CN115388872A - Laser gyroscope sensitive axial deviation closed-loop control device and method under acceleration - Google Patents
Laser gyroscope sensitive axial deviation closed-loop control device and method under acceleration Download PDFInfo
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- CN115388872A CN115388872A CN202211353486.8A CN202211353486A CN115388872A CN 115388872 A CN115388872 A CN 115388872A CN 202211353486 A CN202211353486 A CN 202211353486A CN 115388872 A CN115388872 A CN 115388872A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention provides a laser gyro sensitive axial deviation closed-loop control device and method under acceleration, relating to the technical field of laser gyros, and the device comprises: the device comprises a reading mirror, a laser power detector, a controller and a plurality of piezoelectric ceramic pieces; the reading mirror penetrates out part of laser power; the laser output power information obtained by the detection of the laser power detector is provided for the controller; the controller estimates the size and the direction of deformation of the laser gyroscope caused by the acceleration according to the acceleration information and the laser output power information, and generates correction voltage for controlling the piezoelectric ceramic pieces to control the expansion and contraction of the piezoelectric ceramic pieces and overcome the deformation of the laser gyroscope caused by the acceleration. The invention has high sensitivity and large control range, and can ensure the high stability of the output of the gyroscope under high acceleration; the precision of the laser gyro in an acceleration environment is kept, and the navigation positioning precision is improved.
Description
Technical Field
The invention belongs to the technical field of laser gyros, and particularly relates to a laser gyroscope sensitive axial deviation closed-loop control device and method under acceleration.
Background
The laser inertial navigation system is a modern high-performance inertial navigation system based on a laser gyroscope, and is widely applied to the fields of carrier rockets, satellite airships, missile weapons, aviation airplanes, submarines, ships and warships and the like.
The laser gyro has very high rigidity in two directions parallel to the light path, the cavity of the laser gyro resonant cavity generates very small deformation, and the output bias error of the gyro is very small, usually only per hour per thousand degrees.
Because the laser gyroscope is a flat rectangular body, when the laser gyroscope encounters acceleration in the direction perpendicular to the Z axis (sensitive axis) of the resonant cavity of the laser gyroscope, the resonant cavity of the laser gyroscope deforms due to smaller rigidity in the direction, so that a laser light path deforms, and a remarkable offset error is generated. For a laser gyro with a conventional size, when the acceleration of 40g in the Z-axis direction causes an offset error of 0.05-0.3 deg/h, the offset error is several times of the offset error (generally better than 0.01 deg/h) in a small acceleration environment. Therefore, under the environment of large acceleration of the Z axis, the bias error of the laser gyro caused by the acceleration must be restrained.
The prior patents and documents relate to solving the problem of gyro error under large acceleration, and generally only adopt a laser gyro with smaller size, increase the thickness of the laser gyro, or calibrate the sensitivity of an instrument to acceleration for compensation and the like. However, these solutions have significant problems:
(1) The static accuracy of the small-size laser gyroscope is usually much lower than that of the large-size laser gyroscope, and the requirement of high accuracy under the static state is difficult to achieve.
(2) The laser gyroscope with the increased thickness is adopted, so that the volume and the weight of the instrument are usually increased remarkably by 20-40%, which is usually unacceptable;
(3) The method needs complex and expensive centrifuges to calibrate the sensitivity of the gyros to the acceleration for a long time, the sensitivity and the polarity of each gyro are different, the error resolution is not high, and the method has low efficiency and high cost.
Therefore, the existing measures and methods cannot meet the requirement of maintaining the precision of the high-precision laser gyro under the condition of large overload.
Disclosure of Invention
In order to solve the above technical problem, a first aspect of the present invention provides a closed-loop control device for a laser gyro sensitive axial deviation in an acceleration environment, where the device includes: the piezoelectric ceramic chip comprises a plurality of laser mirrors, a laser power detector, a controller and a plurality of piezoelectric ceramic chips;
one of the laser mirrors of the laser gyroscope is used as a reading mirror, the laser power detector detects partial laser power in a resonant cavity of the laser gyroscope, which is transmitted by the reading mirror, determines a laser power value according to the transmitted partial laser power, and provides the laser power value to the controller;
the piezoelectric ceramic plates are bonded to the upper surface and the lower surface of the laser gyroscope in a preset distribution mode; the piezoelectric ceramic pieces generate corresponding telescopic deformation according to the voltage value applied to the piezoelectric ceramic pieces, and the telescopic deformation is used for offsetting the deformation of the laser gyroscope in the sensitive axial direction caused by acceleration;
the controller is capable of outputting a plurality of control voltages to be applied to the piezoceramic wafer, the plurality of control voltages including: scanning voltage, tristate detection voltage, correction voltage and reference control voltage;
and the controller generates a correction voltage for controlling the stretching deformation of the piezoelectric ceramic piece according to the laser power value.
The apparatus according to the first aspect of the present invention, wherein the laser power detector is disposed outside the readout mirror, and the laser power detector detects a portion of the laser power transmitted by the readout mirror to determine the laser power in the laser gyro resonant cavity, and provides the laser power in the laser gyro resonant cavity as the laser power value to the controller.
In the apparatus according to the first aspect of the present invention, in a static operating state, the controller outputs a scan voltage to be applied to the piezoelectric ceramic plate;
the controller determines the maximum laser power of the laser gyroscope output by the laser power detector during the output period of the scanning voltage and the scanning voltage value corresponding to the maximum laser power;
the controller stores the maximum laser power value as an initial value of the laser power of the laser gyro, and determines and stores a scanning voltage value corresponding to the initial value as a reference control voltage.
According to the device of the first aspect of the invention, when the laser gyro works in an acceleration environment, the controller simultaneously outputs a tri-state detection voltage and a reference control voltage to be applied to the piezoelectric ceramic chip; when the tristate detection voltage is positive voltage and the tristate detection voltage is negative voltage, the controller respectively receives the output values of the laser power detector, calculates the difference value of the two output values of the laser power detector, and generates and controls the correction voltage of the piezoelectric ceramic piece according to the difference value.
According to the apparatus of the first aspect of the present invention, the reference control voltage is: 150V; the correction voltage V h Comprising a first correction voltage V h1 And a second correction voltage V h2 Said first correction voltage V h1 The range of (A) is; 150. < V h1 < 300V when the acceleration is negative, the first correction voltage V h1 Bending the laser gyro upwards; the second correction voltage V h2 In the range of (A) is; 0. < V h2 Is less than 150V; when the acceleration is positive, the second correction voltage V h2 Causing the laser gyro to bend downward.
The apparatus according to the first aspect of the present invention, the controller comprises: the device comprises a preamplifier, an analog-digital converter, a digital-analog converter, a microprocessor and a high-voltage amplifier; the preamplifier is connected with the output end of the laser power detector, the output signal amplified by the preamplifier is converted by the analog-digital converter and then input to the microprocessor, the microprocessor generates various control voltage data according to the output signal converted by the analog-digital converter, and the control voltage data generates various control voltages applied to the piezoelectric ceramic piece after being converted by the digital-analog converter and amplified by the high-voltage amplifier.
The second aspect of the invention provides a closed-loop control method for the sensitive axial deviation of a laser gyroscope under acceleration, which comprises the following steps:
during the output period of the scanning voltage, the controller determines the maximum value of the laser power of the laser gyroscope and the scanning voltage value corresponding to the maximum value of the laser power according to the output of the laser power detector; the maximum value of the laser power is stored as an initial value of the laser power of the laser gyro, and a scanning voltage value corresponding to the initial value is determined and stored as a reference control voltage;
and 5, the controller respectively obtains the output values of the laser power detector when the tristate detection voltage is positive voltage and the output values of the laser power detector when the tristate detection voltage is negative voltage, calculates the difference value of the two output values of the laser power detector, and generates and outputs the correction voltage for controlling the piezoelectric ceramic piece according to the difference value so as to counteract the deformation of the laser gyro caused by acceleration.
In the method according to the second aspect of the present invention, step 5 comprises the sub-steps of:
the controller applies a tri-state detection voltage to the piezoelectric ceramic piece, wherein the tri-state detection voltage is a high-frequency alternating voltage;
wherein if the output value of the laser power detector when the high-frequency alternating voltage is a positive voltage is closer to the initial value than the output value of the laser power detector when the high-frequency alternating voltage is a negative voltage, the controller outputs a first correction voltage while stopping outputting the reference control voltage;
and if the output value of the laser power detector when the high-frequency alternating voltage is a positive voltage is more deviated from the initial value than the output value of the laser power detector when the high-frequency alternating voltage is a negative voltage, the controller outputs a second correction voltage and stops outputting the reference control voltage.
The method according to the second aspect of the present invention, the tri-state detection voltage is: a high frequency alternating voltage of peak to peak value 10V; the scanning voltage is 0-300V linear stepping voltage; the first correction voltage V h1 In the range of (A) is; 150. < V h1 < 300V; the second correction voltage V h2 The range of (A) is; 0. < V h2 ＜150V。
According to the method of the second aspect of the invention, when the acceleration is positive, the second corrected voltage V is h2 Bending the laser gyroscope downwards; when the acceleration is negative, the first correction voltage V h1 Causing the laser gyro to bend upward.
The scheme of the invention has the following advantages:
(1) The control scheme of the invention is simple and easy to realize, and the control circuit only needs very simple hardware support.
(2) The scheme of the invention has high sensitivity and large control range, and can ensure the high stability of the output of the gyroscope under the acceleration of-80 g to 80 g;
(3) The scheme of the invention is very cheap and practical, can keep the precision of the gyro in an acceleration environment, improves the hit precision of missile weapons and improves the navigation and positioning precision of airplanes.
Drawings
FIG. 1 is a schematic view of the laser gyro of the present invention;
FIG. 2 is a schematic illustration of laser power detection for a laser gyroscope of the present invention;
FIG. 3 is a schematic diagram of the scan voltages of the present invention;
FIG. 4 is a tri-state voltage schematic of the present invention;
FIG. 5 is a schematic diagram of the control principle of the laser gyro of the present invention
The laser gyroscope comprises a laser gyroscope 1, a piezoelectric ceramic plate 2, a laser gyroscope resonant cavity 3, a reading mirror 4, a laser power detector 5 and a laser reflector 6.
Detailed Description
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the existing method measures, provides a cheap, simple and real-time sensitive control method, and greatly reduces the bias error caused by acceleration.
The invention provides a method for controlling the deformation of a laser gyro resonant cavity according to the acceleration information of an accelerometer of an inertial navigation system, and ensuring that the bending of the laser gyro resonant cavity is within an acceptable range, thereby eliminating the bias error in an acceleration environment.
The following detailed description of the embodiments of the invention refers to the accompanying drawings.
The laser gyro 1 is a flat rectangular body, as shown in fig. 1, the length width along the XY direction is relatively large, the thickness along the Z direction is much smaller than the length along the XY direction, and when acceleration exists as the Z axis direction (sensitive axis), the upper and lower surfaces of the laser gyro 1 generate bending deformation of several nanometers to several micrometers, and the larger the deformation is, the larger the bias error output by the laser gyro 1 is. By applying correction voltages to the piezoelectric ceramic pieces 2 attached to the upper and lower surfaces of the laser gyro 1, respectively, the deformation of the piezoelectric ceramic pieces 2 counteracts the deformation of the laser gyro 1 caused by acceleration.
The first aspect of the invention provides a laser gyroscope sensitive axial deviation closed-loop control device under an acceleration environment, which comprises: the device comprises a plurality of laser mirrors 6, a laser power detector 5, a controller and a plurality of piezoelectric ceramic pieces 2;
one of the laser mirrors of the laser gyroscope 1 is used as a reading mirror 4, the laser power detector 5 detects partial laser power in the laser gyroscope resonant cavity 3 which is transmitted by the reading mirror 4, determines a laser power value according to the transmitted partial laser power, and provides the laser power value for the controller;
the piezoelectric ceramic pieces 2 are adhered to the upper surface and the lower surface of the laser gyroscope 1 in a preset distribution mode; the piezoelectric ceramic pieces 2 generate corresponding telescopic deformation according to a voltage value applied to the piezoelectric ceramic pieces, and the telescopic deformation is used for offsetting the deformation of the laser gyroscope 1 in the sensitive axial direction caused by acceleration;
the controller can output various control voltages to be applied to the piezoelectric ceramic plate 2, the various control voltages including: scanning voltage, tristate detection voltage, correction voltage and reference control voltage;
and the controller generates a correction voltage for controlling the stretching deformation of the piezoelectric ceramic piece 2 according to the laser power value.
One of the laser mirrors 6 of the laser gyroscope 1 is used as a reading mirror 4, the laser power detector 5 detects partial laser power in the laser gyroscope resonant cavity 3 transmitted by the reading mirror 4, determines a laser power value according to the transmitted partial laser power, and provides the laser power value for the controller;
the piezoelectric ceramic pieces 2 are adhered to the upper surface and the lower surface of the laser gyroscope 1 in a preset distribution mode; the piezoelectric ceramic pieces 2 generate corresponding telescopic deformation according to the applied voltage value, and the telescopic deformation is used for offsetting the deformation of the laser gyroscope 1 in the sensitive axial direction caused by acceleration.
The controller can output various control voltages to be applied to the piezoelectric ceramic plate 2, wherein the various control voltages comprise: a scan voltage, a tri-state detection voltage, a correction voltage and a reference control voltage;
and the controller generates a correction voltage for controlling the stretching deformation of the piezoelectric ceramic piece 2 according to the laser power value.
In the apparatus according to the first aspect of the present invention, the laser power detector 5 is disposed outside the readout mirror 4, and the laser power detector 5 detects a portion of the laser power transmitted by the readout mirror 4 to determine the laser power in the laser gyro resonant cavity 3, and provides the laser power in the laser gyro resonant cavity 3 as the laser power value to the controller.
In the device according to the first aspect of the present invention, in a static operating state, the controller outputs a scanning voltage to be applied to the piezoelectric ceramic plate 2;
the controller determines the maximum laser power of the laser gyro 1 output by the laser power detector 5 during the output period of the scanning voltage and the scanning voltage value corresponding to the maximum laser power;
the controller stores the maximum laser power value as an initial value of the laser power of the laser gyro 1, and determines and stores a scanning voltage value corresponding to the initial value as a reference control voltage.
Fig. 2 shows the positional relationship of the laser gyro 1, the readout mirror 4, and the laser detector 5. The laser power transmitted by the reading mirror 4 is only a part of the laser power in the laser gyro resonant cavity 3, but is in direct proportion to the laser power in the laser gyro resonant cavity 3, and the laser power value in the laser gyro resonant cavity 3 can be directly determined by detecting the laser power output by the reading mirror 4 through the laser power detector 5.
According to the device of the first aspect of the present invention, when the laser gyro 1 works in an acceleration environment, the controller simultaneously outputs a tri-state detection voltage and a reference control voltage to be applied to the piezoelectric ceramic plate 2; when the tri-state detection voltage is a positive voltage and the tri-state detection voltage is a negative voltage, the controller respectively receives the output values of the laser power detector 5, calculates the difference value of the two output values of the laser power detector 5, and generates a correction voltage for controlling the piezoelectric ceramic plate 2 according to the difference value.
According to the apparatus of the first aspect of the present invention, the reference control voltage is: 150V; the correction voltage V h Comprising a first correction voltage V h1 And a second correction voltage V h2 Said first correction voltage V h1 In the range of (A) is; 150. < V h1 < 300V when the acceleration is negative, the first correction voltage V h1 Bending the laser gyro 1 upwards; the second correction voltage V h2 The range of (A) is; 0. < V h2 < 150V; when the acceleration is positive, the second correction voltage V h2 So that the laser gyro 1 is bent downward.
On the piezoelectric ceramic plate 2Applying the first correction voltage V h1 Or the second correction voltage V h2 While stopping outputting the reference control voltage, the first correction voltage V h1 Or the second correction voltage V h2 The amplitude value of the deviation reference control voltage is in direct proportion to the magnitude of deviation of the output value of the laser power detector 5 from the initial value when the tri-state detection voltage is a positive voltage or when the tri-state detection voltage is a negative voltage.
The apparatus according to the first aspect of the present invention, the controller comprises: the device comprises a preamplifier, an analog-digital converter, a digital-analog converter, a microprocessor and a high-voltage amplifier; the preamplifier is connected with the output end of the laser power detector 5, the output signal amplified by the preamplifier is converted by the analog-digital converter and then input to the microprocessor, the microprocessor generates various control voltage data according to the output signal converted by the analog-digital converter, and the control voltage data generates various control voltages applied to the piezoelectric ceramic piece 2 after being converted by the digital-analog converter and amplified by the high-voltage amplifier.
The second aspect of the invention provides a closed-loop control method for the sensitive axial deviation of a laser gyroscope under acceleration, which comprises the following steps:
during the output period of the scanning voltage, the controller determines the maximum value of the laser power of the laser gyro 1 and the scanning voltage value corresponding to the maximum value of the laser power according to the output of the laser power detector 5; the maximum value of the laser power is stored as an initial value of the laser power of the laser gyro 1, and a scanning voltage value corresponding to the initial value is determined and stored as a reference control voltage;
and 5, the controller respectively obtains the output values of the laser power detector 5 when the tristate detection voltage is positive voltage and the output values of the laser power detector 5 when the tristate detection voltage is negative voltage, calculates the difference value of the two output values of the laser power detector 5, and generates and outputs the correction voltage for controlling the piezoelectric ceramic piece 2 according to the difference value so as to counteract the deformation of the laser gyroscope 1 caused by acceleration.
In the closed-loop control system shown in fig. 5, when the laser gyro 1 is installed in the inertial navigation system, three laser gyros 1 are normally installed orthogonally. As a closed-loop control method, the laser power in the laser gyro resonant cavity 3 is changed due to the deformation caused by the acceleration, the controller detects the laser power output through the laser power detector 5 to track the change of the laser power of the laser gyro 1 in the flight process, and the controller applies the correction voltage of the piezoelectric ceramic piece 2 between 0 and 300V to keep the power of the laser gyro 1 stable, so that the deformation of the laser gyro 1 in the sensitive axial direction caused by the acceleration is corrected and compensated. When the power of the laser gyro 1 is tracked, a high-frequency tri-state detection voltage with a small step length can be applied, and the waveform of the tri-state detection voltage is shown in figure 4. The judgment is carried out by control software built in the controller. When the acceleration causes the power change of the laser gyroscope, if the positive voltage V + of the tri-state detection voltage makes the laser power close to the initial value and the negative voltage V-of the tri-state detection voltage makes the laser power far away from the initial value, the first voltage amplitude of correction is increased. On the contrary, if the positive voltage V + of the tri-state detection voltage makes the laser power deviate from the initial value, and the negative voltage V-of the tri-state detection voltage makes the laser power approach the initial value, the second voltage amplitude of correction is reduced. Thus, the trial, judgment and pressurization are continuously carried out until the light intensity returns to the vicinity of the initial value.
The controller includes: the device comprises a preamplifier, an analog-digital converter, a digital-analog converter, a microprocessor and a high-voltage amplifier; the preamplifier is connected with the output end of the laser power detector 5, the output signal amplified by the preamplifier is input to the microprocessor after being subjected to A/D conversion by the analog-digital converter, the microprocessor generates various control voltage data according to the output signal converted by the analog-digital converter, the control voltage data is converted into an analog voltage signal by the digital-analog converter, and the analog voltage signal is amplified by the high-voltage amplifier to generate various control voltages applied to the piezoelectric ceramic piece 2 so as to control the laser gyro.
Fig. 3 is a schematic diagram of a scan voltage. The scanning voltage is a linear stepping voltage of 0-300V with a slope increasing.
In the method according to the second aspect of the present invention, step 5 comprises the sub-steps of:
the controller applies a tristate detection voltage to the piezoelectric ceramic piece 2, wherein the tristate detection voltage is a high-frequency alternating voltage;
wherein if the output value of the laser power detector 5 when the high-frequency alternating voltage is a positive voltage is closer to the initial value than the output value of the laser power detector 5 when the high-frequency alternating voltage is a negative voltage, the controller outputs a first correction voltage while stopping outputting the reference control voltage;
if the output value of the laser power detector 5 when the high-frequency alternating voltage is a positive voltage is more deviated from the initial value than the output value of the laser power detector 5 when the high-frequency alternating voltage is a negative voltage, the controller outputs a second correction voltage while stopping outputting the reference control voltage.
The method according to the second aspect of the present invention, the tri-state detection voltage is: peak to peak valueA high frequency alternating voltage of 10V; wherein V + is the positive voltage of the tri-state detection voltage, and V-is the negative voltage of the tri-state detection voltage. The scanning voltage is 0-300V linear stepping voltage; the first correction voltage V h1 The range of (A) is; 150. < V h1 < 300V; the second correction voltage V h2 The range of (A) is; 0. < V h2 ＜150V。
According to the method of the second aspect of the invention, when the acceleration is positive, the second corrected voltage V is h2 Bending the laser gyro downwards; when the acceleration is negative, the first correction voltage V h1 Causing the laser gyro to bend upward.
When the acceleration is small, the controller outputs a reference control voltage of 150V, the deformation of the piezoelectric ceramic pieces 2 on the upper surface and the lower surface of the laser gyro 1 are mutually offset, and the bending deformation of the laser gyro 1 is not generated. When the acceleration is positive and the correction voltage is 0-150V, the upper surface of the laser gyro 1 bends and deforms downwards. When the acceleration is negative and the correction voltage is 150-300V, the lower surface is bent upwards and deformed. The adjustment enables the output bias of the laser gyro 1 to be kept unchanged when the deformation of the laser gyro 1 along the sensitive axial direction is controlled within a negligible range, so that no additional error is caused.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A closed-loop control device for the sensitive axial deviation of a laser gyro under acceleration is characterized by comprising: the device comprises a plurality of laser mirrors, a laser power detector, a controller and a plurality of piezoelectric ceramic pieces;
one of the laser mirrors of the laser gyroscope is used as a reading mirror, the laser power detector detects partial laser power in a resonant cavity of the laser gyroscope, which is transmitted by the reading mirror, determines a laser power value according to the transmitted partial laser power, and provides the laser power value for the controller;
the piezoelectric ceramic plates are bonded to the upper surface and the lower surface of the laser gyroscope in a preset distribution mode; the piezoelectric ceramic plates generate corresponding telescopic deformation according to a voltage value applied to the piezoelectric ceramic plates, and the telescopic deformation is used for offsetting the deformation of the laser gyroscope in the sensitive axial direction caused by acceleration;
the controller is capable of outputting a plurality of control voltages to be applied to the piezoceramic wafer, the plurality of control voltages including: a scan voltage, a tri-state detection voltage, a correction voltage and a reference control voltage;
and the controller generates a correction voltage for controlling the stretching deformation of the piezoelectric ceramic piece according to the laser power value.
2. The apparatus of claim 1 wherein the laser power detector is disposed outside the readout mirror, the laser power detector detecting a portion of the laser power transmitted out of the readout mirror to determine the laser power within the laser gyro cavity and provide the laser power within the laser gyro cavity as a laser power value to the controller.
3. The apparatus of claim 1, wherein in a static operating state, the controller outputs a scan voltage to be applied to the piezo ceramic sheet;
the controller determines the maximum laser power of the laser gyroscope output by the laser power detector during the output period of the scanning voltage and the scanning voltage value corresponding to the maximum laser power;
and the controller stores the maximum laser power value as an initial value of the laser power of the laser gyro, and determines and stores a scanning voltage value corresponding to the initial value as a reference control voltage.
4. The apparatus of claim 1, wherein when the laser gyro operates in an acceleration environment, the controller simultaneously outputs a tri-state detection voltage and a reference control voltage to be applied to the piezoelectric ceramic chip; when the tristate detection voltage is positive voltage and the tristate detection voltage is negative voltage, the controller respectively receives the output values of the laser power detector, calculates the difference value of the two output values of the laser power detector, and generates and controls the correction voltage of the piezoelectric ceramic piece according to the difference value.
5. The apparatus of claim 4, wherein the reference control voltage is: 150V; the correction voltage V h Comprising a first correction voltage V h1 And a second correction voltage V h2 Said first correction voltage V h1 In the range of (A) is; 150. < V h1 < 300V; when the acceleration is negative, the first correction voltage V h1 Bending the laser gyro upwards; the second correction voltage V h2 The range of (A) is; 0. < V h2 < 150V; when the acceleration is positive, the second correction voltage V h2 Causing the laser gyro to bend downward.
6. The apparatus of claim 1, wherein the controller comprises: the device comprises a preamplifier, an analog-digital converter, a digital-analog converter, a microprocessor and a high-voltage amplifier; the preamplifier is connected with the output end of the laser power detector, the output signal amplified by the preamplifier is converted by the analog-digital converter and then input to the microprocessor, the microprocessor generates various control voltage data according to the output signal converted by the analog-digital converter, and the control voltage data generates various control voltages applied to the piezoelectric ceramic piece after being converted by the digital-analog converter and amplified by the high-voltage amplifier.
7. A closed-loop control method for the sensitive axial deviation of a laser gyro under acceleration, which uses the device according to any one of claims 1-6, characterized in that the method comprises the following steps:
step 1, after the laser gyro is started, detecting the laser power transmitted by the reading mirror in real time by using the laser power detector, determining the laser power value of the laser gyro according to the laser power transmitted by the reading mirror, and providing the laser power value to the controller;
step 2, the laser gyro is placed in a static working state without acceleration, and the controller outputs scanning voltage to drive the piezoelectric ceramic piece;
during the output period of the scanning voltage, the controller determines the maximum value of the laser power of the laser gyroscope and the scanning voltage value corresponding to the maximum value of the laser power according to the output of the laser power detector; storing the maximum value of the laser power as an initial value of the laser power of the laser gyroscope, and determining and storing a scanning voltage value corresponding to the initial value as a reference control voltage;
step 3, adjusting the output of the controller, so that the controller always outputs reference control voltage when the laser gyro is in a static working state without acceleration;
step 4, when the laser gyroscope is in a dynamic working state, the controller simultaneously provides the reference control voltage and the tri-state detection voltage to the piezoelectric ceramic piece, the laser power detector detects the laser output power of the laser gyroscope in the dynamic working state, and the detected output value is input to the controller;
and 5, the controller respectively obtains the output values of the laser power detector when the tristate detection voltage is positive voltage and the output values of the laser power detector when the tristate detection voltage is negative voltage, calculates the difference value of the two output values of the laser power detector, and generates and outputs the correction voltage for controlling the piezoelectric ceramic piece according to the difference value so as to counteract the deformation of the laser gyro caused by acceleration.
8. The method of claim 7, wherein step 5 comprises the sub-steps of:
the controller applies a tri-state detection voltage to the piezoelectric ceramic piece, wherein the tri-state detection voltage is a high-frequency alternating voltage;
wherein if the output value of the laser power detector when the high-frequency alternating voltage is a positive voltage is closer to the initial value than the output value of the laser power detector when the high-frequency alternating voltage is a negative voltage, the controller outputs a first correction voltage while stopping outputting the reference control voltage;
and if the output value of the laser power detector when the high-frequency alternating voltage is a positive voltage is more deviated from the initial value than the output value of the laser power detector when the high-frequency alternating voltage is a negative voltage, the controller outputs a second correction voltage and stops outputting the reference control voltage.
9. The method of claim 8, wherein the tri-state detection voltage is: a high frequency alternating voltage with a peak-to-peak value of 10V; the scanning voltage is 0-300V linear stepping voltage; the first correction voltage V h1 The range of (A) is; 150. < V h1 < 300V; the second correction voltage V h2 The range of (A) is; 0. < V h2 ＜150V。
10. The method of claim 9, wherein the second corrected voltage V is positive when acceleration is positive h2 Bending the laser gyroscope downwards; when the acceleration is negative, the first correction voltage V h1 Causing the laser gyro to bend upward.
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