CN115773741A - Self-compensation control system and method for hemispherical resonator gyroscope - Google Patents
Self-compensation control system and method for hemispherical resonator gyroscope Download PDFInfo
- Publication number
- CN115773741A CN115773741A CN202310112244.8A CN202310112244A CN115773741A CN 115773741 A CN115773741 A CN 115773741A CN 202310112244 A CN202310112244 A CN 202310112244A CN 115773741 A CN115773741 A CN 115773741A
- Authority
- CN
- China
- Prior art keywords
- signal
- gyroscope
- unit
- compensation
- harmonic oscillator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005284 excitation Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 24
- 238000004364 calculation method Methods 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 12
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000003990 capacitor Substances 0.000 claims description 4
- 239000005350 fused silica glass Substances 0.000 claims description 4
- 230000007774 longterm Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010453 quartz Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Gyroscopes (AREA)
Abstract
The invention relates to the technical field of inertial instrument control, and provides a self-compensation control system and a self-compensation control method for a hemispherical resonator gyroscope. S10, turning off a gyroscope, and setting a parameter preset value of an angle tracking unit; s20, starting a gyroscope, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through a signal demodulation unit; s30, resolving and obtaining an angle nonlinear drift error parameter of the harmonic oscillator through an angle tracking unit; s40, obtaining a control signal through a gyro control unit; s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit; and S60, obtaining a compensation control signal through the gyroscope exciting unit, and transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope. According to the invention, drift of standing waves of the hemispherical resonance gyroscope is solved and compensated in real time, so that the performance of the gyroscope is ensured, and the long-term working stability of the gyroscope is improved.
Description
Technical Field
The invention relates to the technical field of inertial instrument control, in particular to a self-compensation control system and a self-compensation control method for a hemispherical resonator gyroscope.
Background
The quartz hemispherical resonator gyroscope is a novel gyroscope and has the advantages of short starting time, low output noise, long service life and good stability.
The hemispherical resonator gyroscope consists of a quartz hemispherical resonator and an electrode base, and is limited by the processing precision of the resonator, the circumferential damping and the resonant frequency of the hemispherical resonator gyroscope resonator have anisotropy, so that the standing wave generates nonlinear drift, and the anisotropy of the resonator changes along with the increase of the service life of the gyroscope and the change of the working environment, thereby influencing the use precision of the gyroscope.
The off-line calibration method is usually used to compensate the nonlinear drift of the standing wave caused by the anisotropy of the harmonic oscillator. Firstly, enabling the harmonic oscillator to start oscillation, recording a curve of the harmonic oscillator standing wave sensitive external input angular velocity in an uncontrolled state, fitting the curve through an upper computer, substituting the obtained parameters into a feedforward compensation loop of a gyroscope, and realizing nonlinear compensation of standing wave drift.
However, if the working condition of the gyroscope changes or the working life increases, the anisotropic parameters of the harmonic oscillator change, and the feedforward compensation model obtained by offline calibration gradually deviates, so that the performance of the gyroscope is reduced, the influences of environmental changes and device aging cannot be overcome, and the requirement of the gyroscope for long-term stable operation cannot be met.
Disclosure of Invention
The present invention has been made to solve at least one of the technical problems occurring in the related art. Therefore, the invention provides a self-compensation control system and a self-compensation control method for a spherical resonance gyroscope, which realize the control of the gyroscope and the nonlinear self-compensation process of standing wave drift, and improve the performance and the long-term working stability of the gyroscope.
The invention provides a self-compensation control method of a hemispherical resonator gyroscope, which comprises the following steps:
s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator as a parameter preset value of an angle tracking unit;
s20, starting the gyroscope, detecting a vibration signal of the harmonic oscillator through the vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through the signal demodulation unit;
s30, tracking the standing wave angular velocity signal through an angle tracking unit according to a recursive least square algorithm, and resolving and obtaining an angle nonlinear drift error parameter of the harmonic oscillator by combining a parameter preset value in the step S10;
s40, receiving the vibration signal through a gyro control unit, and calculating and modulating the vibration signal to obtain a control signal;
s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit;
and S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyroscope exciting unit, budgeting and modulating the control signal and the force application compensation signal to obtain a compensation control signal, and transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope.
According to the self-compensation control method of the hemispherical resonator gyroscope, in the step S10, a gyroscope control unit of the gyroscope is closed, external angular velocity is input to the gyroscope through a rotary table, and the angular nonlinear drift error parameter of the initial state of the gyroscope is fitted.
According to the self-compensation control method of the hemispherical resonator gyroscope provided by the invention, in the step S20, a standing wave angular velocity signal
The calculation formula of (A) is as follows:
wherein ,
standing-wave machines for harmonic oscillator vibrationAn angle;
According to the self-compensation control method of the hemispherical resonator gyroscope provided by the invention, in the step S30, the calculation formula of the recursive least square algorithm is as follows:
wherein ,
is as follows
A time estimate vector;
According to the self-compensation control method of the hemispherical resonator gyroscope provided by the invention, in the step S60, the compensation control signal is converted into the control excitation signal through the gyroscope excitation unit, and the control excitation signal is transmitted to the harmonic oscillator.
The invention also provides a self-compensation control system of the hemispherical resonator gyroscope, which is used for executing the self-compensation control method of the hemispherical resonator gyroscope, and comprises a harmonic oscillator, a vibration detection unit, a signal demodulation unit, an angle tracking unit, a gyroscope control unit, a force application compensation unit and a gyroscope excitation unit, wherein the vibration detection unit is electrically connected with the harmonic oscillator and used for detecting and receiving a vibration signal of the harmonic oscillator;
the signal demodulation unit is electrically connected with the vibration detection unit and is used for extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal;
the angle tracking unit is electrically connected with the signal demodulation unit and used for tracking the standing wave angular velocity signal and resolving to obtain an angle nonlinear drift error parameter of the harmonic oscillator;
the gyro control unit is electrically connected with the vibration detection unit and used for receiving a vibration signal and converting the vibration signal into a control signal;
the force application compensation unit is electrically connected with the angle tracking unit and used for calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter;
the gyro excitation unit is electrically connected with the gyro control unit, the force application compensation unit and the harmonic oscillator respectively, is used for receiving the control signal and the force application compensation signal, converts the control signal into a compensation control signal and transmits the compensation control signal to the harmonic oscillator.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the harmonic oscillator is made of metalized fused quartz.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the vibration detection unit and the gyroscope excitation unit are arranged as electrodes.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the electrode is set as a non-contact electrode, and the electrode and the harmonic oscillator form a capacitor.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the signal demodulation unit, the angle tracking unit, the gyroscope control unit and the force application compensation unit are all integrated on an FPGA chip.
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 self-compensation control system and a method of a hemispherical resonator gyroscope, which comprises the following steps: s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator as a parameter preset value of the angle tracking unit; s20, starting the gyroscope, detecting a vibration signal of the harmonic oscillator through the vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through the signal demodulation unit; s30, tracking the standing wave angular velocity signal through an angle tracking unit according to a recursive least square algorithm, and resolving to obtain an angle nonlinear drift error parameter of the harmonic oscillator by combining the parameter preset value in the step S10; s40, receiving the vibration signal through a gyro control unit, and calculating and modulating the vibration signal to obtain a control signal; s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit; and S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyro excitation unit, performing budget calculation and modulation on the control signal and the force application compensation signal to obtain a compensation control signal, transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope, and calibrating an angle nonlinear drift error parameter of the harmonic oscillator on line to obtain the force application compensation signal in real time, so that the drift of the standing wave of the hemispherical resonance gyroscope is resolved in real time, the performance of the gyroscope is ensured, and the long-term working stability of the 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 self-compensation control method of a hemispherical resonator gyroscope provided by the invention.
Fig. 2 is a schematic structural diagram of a self-compensation control system of a hemispherical resonator gyroscope provided by the invention.
Reference numerals:
1. a harmonic oscillator; 2. an electrode; 3. a signal demodulation unit; 4. an angle tracking unit; 5. a force application compensation unit; 6. a gyro control unit; 7. and a gyro excitation unit.
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, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean 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 self-compensation control method of hemispherical resonator gyroscope of the present invention is described below with reference to fig. 1 to 2, and includes the following steps:
s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator 1, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator 1 as a parameter preset value of the angle tracking unit 4;
s20, starting a gyroscope, detecting a vibration signal of the harmonic oscillator 1 through a vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator 1 according to the vibration signal through a signal demodulation unit 3;
s30, tracking the standing wave angular velocity signal through the angle tracking unit 4 according to a recursive least square algorithm, and resolving and obtaining an angle nonlinear drift error parameter of the harmonic oscillator by combining a parameter preset value in the step S10;
s40, receiving the vibration signal through the gyro control unit 6, and calculating and modulating the vibration signal to obtain a control signal;
s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit 5;
and S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyroscope exciting unit 7, performing budget calculation and modulation on the control signal and the force application compensation signal to obtain a compensation control signal, transmitting the compensation control signal to the harmonic oscillator 1, and completing self-compensation of the gyroscope.
According to the self-compensation control method of the hemispherical resonator gyroscope, in the step S10, the gyroscope control unit 6 of the gyroscope is closed, external angular velocity is input to the gyroscope through the rotary table, and the angular nonlinear drift error parameter of the initial state of the gyroscope is fitted.
According to the self-compensation control method of hemispherical resonator gyroscope provided by the invention, in the step S20, a standing wave angular velocity signal
The calculation formula of (A) is as follows:
wherein ,
is the harmonic oscillator vibration standing wave mechanical angle;
According to the self-compensation control method of the hemispherical resonator gyroscope provided by the invention, in the step S30, the calculation formula of the recursive least square algorithm is as follows:
wherein ,
is as follows
A time estimate vector;
According to the self-compensation control method of the hemispherical resonator gyroscope provided by the invention, in the step S60, the compensation control signal is converted into the control excitation signal through the gyroscope excitation unit, and the control excitation signal is transmitted to the harmonic oscillator.
The following describes the hemispherical resonator gyroscope self-compensation control system provided by the present invention, and the hemispherical resonator gyroscope self-compensation control system described below and the hemispherical resonator gyroscope self-compensation control method described above may be referred to in correspondence with each other.
As shown in fig. 2, the present invention further provides a hemispherical resonator gyroscope self-compensation control system, configured to execute the hemispherical resonator gyroscope self-compensation control method described in any one of the above embodiments, including a resonator 1, a vibration detection unit, a signal demodulation unit 3, an angle tracking unit 4, a gyroscope control unit 6, a force application compensation unit 5, and a gyroscope excitation unit 7, where the vibration detection unit is electrically connected to the resonator and configured to detect a vibration signal of the resonator;
the signal demodulation unit is electrically connected with the vibration detection unit and used for extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal;
the angle tracking unit is electrically connected with the signal demodulation unit and used for tracking the standing wave angular velocity signal and resolving to obtain an angle nonlinear drift error parameter of the harmonic oscillator;
the gyro control unit is electrically connected with the vibration detection unit and used for receiving the vibration signal and converting the vibration signal into a control signal;
the force application compensation unit is electrically connected with the angle tracking unit and used for calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter;
the gyro excitation unit is respectively electrically connected with the gyro control unit, the force application compensation unit and the harmonic oscillator, and is used for receiving the control signal and the force application compensation signal, converting the control signal into a compensation control signal and transmitting the compensation control signal to the harmonic oscillator.
According to the self-compensation control system of the hemispherical resonator gyroscope, the harmonic oscillator is made of metalized fused quartz.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the vibration detection unit and the gyroscope excitation unit are arranged as electrodes.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the electrode is set to be the non-contact electrode 2, and the electrode 2 and the harmonic oscillator 1 form a capacitor.
According to the self-compensation control system of the hemispherical resonator gyroscope provided by the invention, the signal demodulation unit, the angle tracking unit, the gyroscope control unit and the force application compensation unit are integrated on the FPGA chip.
The invention provides a self-compensation control method of a hemispherical resonator gyroscope, which specifically comprises the following steps:
s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator as a parameter preset value of an angle tracking unit; specifically, before the gyroscope is put into use formally, the gyroscope control unit of the gyroscope is closed, an external angular velocity is input to the gyroscope through the rotary table, the output value of the gyroscope, namely the angle nonlinear drift error parameter of the initial state of the gyroscope, is fitted, and the angle nonlinear drift error parameter of the initial state of the harmonic oscillator is used as the parameter preset value of the angle tracking unit.
S20, starting a gyroscope, detecting a vibration signal of the harmonic oscillator through a vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through a signal demodulation unit; specifically, the gyroscope is started to normally operate, and the vibration detection unit detects a vibration signal in the actual operation process of the harmonic oscillator. In this embodiment, the vibration detection unit is an electrode, and as shown in fig. 2, the electrode includes a 0 ° electrode and a 45 ° electrode, and realizes detection of the vibration of the harmonic oscillator.
In the present embodiment, the resonator is made of metalized fused silica, and the electrodes are provided as non-contact electrodes, so that a capacitor is formed between the electrodes and the resonator.
Further, a signal demodulation unit extracts a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal
The calculation formula is:
wherein ,
is the harmonic oscillator vibration standing wave mechanical angle;
Wherein, the standing wave angular velocity signal of the harmonic oscillator 1 is extracted based on the signal demodulation unit 3
As a fitting known quantity, substituting into the above formula, and obtaining by inverse solution
、
、
The relationship between them. It should be noted that, in the following description,
standing mechanical angle for harmonic oscillator vibrationDegree, that is, the offset of the standing wave angle of the harmonic oscillator 1 relative to the mechanical structure of the gyroscope,
the analog quantity of the harmonic oscillator is detected through the electrodes, and then the analog quantity is converted into digital quantity through the analog-to-digital converter, so that the digital quantity can be directly obtained.
S30, tracking the standing wave angular velocity signal through an angle tracking unit according to a recursive least square algorithm, and resolving to obtain an angle nonlinear drift error parameter of the harmonic oscillator by combining the parameter preset value in the step S10; specifically, the calculation formula of the recursive least squares algorithm is:
wherein ,
is a first
A time estimate vector;
By tracking the standing wave angular velocity signal, the difference between the preset parameter value of the angle tracking unit and the standing wave angular velocity signal in the step S10 is effectively reduced, and the authenticity of solving and obtaining the angle nonlinear drift error parameter of the harmonic oscillator is improved.
Further, the one obtained in step S20
、
、
The relation between the two is substituted into the calculation formula of the recursive least square algorithm to realize the pair
、
、
Convergence of initial value to actual value, and tracking the converged
、
、
The relationship between the two is substituted into the calculation formula in step S20, and the angular nonlinear drift error parameter of the actual state of the harmonic oscillator is obtained through calculation.
It should be noted that, in order to ensure the stability of angle tracking and calculation, when the external input angle of the gyroscope is too low (which can be realized by setting a threshold), the tracking of the angle tracking unit is stopped, and the generation of error data is avoided.
It should be further noted that the angle tracking unit may obtain a feedback between the nonlinear drift error parameter of the harmonic oscillator and the standing wave angular velocity signal to improve the accuracy of the calculation.
And S40, receiving the vibration signal through a gyroscope control unit, and calculating and modulating the vibration signal to obtain a control signal. In this embodiment, the vibration signal is processed by the PID controller to obtain the control signal, which is not described in detail herein.
And S50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit. Wherein, a constant force application signal is preset in the force application compensation unit
And further measuring the application of constant force signal to the gyroscope
Standing wave angular velocity signal of time harmonic oscillator
(constant), applying a constant force signal
With measured constant standing wave angular velocity signal
Dividing to obtain gain
Further, combining the calculation formula in step S20, the force application compensation signal is obtained
。
And S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyroscope exciting unit, budgeting and modulating the control signal and the force application compensation signal to obtain a compensation control signal, and transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope. Specifically, in this embodiment, the gyro excitation unit is configured as an electrode, and the compensation control signal is converted into a control excitation signal through the electrode, and the control excitation signal is transmitted to the harmonic oscillator, so as to realize control excitation of the harmonic oscillator, and further complete self-compensation of the control standing wave drift nonlinearity of the gyroscope. The budget and modulation of the control signal and the force application compensation signal means that the control signal and the force application compensation signal are added, and the sum is the compensation control signal.
The gyro excitation unit is used for driving the harmonic oscillator to vibrate.
It should be further noted that, in this embodiment, the signal demodulation unit, the angle tracking unit, the gyro control unit, and the force application compensation unit are all integrated on the FPGA chip.
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 self-compensation control system and a method of a hemispherical resonator gyroscope, which comprises the following steps: s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator as a parameter preset value of an angle tracking unit; s20, starting a gyroscope, detecting a vibration signal of the harmonic oscillator through a vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through a signal demodulation unit; s30, tracking the standing wave angular velocity signal through an angle tracking unit according to a recursive least square algorithm, and resolving and obtaining an angle nonlinear drift error parameter of the harmonic oscillator by combining a parameter preset value in the step S10; s40, receiving the vibration signal through a gyroscope control unit, and calculating and modulating the vibration signal to obtain a control signal; s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit; and S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyro excitation unit, performing budget calculation and modulation on the control signal and the force application compensation signal to obtain a compensation control signal, transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope, and calibrating an angle nonlinear drift error parameter of the harmonic oscillator on line to obtain the force application compensation signal in real time, so that the drift of the standing wave of the hemispherical resonance gyroscope is resolved in real time, the performance of the gyroscope is ensured, and the long-term working stability of the 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 will 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 self-compensation control method of a hemispherical resonator gyroscope is characterized by comprising the following steps:
s10, turning off the gyroscope, calibrating the angle nonlinear drift error parameter of the initial state of the harmonic oscillator, and taking the angle nonlinear drift error parameter of the initial state of the harmonic oscillator as a parameter preset value of the angle tracking unit;
s20, starting the gyroscope, detecting a vibration signal of the harmonic oscillator through the vibration detection unit, and extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal through the signal demodulation unit;
s30, tracking the standing wave angular velocity signal through an angle tracking unit according to a recursive least square algorithm, and resolving to obtain an angle nonlinear drift error parameter of the harmonic oscillator by combining the parameter preset value in the step S10;
s40, receiving the vibration signal through a gyro control unit, and calculating and modulating the vibration signal to obtain a control signal;
s50, calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter through a force application compensation unit;
and S60, receiving the control signal obtained in the step S40 and the force application compensation signal obtained in the step S50 through a gyroscope exciting unit, budgeting and modulating the control signal and the force application compensation signal to obtain a compensation control signal, and transmitting the compensation control signal to the harmonic oscillator to complete self-compensation of the gyroscope.
2. The self-compensation control method of hemispherical resonator gyroscope of claim 1, wherein in step S10, the gyroscope control unit of the gyroscope is turned off, and the external angular velocity is input to the gyroscope through the turntable, so as to fit the angular nonlinear drift error parameter of the initial state of the gyroscope.
3. Self-compensating control method of hemispherical resonator gyroscope according to claim 1The method is characterized in that in the step S20, the standing wave angular velocity signal
The calculation formula of (c) is:
wherein ,
is the harmonic oscillator vibration standing wave mechanical angle;
4. The self-compensation control method of hemispherical resonator gyroscope of claim 3, wherein in step S30, the calculation formula of the recursive least squares algorithm is:
wherein ,
is as follows
A time estimate vector;
5. The self-compensation control method of hemispherical resonator gyroscope of claim 1, wherein in step S60, the compensation control signal is converted into the control excitation signal by the gyroscope excitation unit, and the control excitation signal is transmitted to the resonator.
6. A hemispherical resonator gyroscope self-compensation control system, which is used for executing the hemispherical resonator gyroscope self-compensation control method of any claim 1 to 5, and is characterized by comprising a harmonic oscillator, a vibration detection unit, a signal demodulation unit, an angle tracking unit, a gyroscope control unit, a force application compensation unit and a gyroscope excitation unit, wherein the vibration detection unit is electrically connected with the harmonic oscillator and is used for detecting and receiving a vibration signal of the harmonic oscillator;
the signal demodulation unit is electrically connected with the vibration detection unit and is used for extracting a standing wave angular velocity signal of the harmonic oscillator according to the vibration signal;
the angle tracking unit is electrically connected with the signal demodulation unit and used for tracking the standing wave angular velocity signal and resolving an angle nonlinear drift error parameter of the harmonic oscillator;
the gyroscope control unit is electrically connected with the vibration detection unit and used for receiving a vibration signal and converting the vibration signal into a control signal;
the force application compensation unit is electrically connected with the angle tracking unit and used for calculating and generating a force application compensation signal according to the angle nonlinear drift error parameter;
the gyro excitation unit is respectively electrically connected with the gyro control unit, the force application compensation unit and the harmonic oscillator, and is used for receiving a control signal and a force application compensation signal, converting the control signal into a compensation control signal and transmitting the compensation control signal to the harmonic oscillator.
7. The self-compensating hemispherical resonator gyroscope of claim 6, wherein the harmonic oscillator is a harmonic oscillator made of metalized fused silica.
8. The self-compensating control system of hemispherical resonator gyroscope of claim 6, wherein the vibration detection unit and the gyro excitation unit are both provided as electrodes.
9. The self-compensating control system of hemispherical resonator gyroscope of claim 8, wherein the electrodes are configured as non-contact electrodes, and the electrodes and the resonators form capacitors.
10. The self-compensation control system of hemispherical resonator gyroscope of any of claims 6 to 9, wherein the signal demodulation unit, the angle tracking unit, the gyroscope control unit and the forcing compensation unit are all integrated on an FPGA chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310112244.8A CN115773741B (en) | 2023-02-14 | 2023-02-14 | Hemispherical resonator gyroscope self-compensation control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310112244.8A CN115773741B (en) | 2023-02-14 | 2023-02-14 | Hemispherical resonator gyroscope self-compensation control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115773741A true CN115773741A (en) | 2023-03-10 |
| CN115773741B CN115773741B (en) | 2023-04-21 |
Family
ID=85393701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310112244.8A Active CN115773741B (en) | 2023-02-14 | 2023-02-14 | Hemispherical resonator gyroscope self-compensation control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115773741B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116086449A (en) * | 2023-03-31 | 2023-05-09 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof |
| CN116465384A (en) * | 2023-06-20 | 2023-07-21 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro drift error compensation method based on modal inversion |
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
| CN117490729A (en) * | 2024-01-03 | 2024-02-02 | 四川图林科技有限责任公司 | Orthogonal drift error detection method of hemispherical resonator gyroscope |
| CN117664186A (en) * | 2024-02-01 | 2024-03-08 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonant gyroscope standing wave angle calibration method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113587954A (en) * | 2021-08-06 | 2021-11-02 | 大连海事大学 | Compensation control method and system for uneven damping of full-angle hemispherical resonant gyroscope |
| CN114964195A (en) * | 2022-07-27 | 2022-08-30 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonant gyroscope angular velocity signal temperature compensation method |
| CN115031713A (en) * | 2022-04-07 | 2022-09-09 | 哈尔滨工程大学 | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal |
| CN115127533A (en) * | 2022-08-31 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation |
| CN115388910A (en) * | 2022-07-28 | 2022-11-25 | 西北工业大学 | Hemispherical resonant gyro error self-excitation method and system |
| CN115407657A (en) * | 2022-08-28 | 2022-11-29 | 东南大学 | Intelligent control method of hemispherical resonant gyroscope under input saturation |
-
2023
- 2023-02-14 CN CN202310112244.8A patent/CN115773741B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113587954A (en) * | 2021-08-06 | 2021-11-02 | 大连海事大学 | Compensation control method and system for uneven damping of full-angle hemispherical resonant gyroscope |
| CN115031713A (en) * | 2022-04-07 | 2022-09-09 | 哈尔滨工程大学 | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal |
| CN114964195A (en) * | 2022-07-27 | 2022-08-30 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonant gyroscope angular velocity signal temperature compensation method |
| CN115388910A (en) * | 2022-07-28 | 2022-11-25 | 西北工业大学 | Hemispherical resonant gyro error self-excitation method and system |
| CN115407657A (en) * | 2022-08-28 | 2022-11-29 | 东南大学 | Intelligent control method of hemispherical resonant gyroscope under input saturation |
| CN115127533A (en) * | 2022-08-31 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Error fitting compensation method based on resonance gyroscope vibration mode rotation modulation |
Non-Patent Citations (2)
| Title |
|---|
| "基于模态反转的半球谐振陀螺零位自校准方法" * |
| 刘吉利 等: "半球谐振陀螺零偏温度漂移的自补偿" * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116086449A (en) * | 2023-03-31 | 2023-05-09 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof |
| CN116086449B (en) * | 2023-03-31 | 2023-06-20 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro stabilized platform based on variable structure control and construction method thereof |
| CN116465384A (en) * | 2023-06-20 | 2023-07-21 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro drift error compensation method based on modal inversion |
| CN116465384B (en) * | 2023-06-20 | 2023-08-18 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonator gyro drift error compensation method based on modal inversion |
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
| CN117190997B (en) * | 2023-11-06 | 2024-01-05 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
| CN117490729A (en) * | 2024-01-03 | 2024-02-02 | 四川图林科技有限责任公司 | Orthogonal drift error detection method of hemispherical resonator gyroscope |
| CN117490729B (en) * | 2024-01-03 | 2024-03-19 | 四川图林科技有限责任公司 | Orthogonal drift error detection method of hemispherical resonator gyroscope |
| CN117664186A (en) * | 2024-02-01 | 2024-03-08 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonant gyroscope standing wave angle calibration method |
| CN117664186B (en) * | 2024-02-01 | 2024-05-10 | 中国船舶集团有限公司第七〇七研究所 | Hemispherical resonant gyroscope standing wave angle calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115773741B (en) | 2023-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115773741A (en) | Self-compensation control system and method for hemispherical resonator gyroscope | |
| CN113686356B (en) | Resonant gyro zero bias on-line self-compensation system and method based on RBF network | |
| CN116026299B (en) | Method and system for controlling electrostatic trimming of resonant gyroscope | |
| CN114608612B (en) | Full-angle mode resonant gyro damping uneven drift online compensation system and method | |
| CN114509057B (en) | Full-angle mode control method of resonant gyroscope | |
| CN114440933B (en) | Self-correcting system for rotation modulation scale of resonant gyroscope | |
| CN114543843B (en) | Method for calibrating and correcting channel error of resonant gyroscope | |
| CN113551660B (en) | Method for obtaining vibration mode angle of hemispherical resonance gyroscope when electrode angle has error | |
| CN102519617A (en) | Digitalized detection method for temperature information of micromechanical quartz gyroscope sensitive device | |
| CN114964197B (en) | Resonant gyroscope phase reference self-compensation system and compensation method | |
| CN115420269B (en) | Resonant structure frequency cracking identification and trimming method and platform | |
| CN117872724B (en) | Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope | |
| CN115655252B (en) | Hemispherical resonator gyroscope residual quadrature error identification and suppression method and system | |
| CN114964199B (en) | Electrode gain self-compensation system of hemispherical resonator gyroscope and implementation method | |
| CN115638780B (en) | Resonant gyroscope vibration displacement extraction method, control system and resonant gyroscope | |
| EP2733461B1 (en) | Amplitude control for vibrating resonant sensors | |
| CN117664186B (en) | Hemispherical resonant gyroscope standing wave angle calibration method | |
| Fan et al. | A MEMS rate-integrating gyroscope (RIG) with in-run automatic mode-matching | |
| CN112964242B (en) | System and method for testing mechanical coupling error of quartz tuning fork gyroscope gauge head | |
| Chikovani et al. | Digital rate MEMS vibratory gyroscope modeling, tuning and simulation results | |
| CN113819898A (en) | Error suppression method for orthogonal force feedback closed loop small-frequency-difference quartz gyroscope | |
| CN116046016B (en) | Hemispherical resonator gyro control circuit phase lag compensation method | |
| CN117170234A (en) | Hemispherical resonator gyro robust intelligent control method in full angle mode | |
| CN115031713B (en) | Method for self-calibrating nonlinearity of hemispherical resonant gyroscope detection signal | |
| JP3002663B2 (en) | Method and apparatus for controlling a vibration mode of a vibratory rotation sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |