-digital converter 5, the frequency measuring unit 6, the frequency generating unit 7, the adder 9, the signal modulating unit 10, the digital-to-analog converter 11, the drive amplifier 12 and the drive detection time-sharing switching unit 3;
the broadband pulse generating unit 8 is connected to the adder 9, and the timing control unit 13 is connected to the drive detection time-sharing switching unit 3, the frequency measuring unit 6, and the signal modulating unit 10, respectively.
Description of the drawings: one end of the electrode 2 is connected with the harmonic oscillator 1, the other end is connected to different circuits at different moments, the drive detection time-sharing switching unit 3 adopts a program-controlled multi-path switching switch, namely, the electrode 2 is connected to the I/V converter 4 at the detection moment; at the driving timing, the electrode 2 is connected to the driving amplifier 12.
Specifically, C1 is the X-axis drive period during which the X electrode of electrodes 2 is connected to drive amplifier 12; c2 is the Y-axis drive period during which the Y electrode of electrodes 2 is connected to drive amplifier 12; d1 is the X-axis detection time period during which the X electrode of electrodes 2 is connected to I/V converter 4; d2 is the Y-axis detection time period during which the Y electrode of electrodes 2 is connected to I/V converter 4.
The harmonic oscillator 1 is a gyro core sensitive unit, and can be made of quartz, silicon-based, 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 1, and comprise contact type and non-contact type, such as piezoelectric ceramics, capacitors and the like.
The drive detection time-sharing switching unit 3 is used for switching the working state of the electrode 2, and is respectively placed in a detection state, a driving state and an idle state.
During the detection period, the I/V converter 4 is used for extracting the vibration information of the harmonic oscillator 1 acquired from the electrode 2 under the control of the drive detection time-sharing switching unit 3, and plays roles of signal conversion and isolation amplification, such as a charge amplifier and the like; the voltage signal containing the gyro vibration information obtained by the I/V converter 4 is acquired and converted into a digital quantity through the analog-to-digital converter 5.
The frequency measuring unit 6 obtains frequency information of the gyro vibration signal through mathematical operations such as time-to-digital conversion. The frequency generation unit 7 generates a frequency drive signal from a direct digital frequency synthesizer (DDS) based on the frequency measured by the frequency measurement unit 6.
The broadband pulse generating unit 8 generates a corresponding broadband pulse driving signal according to a preset pulse form, the frequency driving signal and the pulse driving signal are converted into an analog signal by the adder 9 and the signal modulating unit 10, and the analog signal is applied to the corresponding electrode 2 of the harmonic oscillator 1 through the driving amplifier 12 in a driving period, and at this time, the electrode 2 is in a driving state under the control of the driving detection time-sharing switching unit 3.
The timing control unit 13 is responsible for generating a time-sharing switching timing signal and controlling the driving detection time-sharing switching module to switch the working state of the electrode 2.
The specific working process and principle are as follows:
(1) broadband pulse generating unit
The broadband pulse generating unit 8 generates a broadband pulse driving signal Vp, such as a gaussian modulated sinusoidal pulse signal, according to a pulse form (rectangular wave, sawtooth wave, step wave, spike pulse, or sinusoidal pulse) set by a user, and a waveform diagram and a frequency domain diagram of the broadband pulse driving signal are shown in fig. 2 and fig. 3, so that the frequency domain range of the broadband pulse driving signal covers the fourth-order vibration frequency of the harmonic oscillator 1, and is far away from other-order modes, and the excitation of other-order modes to cause interference is avoided.
(2) Frequency measuring unit
The frequency measuring unit 6 directly measures the frequency information of the free-state harmonic oscillator, and can obtain the frequency of the signal to be measured by accurately measuring the time interval of a plurality of signal periods by adopting a frequency detection technology based on time-to-digital conversion (TDC). The TDC achieves a very high resolution by means of a gate delay, the timing diagram of which is shown in fig. 4;
the preset gate signal passes through the trigger and the signal f to be detected c Is synchronized to generate the actual gate signal. Meanwhile, the TDC starts timing for the first time, and starts the measurement of the signal to be measured; t is t 1 After time, reference signal f 0 After k +1 rising edges, the TDC is given a termination signal and measurement of the reference signal is started. When the preset gate is closed, the TDC is at the first rising edge of the signal to be measured, timing is started for the second time, and the measurement of the signal to be measured is terminated, N c The number of signal cycles to be measured; at t 2 After time, the reference signal has passed k +1 rising edges, the TDC is again given a stop signal and measurement of the reference signal is stopped, N 0 Is the number of reference signal cycles; keeping k reference signal periods between a starting signal and a terminating signal of the TDC so as to avoid TDC dead time;
the frequency of the signal to be measured can be expressed as:
wherein,
the frequency of the signal to be measured can be obtained by combining the formula (1) and the formula (2):
the measurement error can be described by:
wherein, the error of the TDC measurement time interval can be kept within +/-10 ps; thus, equation (4) can be converted into:
due to the fact that
，
The measurement error mainly depends on the measurement accuracy of the TDC.
(3) Drive detection time-sharing switching unit
The drive detection time division switching unit 3 performs time domain separation of two states of driving and detecting according to a fixed period, the unit divides a working cycle into 4 parts, C1 is an X-axis driving time period, C2 is a Y-axis driving time period, D1 is an X-axis detection time period, D2 is a Y-axis detection time period, the system is alternately operated in 4 parts according to time sequence, and is temporarily stopped in each switching process, r is an idle time period of the temporary stopping, as shown in fig. 5, the working state can be such as: C1-r-C2-r-D1-r-D2-r, and the cycle is repeated. The harmonic oscillator 1 can work in a driving or detecting state uniformly on the time axis of each pair of differential electrodes through state switching, the harmonic oscillator 1 can work in a free resonance state at the detection moment, the accuracy of resonance frequency is guaranteed, the harmonic oscillator 1 only works in the driving or detecting state at a single moment, and idle beats are placed in the state switching to inhibit coupling interference between a driving channel and a detecting channel.
(4) Frequency generating unit
The frequency generation unit 7 generates a driving signal with the same frequency by using a direct digital frequency synthesizer (DDS) according to the free-state frequency of the harmonic oscillator 1 measured by the frequency measurement unit 6, and as shown in fig. 6, the DDS is composed of an N-bit phase accumulator, an N-bit adder, and an N-bit accumulation register. In each clock pulse, the N-bit adder adds the frequency control word K stored in the frequency control word register and accumulated phase data output by the N-bit accumulation register, and sends the added result to the input end of the accumulation register; on the other hand, the value is used as a sampling address to be sent into a lookup table (LUT), and corresponding waveform data is output according to the address;
after the loop tracking control, the harmonic oscillator can quickly and reliably excite a resonance state, and the frequency tracking system continuously and accurately tracks the natural frequency of the harmonic oscillator, so that the harmonic oscillator is ensured to work in the resonance state with low phase noise.
Example 1, a frequency tracking flow chart is shown in fig. 7;
the harmonic oscillator 1 is hemispherical, made of fused quartz, and has a natural frequency range of about 4.5-5.5kHz, a frequency temperature coefficient of about 0.5 Hz/DEG C, and a working temperature range of-60-40 ℃, so that the frequency variation range is-30-20 Hz.
The electrode 2 is a capacitor formed by a base and a metal coating on the inner surface of the harmonic oscillator 1.
Starting frequency tracking, selecting a Gaussian modulation sine pulse signal with a frequency domain range of 4-6kHz to ensure that a broadband pulse signal frequency domain covers the natural frequency interval of the harmonic oscillator 1, generating the broadband pulse signal, setting the initial frequency driving signal frequency to be 5kHz, setting the number of bits of a direct digital frequency synthesizer to be 48, setting the sampling frequency to be 40MHz, calculating a frequency control word K and taking an integer as:
the timing control unit 13 sets the driving cycle time length to 80 μ s, the idle cycle time length to 20 μ s, the sensing cycle time length to 300 μ s, and the total time length of one duty cycle (C1-r-C2-r-D1-r-D2-r) to 400 μ s.
The broadband pulse signal and the frequency driving signal are added, the superimposed signal is modulated to generate a mixed driving signal according to a switching time sequence square wave signal generated by the time sequence control unit 13, and the mixed driving signal only responds to the X-axis driving C1 and the Y-axis driving C2 in a driving period; after digital-to-analog conversion and power amplification, the mixed driving signal is applied to the harmonic oscillator 1 by an X-axis driving C1 and a Y-axis driving C2 in a driving period; under the control of the driving detection time-sharing switching unit 3, the switching timing signals generated by the timing control unit 13 are applied to the corresponding electrodes 2 of the resonator 1 during the driving periods of the X-axis driving C1 and the Y-axis driving C2 to excite the resonator 1 to vibrate at the natural frequency.
The natural frequency of the harmonic oscillator 1 vibrates, so that the distance between the electrodes 2 generates sinusoidal motion, the capacitance value of the electrodes generates same-frequency change, the harmonic oscillator 1 vibration signal is detected by detecting D1 on an X axis and detecting D2 on a Y axis in a detection period under the control of a drive detection time-sharing switching unit 3 according to a switching time sequence signal generated by a time sequence control unit 13, and the harmonic oscillator 1 corresponding to the electrodes 2 works in a detection state and is connected to an I/V converter 4; in the detection period of the X-axis detection D1 and the Y-axis detection D2, the sinusoidal variation of the capacitance value of the electrode 2 is equivalent to a charge source, the same-frequency current output is generated, the current output is changed into an analog voltage signal by the I/V converter 4, the analog voltage signal is changed into a digital signal by the analog-to-digital converter 5, and the digital signal is acquired to the digital part of the system, and the digital signal represents the vibration information of the harmonic oscillator 1.
Measuring the vibration signal frequency of the harmonic oscillator 1, wherein the frequency measuring unit 6 directly measures the vibration frequency of the harmonic oscillator 1 by adopting a frequency detection technology based on TDC, and the vibration frequency is set to be 5.001kHz and the frequency f of a TDC reference signal 0 Is 10MHz, t 1 =2μs，t 2 = 1.5. mu.s, N was measured c =5，N 0 =9993, vibration frequency f c And calculating to obtain:
generating a frequency driving signal, and calculating according to the vibration frequency 5001.0002Hz of the harmonic oscillator 1 to obtain a frequency control word K of the DDS:
and adding the accumulated phase data to obtain new phase data, sending the new phase data serving as a sampling address into the LUT to obtain an output waveform, and generating a frequency driving signal at the next moment.
And adding the newly generated frequency driving signal and the broadband pulse signal, modulating to generate a new mixed driving signal for the harmonic oscillator driving of the next period, and thus completing frequency tracking closed loop and stable control.
The above-mentioned parameters are only examples for illustrating the present invention, and are not meant to be limiting on the embodiments of the present invention, and it is obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and not all embodiments are intended to be exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
The above-mentioned embodiments, which further illustrate the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a quick frequency tracking system of resonance top based on time sharing multiplex which characterized in that: the analog part consists of a harmonic oscillator (1), an electrode (2), a drive detection time-sharing switching unit (3), an I/V converter (4), an analog-to-digital converter (5), a digital-to-analog converter (11) and a drive amplifier (12);
the digital part consists of a frequency measuring unit (6), a frequency generating unit (7), a broadband pulse generating unit (8), an adder (9), a signal modulating unit (10) and a time sequence control unit (13);
the harmonic oscillator (1) is a gyro core sensitive unit;
the electrode (2) is used for driving and detecting the vibration of the harmonic oscillator (1);
the I/V converter (4) is used for converting a current signal caused by the vibration of the harmonic oscillator (1) on the electrode (2) into an analog voltage signal;
the analog-to-digital converter (5) is used for converting the analog voltage signal output by the I/V converter (4) into a digital quantity;
the frequency measuring unit (6) is used for measuring the frequency of the digital signal obtained by the analog-to-digital converter (5);
the frequency generation unit (7) is used for generating a frequency driving signal according to the signal frequency measured by the frequency measurement unit (6);
the broadband pulse generating unit (8) is used for generating a broadband pulse signal according to a pulse form preset by a user;
the adder (9) is used for adding the frequency driving signal generated by the frequency generation unit (7) and the broadband pulse signal generated by the broadband pulse generation unit (8);
the signal modulation unit (10) modulates the superposed signal obtained by the adder (9) according to a switching time sequence provided by the time sequence control unit (13) to generate a mixed driving signal;
the time sequence control unit (13) is used for calculating and generating a switching time sequence signal for driving detection time division and supplying the switching time sequence signal to the driving detection time division switching unit (3), the frequency measuring unit (6) and the signal modulation unit (10); the drive detection time-sharing switching unit (3) is used for switching the working circuit of the electrode (2) according to a switching time sequence, and respectively placing the electrode (2) in a drive state, a detection state and an idle state; the digital-to-analog converter (11) is used for converting the mixed driving signal generated by the signal modulation unit (10) into an analog quantity to be output;
the driving amplifier (12) is used for amplifying the power of the mixed driving signal which is converted into analog quantity through the digital-to-analog converter (11) and is used for driving the harmonic oscillator (1) to vibrate.
2. The time-division multiplexing-based resonant gyro fast frequency tracking system according to claim 1, characterized in that: the frequency generation unit (7) adopts a direct digital frequency synthesizer based on a table look-up method, a Taylor series expansion sine generator or a coordinate rotation digital calculation sine approximator based on an iteration method, and generates a frequency driving signal according to the signal frequency measured by the frequency measurement unit (6).
3. The time-division multiplexing-based resonant gyro fast frequency tracking system according to claim 1, characterized in that: the pulse signal generated by the broadband pulse generating unit (8) is in the form of rectangular wave, sawtooth wave, step wave, sharp pulse or sinusoidal pulse.
4. The time-division multiplexing-based resonant gyro fast frequency tracking system according to claim 1, characterized in that: the shape of the harmonic oscillator (1) is a hemisphere shape, a cylinder shape, a ring shape or a butterfly wing shape, and the material is quartz, silicon base or metal.
5. The time-division multiplexing-based resonant gyro fast frequency tracking system according to claim 1, characterized in that: the electrode (2) is in a contact type or a non-contact type, and the electrode (2) is piezoelectric ceramic or a capacitor.
6. An implementation method of the time-division multiplexing-based resonant gyroscope fast frequency tracking system according to claim 1, comprising the following steps:
step 1, generating a broadband pulse signal by a broadband pulse generating unit (8) according to a pulse form preset by a user, wherein the broadband pulse signal is used for signal excitation in a broadband domain range;
step 2, adding the broadband pulse signal and the frequency driving signal by an adder (9), and generating a mixed driving signal by a signal modulation unit (10) for exciting the harmonic oscillator to vibrate;
step 3, the mixed driving signal is changed into an analog quantity through a digital-to-analog converter (11), after power amplification is carried out through a driving amplifier (12), the analog quantity is applied to the harmonic oscillator (1) through the electrode (2) in a driving period, so that the harmonic oscillator (1) vibrates, and the electrode (2) is placed in a driving state through the driving detection time-sharing switching unit (3) under the condition that the time sequence control unit (13) switches the time sequence;
step 4, in a detection period, a current signal on the electrode (2) caused by the vibration of the harmonic oscillator (1) is changed into an analog voltage signal through the I/V converter (4), then is changed into a digital quantity through the analog-to-digital converter (5), and the electrode (2) is placed in a detection state through the drive detection time-sharing switching unit (3) under the condition that the time sequence is switched by the time sequence control unit (13);
step 5, according to the digital signal obtained by the analog-to-digital converter (5), measuring the frequency of the vibration signal of the harmonic oscillator (1) by a frequency measuring unit (6) by adopting a time-to-digital conversion algorithm for generating a subsequent frequency driving signal;
step 6, according to the vibration frequency of the harmonic oscillator (1) measured by the frequency measuring unit (6), generating a frequency driving signal by a frequency generating unit (7) by adopting a direct digital frequency synthesizer based on a table look-up method, a Taylor series expansion sine generator or a coordinate rotation digital calculation sine approximator based on an iteration method, and using the frequency driving signal for signal excitation of the vibration frequency;
and 7, adding the frequency driving signal and the broadband pulse signal for driving the harmonic oscillator (1) in the next period to finish frequency tracking closed loop.
7. The method for implementing a time-division multiplexing-based resonant gyroscope fast frequency tracking system according to claim 6, wherein the method comprises the following steps: the method for adding the broadband pulse signal and the frequency driving signal and generating the hybrid driving signal in the step 2 is as follows: the broadband pulse signal adopts a Gaussian modulated sinusoidal pulse signal;
the frequency driving signal is a sinusoidal signal with the same frequency as the vibration signal of the current harmonic oscillator (1), the broadband pulse signal and the frequency driving signal are superposed, and the frequency driving signal is modulated by a switching time sequence square wave signal generated by a time sequence control unit (13) to generate a mixed driving signal which only responds in a driving period.
8. The method for implementing a time-division multiplexing-based resonant gyroscope fast frequency tracking system according to claim 6, wherein the method comprises the following steps: the generation method of the driving period and the detection period described in step 3 and step 4 is as follows: under the control of a drive detection time-sharing switching unit (3), a switching time-sharing square wave signal generated by a time sequence control unit (13) separates a drive state and a detection state in a time domain according to a fixed period, a working period is divided into 4 parts, C1 is an X-axis drive time period, C2 is a Y-axis drive time period, D1 is an X-axis detection time period, D2 is a Y-axis detection time period, a system alternately works in the 4 parts and stays for a short time in each switching process, and r is an idle time period for the short stay.
9. The method for implementing a time-division multiplexing-based resonant gyroscope fast frequency tracking system according to claim 6, wherein the method comprises the following steps: the method for measuring the frequency of the harmonic oscillator vibration signal in the step 5 comprises the following steps: synchronizing the preset gate signal with the rising edge of the signal to be detected through a trigger to generate an actual gate signal, starting timing, and passing t 1 After time, giving a termination signal, starting measurement of the reference signal, starting second timing on the first rising edge of the signal to be measured when the preset gate is closed, and terminating measurement of the signal to be measured after t 2 After the time, giving a termination signal again, stopping measuring the reference signal, and calculating the frequency of the signal to be measured by the following formula:
in the formula: f. of c Is the vibration signal frequency;
f 0 is the reference signal frequency;
N c the number of signal cycles to be measured;
N 0 is the number of reference signal cycles;
t 1 timing time for the first time;
t 2 time is counted for the second time.
10. The method of claim 6, wherein the method comprises the following steps:
the method for generating the frequency driving signal according to the measured vibration frequency of the harmonic oscillator (1) in the step 6 is as follows: the frequency f of the vibration signal of the harmonic oscillator (1) obtained by the frequency measuring unit (6) c According to the number of bits N and the sampling frequency f of the direct digital frequency synthesizer clk And calculating a frequency control word K, wherein the formula is as follows:
and in each clock pulse, the adder adds the frequency control word K and the accumulated phase data and sends the added data to the accumulation register, the accumulation register feeds back new phase data generated after the action of the previous clock period to the input end of the adder for continuous accumulation at the next moment, meanwhile, the new phase data is used as a sampling address and sent to a look-up table LUT, and a corresponding waveform is output according to the address to generate a frequency driving signal with the same frequency as the vibration frequency of the harmonic oscillator (1).
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