CN115406468A - Device and method for adjusting back scattering of laser gyroscope based on mechanical nano stepping - Google Patents
Device and method for adjusting back scattering of laser gyroscope based on mechanical nano stepping Download PDFInfo
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- CN115406468A CN115406468A CN202211352990.6A CN202211352990A CN115406468A CN 115406468 A CN115406468 A CN 115406468A CN 202211352990 A CN202211352990 A CN 202211352990A CN 115406468 A CN115406468 A CN 115406468A
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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
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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
Abstract
The invention provides a device and a method for adjusting back scattering of a laser gyroscope based on mechanical nano stepping, belonging to the technical field of laser gyroscopes and comprising the following steps: the device comprises a single-axis rate rotary table, a laser power detector, an upper computer for receiving the output of the laser power detector, a precision stepping motor fixed on the rotary table and a frequency stabilizing chuck; the frequency stabilization chuck is connected to an adjustable reflecting mirror of the laser gyroscope, and the precise stepping motor is used for adjusting the deformation of the frequency stabilization chuck so as to adjust the laser cavity length of the laser gyroscope; and determining the minimum position of the back scattering of the tested laser gyro through the laser power output change of the tested laser gyro when the laser cavity length changes. By adopting the method, the complex circuit control can be avoided, and the performance of the instrument is improved; the better long-term stable effect can be achieved by matching with the circuit backscattering control; the performance of the gyroscope is improved by one time on average, and the performance is more stable in a temperature environment.
Description
Technical Field
The invention belongs to the technical field of laser gyros, and particularly relates to a device and a method for adjusting a laser gyro based on mechanical nano stepping.
Background
The laser gyroscope is an inertia instrument with high precision, high reliability and long service life, and is widely applied to the fields of carrier rockets, satellite airships, missile weapons, aviation airplanes, submarines, ships and warships and the like. The main component is a resonant cavity made of zero-expansion glass ceramics,
high accuracy has always been a core problem and a constant pursuit of laser gyroscopes. The gyro precision mainly depends on a locking threshold value, namely the synchronization of the forward and reverse lasers at low speed. The latching threshold in turn results from scattering of the mirror plate. The reflector is processed into a super-smooth surface by adopting a super polishing technology, and the roughness of the super-smooth surface is generally required to be less than 2A. The degree of microscopic surface relief is characterized by the relief on the order of atomic size. It is these microscopic fluctuations of atomic magnitude that cause minute scattering of photons. Each mirror will produce back-scatter, and the total back-scatter in the light path is the superposition of each back-scatter. Since all backscattering is on the same direction of the light path, and laser light is highly coherent, the total backscattering is a vector superposition of the backscattering of each lens.
Here:
、
、
、
respectively, the backscattering vector of each mirror.
Is the total backscatter vector that each mirror superimposes.
As shown in FIG. 1, the initial phase difference for each backscatter is random, i.e., each backscatter vector
、
、
、
Is random, the phase difference mainly comes from the difference of the different positions of the light spot on the surface and the relative position between the lenses.
The spot phase is again periodically distributed over the lens surface, so that the backscatter phase also changes periodically as the spot moves across the lens. For square gyroscope, the moving distance of reflector
The backscattered light can be completely modulated. In practical use of the laser gyroscope, changes in external temperature, vibration overload, long-term degradation of the gyroscope and the like all cause micron-order-level strain of a light path, the position of a light spot on a reflector is obviously changed, and the phase change of backscattering of each lens is caused (equivalent to that scattering vectors of each source in 4 rotate in different directions), so that the total backscattering and locking threshold value is changed, and in order to reduce the uncertainty, the scattering coupling in the light path must be controlled.
The control method of back scattering is that adjacent reflectors move inwards and outwards, but always keep reverse motion with equal stroke, and the maximum stroke of each lens is
. Therefore, not only can the cavity length be ensured to be unchanged, but also the light fields on the four reflectors are periodically modulated, the phase of the back scattering light of each lens is periodically changed, and further the amplitude and the phase of the total back scattering are periodically changed, so that the latching threshold is also periodically changed.
It can be seen that if there is no precise control loop for the latch-up, so that backscattering is not necessarily minimal, the meter cannot obtain small random drift, and at the same time heat will cause deformation of the optical path, which will result in a change in the magnitude of the random drift. If the exact control of the latching threshold is adopted to minimize the backscattering, the meter will not only obtain the minimum random drift, but also make the magnitude of the random drift insensitive to temperature.
The prior patents and documents do not relate to the scattering coupling processing of the gyroscope, the scattering coupling processing is controlled by a circuit, and when signals are very weak, the difference of the scattering coupling is difficult to distinguish by a circuit system. In addition, circuit control requires a large adjustment range of the frequency stabilizing mechanism, and certain difficulty is brought to instrument optimization design.
Disclosure of Invention
In order to solve the above technical problem, a first aspect of the present invention provides an apparatus for adjusting backscattering of a laser gyroscope based on mechanical nano-stepping, the apparatus comprising: the device comprises a single-axis rate rotary table, a frequency stabilization chuck, a laser power detector, an upper computer and a precision stepping motor fixed on the single-axis rate rotary table;
the laser gyro to be adjusted is fixed on the single-axis rate rotary table;
the frequency stabilization chuck is fixedly connected to an adjustable reflecting mirror of the laser gyroscope, the precision stepping motor is used for adjusting the deformation of the frequency stabilization chuck, and the deformation of the frequency stabilization chuck drives the deformation of the adjustable reflecting mirror to adjust the length of a laser cavity of the laser gyroscope;
the laser power detector detects the laser power value output by the laser gyro and feeds the laser power value output by the laser gyro into the upper computer, and the upper computer determines the position where the backscattering quantity of the laser gyro is minimum by calculating the alternating current component and the direct current component of the laser power value and the laser cavity length corresponding to the laser power value.
The apparatus according to the first aspect of the present invention, further comprising a scan driving circuit, wherein the output terminal of the host computer is connected to the input terminal of the scan driving circuit to control the output voltage of the scan driving circuit;
the voltage output end of the scanning driving circuit is electrically connected to the voltage control deformation element of the frequency stabilization chuck, and the output voltage of the scanning driving circuit controls the deformation of the voltage control deformation element so as to drive the adjustable reflector to generate bending deformation to change the length of the laser cavity.
In the apparatus according to the first aspect of the present invention, the host computer controls the output voltage of the scan driving circuit to perform a periodic variation with a predetermined amplitude and a predetermined length of time.
In the apparatus provided by the first aspect of the present invention, an adjusting screw is further connected to the frequency stabilization chuck, and when the frequency stabilization chuck is in a static state, the adjustable mirror is bent and deformed by adjusting a moving position of the adjusting screw to change a laser cavity length of the laser gyro;
the precise stepping motor comprises a stepping motor clamping mechanism, the precise stepping motor is connected with the adjusting screw through a screw adjusting tool clamped by the stepping motor clamping mechanism, and the advance and retreat positions of the adjusting screw are adjusted through the rotation of the precise stepping motor so as to change the length of the laser cavity of the laser gyroscope.
The apparatus according to the first aspect of the present invention, further comprising a step motor driver, wherein the upper computer controls the step motor driver to drive the precision step motor to rotate by a predetermined step angle so as to drive the step of the adjusting screw.
The device according to the first aspect of the present invention, when the pitch of the adjustment screw is: 0.25-0.3 mm, when the stepping angle of the precision stepping motor is 10 arc seconds, the stepping quantity of the adjustable reflector lens is as follows: 1-1.2 nm, and in the whole adjusting process, the total stroke amount of the adjustable reflector lens is as follows: 900-1100 nm.
The apparatus as set forth in the first aspect of the present invention, further comprising: the device further comprises: the output end of the laser power detector is sequentially connected with an amplifier and a filter, the amplifier amplifies the laser power value of the laser gyro output by the laser power detector, and then the amplifier performs narrow-band filtering by the filter, and then outputs alternating current components and direct current components of the laser power value respectively and feeds the alternating current components and the direct current components into the input end of the upper computer;
the upper computer processes the alternating current component to obtain a laser gyro sine backscatter signal;
the upper computer obtains the laser power of the laser gyro by processing the direct current component;
the central working frequency of the filter is as follows: 1-5 kHz, the bandwidth of the filter is: 100-300Hz.
The second aspect of the invention provides a method for adjusting the backscattering of a laser gyroscope based on mechanical nano stepping, which comprises the following steps
Step 1, fixing a laser gyroscope and a precision stepping motor on a single-shaft rate turntable;
step 2, fixedly connecting a frequency stabilization chuck to an adjustable reflector of the laser gyroscope, and connecting the precise stepping motor with an adjusting screw through a screw adjusting tool clamped by a stepping motor clamping mechanism after an adjusting screw of the frequency stabilization chuck is screwed to a preset initial position;
step 3, starting a high-voltage power supply of the laser gyroscope to generate laser output; setting the single-shaft speed turntable to rotate at a preset rotating speed;
step 4, the upper computer enters a working state and controls the scanning driving circuit to output periodic variation voltage with preset amplitude and time length; the periodic variable voltage is applied to a voltage control deformation circuit of the frequency stabilization chuck;
step 7, the upper computer determines a step point with the minimum backscattering amount of the laser gyro according to the calculation result of the step 6, and the upper computer stores the backscattering amount, the average value of the backscattering amounts and the variance value of the backscattering amounts of the step point with the minimum backscattering amount; and fixing an adjusting screw at the position of the stepping point with the minimum backscattering amount.
In the method according to the second aspect of the present invention, the predetermined rotation speed of the single-axis rate turntable is: 2-10 degrees/s; the scanning voltage amplitude output by the scanning driving circuit is as follows: 0-300V, and the scanning period T is more than or equal to 0.5 second; at each step point, the upper computer reads the number of backscatter magnitudes for the different cavity length modes as: more than or equal to 7.
As provided in the method of the second aspect of the present invention, step 7 further includes: after the upper computer determines the minimum value of the backscattering amount, the backscattering amount of a stepping point corresponding to the minimum value of the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount are stored by the upper computer; and then stepping to the next stepping point along the original stepping direction, reading the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the next stepping point, and comparing the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the two points of the next stepping point and the stepping point corresponding to the minimum value of the backscattering amount to determine that the corresponding stepping point position is the stepping point with the minimum backscattering amount.
By adopting the scheme of the invention, the method has the following advantages:
(1) The invention can avoid the complex circuit control and directly improve the performance of the instrument;
(2) The invention can not affect the design, mechanical interface and electricity of the instrument;
(3) The invention can achieve better long-term stability effect by matching with the circuit back scattering control;
(4) After the invention is adopted, the performance of the gyro is improved by about 30 percent by one time on average, and the performance is more stable in the temperature environment.
Drawings
FIG. 1 is a prior art backscatter vector diagram; wherein (a) and (b) are two different backscatter vector maps.
FIG. 2 is a graph of the scan drive voltage cycle of the present invention;
FIG. 3 is a plot of the amount of backscattering, mean and variance versus step position for the present invention;
FIG. 4 is a view of the screw knob tooling of the present invention;
fig. 5 is a schematic connection diagram of the device for adjusting the backscattering of the laser gyro of the present invention.
The laser power detection device comprises a laser power detector 1, a laser gyroscope 2, an adjustable reflector 3, a frequency stabilization chuck 4, a screw hole position of an adjusting screw, a screw adjusting tool 5, a single-shaft speed turntable control box 6, a single-shaft speed turntable 7, a stepping motor driver 8, a precision stepping motor 9, an upper computer 10, a control bus 11, a stepping motor clamping mechanism 12, an adjusting screw 13, a frequency stabilization chuck 14 and a laser power detector 15, and a signal line is output by the laser power detector.
Detailed Description
The technical problem to be solved by the invention is as follows: the method aims to overcome the defects that the backscattering of the existing laser gyroscope is not regulated, the precision of the laser gyroscope is randomly distributed, the backscattering quantity is differentially modulated by using a piezoelectric ceramic element, the environmental adaptability of the laser gyroscope is reduced, and the like. A scheme for reliably and accurately controlling the minimization of the back scattering is provided, so that the instrument accuracy and the stability of the laser gyro are improved. After the scheme is adopted, if the circuit is adopted to control the back scattering, no special requirement is required for the adjusting range of the instrument frequency stabilizing mechanism, and the existing design is favorably inherited.
The invention provides a method for controlling backscattering of a laser gyroscope based on mechanical nano stepping fine adjustment, which is suitable for improving the precision and stability of laser gyroscopes with various specifications.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Fig. 4 and 5 show a device for adjusting the back scattering of a laser gyro based on mechanical nano stepping, wherein fig. 4 is a structural description of the screw knob tool of the present invention.
A first aspect of the present invention proposes a device for adjusting backscattering of a laser gyro based on mechanical nano-stepping, said device comprising: the device comprises a single-axis rate rotary table 7, a frequency stabilization chuck 14, a laser power detector 1, an upper computer 10 and a precision stepping motor 9 fixed on the single-axis rate rotary table 7;
the laser gyro 2 to be adjusted is fixed on the single-axis rate turntable 7;
the frequency stabilization chuck 14 is fixedly connected to an adjustable reflector 3 of the laser gyroscope 2, the precision stepping motor 9 is used for adjusting the deformation of the frequency stabilization chuck 14, and the deformation of the frequency stabilization chuck 14 drives the deformation of the adjustable reflector 3 to adjust the length of a laser cavity of the laser gyroscope 2;
the laser power detector 1 detects a laser power value output by the laser gyro 2, feeds the laser power value output by the laser gyro 2 into the host computer 10 through a laser power detector output signal line 15, and the host computer 10 determines a position where a backscattering amount of the laser gyro 2 is minimum by calculating an alternating current component and a direct current component of the laser power value and the laser cavity length corresponding to the laser power value.
The apparatus according to the first aspect of the present invention, further comprising a scan driving circuit (not shown), wherein an output terminal of the upper computer 10 is connected to an input terminal of the scan driving circuit to control an output voltage of the scan driving circuit;
the voltage output end of the scanning driving circuit is electrically connected to a voltage control deformation element (not shown) of the frequency stabilization chuck 14, and the output voltage of the scanning driving circuit controls the deformation of the voltage control deformation element to drive the adjustable mirror 3 to generate bending deformation so as to change the length of the laser cavity.
In the apparatus according to the first aspect of the present invention, the upper computer 10 controls the output voltage of the scan driving circuit to perform a periodic variation with a predetermined amplitude and a predetermined length of time.
According to the device provided by the first aspect of the present invention, an adjusting screw 13 is further connected to the frequency stabilization chuck 14, and when the frequency stabilization chuck 14 is in a static state, the adjustable mirror 3 is bent and deformed by adjusting the forward and backward positions of the adjusting screw 13 to change the length of the laser cavity of the laser gyro 2;
the precision stepping motor 9 comprises a stepping motor clamping mechanism 12, the precision stepping motor 9 is connected with the adjusting screw 13 through a screw adjusting tool 5 clamped by the stepping motor clamping mechanism 12, and the advance and retreat positions of the adjusting screw 13 are adjusted through the rotation of the precision stepping motor 9 so as to change the length of the laser cavity of the laser gyroscope 2.
The apparatus according to the first aspect of the present invention further comprises a stepping motor driver 8, and the upper computer 10 drives the precision stepping motor 9 to rotate by a predetermined stepping angle by controlling the stepping motor driver 8 so as to drive the adjusting screw 13 to step.
In the device according to the first aspect of the present invention, when the pitch of the adjusting screw 13 is: 0.25-0.3 mm, when the step angle of the precision stepping motor 9 is 10 arc seconds, the step amount of the adjustable reflector 3 lens is as follows: 1-1.2 nm, and in the whole adjusting process, the total travel of the lens of the adjustable reflector 3 is as follows: 900-1100 nm.
The apparatus as set forth in the first aspect of the present invention, further comprising: an amplifier (not shown) and a filter (not shown) are sequentially connected to an output end of the laser power detector 1, the amplifier amplifies a laser power value output by the laser gyro 2 and output by the laser power detector 1, and then the amplifier performs narrow-band filtering by the filter, and then outputs an alternating current component and a direct current component of the laser power value respectively and feeds the alternating current component and the direct current component into an input end of the upper computer 10;
the upper computer 10 processes the alternating current component to obtain a laser gyro 2 sine backscatter signal;
the upper computer 10 processes the direct current component to obtain the laser power of the laser gyro 2;
the central working frequency of the filter is as follows: 1-5 kHz, the bandwidth of the filter is: 100-300Hz.
The second aspect of the invention provides a method for adjusting the backscattering of a laser gyroscope based on mechanical nano stepping, which comprises the following steps
Step 1, fixing a laser gyroscope 2 and a precision stepping motor 9 on a single-shaft rate turntable 7;
step 2, fixedly connecting a frequency stabilization chuck 14 to an adjustable reflector 3 of a laser gyroscope 2, screwing an adjusting screw 13 of the frequency stabilization chuck 14 to a preset initial position, and connecting the precision stepping motor with the adjusting screw 13 through a screw adjusting tool 5 clamped by a stepping motor clamping mechanism 12;
step 3, starting a high-voltage power supply of the laser gyroscope 2 to generate laser output; setting the single-shaft speed turntable 7 to rotate at a preset rotating speed;
step 4, the upper computer 10 enters a working state and controls the scanning driving circuit to output a periodically-changed voltage with a preset amplitude and a preset time length; a voltage controlled deformation circuit (not shown) for applying the periodically varying voltage to the frequency stabilization chuck 14;
step 7, the upper computer 10 determines a step point of the laser gyro 2 with the minimum backscattering amount according to the calculation result of the step 6, and the upper computer 10 stores the backscattering amount, the average value of the backscattering amounts and the variance value of the backscattering amount of the step point with the minimum backscattering amount; the adjusting screw 13 is fixed at the position of the step point where the amount of backscattering is minimal.
In the method according to the second aspect of the present invention, the predetermined rotation speed of the single-axis rate turntable 7 is: 2-10 degrees/s; the scanning voltage amplitude output by the scanning driving circuit is as follows: 0-300V, and the scanning period T is more than or equal to 0.5 second; at each step point, the upper computer 10 reads the number of backscatter magnitudes for the different cavity length modes as: more than or equal to 7.
As provided in the method of the second aspect of the present invention, step 7 further includes: after the upper computer 10 determines the minimum value of the backscattering amount, the upper computer 10 stores the backscattering amount of the stepping point corresponding to the minimum value of the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount; and then stepping to the next stepping point along the original stepping direction, reading the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the next stepping point, and comparing the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the two points of the next stepping point and the stepping point corresponding to the minimum value of the backscattering amount to determine that the corresponding stepping point position is the stepping point with the minimum backscattering amount.
Example 1
The laser gyro 2 is parallelly installed and fixed on the single-shaft rate rotary table 7 through a position adjustable tool, and the single-shaft rate rotary table 7 is transversely provided with a precise stepping motor 9.
As shown in fig. 4 and 5, a frequency stabilization chuck 14 is bonded on an adjustable reflector 3 of a laser gyro 2, a screw hole position 4 of a frequency stabilization chuck adjusting screw is arranged in the middle of the frequency stabilization chuck 14 and used for installing an adjusting screw 13, after the frequency stabilization chuck 14 is fixed on the adjustable reflector 3, the adjusting screw 13 is screwed into the screw hole position 4 of the frequency stabilization chuck adjusting screw, and the adjusting screw 13 is adjusted to just prop against the center of the back of the adjustable reflector 3, but no bending deformation pressure can be applied to the adjustable reflector 3.
The precision stepping motor 9 is fixed with the adjusting screw 13 through the screw adjusting tool 5 clamped by the stepping motor clamping mechanism 12. The laser gyro electrode is connected to a high voltage circuit, the frequency stabilization chuck 14 is connected to a scan drive circuit, the amplitude of the voltage output from the circuit is usually 0 to 300V, the waveform of the scan drive voltage is as shown in fig. 2, and the period of the scan drive voltage is set to 0.5 seconds or more.
The single-shaft rate turntable control box 6 drives the single-shaft rate turntable 7 to rotate constantly at a certain rotation speed of more than 2deg/s through the control bus 11, and a high-voltage power supply is started to light the laser gyroscope 2.
The laser power signal detected by the laser power detector 1 is amplified and filtered, and in the laser power signal, the direct current component of the signal generally represents the laser power value, and the alternating current component of the signal represents the magnitude of the backscatter signal. And a sinusoidal backscattering signal with a high signal-to-noise ratio is obtained through filtering by a narrow-band filter, the signal frequency is close to the nominal output frequency of the laser gyro 2, the frequency is approximately thousands of Hz, and the amplitude of the backscattering signal is approximately millivolt magnitude. Since the nominal output frequency of the laser gyro 2 fluctuates, the bandwidth of the narrow-band filter can be set to several hundred Hz, and a typical value is about 100Hz, so that the frequency information of the back scattering can be retained without distortion. The amount of backscatter is characterized by the amplitude of the narrow band filtered sinusoidal signal.
As shown in fig. 4 and 5, a stepping motor clamping mechanism 12 and a screw adjusting tool 5 are mounted on the precision stepping motor 9, so that the precision stepping motor 9 can drive the adjusting screw 13 to rotate, the pitch of the adjusting screw 13 is selected to be 0.3mm, and the stepping angle of the precision stepping motor 9 is selected to be 10 arc seconds, so that the adjusting screw 13 is stepped by about 2.3 nm. A stroke of approximately 900nm is driven. At each step point, frequency stabilization chuck 14 is driven to test the amount of backscattering of each mode at the gain peak for at least 7 points and software sequencing.
As shown in fig. 3, the upper, middle and lower three circled positions in the figure schematically represent the backscatter magnitude, the backscatter magnitude average and the backscatter magnitude variance value for each step point, respectively. For each step point, the software of the host computer 10 averages and variance values for the backscatter for a plurality of modes (typically 7). At the best stepping position, the mean and variance will be minimized at the same time. Since the driving is performed in one direction, the minimum position must be determined in multiple steps, so that the amount of backscattering slightly increases and the position is fixed.
Since the minimum is at the extreme point and the rotation of each individual scattering vector due to temperature changes is the same, the optimum condition can always be maintained. The performance of the laser gyro 2 hardly changes with the change of temperature.
The rotating speed of the turntable can be flexibly selected.
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. An apparatus for adjusting backscattering of a laser gyroscope based on mechanical nano-stepping, the apparatus comprising: the device comprises a single-axis rate rotary table, a frequency stabilization chuck, a laser power detector, an upper computer and a precision stepping motor fixed on the single-axis rate rotary table;
the laser gyro to be adjusted is fixed on the single-axis rate rotary table;
the frequency stabilization chuck is fixedly connected to an adjustable reflecting mirror of the laser gyroscope, the precision stepping motor is used for adjusting the deformation of the frequency stabilization chuck, and the deformation of the frequency stabilization chuck drives the deformation of the adjustable reflecting mirror to adjust the length of a laser cavity of the laser gyroscope;
the laser power detector detects the laser power value output by the laser gyro and feeds the laser power value output by the laser gyro into the upper computer, and the upper computer determines the position where the backscattering quantity of the laser gyro is minimum by calculating the alternating current component and the direct current component of the laser power value and the laser cavity length corresponding to the laser power value.
2. The apparatus of claim 1, further comprising a scan driver circuit, an output of the upper computer being connected to an input of the scan driver circuit to control an output voltage of the scan driver circuit;
the voltage output end of the scanning driving circuit is electrically connected to the voltage control deformation element of the frequency stabilization chuck, and the output voltage of the scanning driving circuit controls the deformation of the voltage control deformation element so as to drive the adjustable reflector to generate bending deformation to change the length of the laser cavity.
3. The apparatus of claim 2, wherein the upper computer controls the output voltage of the scan driving circuit to perform a periodic variation by a predetermined magnitude and length of time.
4. The apparatus of claim 2, wherein an adjusting screw is further connected to the frequency stabilization chuck, and when the frequency stabilization chuck is in a static state, the adjustable mirror is bent and deformed by adjusting the forward and backward positions of the adjusting screw to change the laser cavity length of the laser gyro;
the precise stepping motor comprises a stepping motor clamping mechanism, the precise stepping motor is connected with the adjusting screw through a screw adjusting tool clamped by the stepping motor clamping mechanism, and the advance and retreat positions of the adjusting screw are adjusted through the rotation of the precise stepping motor so as to change the length of the laser cavity of the laser gyroscope.
5. The apparatus of claim 4, further comprising a stepper motor driver, wherein the upper computer is configured to step the adjustment screw by controlling the stepper motor driver to drive the precision stepper motor through a predetermined step angle.
6. The device of claim 5, wherein when the set screw pitch is: 0.25-0.3 mm, when the stepping angle of the precise stepping motor is 10 arc seconds, the stepping amount of the adjustable reflector lens is as follows: 1-1.2 nm, and in the whole adjusting process, the total stroke amount of the adjustable reflector lens is as follows: 900-1100 nm.
7. The apparatus of claim 1, wherein the apparatus further comprises: the output end of the laser power detector is sequentially connected with an amplifier and a filter, the amplifier amplifies the laser power value of the laser gyro output by the laser power detector, and then the amplifier performs narrow-band filtering by the filter, and then outputs alternating current components and direct current components of the laser power value respectively and feeds the alternating current components and the direct current components into the input end of the upper computer;
the upper computer processes the alternating current component to obtain a laser gyro sine backscatter signal;
the upper computer obtains the laser power of the laser gyro by processing the direct current component;
the central working frequency of the filter is as follows: 1-5 kHz, the bandwidth of the filter is: 100-300Hz.
8. A method for adjusting the backscattering of a laser gyro based on mechanical nano-stepping, using the device of any of claims 1-7, characterized in that the method comprises the steps of:
step 1, fixing a laser gyroscope and a precision stepping motor on a single-shaft rate turntable;
step 2, fixedly connecting a frequency stabilization chuck to an adjustable reflector of the laser gyroscope, and connecting the precise stepping motor with an adjusting screw through a screw adjusting tool clamped by a stepping motor clamping mechanism after an adjusting screw of the frequency stabilization chuck is screwed to a preset initial position;
step 3, starting a high-voltage power supply of the laser gyroscope to generate laser output; setting the single-axis speed turntable to rotate at a preset rotating speed;
step 4, the upper computer enters a working state and controls the scanning driving circuit to output periodic variation voltage with preset amplitude and time length; the periodic variable voltage is applied to a voltage control deformation circuit of the frequency stabilization chuck;
step 5, the upper computer controls a stepping motor driver to drive the precise stepping motor to rotate at a preset stepping angle so as to drive the adjusting screw to step;
step 6, at each stepping point, the upper computer reads the backscattering amount aiming at a plurality of different cavity length modes; calculating an average value and a variance value of the backscattering amount of each stepping point, and storing the read backscattering amount and the calculated average value and variance value;
step 7, the upper computer determines a step point with the minimum backscattering amount of the laser gyro according to the calculation result of the step 6, and the upper computer stores the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the step point with the minimum backscattering amount; and fixing an adjusting screw at the position of the stepping point with the minimum backscattering amount.
9. The method of claim 8, wherein the predetermined rotational speed of the single axis rate turret is: 2-10 degrees/s; the scanning voltage amplitude output by the scanning driving circuit is as follows: 0-300V, and the scanning period T is more than or equal to 0.5 second; at each step point, the upper computer reads the number of backscatter magnitudes for the different cavity length modes as: more than or equal to 7.
10. The method of claim 8, wherein step 7 further comprises: after the upper computer determines the minimum value of the backscattering amount, the backscattering amount of a stepping point corresponding to the minimum value of the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount are stored by the upper computer; and then stepping to the next stepping point along the original stepping direction, reading the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the next stepping point, and comparing the backscattering amount, the average value of the backscattering amount and the variance value of the backscattering amount of the two points of the next stepping point and the stepping point corresponding to the minimum value of the backscattering amount to determine that the corresponding stepping point position is the stepping point with the minimum backscattering amount.
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| CN202211352990.6A CN115406468B (en) | 2022-11-01 | 2022-11-01 | Device and method for adjusting back scattering of laser gyroscope based on mechanical nano stepping |
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| CN115406468B (en) | 2023-01-17 |
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