CN115388910A - Hemispherical resonant gyro error self-excitation method and system - Google Patents
Hemispherical resonant gyro error self-excitation method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses a hemispherical resonant gyroscope error self-excitation method and a hemispherical resonant gyroscope error self-excitation system. The hemispherical resonant gyro error self-excitation method comprises the following steps: after the harmonic oscillator starts to vibrate, controlling the harmonic oscillator to keep vibrating through an amplitude control loop; adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and according to the electrostatic feedback force, demodulating the electrostatic feedback force through orthogonal demodulation reference signals, detecting the input angular speed of the harmonic oscillator, obtaining the gyroscope sensitive angular speed output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope. By the method and the device, the problem of low output precision of the gyroscope caused by incapability of realizing disassembly-free calibration of the gyroscope in the prior art is solved, and the technical effect of improving the zero offset identification precision of the gyroscope is achieved.
Description
Technical Field
The invention relates to the technical application field of inertial instruments, in particular to a hemispherical resonant gyroscope error self-excitation method and system.
Background
Parameters such as zero offset of the gyroscope can drift in the long-term storage and use process, and the use precision of the gyroscope is seriously influenced. Most of the prior gyroscopes comprise hemispheres, optical fibers, lasers, micro-electro-mechanical systems, micro-hemispheres and the like, belong to passive gyroscopes, can not finish self-excitation without disassembly errors, and need to use high-precision external mechanisms (such as a rotary table and the like) to excite internal errors so as to finish high-precision maintenance in the whole life cycle. The gyroscope is periodically disassembled and calibrated, so that for a single meter, the maintenance cost is high, the workload is large, and the use flexibility and the rapidity are reduced; for an inertial navigation system using the gyroscope as an angle sensor, the disassembly calibration of a single gyroscope cannot be completed at all, the system-level calibration completed by using a rotating frame or a rotating platform needs to separate high-dimensional error parameters in the inertial navigation system, the consumed time is long, and the effect of improving the zero-offset precision of the gyroscope is not obvious.
The problem that the output precision of a gyroscope is low due to the fact that the detachment-free calibration of the gyroscope cannot be achieved in the prior art is not effectively solved.
Disclosure of Invention
The embodiment of the invention provides a hemispherical resonator gyroscope error self-excitation method and system, which at least solve the problem of low gyroscope output precision caused by incapability of realizing disassembly-free calibration of a gyroscope in the prior art.
According to an aspect of the embodiment of the invention, there is provided a hemispherical resonator gyro error self-excitation system, comprising: the self-excitation type vibration sensor comprises a harmonic oscillator, an amplitude control loop, a frequency phase tracking loop, a self-excitation control module and a force feedback control loop, wherein the harmonic oscillator is driven by a driving motor to start vibration and is controlled to keep vibration through the amplitude control loop, and the frequency phase tracking loop monitors the frequency and the phase of a driving mode vibration signal to generate a demodulation reference signal; adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and according to the electrostatic feedback force, demodulating the electrostatic feedback force by orthogonal demodulation of a reference signal, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope.
Optionally, the hemispherical resonator gyro error self-excitation system further includes: the system comprises a signal demodulation module and a quasi-orthogonal control loop, wherein in a force balance mode, the signal demodulation module generates control judgment quantities required by an amplitude control loop, a frequency phase tracking loop, a force feedback control loop and the quasi-orthogonal control loop; the frequency phase tracking loop tracks the frequency and the phase of the x-axis signal to generate a demodulation reference signal; the amplitude control loop controls the amplitude of the x-axis signal to be in a nearby interval of a given reference amplitude; the force feedback control loop restrains the vibration amplitude of the y-axis signal caused by the Goldfish effect; the quasi-orthogonal control loop restrains the vibration amplitude of the y-axis signal caused by frequency splitting; the virtual Goldcell force generated by the self-excitation control module is utilized to act on the y-axis direction together with the electrostatic feedback force and the quasi-orthogonal control force.
According to another aspect of the embodiments of the present invention, there is provided a hemispherical resonator gyro error self-excitation method, applied to a hemispherical resonator gyro error self-excitation system, including: step 1, after the harmonic oscillator starts to vibrate, controlling the harmonic oscillator to keep vibrating through an amplitude control loop; step 2, adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and 3, demodulating the electrostatic feedback force through orthogonal demodulation reference signals according to the electrostatic feedback force, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope.
Optionally, after the harmonic oscillator starts vibrating, controlling the harmonic oscillator to keep vibrating by an amplitude control loop includes: the harmonic oscillator is driven by the driving motor to start oscillation, and the amplitude control loop controls the harmonic oscillator to keep oscillation.
Further, optionally, driving the harmonic oscillator by the driving motor, so that the harmonic oscillator starts oscillation includes: the harmonic oscillator is driven by the driving motor, so that the amplitude of the vibration of the harmonic oscillator on the x axis is gradually increased from 0 to a nearby range of the reference amplitude.
Optionally, the method further includes: and monitoring the frequency and the phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal.
Further, optionally, the frequency is in a vicinity of a natural resonance frequency of the drive mode signal.
Optionally, the operation mode of step 1 includes: the hemispherical resonance gyroscope works in an open-loop mode without external angular velocity input, and the steady-state response of the driving/detecting modal vibration displacement in the open-loop mode without external angular velocity input is as follows:
wherein x and y represent vibration displacement signals detected in 0 ° and 45 ° directions of the hemispherical harmonic oscillator, respectively, and Q x And Q y Quality factor, omega, for vibrations in the x-and y-directions x And ω y Angular frequency, omega, of vibration in two directions d The angular frequency of the drive mode vibration tracked by the frequency phase tracking circuit is used as the angular frequency of each alternating drive force.
Optionally, the operation mode of step 2 includes: the hemispherical resonator gyroscope works in an open-loop mode under the action of virtual Goldson force in the direction of a 45-degree electrode axis, and the steady-state response of driving/detecting modal vibration displacement in the open-loop mode is as follows:
wherein,
optionally, the operation mode of step 3 includes: the hemispherical resonator gyroscope works in a force balance mode, and the steady-state response of the driving/detecting modal vibration displacement in the force balance mode is as follows:
wherein,
in the embodiment of the invention, the harmonic oscillator is driven by the driving motor to start oscillation, the amplitude control loop is used for controlling the harmonic oscillator to keep oscillation, and the frequency and phase tracking loop is used for monitoring the frequency and phase of the driving mode oscillation signal to generate a demodulation reference signal; adding a constant self-excitation angular speed at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and according to the electrostatic feedback force, demodulating the electrostatic feedback force by orthogonal demodulation of a reference signal, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope. That is to say, the embodiment of the invention can solve the problem that the output precision of the gyroscope is low because the disassembly-free calibration of the gyroscope cannot be realized in the prior art, thereby achieving the technical effect of improving the zero offset identification precision of the gyroscope.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic diagram of a hemispherical resonator gyroscope error self-excitation system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the basic working principle of an HRG in an error self-excitation system of a hemispherical resonator gyroscope according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an implementation of rate HRG error self-excitation in a hemispherical resonator gyroscope error self-excitation system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a simulation model diagram of a rate HRG control system with a self-excitation control module in a hemispherical resonator gyro error self-excitation system according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the output accuracy and stability of the gyro sensitive angular velocity when the self-excitation angular velocity is input at +10 °/s in the self-excitation system for the error of the hemispherical resonator gyro according to the embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a realization principle of self-excitation of rate HRG errors in a hemispherical resonator gyro error self-excitation system according to an embodiment of the present invention;
FIG. 7 is a schematic flowchart of a method for self-excitation of hemispherical resonator gyroscope errors according to an embodiment of the present invention;
fig. 8 is a schematic diagram of an HRG dynamics simulation model in a hemispherical resonator gyro error self-excitation method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order.
According to an aspect of the embodiments of the present invention, a system for hemispherical resonator gyro error self-excitation is provided, and fig. 1 is a schematic diagram of a hemispherical resonator gyro error self-excitation system provided by the embodiments of the present invention. As shown in fig. 1, the system for self-excitation of hemispherical resonator gyro error provided by the embodiments of the present application includes:
the self-excitation type harmonic oscillator comprises a harmonic oscillator 10, an amplitude control loop 12, a frequency phase tracking loop 14, a self-excitation control module 16 and a force feedback control loop 18, wherein the harmonic oscillator 10 is driven by a driving motor to enable the harmonic oscillator 10 to start oscillation, the amplitude control loop 12 is used for controlling the harmonic oscillator 10 to keep oscillation, and the frequency phase tracking loop 14 is used for monitoring the frequency and the phase of a driving mode vibration signal to generate a demodulation reference signal; adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module 16, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop 18 according to the virtual Coriolis force; according to the electrostatic feedback force, the reference signal is demodulated through orthogonal demodulation, the electrostatic feedback force is demodulated, the input angular velocity of the harmonic oscillator 10 is detected, the gyroscope sensitive angular velocity output under self excitation is obtained, and the error self excitation of the rate Coriolis vibration gyroscope is executed.
Optionally, the system for self-excitation of hemispherical resonator gyroscope error provided in the embodiment of the present application further includes: the system comprises a signal demodulation module and a quasi-orthogonal control loop, wherein in a force balance mode, the signal demodulation module generates control judgment quantities required by an amplitude control loop 12, a frequency phase tracking loop 14, a force feedback control loop 18 and the quasi-orthogonal control loop; the frequency phase tracking loop 14 tracks the frequency and phase of the x-axis signal to generate a demodulation reference signal; the amplitude control loop 12 controls the x-axis signal amplitude in the vicinity of a given reference amplitude; the force feedback control loop 18 suppresses the y-axis signal vibration amplitude caused by the coriolis effect; the quasi-orthogonal control loop restrains the vibration amplitude of the y-axis signal caused by frequency splitting; the virtual coriolis force generated by the self-excitation control module 16 is applied to the y-axis direction together with the electrostatic feedback force and the quasi-orthogonal control force.
Specifically, the embodiment of the present application provides a system for self-excitation of hemispherical resonator gyro errorBased on the physical characteristics of the Coriolis vibration gyroscope, the Coriolis vibration gyroscope is expected to complete the task of internal error self-excitation. The basic operation principle of a typical Hemispherical Resonator Gyroscope (HRG) in a coriolis vibratory Gyroscope is shown in fig. 2. Fig. 2 is a schematic diagram of the basic working principle of the HRG in the hemispherical resonator gyroscope error self-excitation system according to the embodiment of the present invention, where when there is external angular velocity excitation, the mass point on the hemispherical resonator 10 after oscillation starts does not only do radial motion but also do circular motion, so as to generate coriolis acceleration a c =2 Ω × v and coriolis force F c = 2m Ω × v. The effect of the coriolis force is shown by the dotted arrow in fig. 2, which forces the resonator 10 to generate an elliptical motion, i.e. an orthogonal wave, in a direction having an angle of 45 ° with the antinode axis of the main wave. In the force balance mode, the dominant antinode is always locked in the 0 ° direction by the electrostatic feedback force f applied in the 45 ° direction y The orthogonal wave vibration displacement generated by the Coriolis effect can be suppressed, and the electrostatic feedback force f is used to generate a feedback force y The magnitude and direction of the input angular velocity can be determined, and further detection of the input angular velocity is achieved.
The embodiment of the application provides an implementation process of a hemispherical resonator gyro error self-excitation system as follows:
1) Driving electrodes to apply force to enable the harmonic oscillator 10 to start oscillation, gradually increasing the x-axis oscillation amplitude from 0 to about 10 μm of reference amplitude, and utilizing an amplitude control loop 12 to realize oscillation maintenance of the harmonic oscillator 10, wherein the whole process requires about 6s, as shown in fig. 3 (a), (c) and (d), fig. 3 (a) - (i) are schematic diagrams of implementation of rate HRG error self-excitation in a hemispherical resonator gyro error self-excitation system provided by the embodiment of the invention;
2) The frequency phase tracking loop 14 tracks the frequency and the phase of the driving mode vibration signal and generates a demodulation reference signal, the frequency of the signal is close to the natural resonant frequency of the driving mode signal of 4964.7Hz, the tracking process is very quick and is completed within 0.5s of power-on, as shown in fig. 3 (b);
3) At 10s, a constant self-excitation angular velocity of 10 °/s (within the range of the sensitive angular velocity capability of the rate HRG) as shown in fig. 3 (e) is applied, and a virtual coriolis voltage signal is generated by using the self-excitation control module 16, specifically, fig. 4 is a schematic diagram of a simulation model diagram of the rate HRG control system with the self-excitation control module in the hemispherical resonant gyro error self-excitation system provided by the embodiment of the invention, and a virtual coriolis force radially outward along the equator is generated by using the simulation model of the rate HRG control system, and acts on the y-axis direction, i.e., acts on the detection mode, as shown in fig. 3 (f). The virtual coriolis force applied in the process is equivalent to the effect of the real coriolis force under the excitation of the external angular velocity, the state of the resonator 10 under the initial phase is shown in fig. 2 (a), when the excitation of the positive rotation angular velocity is applied under the state, the coriolis force which is radially outward along the equator is generated in the direction of 45 degrees to change the resonance vibration state of the standing wave on the resonator 10;
4) The virtual coriolis force acts to generate an orthogonal wave caused by the coriolis effect, and the force feedback control loop 18 generates an electrostatic feedback force, which acts in the y-axis direction as shown in fig. 3 (h), to suppress the y-axis direction vibration displacement caused by the virtual coriolis force and unequal damping errors in the gyroscope;
5) According to the magnitude and the direction of the electrostatic feedback force, the orthogonal demodulation reference signal can be utilized to demodulate the electrostatic feedback force, so that the detection of the input angular velocity is realized, the gyroscope sensitive angular velocity output under the self-excitation is obtained, and as shown in the attached figure 3 (i), the HRG error self-excitation of the velocity is completed.
Fig. 5 can be seen from fig. 5, which is a diagram illustrating the output accuracy and stability of the gyro sensitive angular velocity when the self-excitation angular velocity is input by +10 °/s in the hemispherical resonator gyro error self-excitation system according to the embodiment of the present invention, where a hemispherical resonator 10 dynamics simulation model without unequal damping and unequal elastic errors is used to perform simulation verification of the rate HRG error self-excitation method, and in the case that the self-excitation angular velocity is input by forward rotation by 10 °/s, the absolute value of the gyro sensitive angular velocity output error is less than 0.001 °/s, and the output stabilization time is about 31s, which proves the feasibility of the method provided by the present invention from principle to specific implementation.
In the force balance mode, the drive mode is locked in the x-axis direction, the detection mode is locked in the y-axis direction and the amplitude is suppressed to almost 0: (
Towards 0) so that rate HRG error self-actuation can be achieved with only a driving force applied in the y-axis direction and the error is reflected in the electrostatic feedback force. In order to apply the virtual coriolis force, it is a primary task to acquire x-axis vibration velocity information. Obtaining
The method includes two ways, fig. 6 is a schematic diagram of a speed HRG error self-excitation implementation principle in a hemispherical resonator gyro error self-excitation system provided by an embodiment of the present invention, i.e., the method is as shown by a dotted line in fig. 6, in which an x-axis vibration displacement signal is directly extracted and generated by a differentiator
Second, as shown by the solid line in FIG. 6, the gyro internal amplitude signal and the demodulation reference signal are used to generate
The second mode has the obvious advantages of higher signal updating frequency, no need of modifying the structure of the conventional HRG control circuit board, no introduction of differentiator error and the like, and the method is adopted for extracting the x-axis vibration speed information. It is noted that the accuracy of the signal extraction depends on the accuracy of the internal reference information, i.e. there is a corresponding requirement for the control accuracy of the fundamental loop such as frequency phase tracking.
On the basis of the existing force balance mode HRG control circuit, a self-excitation control module is added through a control algorithm to complete the application of virtual Goldfish force in the y-axis direction, and the y-axis direction steady-state response generated by the driving force is equivalent to the influence of real Goldfish force generated by the fixed-axis rotation of the HRG speed.
The embodiment of the application provides a hemispherical resonator gyroscope error self-excitation system, which skillfully utilizes the Goldson effect, thoroughly gets rid of the dependence of HRG error excitation on an external high-precision reference, and can finish the constant-value scaling factor and zero-offset error self-calibration of the HRG on the basis of the constant-value scaling factor and the zero-offset error self-calibration of the HRG so as to realize the non-disassembly high-precision maintenance in the whole life cycle of the gyroscope, and improve the use flexibility, precision and rapidity of a single-meter and a platform inertial navigation system using the single-meter as an angle sensor.
In the embodiment of the invention, the harmonic oscillator is driven by the driving motor to start oscillation, the amplitude control loop is used for controlling the harmonic oscillator to keep oscillation, and the frequency and phase tracking loop is used for monitoring the frequency and phase of the driving mode oscillation signal to generate a demodulation reference signal; adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and according to the electrostatic feedback force, demodulating the electrostatic feedback force by orthogonal demodulation of a reference signal, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope. That is to say, the embodiment of the invention can solve the problem that the output precision of the gyroscope is low because the disassembly-free calibration of the gyroscope cannot be realized in the prior art, thereby achieving the technical effect of improving the zero offset identification precision of the gyroscope.
According to an aspect of the embodiment of the present invention, a hemispherical resonator gyro error self-excitation method is provided, and fig. 7 is a schematic flow chart of the hemispherical resonator gyro error self-excitation method according to the embodiment of the present invention. As shown in fig. 7, when applied to the hemispherical resonator gyro error self-excitation system, the hemispherical resonator gyro error self-excitation method provided in the embodiment of the present application includes:
optionally, after the harmonic oscillator starts vibrating, controlling the harmonic oscillator to keep vibrating by an amplitude control loop includes: the harmonic oscillator is driven by the driving motor to start oscillation, and the amplitude control loop controls the harmonic oscillator to keep oscillation.
Further, optionally, the driving the harmonic oscillator by the driving motor so that the harmonic oscillator starts oscillation includes: the harmonic oscillator is driven by the driving motor, so that the amplitude of the vibration of the harmonic oscillator on the x axis is gradually increased from 0 to a nearby range of the reference amplitude.
and 3, demodulating the electrostatic feedback force through orthogonal demodulation reference signals according to the electrostatic feedback force, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope.
Optionally, the method for self-excitation of hemispherical resonator gyroscope error provided in the embodiment of the present application further includes: and monitoring the frequency and the phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal.
Further, optionally, the frequency is in a vicinity of a natural resonance frequency of the drive mode signal.
Optionally, the operation mode of step 1 includes: the hemispherical resonator gyroscope works in an open-loop mode without external angular velocity input, and the steady-state response of the driving/detecting modal vibration displacement in the open-loop mode without the external angular velocity input is as follows:
wherein x and y represent vibration displacement signals detected in 0 ° and 45 ° directions of the hemispherical harmonic oscillator, respectively, and Q x And Q y Quality factor, omega, for vibrations in the x-and y-directions x And ω y For angular frequency, omega, of vibration in two directions d The angular frequency of the drive mode vibration tracked by the frequency phase tracking circuit is used as the angular frequency of each alternating drive force.
Optionally, the operation mode of step 2 includes: the hemispherical resonator gyroscope works in an open-loop mode under the action of virtual Goldson force in the direction of a 45-degree electrode axis, and the steady-state response of driving/detecting modal vibration displacement in the open-loop mode is as follows:
wherein,
optionally, the operation mode of step 3 includes: the hemispherical resonator gyroscope works in a force balance mode, and the steady-state response of the driving/detecting modal vibration displacement in the force balance mode is as follows:
wherein,
in summary, in conjunction with steps 1 to 3, the implementation of the rate HRG error self-excitation is mainly divided into the following four stages: 1) Starting oscillation of the harmonic oscillator; 2) Keeping the harmonic oscillator in vibration; 3) Extracting an x-axis vibration speed signal to generate a virtual Goldfish force acting on the y-axis direction; 4) And generating an electrostatic feedback force by using a force feedback control loop, inhibiting the amplitude in the y-axis direction, acquiring the magnitude and the direction of the electrostatic feedback force in a stable state, and reflecting the gyro error in the electrostatic feedback force.
The four stages comprise three working modes, wherein the first stage HRG and the second stage HRG work in an open loop mode without external angular velocity input, the third stage HRG works in an open loop mode acted by virtual Goldson force in the y-axis direction, and the fourth stage HRG works in a force balance mode. The steady state response of the vibratory displacement in the three modes is as follows:
1) Open loop mode without external angular velocity input:
wherein x and y represent vibration displacement signals detected in 0 ° and 45 ° directions of the hemispherical harmonic oscillator, respectively, and Q x And Q y Quality factor, ω, for x-axis and y-axis vibrations x And ω y For angular frequency, omega, of vibration in two directions d Driving mode vibration angular frequency tracked by the frequency phase tracking loop is used as angular frequency of each alternating driving force;
2) Open loop mode with virtual coriolis force acting in the y-direction:
wherein,
3) Force balance mode:
wherein,
the control principle of the rate HRG system with the self-excitation control module is shown in the attached figure 1, and in a force balance mode, a signal demodulation module generates control judgment quantity required by each loop; the frequency phase tracking loop tracks the frequency and the phase of the x-axis signal to generate a demodulation reference signal; the amplitude control loop controls the amplitude of the x-axis signal to be close to a given reference amplitude; the force feedback control loop restrains the vibration amplitude of the y-axis signal caused by the Cogowski effect; the quasi-orthogonal control loop restrains the vibration amplitude of the y-axis signal caused by frequency splitting; the virtual Goldcell force generated by the self-excitation control module is utilized to act on the y-axis direction together with the electrostatic feedback force and the quasi-orthogonal control force.
In order to complete the execution and simulation verification of the rate HRG error self-excitation control scheme, the invention utilizes simulink to construct an HRG dynamic simulation model and a rate HRG control system simulation model with a self-excitation control module, which are respectively shown in FIG. 8 and FIG. 4. Fig. 8 is a schematic diagram of an HRG dynamics simulation model in a hemispherical resonator gyro error self-excitation method provided by an embodiment of the present invention, where a mathematical model form of the built HRG dynamics simulation model is as follows:
the model can represent the real working state of the hemispherical harmonic oscillator. Wherein x and y represent vibration displacement signals detected in 0 DEG and 45 DEG directions of the hemispherical harmonic oscillator, respectively, and f x 、f y An electrostatic driving force and an electrostatic feedback force applied to the x-and y-direction driving electrodes respectively,
and
the CoMP force coupling term generated by the CoMP effect, K is a precession factor, and omega is an excitation angular velocity; tau is the time constant of the decay of the oscillation,
wherein tau is 1 And τ 2 The oscillation attenuation time constants of the harmonic oscillators on the maximum damping simple axis and the minimum damping simple axis are respectively,
the damping error coefficients are not equal to each other,
θ τ is the angle between the axis of maximum damping and the x-axis,
wherein ω is 1 And ω 2 The natural vibration angular frequency of the harmonic oscillator on the maximum and minimum 'stiffness simple axis' respectively, delta omega is an unequal elastic error coefficient,
θ ω is the angle between the axis of minimum stiffness and the x-axis.
In a force balance mode, a driving mode is locked in the direction of an electrode shaft of 0 degree, a detection mode is locked in the direction of an electrode shaft of 45 degrees, the amplitude is almost suppressed to be 0, and the error self-excitation of the rate hemispherical resonant gyroscope can be realized only by applying a driving force in the direction of 45 degrees; the application of the virtual Coriolis force needs to extract vibration speed information in the direction of the 0-degree electrode axis, and the mode of generating the vibration speed information by utilizing a frequency phase tracking loop to output a reference demodulation signal and a signal demodulation module to output a driving mode vibration amplitude signal has the remarkable advantages of high signal updating frequency, no need of modifying the structure of the existing control circuit board, no introduction of differentiator error and the like; on the basis of the existing force balance mode control circuit, a self-excitation control module is additionally designed through a control algorithm, the module utilizes information such as the internal resonance frequency of the gyroscope, the vibration amplitude of a driving mode, a demodulation reference signal and the like to generate a virtual Coriolis voltage signal, the application of virtual Coriolis force in the direction of a 45-degree electrode axis is completed, and steady-state response in the direction generated by the driving force is equivalent to the influence of real Coriolis force generated by the fixed axis rotation of a speed hemispherical resonance gyroscope.
In the embodiment of the invention, after the harmonic oscillator starts to vibrate, the harmonic oscillator is controlled to keep vibrating through the amplitude control loop; adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force; and according to the electrostatic feedback force, demodulating the electrostatic feedback force by orthogonal demodulation of a reference signal, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing error self excitation of the rate Coriolis vibration gyroscope. In other words, the embodiment of the invention can solve the problem of low output precision of the gyroscope caused by incapability of realizing disassembly-free calibration of the gyroscope in the prior art, thereby achieving the technical effect of improving the zero offset identification precision of the gyroscope.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A hemispherical resonator gyroscope error self-excitation system, comprising:
harmonic oscillator, amplitude control loop, frequency phase tracking loop, self-excitation control module and force feedback control loop, wherein,
the harmonic oscillator is driven by a driving motor to start oscillation of the harmonic oscillator, the amplitude control loop controls the harmonic oscillator to keep oscillating, and the frequency and phase tracking loop monitors the frequency and phase of a driving mode oscillation signal to generate a demodulation reference signal;
adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through the self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through the force feedback control loop according to the virtual Coriolis force; and demodulating the electrostatic feedback force through an orthogonal demodulation reference signal according to the electrostatic feedback force, detecting the input angular speed of the harmonic oscillator, obtaining the gyro sensitive angular speed output under self excitation, and executing rate Coriolis vibration gyro error self excitation.
2. The hemispherical resonator gyroscope error self-excitation system of claim 1, further comprising: a signal demodulation module and a quasi-orthogonal control loop, wherein,
in a force balance mode, the signal demodulation module generates control judgment quantities required by the amplitude control loop, the frequency phase tracking loop, the force feedback control loop and the quasi-orthogonal control loop;
the frequency phase tracking loop tracks the frequency and the phase of the x-axis signal to generate a demodulation reference signal; the amplitude control loop controls the amplitude of the x-axis signal to be in a near interval of a given reference amplitude; the force feedback control loop inhibits the vibration amplitude of a y-axis signal caused by the Cogowski effect; the quasi-orthogonal control loop restrains the vibration amplitude of the y-axis signal caused by frequency cracking; the virtual Goldcell force generated by the self-excitation control module is utilized to act on the y-axis direction together with the electrostatic feedback force and the quasi-orthogonal control force.
3. A hemispherical resonator gyro error self-excitation method is characterized in that the method is applied to a hemispherical resonator gyro error self-excitation system and comprises the following steps:
step 1, after the harmonic oscillator starts to vibrate, controlling the harmonic oscillator to keep vibrating through an amplitude control loop;
step 2, adding a constant self-excitation angular velocity at a preset moment, generating a virtual Coriolis voltage signal through a self-excitation control module, generating a virtual Coriolis force according to the virtual Coriolis voltage signal, and generating an electrostatic feedback force through a force feedback control loop according to the virtual Coriolis force;
and 3, demodulating the electrostatic feedback force through an orthogonal demodulation reference signal according to the electrostatic feedback force, detecting the input angular velocity of the harmonic oscillator, obtaining the gyroscope sensitive angular velocity output under self excitation, and executing rate Coriolis vibration gyroscope error self excitation.
4. The hemispherical resonator gyroscope error self-excitation method according to claim 3, wherein the controlling the harmonic oscillator to keep vibrating through an amplitude control loop after the harmonic oscillator starts vibrating comprises:
the harmonic oscillator is driven by a driving motor to start oscillation of the harmonic oscillator, and the amplitude control loop controls the harmonic oscillator to keep oscillating.
5. The error self-excitation method for hemispherical resonator gyro according to claim 4, wherein the driving the harmonic oscillator by the driving motor to make the harmonic oscillator start oscillation comprises:
and driving the harmonic oscillator by a driving motor so that the amplitude of the vibration of the harmonic oscillator on the x axis is gradually increased from 0 to a nearby interval of a reference amplitude.
6. The hemispherical resonator gyroscope error self-excitation method of claim 4, further comprising:
and monitoring the frequency and the phase of the driving mode vibration signal through a frequency-phase tracking loop to generate a demodulation reference signal.
7. The hemispherical resonator gyro error self-excitation method according to claim 6, wherein the frequency is in a region in the vicinity of a natural resonance frequency of the drive mode signal.
8. The hemispherical resonator gyroscope error self-excitation method according to claim 6, wherein the operation mode of step 1 comprises:
the hemispherical resonance gyroscope works in an open-loop mode without external angular velocity input, and the steady-state response of the driving/detecting modal vibration displacement in the open-loop mode without the external angular velocity input is as follows:
wherein x and y represent vibration displacement signals detected in 0 ° and 45 ° directions of the hemispherical harmonic oscillator, respectively, and Q x And Q y Quality factor, omega, for vibrations in the x-and y-directions x And ω y For angular frequency, omega, of vibration in two directions d And the angular frequency of the driving modal vibration tracked by the frequency phase tracking loop is used as the angular frequency of each alternating driving force.
9. The hemispherical resonator gyroscope error self-excitation method according to claim 8, wherein the operation mode of step 2 comprises:
the hemispherical resonator gyroscope works in an open-loop mode under the action of the virtual Goldson force in the direction of a 45-degree electrode axis, and the steady-state response of the driving/detecting modal vibration displacement in the open-loop mode is as follows:
wherein,
10. the hemispherical resonator gyroscope error self-excitation method according to claim 9, wherein the operation mode of step 3 comprises:
the hemispherical resonator gyroscope works in a force balance mode, and the steady-state response of the driving/detecting modal vibration displacement in the force balance mode is as follows:
wherein,
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| CN115773741A (en) * | 2023-02-14 | 2023-03-10 | 中国船舶集团有限公司第七〇七研究所 | Self-compensation control system and method for hemispherical resonator gyroscope |
| CN116839561A (en) * | 2023-09-01 | 2023-10-03 | 四川图林科技有限责任公司 | High-voltage driving vibration starting method for driving electrode of hemispherical resonator gyroscope vertical base |
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| CN118010069A (en) * | 2024-04-10 | 2024-05-10 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115773741A (en) * | 2023-02-14 | 2023-03-10 | 中国船舶集团有限公司第七〇七研究所 | Self-compensation control system and method for hemispherical resonator gyroscope |
| CN116839561A (en) * | 2023-09-01 | 2023-10-03 | 四川图林科技有限责任公司 | High-voltage driving vibration starting method for driving electrode of hemispherical resonator gyroscope vertical base |
| CN116839561B (en) * | 2023-09-01 | 2023-10-31 | 四川图林科技有限责任公司 | High-voltage driving vibration starting method for driving electrode of hemispherical resonator gyroscope vertical base |
| CN117928605A (en) * | 2024-03-20 | 2024-04-26 | 四川图林科技有限责任公司 | Error analysis method for hemispherical resonator gyro quadrature control |
| CN117928605B (en) * | 2024-03-20 | 2024-06-11 | 四川图林科技有限责任公司 | Error analysis method for hemispherical resonator gyro quadrature control |
| CN118010069A (en) * | 2024-04-10 | 2024-05-10 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
| CN118010069B (en) * | 2024-04-10 | 2024-06-11 | 四川图林科技有限责任公司 | Vibration error compensation method of hemispherical resonator gyroscope |
| CN118032015A (en) * | 2024-04-12 | 2024-05-14 | 四川图林科技有限责任公司 | Method for improving quality factor of hemispherical resonator gyroscope |
| CN118032015B (en) * | 2024-04-12 | 2024-06-11 | 四川图林科技有限责任公司 | Method for improving quality factor of hemispherical resonator gyroscope |
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