CN115655252B - Hemispherical resonator gyroscope residual quadrature error identification and suppression method and system - Google Patents
Hemispherical resonator gyroscope residual quadrature error identification and suppression method and system Download PDFInfo
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- CN115655252B CN115655252B CN202211557831.XA CN202211557831A CN115655252B CN 115655252 B CN115655252 B CN 115655252B CN 202211557831 A CN202211557831 A CN 202211557831A CN 115655252 B CN115655252 B CN 115655252B
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Abstract
The invention relates to the technical field of hemispherical resonator gyroscopes, and provides a hemispherical resonator gyroscope residual orthogonal error identification and inhibition method and system. The method comprises the following steps: s10, superposing the square wave disturbance signal and a driving signal of the orthogonal control loop to synthesize a mixed signal; s20, transmitting the mixed signal to a response electrode of the harmonic oscillator, detecting the response signal of the harmonic oscillator through a detection unit, and transmitting the response signal to a signal demodulation unit; s30, demodulating the square wave disturbing signals and the response signals through a signal demodulation unit, and extracting disturbing response signals caused by the square wave disturbing signals in an in-phase channel; and S40, obtaining the feedforward compensation quantity of the orthogonal control force through the control unit. According to the invention, through actively superposing square wave disturbance signals, the coupling between the in-phase quadrature loops is obtained, the quadrature error is identified in real time, and the quadrature error is feedforward compensated to the quadrature control loop, so that the residual quadrature error is restrained, and the control precision of the hemispherical resonant gyroscope is improved.
Description
Technical Field
The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a method and a system for identifying and inhibiting residual orthogonal errors of a hemispherical resonator gyroscope.
Background
A hemispherical resonator gyroscope is taken as one of solid wave gyroscopes, wherein a quartz resonator as a core component oscillates in a four-antinode mode under the action of an exciting force, an external angular velocity is sensitive by utilizing a Coriolis effect, in order to keep a resonant state vibrating and exert high quality factor and stability characteristics of the quartz resonator, a frequency tracking loop is required to track the resonant frequency of the quartz resonator constantly, and an amplitude control loop is required to keep the vibration energy of the quartz resonator constant.
Tracking the natural frequency of the harmonic oscillator is usually realized by adopting a phase-locked loop, obtaining the phase error between a detection signal and a driving signal of the harmonic oscillator by a phase discriminator, controlling the driving signal to maintain a fixed phase, generating a driving signal with the same frequency as the vibration signal of the harmonic oscillator under the action of a loop filter and a voltage-controlled oscillator, obtaining the amplitude information of an antinode and an antinode by detecting the vibration signal of the antinode and the node, comparing the amplitude information with a set value, and matching a frequency tracking loop in a closed-loop feedback mode to realize constant vibration energy of the harmonic oscillator
However, due to the limitations of the process levels of machining, assembling and the like of the hemispherical resonator gyroscope, the hemispherical resonator has frequency cracking, uneven damping and uneven electrode gain, resulting in errors, and the in-phase error and the quadrature error form a coupling error due to the errors, so that the output accuracy of the gyroscope is directly influenced due to the existence of the coupling error.
In the existing hemispherical resonator gyro control loop, a decoupling algorithm and an error suppression method aiming at the errors exist, but the error suppression methods are influenced by other errors such as bandwidth and phase errors, so that the suppression of orthogonal errors is not complete enough, and the precision improvement of the hemispherical resonator gyro is greatly restricted.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the related art. Therefore, the invention provides a method and a system for identifying and inhibiting residual quadrature errors of a hemispherical resonator gyroscope.
The invention provides a hemispherical resonator gyroscope residual orthogonal error identification and inhibition method, which comprises the following steps:
s10, outputting a square wave disturbing signal with a set period to an orthogonal control loop through a signal generating unit, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in staggered frequency setting;
s20, transmitting the mixed signal to a response electrode of the harmonic oscillator, detecting the response signal of the harmonic oscillator through a detection unit, and transmitting the response signal to a signal demodulation unit;
s30, demodulating the square wave disturbing signal and the response signal through a signal demodulation unit, and extracting a disturbance response signal caused by the square wave disturbing signal in an in-phase channel;
and S40, calculating the residual quadrature error amount in the in-phase channel through the control unit according to the disturbance response signal, and obtaining the feedforward compensation amount of the quadrature control force.
According to the identification and suppression method for the residual quadrature error of the hemispherical resonator gyroscope, provided by the invention, the frequency difference between the square wave disturbance signal and the driving signal of the quadrature control loop is greater than or equal to 100kHz.
According to the method for identifying and suppressing the residual quadrature error of the hemispherical resonator gyroscope provided by the invention, the step S10 comprises the following steps:
generating a square wave disturbing signal according to a set period through a signal generating unit:
wherein, the first and the second end of the pipe are connected with each other,
setting amplitude values for the square wave disturbing signals;
tgenerating time of a square wave disturbing signal;
Tsetting a period for the square wave disturbing signal;
kis a natural number.
According to the method for identifying and suppressing residual orthogonal error of hemispherical resonator gyroscope provided by the invention, the step S10 further comprises:
the superposition formula of the mixed signal is as follows:
wherein the content of the first and second substances,
is the drive signal of the quadrature control loop.
According to the method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope provided by the invention, the step S20 includes:
under the condition of residual quadrature error, the mixed signal generates a response signal on an in-phase channel response electrode
。
According to the method for identifying and suppressing residual orthogonal error of hemispherical resonator gyroscope provided by the invention, the step S30 comprises the following steps:
extracting a disturbance response signal by a low-frequency filter LPF in a multiplication demodulation mode, wherein the expression is as follows:
wherein the content of the first and second substances,
disturbing the signal as a square wave;
According to the method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope provided by the invention, the step S40 includes:
according toDisturbance response signal and header transfer function
Calculating the residual quadrature error in the in-phase channel
：
Wherein, the first and the second end of the pipe are connected with each other,
is a loop forward path transfer function.
The present invention further provides a system for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope, which is used for executing the method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope, and comprises:
the signal generating unit is used for generating a square wave disturbing signal with a set period;
the input end of the superposition unit is electrically connected with the output end of the signal generation unit, and the output end of the superposition unit is electrically connected with the response electrode of the harmonic oscillator through a digital-to-analog converter;
the input end of the detection unit is electrically connected with the harmonic oscillator;
the input end of the signal demodulation unit is electrically connected with the output end of the detection unit and the output end of the signal generation unit respectively;
the input end of the control unit is electrically connected with the output end of the signal demodulation unit, the first output end of the control unit is electrically connected with the input end of the superposition unit, and the second output end of the control unit is electrically connected with the response electrode of the harmonic oscillator.
According to the system for identifying and suppressing the residual quadrature error of the hemispherical resonator gyroscope, the detection unit comprises a buffer amplifier and an analog-to-digital converter, the input end of the buffer amplifier is electrically connected with the harmonic oscillator, the output end of the buffer amplifier is electrically connected with the input end of the analog-to-digital converter, and the output end of the analog-to-digital converter is electrically connected with the input end of the signal demodulation unit.
According to the residual quadrature error identification and suppression system for the hemispherical resonator gyroscope provided by the invention, the first output end of the control unit is electrically connected with the input end of the superposition unit through the first quadrature output unit, and the second output end of the control unit is electrically connected with the response electrode of the harmonic oscillator through the second quadrature output unit.
One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a hemispherical resonator gyro residual orthogonal error identification and suppression method and a system, comprising the following steps:
s10, outputting a square wave disturbing signal with a set period to an orthogonal control loop through a signal generating unit, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in staggered frequency setting;
s20, transmitting the mixed signal to a response electrode of the harmonic oscillator, detecting the response signal of the harmonic oscillator through a detection unit, and transmitting the response signal to a signal demodulation unit;
s30, demodulating the square wave disturbing signal and the response signal through a signal demodulation unit, and extracting a disturbance response signal caused by the square wave disturbing signal in an in-phase channel;
s40, calculating a residual quadrature error amount in an in-phase channel through a control unit according to the disturbance response signal to obtain a feedforward compensation amount of a quadrature control force;
by actively superposing square wave disturbance signals, the coupling between in-phase and quadrature loops is obtained, the quadrature error is identified in real time, and the quadrature error is feedforward compensated to the quadrature control loop, so that the residual quadrature error is restrained, and the control precision of the hemispherical resonator gyroscope is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a residual quadrature error identification and suppression method for a hemispherical resonator gyroscope according to the present invention;
fig. 2 is a schematic structural diagram of a residual quadrature error identification and suppression system of a hemispherical resonator gyroscope according to the present invention.
Reference numerals:
1. a harmonic oscillator; 2. a response electrode; 3. a buffer amplifier; 4. an analog-to-digital converter; 5. a signal demodulation unit; 6. a control unit; 7. a second quadrature output unit; 8. a signal generation unit; 9. a first quadrature output unit; 10. an adder; 11. a digital-to-analog converter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope according to the present invention is described with reference to fig. 1, and includes the following steps:
s10, outputting a square wave disturbing signal with a set period to the orthogonal control loop through a signal generating unit 8, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in staggered frequency setting;
s20, transmitting the mixed signal to a response electrode 2 of the harmonic oscillator 1, detecting the response signal of the harmonic oscillator 1 through a detection unit, and transmitting the response signal to a signal demodulation unit 5;
s30, demodulating the square wave disturbing signal and the response signal through the signal demodulating unit 5, and extracting a disturbing response signal caused by the square wave disturbing signal in an in-phase channel;
and S40, calculating the residual quadrature error amount in the in-phase channel through the control unit 6 according to the disturbance response signal, and obtaining the feedforward compensation amount of the quadrature control force.
In one embodiment, the difference in frequency between the square wave perturbation signal and the drive signal of the quadrature control loop is greater than or equal to 100kHz.
In one embodiment, the S10 step includes:
generating a square wave disturbing signal according to a set period by a signal generating unit 8:
wherein, the first and the second end of the pipe are connected with each other,
setting amplitude values for the square wave disturbing signals;
tgenerating time of a square wave disturbing signal;
Tsetting a period for the square wave disturbing signal;
kis a natural number, and the number of the main points is, i.e., k =0,1,2,3,.
In one embodiment, the step S10 further includes:
the superposition formula of the mixed signal is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the drive signal of the quadrature control loop.
In one embodiment, the S20 step includes:
the mixed signal generates a response signal on the in-phase channel response electrode 2 under the condition of residual quadrature error
。
In one embodiment, the S30 step includes:
extracting a disturbance response signal by a low-frequency filter LPF in a multiplication demodulation mode, wherein the expression is as follows:
wherein the content of the first and second substances,
disturbing the signal as a square wave;
In one embodiment, the S40 step includes:
based on the disturbance response signal and the head transfer function
Calculating the residual quadrature error in the in-phase channel
：
Wherein, the first and the second end of the pipe are connected with each other,
is a loop forward path transfer function.
The hemispherical resonator gyroscope residual orthogonal error identification and suppression system provided by the present invention is described below, and the hemispherical resonator gyroscope residual orthogonal error identification and suppression system described below and the hemispherical resonator gyroscope residual orthogonal error identification and suppression method described above may be referred to in correspondence with each other.
As shown in fig. 2, the present invention further provides a system for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope, which is used for executing the method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope, comprising:
the signal generating unit 8 is used for generating a square wave disturbing signal with a set period; that is, by artificially inputting a set frequency, a square wave disturbance signal of a set period is generated and output by the signal generation unit 8;
the input end of the superposition unit is electrically connected with the output end of the signal generation unit 8, and the output end of the superposition unit is electrically connected with the response electrode 2 of the harmonic oscillator 1 through a digital-to-analog converter 11;
the input end of the detection unit is electrically connected with the harmonic oscillator 1;
the input end of the signal demodulation unit 5 is respectively and electrically connected with the output end of the detection unit and the output end of the signal generation unit 8;
and the input end of the control unit 6 is electrically connected with the output end of the signal demodulation unit 5, the first output end of the control unit 6 is electrically connected with the input end of the superposition unit, and the second output end of the control unit 6 is electrically connected with the response electrode 2 of the harmonic oscillator 1.
In one embodiment, the detection unit includes a buffer amplifier 3 and an analog-to-digital converter 4, an input end of the buffer amplifier 3 is electrically connected to the harmonic oscillator 1, an output end of the buffer amplifier 3 is electrically connected to an input end of the analog-to-digital converter 4, and an output end of the analog-to-digital converter 4 is electrically connected to an input end of the signal demodulation unit 5.
In one embodiment, a first output terminal of the control unit 6 is electrically connected to an input terminal of the superposition unit through a first quadrature output unit 9, and a second output terminal of the control unit 6 is electrically connected to the response electrode 2 of the resonator 1 through a second quadrature output unit 7.
In order to facilitate understanding of the method for identifying and suppressing residual orthogonal error of hemispherical resonator gyroscope provided by the invention, the method is explained by combining the system for identifying and suppressing residual orthogonal error of hemispherical resonator gyroscope provided by the invention, and the technical concept of the invention is as follows:
on the basis of the condition that the orthogonal signal and the in-phase signal are completely decoupled, the interference signal from the orthogonal channel has no influence on the in-phase channel, therefore, a preset square wave signal is added, the preset square wave signal is applied to the electrode, the in-phase channel is detected, if the preset square wave signal is not detected in the in-phase channel, the in-phase and quadrature errors are completely decoupled, if the preset square wave signal is detected in the in-phase channel, the quadrature compensation is carried out through the detected preset square wave signal, the residual quadrature errors are further identified and eliminated, and the precision of the hemispherical resonant gyroscope is improved.
The method specifically comprises the following steps:
s10, outputting a square wave disturbing signal with a set period to the orthogonal control loop through a signal generating unit 8, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in staggered frequency setting; the square wave disturbing signal is a signal with a set period, namely a set frequency, and can be regarded as a set input according to actual needs. The square wave disturbing signal and the resonance frequency of the harmonic oscillator 1, namely the frequency-staggered setting of the driving signal of the orthogonal control loop, avoid the interference of the square wave disturbing signal to the normal work of the hemispherical harmonic oscillator 1. In this embodiment, the frequency difference between the frequency of the square wave disturbing signal and the frequency of the driving signal of the quadrature control loop is set to be greater than or equal to 100kHz, specifically, the frequency of the driving signal of the quadrature control loop is set to be 5kHz, and the frequency of the square wave disturbing signal is set to be 500kHz.
Further, the signal generating unit 8 outputs the generated square wave disturbance signal to the superimposing unit, which is provided as an adder 10 in the present embodiment, and the driving signal (i.e., the quadrature control force) of the quadrature control loop is superimposed on the square wave disturbance signal by the adder 10, and then the adder 10 outputs the mixed signal.
The generating formula of the square wave disturbing signal with the set period is as follows:
wherein the content of the first and second substances,
setting amplitude values for the square wave disturbing signals;
tgenerating time of a square wave disturbing signal;
Tsetting a period for the square wave disturbing signal;
kis a natural number.
Wherein, the superposition formula of the mixed signal is:
wherein the content of the first and second substances,
is the drive signal of the quadrature control loop.
S20, transmitting the mixed signal to a response electrode 2 of the harmonic oscillator 1, detecting the response signal of the harmonic oscillator 1 through a detection unit, and transmitting the response signal to a signal demodulation unit; the mixed signal output by the adder 10 is converted into an analog signal by the digital-to-analog converter 11, so that the analog signal acts on the corresponding electrode of the harmonic oscillator 1.
It should be noted that, the harmonic oscillator 1 as a core sensitive unit of the hemispherical resonator gyroscope can sense an external angular velocity in a four-antinode vibration state. The response electrode 2 and the harmonic oscillator 1 form a capacitance sensor for starting and detecting the vibration of the harmonic oscillator 1.
Further, in this embodiment, the detection unit is configured as a buffer amplifier 3, the buffer amplifier 3 is configured to extract the vibration information of the harmonic oscillator 1 acquired on the response electrode 2, and perform signal conversion and isolation amplification, and specifically, the buffer amplifier 3 is a charge amplifier. That is, the mixed signal acts on the response electrode 2, the resonator 1 vibrates, and the charge amplifier obtains a voltage signal (i.e., a response signal) containing vibration information of the resonator 1 and converts the response signal into a digital quantity through the analog-to-digital converter 4.
Wherein the mixed signal is applied to the quadrature response electrode 2, and under the condition of residual quadrature error, the mixed signal generates a response signal on the in-phase channel response electrode 2
。
S30, demodulating the square wave disturbing signal and the response signal through the signal demodulating unit 5, and extracting a disturbing response signal caused by the square wave disturbing signal in an in-phase channel; specifically, in this embodiment, the signal demodulation unit 5 is set as a low frequency filter LPF, and a multiplication demodulation mode is adopted through the low frequency filter, so as to extract a disturbance response signal from the digital quantity, where the expression is:
wherein, the first and the second end of the pipe are connected with each other,
disturbing the signal as a square wave;
S40, calculating a residual quadrature error amount in an in-phase channel through the control unit 6 according to the disturbance response signal to obtain a feedforward compensation amount of a quadrature control force; wherein, the signal demodulation unit 5 transmits the extracted disturbance response signal to the control unit 6, and the control unit 6 transmits the disturbance response signal and the header transfer function according to the disturbance response signal
Calculating the residual quadrature error in the in-phase channel
：
Wherein, the first and the second end of the pipe are connected with each other,
is the loop forward path transfer function.
In this embodiment, the control unit 6 transmits a driving signal (i.e., the quadrature control force) of the quadrature control loop to the adder 10 through the first quadrature output unit 9, calculates and obtains a quadrature error residual amount through the control unit 6, further obtains a feedforward compensation amount of the quadrature control force, and outputs a signal acting on the quadrature response electrode 2 through the second quadrature output unit 7, thereby achieving suppression of the residual quadrature error and improving the control accuracy of the hemispherical resonator gyroscope.
One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the invention provides a method and a system for identifying and inhibiting residual orthogonal error of a hemispherical resonator gyroscope, which comprises the following steps:
s10, outputting a square wave disturbing signal with a set period to the orthogonal control loop through a signal generating unit 8, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in error frequency setting;
s20, transmitting the mixed signal to a response electrode 2 of the harmonic oscillator 1, detecting the response signal of the harmonic oscillator 1 through a detection unit, and transmitting the response signal to a signal demodulation unit;
s30, demodulating the square wave disturbing signals and the response signals through the signal demodulating unit 5, and extracting disturbing response signals caused by the square wave disturbing signals in an in-phase channel;
s40, calculating a residual quadrature error amount in an in-phase channel through the control unit 6 according to the disturbance response signal to obtain a feedforward compensation amount of a quadrature control force;
by actively superposing square wave disturbance signals, the coupling between in-phase and quadrature loops is obtained, the quadrature error is identified in real time, and the quadrature error is feedforward compensated to the quadrature control loop, so that the residual quadrature error is restrained, and the control precision of the hemispherical resonator gyroscope is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A hemispherical resonator gyroscope residual quadrature error identification and suppression method is characterized by comprising the following steps:
s10, outputting a square wave disturbing signal with a set period to an orthogonal control loop through a signal generating unit, and superposing the square wave disturbing signal and a driving signal of the orthogonal control loop through a superposition unit to synthesize a mixed signal, wherein the square wave disturbing signal and the driving signal of the orthogonal control loop are in staggered frequency setting;
s20, transmitting the mixed signal to a response electrode of the harmonic oscillator, detecting the response signal of the harmonic oscillator through a detection unit, and transmitting the response signal to a signal demodulation unit;
s30, demodulating the square wave disturbing signals and the response signals through a signal demodulation unit, and extracting disturbing response signals caused by the square wave disturbing signals in an in-phase channel;
and S40, calculating a residual quadrature error amount in the in-phase channel according to the disturbance response signal through the control unit, and obtaining a feedforward compensation amount of the driving signal.
2. The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 1, wherein the difference between the frequency of the square wave perturbation signal and the frequency of the driving signal of the quadrature control loop is greater than or equal to 100kHz.
3. The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 1, wherein the step S10 comprises:
generating a square wave disturbing signal according to a set period through a signal generating unit:
wherein, the first and the second end of the pipe are connected with each other,
setting amplitude values for the square wave disturbing signals;
tgenerating time of a square wave disturbing signal;
Tsetting a period for the square wave disturbing signal;
kis a natural number.
4. The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 3, wherein the step S10 further comprises:
the superposition of the mixed signal is:
wherein the content of the first and second substances,
is the drive signal of the quadrature control loop.
5. The method of claim 4, wherein the step S20 comprises:
under the condition of residual quadrature error, the mixed signal generates a response signal on an in-phase channel response electrode
。
6. The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 5, wherein the step S30 comprises:
extracting a disturbance response signal by a low-frequency filter LPF in a multiplication demodulation mode, wherein the expression is as follows:
wherein the content of the first and second substances,
is a square wave disturbing signal;
7. The method for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 6, wherein the step S40 comprises:
based on the disturbance response signal and the head transfer function
Calculating the residual quadrature error in the in-phase channel
：
Wherein, the first and the second end of the pipe are connected with each other,
is a loop forward path transfer function.
8. A hemispherical resonator gyroscope residual quadrature error identification and suppression system for implementing the hemispherical resonator gyroscope residual quadrature error identification and suppression method as claimed in any one of claims 1 to 7, comprising:
the signal generating unit is used for generating a square wave disturbing signal with a set period;
the input end of the superposition unit is electrically connected with the output end of the signal generation unit, and the output end of the superposition unit is electrically connected with the response electrode of the harmonic oscillator through a digital-to-analog converter;
the input end of the detection unit is electrically connected with the harmonic oscillator;
the input end of the signal demodulation unit is electrically connected with the output end of the detection unit and the output end of the signal generation unit respectively;
the input end of the control unit is electrically connected with the output end of the signal demodulation unit, the first output end of the control unit is electrically connected with the input end of the superposition unit, and the second output end of the control unit is electrically connected with the response electrode of the harmonic oscillator.
9. The system for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 8, wherein the detection unit comprises a buffer amplifier and an analog-to-digital converter, an input terminal of the buffer amplifier is electrically connected to the harmonic oscillator, an output terminal of the buffer amplifier is electrically connected to an input terminal of the analog-to-digital converter, and an output terminal of the analog-to-digital converter is electrically connected to an input terminal of the signal demodulation unit.
10. The system for identifying and suppressing residual quadrature error of hemispherical resonator gyroscope of claim 8, wherein the first output terminal of the control unit is electrically connected to the input terminal of the superposition unit through a first quadrature output unit, and the second output terminal of the control unit is electrically connected to the response electrode of the resonator through a second quadrature output unit.
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