CN115406428A - Laser gyro sensitive axial deviation open-loop control device and method under acceleration environment - Google Patents
Laser gyro sensitive axial deviation open-loop control device and method under acceleration environment Download PDFInfo
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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
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Abstract
The invention provides a laser gyro sensitive axial deviation open-loop control device and a method under an acceleration environment, and relates to the technical field of laser gyros, wherein the device comprises: an inertial navigation system accelerometer, an electric deformation device and a converter; the inertial navigation system accelerometer is used for detecting direction data and acceleration numerical data of real-time acceleration of the laser gyro in a sensitive axial direction; the converter is used for converting real-time acceleration direction data and acceleration numerical data of the laser gyroscope in the sensitive axial direction, which are acquired by the accelerometer of the inertial navigation system, into correction voltage for controlling the electric deformation device, and the correction voltage enables the electric deformation device to generate deformation so as to counteract the deformation of the resonant cavity of the laser gyroscope caused by acceleration. The method has the advantages of high sensitivity and large control range, can ensure the high stability of the gyro output under the acceleration of-80 g to 80g, and improves the navigation and positioning precision of the airplane.
Description
Technical Field
The invention belongs to the technical field of laser gyros, and particularly relates to a laser gyro sensitive axial deviation open-loop control device and method in an acceleration environment.
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 inertial navigation system is usually internally provided with three laser gyros and three accelerometers. The laser gyro is a key instrument of a navigation system, is used for measuring angular velocity and angle, and has the characteristics of high precision, good reliability, long service life and the like.
Under the environment of large acceleration of carrier rockets, missile weapons, fighters and the like, the laser gyro has very high rigidity in two directions parallel to a light path, a resonant cavity of the laser gyro generates very small deformation, and the output offset error of the gyro is very small and is usually only thousandth of an hour.
However, when the laser gyro is accelerated on the longitudinal Z axis (sensitive axis) of the laser gyro, the rigidity in the direction is small, so that the resonant cavity of the laser gyro is deformed, a laser light path is deformed, and a significant offset error is generated. For the acceleration of 40g in the Z-axis direction, the bias error caused by the acceleration is usually 0.05-0.3 deg/h for the laser gyro with the conventional size, and the error is usually several times of the error (usually better than 0.01 deg/h) in the 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 smaller-sized laser gyro, increase the thickness of the laser gyro, or calibrate the sensitivity of an instrument to acceleration to compensate and the like. However, these methods are all significantly problematic:
(1) The static accuracy of the small-size laser gyroscope is usually much lower than that of the large-size laser gyroscope, and the high-accuracy requirement 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, and the volume and the weight are usually increased by 20 to 40 percent, which is often 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 gyroscope under large overload. The stability of the precision performance of the laser gyroscope in a large overload environment cannot be ensured.
Disclosure of Invention
In order to solve the above technical problem, a first aspect of the present invention provides an open-loop control device for a sensitive axial deviation of a laser gyroscope in an acceleration environment, where the open-loop control device includes: the inertial navigation system comprises an accelerometer, an electric deformation device and a converter;
the inertial navigation system accelerometer is used for detecting the direction and the acceleration value of the real-time acceleration of the laser gyro in the sensitive axial direction and providing the direction and the acceleration value of the acceleration to the converter;
the upper surface and the lower surface of the laser gyroscope are both fixed with an electric deformation device;
the converter generates correction voltage for controlling the electric deformation device according to the direction of the real-time acceleration and the acceleration value, the correction voltage enables the electric deformation device to generate bending deformation, and the bending deformation is used for offsetting deformation of the laser gyroscope caused by the acceleration.
In the control device according to the first aspect of the present invention, the electrical deformation device is a piezoelectric ceramic plate, and the piezoelectric ceramic plate is bonded to the upper surface and the lower surface of the laser gyro.
The control device according to the first aspect of the present invention, wherein the output voltage range of the converter is: and 0-300V, wherein the voltage is used for driving the electric deformation device to generate bending deformation so as to enable the laser gyro to generate deformation.
The control apparatus according to the first aspect of the invention, the reference output voltage of the converter is 150V; when the converter outputs the reference output voltage, the deformation of the electric deformation devices on the upper surface and the lower surface of the laser gyro are mutually offset;
if the real-time acceleration is positive, the converter outputs a first correction voltage V h1 Stopping outputting the reference output voltage;
the converter outputs a first corrected voltage V h1 When the laser gyroscope is in use, the upper surface of the laser gyroscope is bent downwards and deformed by the electric deformation device;
if the real-time acceleration isNegative value, the converter outputting a second rectified voltage V h2 Stopping outputting the reference output voltage;
the converter outputs a second corrected voltage V h1 And when the laser gyroscope is used, the lower surface of the laser gyroscope is bent upwards and deformed by the electric deformation device.
The control device according to the first aspect of the present invention, wherein the range of the first correction voltage is: v is more than or equal to 0 h1 < 150V; the range of the second correction voltage is: 150V < V h2 ≤300V；
The bending deformation range generated by the electric deformation device is as follows: between 3 nanometers and 5 microns.
The control device according to the first aspect of the present invention, wherein the electrical deformation device is a piezoelectric ceramic plate, and a deformation amplitude of the piezoelectric ceramic plate is proportional to an amplitude of the applied first correction voltage or second correction voltage deviating from a reference output voltage. .
The control device according to the first aspect of the present invention, when the real-time acceleration is larger than the predetermined threshold, the output voltage of the converter changes as follows: when the real-time acceleration amplitude is larger, the deviation of the voltage value output by the converter from the 150v value is larger, and the deformation generated by the piezoelectric ceramic plate is larger.
In the control device according to the first aspect of the present invention, the piezoelectric ceramic sheets are formed as long-strip thin ceramic sheets which are arranged in a centrosymmetric manner on the upper surface and the lower surface of the laser gyro and are bonded to the upper surface and the lower surface of the laser gyro using epoxy glue.
The second aspect of the invention provides a laser gyro sensitive axial deviation open-loop control method under an acceleration environment, which comprises the following steps:
or, if the inertial navigation system accelerometer detects that the real-time acceleration value of the laser gyro in the sensitive axial direction is greater than the predetermined threshold value, the converter outputs a correction voltage, and the amplitude of the correction voltage is as follows: 0-300V to correct the bending deformation of the laser gyro resonant cavity.
The method according to the second aspect of the present invention, the step 2 includes:
if the inertial navigation system accelerometer detects that the real-time acceleration value of the laser gyroscope in the sensitive axial direction is larger than the preset threshold value and the direction of the real-time acceleration is positive, the converter outputs a first correction voltage so as to enable the upper surface of the laser gyroscope to generate downward bending deformation;
and if the inertial navigation system accelerometer detects that the real-time acceleration value of the laser gyroscope in the sensitive axial direction is larger than the preset threshold value and the direction of the real-time acceleration is negative, the converter outputs a second correction voltage so as to enable the lower surface of the laser gyroscope to bend upwards and deform.
By adopting the technical scheme of the invention,
(1) The method is simple and easy to realize, and the control circuit only needs very simple hardware support.
(2) The method 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 invention is very cheap and practical, can keep the precision of the gyroscope 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 diagram of a laser gyroscope of the present invention;
FIG. 2 is a control schematic of the present invention;
FIG. 3 is a control flow chart of the present invention.
The laser gyroscope comprises a laser gyroscope resonant cavity 1, a laser power output mirror 2, a laser power meter 3 and a laser reflector 4.
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 of the laser gyro caused by acceleration. The invention designs a scheme for stably controlling the laser gyroscope in a high-acceleration environment, which is suitable for ensuring the stability of the precision performance of the laser gyroscope in a high-overload environment.
The invention provides a method for controlling the deformation of a laser gyro resonant cavity 1 according to the acceleration information of an accelerometer of an inertial navigation system, and ensuring that the bending of the laser gyro resonant cavity 1 is within an acceptable range, thereby eliminating the bias error in an acceleration environment.
When the sensitive axis of the laser gyroscope has acceleration, the surface of the resonant cavity 1 of the laser gyroscope generates 3-5-micrometer bending deformation, and the larger the deformation is, the larger the bias error output by the gyroscope is. If it is desired to eliminate such bending deformation, the deformation caused by acceleration can be counteracted by applying a correction voltage to the deformation devices (e.g. piezoelectric ceramics) attached to the upper and lower surfaces of the laser gyro resonant cavity 1, respectively, so that the deformation devices generate opposite deformations.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
After the laser gyro is installed in the inertial navigation system, three laser gyros are usually installed in an orthogonal mode, three accelerometers of the inertial navigation system are usually installed in an orthogonal mode, and orthogonal coordinate systems of the laser gyro and the accelerometers of the inertial navigation system are usually overlapped, so that the processing of control information is simplified.
The basic structure of the laser gyro is shown in fig. 1, and the laser gyro comprises the following four components: the device comprises a laser gyro resonant cavity 1, a laser power output mirror 2, a laser power meter 3 and a laser reflecting mirror 4.
As shown in fig. 2, a first aspect of the present invention provides an open-loop control device for a laser gyro sensitive axial deviation in an acceleration environment, where the device includes: an inertial navigation system accelerometer, an electric deformation device and a converter;
the inertial navigation system accelerometer is used for detecting the direction and the acceleration value of the real-time acceleration of the laser gyro in the sensitive axial direction and providing the direction and the acceleration value of the acceleration to the converter;
electric deformation devices are fixed on the upper surface and the lower surface of the laser gyroscope;
the converter generates correction voltage for controlling the electric deformation device according to the direction of the real-time acceleration and the acceleration value, the correction voltage enables the electric deformation device to generate bending deformation, and the bending deformation is used for offsetting deformation of the laser gyroscope caused by the acceleration.
Three laser gyros and three accelerometers of the inertial navigation system are generally installed in a common inertial navigation system, the three laser gyros are generally installed orthogonally to each other, the three accelerometers of the inertial navigation system are also installed orthogonally to each other, and the orthogonal coordinate systems of the laser gyros and the accelerometers of the inertial navigation system are overlapped, so that the accelerometers of the inertial navigation system in the Z-axis direction (sensitive axial direction) of a plurality of specified laser gyros can be used for detecting the acceleration of the sensitive axial direction of the laser gyros, and the detection output of the accelerometers of the inertial navigation system is input to a converter to be converted into voltage for controlling an electric deformation device. In the control device according to the first aspect of the present invention, the electrical deformation device is a piezoelectric ceramic plate, and the piezoelectric ceramic plate is bonded to the upper surface and the lower surface of the laser gyro.
The control device according to the first aspect of the present invention, wherein the output voltage range of the converter is: and 0-300V, wherein the voltage is used for driving the electric deformation device to generate bending deformation so as to enable the laser gyro to generate deformation.
The control apparatus according to the first aspect of the invention, the reference output voltage of the converter is 150V; when the converter outputs the reference output voltage, the deformation of the electric deformation devices on the upper surface and the lower surface of the laser gyro are mutually offset;
if the real-time acceleration is a positive value, the converter outputs a first correction voltage V h1 Stopping outputting the reference output voltage;
the above-mentionedThe converter outputs a first corrected voltage V h1 When the laser gyroscope is in use, the upper surface of the laser gyroscope is bent downwards and deformed by the electric deformation device;
if the real-time acceleration is negative, the converter outputs a second correction voltage V h2 Stopping outputting the reference output voltage;
the converter outputs a second corrected voltage V h1 And when the laser gyroscope is used, the lower surface of the laser gyroscope is bent upwards and deformed by the electric deformation device.
The control device according to the first aspect of the present invention, wherein the range of the first correction voltage is: v is more than or equal to 0 h1 < 150V; the range of the second correction voltage is: 150V < V h2 ≤300V；
The bending deformation range generated by the electric deformation device is as follows: between 3 nanometers and 5 microns.
The control device according to the first aspect of the present invention, wherein the electrical deformation device is a piezoelectric ceramic plate, and a deformation amplitude of the piezoelectric ceramic plate is proportional to an amplitude of the applied first correction voltage or second correction voltage deviating from a reference output voltage.
The control device according to the first aspect of the present invention, when the real-time acceleration value is larger than the predetermined threshold value, the output voltage of the converter changes as follows: when the real-time acceleration amplitude is larger, the deviation of the voltage value output by the converter from the 150v value is larger, and the deformation generated by the piezoelectric ceramic plate is larger.
In the control device according to the first aspect of the present invention, the piezoelectric ceramic sheets are formed as long thin ceramic sheets which are arranged on the upper surface and the lower surface of the laser gyro so as to be centrosymmetric, and are bonded to the upper surface and the lower surface of the laser gyro using epoxy glue.
The control flow chart of the single laser gyro is shown in fig. 3. The control flow is clearly described by the method steps described below.
The second aspect of the invention provides a laser gyro sensitive axial deviation open-loop control method under an acceleration environment, which comprises the following steps:
or, if the inertial navigation system accelerometer detects that the real-time acceleration value of the laser gyro in the sensitive axial direction is greater than the predetermined threshold, the converter outputs a correction voltage, and the amplitude of the correction voltage is: 0-300V to correct the bending deformation of the laser gyro resonant cavity 1.
The method according to the second aspect of the present invention, the step 2 further comprises:
if the accelerometer of the inertial navigation system detects that the real-time acceleration of the laser gyro in the sensitive axial direction is greater than the preset threshold value and the direction of the real-time acceleration is positive, the converter outputs a first correction voltage, and the voltage range is as follows: 0-150V, and applying the correction voltage of the electric deformation device to enable the electric deformation device to generate bending deformation, so that the upper surface of the laser gyroscope generates downward bending deformation;
if the accelerometer of the inertial navigation system detects that the real-time acceleration value of the laser gyro in the sensitive axial direction is greater than the preset threshold value and the direction of the real-time acceleration is negative, the converter outputs a second correction voltage, and the voltage range is as follows: 150-300V, and applying the correction voltage of the electric deformation device to enable the electric deformation device to generate bending deformation, so that the lower surface of the laser gyro generates upward bending deformation. The bending deformation is used for offsetting the deformation of the laser gyroscope caused by the acceleration, so that the deformation of the cavity of the laser gyroscope is corrected.
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. The utility model provides a sensitive axial deviation open loop controlling means of laser gyroscope under acceleration environment which characterized in that, the device includes: an inertial navigation system accelerometer, an electric deformation device and a converter;
the inertial navigation system accelerometer is used for detecting the direction and the acceleration value of the real-time acceleration of the laser gyro in the sensitive axial direction and providing the direction and the acceleration value of the acceleration to the converter;
electric deformation devices are fixed on the upper surface and the lower surface of the laser gyroscope;
the converter generates correction voltage for controlling the electric deformation device according to the direction of the real-time acceleration and the acceleration value, the correction voltage enables the electric deformation device to generate bending deformation, and the bending deformation is used for offsetting the deformation of the laser gyro resonant cavity caused by the acceleration.
2. The control device of claim 1, wherein the electrical deformation device is a piezoelectric ceramic plate bonded to the upper and lower surfaces of the laser gyro.
3. The control apparatus of claim 1, wherein the converter has an output voltage range of: and 0-300V, wherein the voltage is used for driving the electric deformation device to generate bending deformation so as to enable the laser gyro to generate deformation.
4. The control apparatus of claim 1, wherein the converter has a reference output voltage of 150V; when the converter outputs the reference output voltage, the deformation of the electric deformation devices on the upper surface and the lower surface of the laser gyro are mutually offset;
if the real-time acceleration is positive, the rotation is performedThe converter outputs a first rectified voltage V h1 Stopping outputting the reference output voltage;
the converter outputs a first corrected voltage V h1 When the laser gyroscope is in use, the upper surface of the laser gyroscope is bent downwards by the electric deformation device;
if the real-time acceleration is negative, the converter outputs a second correction voltage V h2 Stopping outputting the reference output voltage;
the converter outputs a second corrected voltage V h1 And when the laser gyroscope is used, the lower surface of the laser gyroscope is bent upwards and deformed by the electric deformation device.
5. The control device of claim 4, wherein the range of the first rectified voltage is: v is more than or equal to 0 h1 < 150V; the range of the second correction voltage is: 150V < V h2 ≤300V；
The bending deformation range generated by the electric deformation device is as follows: between 3 nanometers and 5 microns.
6. The control device of claim 5, wherein the electrical deformation device is a piezoceramic wafer having a deformation magnitude proportional to the magnitude of the applied first or second correction voltage deviating from a reference output voltage.
7. The control device of claim 6, wherein when the real-time acceleration is greater than a predetermined threshold, the output voltage of the converter varies as follows: when the real-time acceleration amplitude is larger, the deviation of the voltage value output by the converter from the 150v value is larger, and the deformation generated by the piezoelectric ceramic plate is larger.
8. The control device according to claim 7, wherein the piezoelectric ceramic sheets are long strip-shaped thin ceramic sheets which are arranged on the upper surface and the lower surface of the laser gyro in a centrosymmetric manner and are bonded to the upper surface and the lower surface of the laser gyro using epoxy glue.
9. An open-loop control method for the sensitive axial deviation of a laser gyro in an acceleration environment, which is used for operating the control device as claimed in any one of claims 1 to 8, and is characterized by comprising the following steps:
step 1, after the laser gyro enters a working state, detecting the direction and the acceleration value of the real-time acceleration of the laser gyro in a sensitive axial direction by using an inertial navigation system accelerometer;
step 2, when the acceleration value of the laser gyroscope in the sensitive axial direction is smaller than a preset threshold value, the converter outputs a reference output voltage, and the laser gyroscope does not bend and deform in the sensitive axial direction; the reference output voltage is: 150V;
or, if the inertial navigation system accelerometer detects that the real-time acceleration value of the laser gyro in the sensitive axial direction is greater than the predetermined threshold, the converter outputs a correction voltage, and the amplitude of the correction voltage is: 0-300V to correct the bending deformation of the laser gyro resonant cavity.
10. The method of claim 9, wherein the step 2 comprises:
if the real-time acceleration value of the laser gyro in the sensitive axial direction is detected to be larger than the preset threshold value by the inertial navigation system accelerometer, and the direction of the real-time acceleration is positive, the converter outputs a first correction voltage so as to enable the upper surface of the laser gyro to generate downward bending deformation;
and if the real-time acceleration value of the laser gyro in the sensitive axial direction is detected to be greater than the preset threshold value by the inertial navigation system accelerometer, and the direction of the real-time acceleration is negative, the converter outputs a second correction voltage so as to enable the lower surface of the laser gyro to bend upwards and deform.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4386853A (en) * | 1980-12-01 | 1983-06-07 | The Singer Company | Bending actuator for ring laser gyroscope |
| WO1986005017A1 (en) * | 1985-02-25 | 1986-08-28 | Sundstrand Data Control, Inc. | Inertial reference system utilizing ring laser gyro data resynchronization |
| WO1988006276A2 (en) * | 1987-02-18 | 1988-08-25 | Salaberry Bernard Lucien Charl | Device for eliminating parasitic rotations of mobile mirrors in laser gyrometers |
| US6498651B1 (en) * | 1999-02-19 | 2002-12-24 | Thomson-Csf Sextant | Device for detecting activation movement for laser gyroscope |
| CN102003958A (en) * | 2010-10-01 | 2011-04-06 | 中国人民解放军国防科学技术大学 | Control device for working point of four-frequency laser gyro |
-
2022
- 2022-11-01 CN CN202211352994.4A patent/CN115406428A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4386853A (en) * | 1980-12-01 | 1983-06-07 | The Singer Company | Bending actuator for ring laser gyroscope |
| WO1986005017A1 (en) * | 1985-02-25 | 1986-08-28 | Sundstrand Data Control, Inc. | Inertial reference system utilizing ring laser gyro data resynchronization |
| WO1988006276A2 (en) * | 1987-02-18 | 1988-08-25 | Salaberry Bernard Lucien Charl | Device for eliminating parasitic rotations of mobile mirrors in laser gyrometers |
| US6498651B1 (en) * | 1999-02-19 | 2002-12-24 | Thomson-Csf Sextant | Device for detecting activation movement for laser gyroscope |
| CN102003958A (en) * | 2010-10-01 | 2011-04-06 | 中国人民解放军国防科学技术大学 | Control device for working point of four-frequency laser gyro |
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Application publication date: 20221129 |