CN115790566B - Adjusting method for preventing closed loop failure of fiber-optic gyroscope and fiber-optic gyroscope - Google Patents
Adjusting method for preventing closed loop failure of fiber-optic gyroscope and fiber-optic gyroscope Download PDFInfo
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Abstract
The invention relates to the technical field of fiber-optic gyroscopes, in particular to an adjusting method for preventing the closed loop failure of a fiber-optic gyroscope and the fiber-optic gyroscope. When the large angular acceleration is impacted, the gain of the A/D converter is properly reduced, the A/D converter is prevented from being saturated, and closed loop failure is avoided. And when the angular acceleration is small, the gain of the A/D converter is recovered, so that the front-end detection circuit obtains better detection precision. The adjusting method for preventing the closed loop failure of the fiber optic gyroscope improves the error estimation precision and stability of the inertial navigation odometer integrated navigation system.
Description
Technical Field
The invention relates to the technical field of fiber-optic gyroscopes, in particular to an adjusting method for preventing a closed loop of a fiber-optic gyroscope from failure and the fiber-optic gyroscope.
Background
The optical fiber gyro is a new type all solid state inertial instrument, and compared with traditional electromechanical gyro, it has the advantages of no moving parts and wearing parts, low cost, long service life, light weight, small volume, large dynamic range, wide precision application coverage, electromagnetic interference resistance, no drift caused by acceleration, flexible structural design, wide application range, etc.
The front-end detection circuit comprises a light detector, a front-end operational amplifier and an A/D converter. The optical detector converts the optical signals into electric signals, the electric signals are conditioned into analog signals which can be received by the A/D converter after being filtered by a plurality of pre-operational amplifiers, and the A/D converter converts the analog signals into digital signals which can be identified by the FPGA.
In the existing pre-amp detection circuit, the identifiable voltage range of the a/D converter, i.e. the reference voltage selection, is matched to the gain of the pre-amplifier. The reference voltage of the a/D converter is generally fixed relative to the actual conditions of the particular device and circuit. In the existing circuit, after gains of the preamplifiers are matched, better detection precision can be obtained under the low-angular acceleration application environment. However, under the condition of large angular acceleration or impact, the conditioned analog signal may exceed the reference voltage of the a/D converter, so that the a/D converter is saturated, the converted digital signal is truncated, the real signal under the condition of large impact cannot be completely reflected, the precision loss of the fiber-optic gyroscope is caused, and the closed loop failure is caused when the precision loss is serious. The closed loop of the fiber optic gyroscope refers to that after the signal of the fiber optic gyroscope is output, the collected signal is negatively fed back to the Y waveguide of the fiber optic gyroscope again through the fiber optic gyroscope closed loop feedback circuit, so that the Y waveguide is zeroed, the error of the Y waveguide is reduced, the closed loop fails, the error of the Y waveguide is greatly increased, and the output accuracy of the fiber optic gyroscope is reduced.
If the gain of the pre-amplifier is reduced by the pre-operational amplifier, the A/D converter is saturated to cover the analog signal under the condition of large impact, the method can detect the complete digital signal, but the working condition of large impact has very low duty ratio in the real working condition, the gain of the pre-amplifier is reduced, although the A/D converter can be restrained from being saturated, the utilization rate of the bit number of the A/D converter is very low under the low-angle acceleration application environment, the bit number is equivalent to the 12-bit precision, only 11 bits or less are used, the performance of the A/D converter is not fully exerted, and the low-angle acceleration application environment occupying more working conditions is not obtained, but the better detection precision is not obtained.
There is a need for a method of adjusting gain by determining the output trend of an a/D converter to achieve better detection accuracy.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides an adjusting method for preventing the closed loop failure of the fiber-optic gyroscope and the fiber-optic gyroscope.
An adjustment method for preventing a fiber optic gyroscope from failing in a closed loop comprises the following steps:
s1, judging the sampling variation trend of an A/D converter in a demodulation period of an optical fiber gyroscope;
s2, adjusting the gain of the A/D converter according to the sampling change trend of the step S1;
and S3, adjusting the closed loop feedback gain of the fiber optic gyroscope closed loop feedback circuit, wherein the closed loop feedback gain is the inverse of the gain of the A/D converter.
According to the method for judging the sampling variation trend of the fiber-optic gyroscope demodulation period A/D converter in the step S1 provided by the invention, the method comprises the following steps:
s11, judging the positive and negative of the rotating speed of the fiber-optic gyroscope: the sampling point number of the fiber-optic gyroscope demodulation period A/D converter is M, the average value of the M sampling points is calculated to be N by the FPGA, and the current demodulation period value is calculatedIs A i The average value of the sampling points of the A/D converter in the first two demodulation periods is recorded as A in turn i-1 、A i-2 The method comprises the steps that phi is zero rotation speed, when phi is less than N and less than 2 phi, the optical fiber gyroscope is positive rotation speed, step S12 is executed, and when 0 is less than N and less than phi, the optical fiber gyroscope is negative rotation speed, and step S13 is executed;
s12, when A i ＞A i-1 ＞A i-2 When the detected voltage continuously rises and the sampling value of the A/D converter is large and the sampling change trend is positive rotation speed change rising sampling trend when the detected voltage is larger than 1.5 phi and smaller than 2 phi, and when A i ＜ A i-1 ＜A i-2 Or when phi is less than N and less than 1.5 phi, the sampling change trend is a normal sampling trend;
s13, when A i ＜ A i-1 ＜A i-2 When 0.5phi > N > 0, the detection voltage continuously rises and the sampling value of the A/D converter is large, the sampling change trend is a negative rotation speed change rising sampling trend, and when A i ＞A i-1 ＞A i-2 Or phi > N > 0.5phi, the sampling change trend is a normal sampling trend.
According to the sampling variation trend of the step S1 in the step S2 provided by the invention, a gain adjusting module is adopted for adjusting the gain of the A/D converter.
According to the adjusting method of the gain adjusting module provided by the invention, the gain adjusting module comprises the following steps:
when the step S1 judges that the sampling variation trend is a positive rotation speed variation rising sampling trend or a negative rotation speed variation rising sampling trend, the gain of the A/D converter is reduced through the output of the gain adjusting module; and when the step S1 judges that the sampling change trend is a normal sampling trend, executing or recovering the gain of the original A/D converter through the output of the gain adjusting module.
The invention also provides a fiber-optic gyroscope for executing the adjusting method for preventing the fiber-optic gyroscope from losing efficacy, which comprises a front-end detection circuit and a fiber-optic gyroscope closed-loop feedback circuit, wherein the front-end detection circuit comprises a light detector, a front-end operational amplifier, a gain adjusting module and an A/D converter which are sequentially connected in series, the FPGA controller is connected with and controls the gain adjusting module and the fiber-optic gyroscope closed-loop feedback circuit, the sampling change trend is calculated and judged through the FPGA controller, and the gain of the A/D converter is adjusted through the output of the gain adjusting module.
The gain adjusting module is a negative feedback amplifying circuit formed by a multiplexer, wherein the FPGA controller is connected with a control channel of the multiplexer, a selection channel of the multiplexer is connected with multiple gain branches, the gain branches of one path are selected by the FPGA controller, and the gain branches are connected into the negative feedback amplifying circuit.
The gain branch circuit provided by the invention comprises a first gain branch circuit and a second gain branch circuit, wherein the gain of the first gain branch circuit after passing through the negative feedback amplifying circuit is smaller than the gain of the second gain branch circuit after passing through the negative feedback amplifying circuit.
The gain branch provided by the invention consists of a resistor and a capacitor which are connected in parallel.
According to the invention, the resistance of the first gain branch is R1, the capacitance is C1, the resistance of the second gain branch is R2, the capacitance is C2, and the resistance of R2 is larger than the resistance of R1.
According to the invention, the C1 and C2 values are satisfied, and R1×C1=R2×C2.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the fiber optic gyroscope can automatically and dynamically adjust the gain ratio in real time according to the input magnitude of the born angular acceleration, so that the front A/D converter is always in an optimal working state, and the shock resistance and the gyroscope precision of the fiber optic gyroscope are improved. When the large angular acceleration is impacted, the gain of the A/D converter is properly reduced, the A/D converter is prevented from being saturated, and closed loop failure is avoided. And when the angular acceleration is small, the gain of the A/D converter is recovered, so that the front-end detection circuit obtains better detection precision. The adjusting method for preventing the closed loop failure of the fiber optic gyroscope improves the error estimation precision and stability of the inertial navigation odometer integrated navigation system.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a front-end detection circuit according to an embodiment of the present invention.
Fig. 2 is a circuit diagram of a gain adjustment module according to an embodiment of the present invention.
Detailed Description
For the purpose of making 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 apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
The invention provides an adjusting method for preventing a closed loop of an optical fiber gyroscope from failure and the optical fiber gyroscope.
As shown in FIG. 1, the fiber-optic gyroscope comprises a front-end detection circuit and a fiber-optic gyroscope closed-loop feedback circuit, wherein the front-end detection circuit comprises a light detector, a front-end operational amplifier, a gain adjusting module, an A/D converter and an FPGA controller which are sequentially connected in series are connected and control the gain adjusting module and the fiber-optic gyroscope closed-loop feedback circuit, the sampling change trend is calculated and judged through the FPGA controller, and the gain of the A/D converter is output and adjusted through the gain adjusting module.
As shown in FIG. 2, the gain adjusting module comprises a gain operational amplifier, a first gain branch, a second gain branch and a multiplexer. The first gain branch and the second gain branch are formed by connecting a resistor and a capacitor in parallel, and an input signal of the gain adjusting module is an electric signal preprocessed by the optical detector and the front-end operational amplifier. The output analog signal of the gain adjusting module is directly sent to the A/D converter for digital-to-analog conversion.
The gain operational amplifier is set as a negative feedback amplifying circuit, as shown in fig. 2, with gain g=rn/R5, n=1, 2. The different values of R1 and R2 can be configured to different gains. In this example, the resistance of R2 is greater than the resistance of R1, and the gain of the first gain branch after passing through the negative feedback amplifying circuit is smaller than the gain of the second gain branch after passing through the negative feedback amplifying circuit.
Different values of C1 and C2 can be configured into different bandwidths, and when r1×c1=r2×c2, the same bandwidth can be ensured.
The multiplexer is used for connecting the feedback resistor and the output end of the gain operational amplifier to realize a negative feedback circuit. The input of the multiplexer is the common end of the first gain branch and the second gain branch. The output of the multiplexer is the output of the gain op amp. The control pin of the multiplexer is connected with the FPGA controller, and the FPGA controller controls the selection of the access, thereby realizing the control of the gain.
The specific adjusting method is as follows:
when positive impact is recognized and a certain amplitude is exceeded, the gain is reduced, and overflow of the A/D converter is prevented. And when no positive impact exists, the normal gain is recovered, and the sampling precision of the A/D converter is ensured. And when negative impact is identified and exceeds a certain amplitude, the gain is reduced, so that the A/D converter is prevented from overflowing and recovering the normal gain when no negative impact exists, and the sampling precision of the A/D converter is ensured.
The method comprises the following specific steps:
s1, judging sampling variation trend of an A/D converter in a demodulation period of the fiber-optic gyroscope:
firstly, judging the positive and negative of the rotating speed of the fiber-optic gyroscope: the sampling point number of the fiber-optic gyroscope demodulation period A/D converter is M, the average value of the M sampling points calculated by the FPGA is N, and the current demodulation period value is A i The average value of the sampling points of the A/D converter in the first two demodulation periods is recorded as A in turn i-1 、A i-2 Phi is zero rotation speed, wherein the sampling period of M sampling points covers the current demodulation period and the first two demodulation periods.
When phi is less than N and less than 2 phi and the optical fiber gyro is at positive rotation speed, when A i ＞A i-1 ＞A i-2 When the detected voltage continuously rises and the sampling value of the A/D converter is large and the sampling change trend is positive rotation speed change rising sampling trend when the detected voltage is larger than 1.5 phi and smaller than 2 phi, and when A i ＜ A i-1 ＜A i-2 Or when phi is less than N and less than 1.5 phi, the sampling change trend is a normal sampling trend;
when N is more than 0 and less than phi, when the optical fiber gyro is at a negative rotating speed, when A i ＜A i-1 ＜A i-2 When 0.5 phi is more than N is more than 0, the detection voltage continuously rises and the sampling value of the A/D converter is large, and the sampling change trend is negative rotation speed change rising samplingTrend of sample, when A i ＞A i-1 ＞A i-2 Or phi > N > 0.5phi, the sampling change trend is a normal sampling trend.
S2, adjusting the gain of the A/D converter according to the sampling change trend in the step S1:
when the step S1 judges that the sampling variation trend is a positive rotation speed variation rising sampling trend or a negative rotation speed variation rising sampling trend, the gain of the A/D converter is reduced through the output of the gain adjusting module, and a second gain branch is selected through the FPGA controller; and when the step S1 judges that the sampling variation trend is a normal sampling trend, the gain of the original A/D converter is executed or recovered through the output of the gain adjusting module, and the first gain branch is selected through the FPGA controller.
And S3, adjusting the closed loop feedback gain of the fiber optic gyroscope closed loop feedback circuit, wherein the closed loop feedback gain is the inverse of the gain of the A/D converter.
The fiber optic gyroscope can automatically and dynamically adjust the gain ratio in real time according to the input magnitude of the born angular acceleration, so that the front A/D converter is always in an optimal working state, and the shock resistance and the gyroscope precision of the fiber optic gyroscope are improved. When the large angular acceleration is impacted, the gain of the A/D converter is properly reduced, the A/D converter is prevented from being saturated, and closed loop failure is avoided. And when the angular acceleration is small, the gain of the A/D converter is recovered, so that the front-end detection circuit obtains better detection precision. The adjusting method for preventing the closed loop failure of the fiber optic gyroscope improves the error estimation precision and stability of the inertial navigation odometer integrated navigation system.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An adjusting method for preventing the closed loop failure of an optical fiber gyroscope is characterized by comprising the following steps:
s1, judging the sampling variation trend of an A/D converter in a demodulation period of an optical fiber gyroscope;
s2, adjusting the gain of the A/D converter through the sampling change trend of the step S1, and reducing the gain of the A/D converter when the step S1 judges that the sampling change trend is a positive rotation speed change up-sampling trend or a negative rotation speed change up-sampling trend; when the step S1 judges that the sampling variation trend is a normal sampling trend, executing or recovering the gain of the original A/D converter;
s3, adjusting the closed loop feedback gain of the fiber optic gyroscope closed loop feedback circuit, wherein the closed loop feedback gain is the reciprocal of the gain of the A/D converter,
the method for judging the sampling variation trend of the fiber-optic gyroscope demodulation period A/D converter in the step S1 comprises the following steps:
s11, judging the positive and negative of the rotating speed of the fiber-optic gyroscope: the sampling point number of the fiber-optic gyroscope demodulation period A/D converter is M, the average value of the M sampling points calculated by the FPGA is N, and the current demodulation period value is A i The average value of the sampling points of the A/D converter in the first two demodulation periods is recorded as A in turn i-1 、A i-2 The method comprises the steps that phi is zero rotation speed, when phi is less than N and less than 2 phi, the optical fiber gyroscope is positive rotation speed, step S12 is executed, and when 0 is less than N and less than phi, the optical fiber gyroscope is negative rotation speed, and step S13 is executed;
s12, when A i ＞A i-1 ＞A i-2 When the detected voltage continuously rises and the sampling value of the A/D converter is large and the sampling change trend is positive rotation speed change rising sampling trend when the detected voltage is larger than 1.5 phi and smaller than 2 phi, and when A i ＜ A i-1 ＜A i-2 Or when phi is less than N and less than 1.5 phi, the sampling change trend is a normal sampling trend;
s13, when A i ＜ A i-1 ＜A i-2 When 0.5phi > N > 0, the detection voltage continuously rises and the sampling value of the A/D converter is large, the sampling change trend is a negative rotation speed change rising sampling trend, and when A i ＞A i-1 ＞A i-2 Or phi > N > 0.5phi, the sampling change trend is a normal sampling trend.
2. The method for adjusting a/D converter gain of an a/D converter according to claim 1, wherein the step S2 is performed by using a gain adjusting module according to the sampling trend of the step S1.
3. The optical fiber gyro for executing the adjusting method for preventing the closed loop failure of the optical fiber gyro according to claim 1 or 2 is characterized by comprising a front-end detection circuit and an optical fiber gyro closed loop feedback circuit, wherein the front-end detection circuit comprises a light detector, a front-end operational amplifier, a gain adjusting module, an A/D converter, an FPGA controller, the gain adjusting module and the optical fiber gyro closed loop feedback circuit are sequentially connected in series, the sampling change trend is calculated and judged through the FPGA controller, and the gain of the A/D converter is adjusted through the output of the gain adjusting module.
4. The fiber-optic gyroscope of claim 3, wherein the gain adjustment module is a negative feedback amplifying circuit formed by a multiplexer, wherein the FPGA controller is connected to a control path of the multiplexer, a selection path of the multiplexer is connected to multiple gain branches, one of the gain branches is selected by the FPGA controller, and the gain branches are connected to the negative feedback amplifying circuit.
5. The fiber-optic gyroscope of claim 4, wherein the gain branch comprises a first gain branch and a second gain branch, and wherein the gain of the first gain branch after passing through the negative feedback amplifying circuit is smaller than the gain of the second gain branch after passing through the negative feedback amplifying circuit.
6. The fiber optic gyroscope of claim 5, wherein the gain branch is comprised of a resistor and a capacitor in parallel.
7. The fiber optic gyroscope of claim 6, wherein the first gain branch has a resistance R1 and the second gain branch has a resistance R2, the R2 resistance being greater than the R1 resistance.
8. The fiber-optic gyroscope of claim 7, wherein the first gain branch has a capacitance of C1 and the second gain branch has a capacitance of C2, C1, C2, and r1×c1=r2×c2.
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| US4885475A (en) * | 1988-09-09 | 1989-12-05 | United Technologies Corporation | Precision 50 percent duty cycle controller |
| US6204921B1 (en) * | 1998-12-30 | 2001-03-20 | Honeywell, Inc. | System for suppression of relative intensity noise in a fiber optic gyroscope |
| US7633626B2 (en) * | 2006-12-13 | 2009-12-15 | Northrop Grumman Guidance and Electronics Co., Inc. | Fiber optic gyroscope deadband circumvention apparatus and method |
| GB0715254D0 (en) * | 2007-08-03 | 2007-09-12 | Wolfson Ltd | Amplifier circuit |
| US7859678B2 (en) * | 2008-12-09 | 2010-12-28 | Northrop Grumman Guidance And Electronic Co., Inc. | Automatic gain control for fiber optic gyroscope deterministic control loops |
| CN101957399B (en) * | 2010-09-21 | 2014-04-30 | 中国电力科学研究院 | Digital closed loop type optical fiber current sensor |
| CN104393852A (en) * | 2014-12-02 | 2015-03-04 | 中国空空导弹研究院 | Target signal automatic gain adjusting system and method |
| CN109443338B (en) * | 2018-12-04 | 2022-06-17 | 河北汉光重工有限责任公司 | Closed-loop control system of small-sized fiber-optic gyroscope |
| CN111352097A (en) * | 2018-12-21 | 2020-06-30 | 余姚舜宇智能光学技术有限公司 | Laser Doppler echo signal processing method for laser radar and circuit system thereof |
| CN111077361A (en) * | 2020-01-14 | 2020-04-28 | 西安深瞳智控技术有限公司 | Detection apparatus suitable for micro current on laser guide head |
| CN113074712B (en) * | 2021-03-23 | 2023-01-24 | 安徽华驰动能科技有限公司 | Optical fiber gyroscope loop gain optimization method |
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