CN116481563A - Rate integration gyro measurement and control method and device based on virtual rotation of detection shaft - Google Patents
Rate integration gyro measurement and control method and device based on virtual rotation of detection shaft Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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- 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
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Abstract
The application belongs to the technical field of gyroscopes, and relates to a rate integration gyro measurement and control method and device based on virtual rotation of a detection shaft. The method comprises the following steps: acquiring two original carrier signals, and acquiring two paths of modulated carrier signals according to the rotation superposition angle of the two original carrier signals; respectively applying the two paths of modulated carrier signals to two orthogonal axes of the gyroscope, and collecting vibration signals of the gyroscope to obtain original representation of the vibration signals; demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable; and constructing a control variable according to the reference variable, and controlling the carrier rotation superposition angle of the gyroscope in a normal resonance state according to the control variable to obtain the output angle of the gyroscope. The method realizes tracking detection of the gyro angle in the rate integration mode, and has the advantages of compatibility with the rate gyro and the rate integration gyro.
Description
Technical Field
The application relates to the technical field of gyroscopes, in particular to a rate integration gyro measurement and control method and device based on virtual rotation of a detection shaft.
Background
The gyroscope is an important inertial sensor for measuring the angle or angular velocity, is a core device in the fields of motion control, attitude monitoring, navigation guidance and the like, and has the performance of directly determining the precision of an inertial navigation and attitude control system and important functions in the fields of industry and national defense application.
The vibrating gyroscope based on the Golgi force effect mainly comprises a rate gyroscope and a rate integration gyroscope.
The rate gyro is a gyro for measuring angular velocity, and has the advantages of high measurement precision, small noise and the like after force balance control, but the bandwidth, the measurement range and the scale factor stability of the rate gyro are difficult to reach higher level.
The rate integral gyro is a gyro for directly outputting an angle, has the advantages of high bandwidth, large measuring range, good scale factor stability and the like, and has measurement accuracy and noise performance which are difficult to reach the level of the rate gyro.
Disclosure of Invention
Based on the above, it is necessary to provide a method and a device for measuring and controlling a rate integration gyro based on virtual rotation of a detection shaft, so as to realize tracking and detection of gyro angle in a rate integration mode, and be compatible with the advantages of the rate gyro and the rate integration gyro.
A rate integration gyro measurement and control method based on virtual rotation of a detection shaft comprises the following steps:
acquiring two original carrier signals, and acquiring two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals;
respectively applying two paths of modulated carrier signals to two orthogonal axes of a gyroscope, and collecting vibration signals of the gyroscope to obtain original representation of the vibration signals;
demodulating the vibration signal according to a vibration equation of a gyroscope, the original carrier signal, the modulated carrier signal and an original representation of the vibration signal to obtain a reference variable;
constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonance state according to the control variable;
and controlling the carrier rotation superposition angle of the gyroscope in the normal resonance state according to the control variable, so that the virtual rotation angle of the detection shaft tracks the gyro vibration mode angle in real time, and the output angle of the gyroscope is obtained.
In one embodiment, demodulating the vibration signal according to a vibration equation of the gyroscope, the raw carrier signal, the modulated carrier signal, and the raw representation of the vibration signal, to obtain the reference variable comprises:
abstracting a gyroscope into a second-order resonance system, establishing a vibration equation of the gyroscope, and obtaining a general solution of the vibration equation;
obtaining a demodulation representation of the vibration signal according to the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal;
and demodulating the vibration signal according to the demodulation representation of the vibration signal and the original carrier signal to obtain a reference variable.
In one embodiment, acquiring two original carrier signals includes:
two sinusoidal signals or square wave signals with different frequencies and identical amplitudes are obtained and used as original carrier signals.
In one embodiment, obtaining two original carrier signals and obtaining two paths of modulated carrier signals according to a rotation superposition angle of the original carrier signals includes:
wherein E is 1 And E is 2 For two paths of modulated carrier signals, E a And E is b For two original carrier signals, ε is the rotation superposition angle of the original carrier signals.
In one embodiment, applying two modulated carrier signals to two orthogonal axes of a gyroscope, respectively, and collecting vibration signals of the gyroscope to obtain an original representation of the vibration signals, including:
where V is the original representation of the vibration signal.
In one embodiment, abstracting the gyroscope into a second order resonant system, establishing a vibration equation of the gyroscope, and obtaining a general solution of the vibration equation, including:
abstracting a gyroscope into a second-order resonance system, and establishing a vibration equation of the gyroscope:
obtaining a general solution of the vibration equation:
wherein x is the displacement of the harmonic oscillator of the gyroscope in the x direction, y is the displacement of the harmonic oscillator of the gyroscope in the y direction, ω is the resonant frequency of the harmonic oscillator of the gyroscope, t is time, a is the long axis of the elliptical locus of the gyroscope, θ is the included angle of the elliptical locus of the gyroscope relative to the coordinate system,the phase of the motion of the harmonic oscillator of the gyroscope along the elliptical track is represented by q, and the short axis of the elliptical track of the gyroscope is represented by q.
In one embodiment, deriving a demodulated representation of the vibration signal from a general solution of the vibration equation, the modulated carrier signal, and an original representation of the vibration signal, comprises:
where V' is a demodulated representation of the vibration signal.
In one embodiment, demodulating the vibration signal according to the demodulated representation of the vibration signal and the raw carrier signal to obtain a reference variable includes:
wherein, c x 、s x 、c y 、s y As a reference variable, phi is the reference phase.
In one embodiment, constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonance state according to the control variable comprises:
E＝c x 2 +s x 2 +c y 2 +s y 2
Q＝2(c x s y -c y s x )
L＝2(c x s x +c y s y )
wherein E, Q, L is a control variable.
According to the control variable, controlling the carrier rotation superposition angle of the gyroscope in the normal resonance state, so that the detection shaft virtual rotation angle tracks the gyro vibration mode angle in real time, and obtaining the output angle of the gyroscope comprises the following steps:
according to the control variable E, Q, L, the carrier rotation superposition angle epsilon is controlled to track theta so as to lead the reference variable c to be y At 0, the output angle of the gyroscope is ε.
A rate integration gyro measurement and control device based on virtual rotation of a detection shaft, comprising:
the gyro structure is used for sensing external angular velocity input by utilizing the God's precession effect, is excited in a resonance state when the gyro system works normally, and converts the angular velocity input into a detectable vibration signal;
the detection shaft virtual rotation module is used for acquiring two original carrier signals and obtaining two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals;
the signal acquisition module is used for respectively applying the two paths of modulated carrier signals to two orthogonal axes of the gyroscope and acquiring vibration signals of the gyroscope to obtain an original representation of the vibration signals;
the signal demodulation module is used for demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable;
the vibration control module is used for constructing a control variable according to the reference variable and controlling the gyroscope to be in a normal resonance state according to the control variable;
the detection shaft virtual rotation tracking module is used for controlling the carrier rotation superposition angle of the gyroscope in a normal resonance state according to the control variable to obtain the output angle of the gyroscope;
one end of the gyroscope structure is connected with one end of the signal acquisition module, and the other end of the gyroscope structure is connected with one end of the detection shaft virtual rotation module; the other end of the signal acquisition module is connected with the other end of the gyro structure through the signal demodulation module and the vibration control module in sequence; the other end of the signal demodulation module is connected with the other end of the detection shaft virtual rotation tracking module through the detection shaft virtual rotation tracking module.
According to the method and the device for measuring and controlling the rate integration gyro based on the virtual rotation of the detection shaft, the virtual rotation of the detection shaft is realized by applying the rotation superposition of the two paths of carrier waves, the rotation superposition of the carrier waves is enabled to track the gyro vibration mode angle in real time, at the moment, the output angle of the gyro is the virtual rotation angle of the detection shaft, and the tracking detection of the gyro angle in the rate integration mode is realized. The method has the advantages of high bandwidth, large measuring range and good scale factor stability of the rate integration gyro, reduces the noise of the gyro, improves the measuring precision and is compatible with the rate gyro and the rate integration gyro through the closed-loop control of the detection axis tracking.
Drawings
FIG. 1 is a flow chart of a method for rate-integrating gyro measurement and control based on virtual rotation of a detection axis in one embodiment;
FIG. 2 is a schematic diagram of the physical principle of detecting an axis tracking mode in one embodiment;
FIG. 3 is a schematic view of an elliptical trajectory of gyroscopic vibrations in one embodiment;
FIG. 4 is a schematic diagram of a detection axis tracking mode in one embodiment;
FIG. 5 is a block diagram of a rate integration gyro measurement and control device based on detecting shaft virtual rotation in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is correspondingly changed.
In addition, descriptions such as those related to "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality of sets" means at least two sets, e.g., two sets, three sets, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; the device can be mechanically connected, electrically connected, physically connected or wirelessly connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In addition, the technical solutions of the embodiments of the present application may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered to be absent, and is not within the scope of protection claimed in the present application.
The application provides a rate integration gyro measurement and control method based on virtual rotation of a detection shaft, as shown in fig. 1, in one embodiment, the method comprises the following steps:
step 102, obtaining two original carrier signals, and obtaining two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals.
Specifically:
two sinusoidal signals or square wave signals with different frequencies and identical amplitudes are obtained and used as original carrier signals. It should be noted that the two primary carrier signals have a larger frequency difference and a value far higher than the operating frequency of the gyroscope, e.g. E a ＝500K＝0.5MHz，E b =1000k=1 MHz, the resonance frequency of the gyroscope being 8000Hz.
According to the rotation superposition angle of the original carrier signals, two paths of modulated carrier signals are obtained:
wherein E is 1 And E is 2 For two paths of modulated carrier signals, E a And E is b Epsilon is the rotation superposition angle of the original carrier signals, namely the carrier rotation superposition angle, for the two original carrier signals.
In this step, the detection signal of the gyro is obtained by applying two carrier signals E on orthogonal axes x, y 1 、E 2 Modulation is performed.
And 104, respectively applying the two paths of modulated carrier signals to two orthogonal axes of the gyroscope, and collecting vibration signals of the gyroscope to obtain an original representation of the vibration signals.
Specifically:
collecting vibration signals of a gyroscope, wherein the vibration signals comprise superposition of two orthogonal axis vibration signals of the gyroscope:
where V is the original representation of the vibration signal.
And 106, demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable.
Specifically:
abstracting the gyroscope into a second-order resonance system, establishing a vibration equation of the gyroscope, and obtaining a general solution of the vibration equation; according to the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal, obtaining the demodulation representation of the vibration signal; and demodulating the vibration signal according to the demodulation representation of the vibration signal and the original carrier signal to obtain a reference variable.
More specifically:
abstracting the gyroscope into a second-order resonance system, ignoring uneven rigidity and damping, and establishing a vibration equation of the gyroscope under the condition that external control force is not applied:
a general solution representation of the vibration equation is obtained:
wherein x is the displacement of the harmonic oscillator of the gyroscope in the x direction, y is the displacement of the harmonic oscillator of the gyroscope in the y direction, ω is the resonant frequency of the harmonic oscillator of the gyroscope (the two directions are symmetrical and the resonant frequencies are identical), t is time, a is the long axis of the elliptical locus of the gyroscope, θ is the included angle of the long axis of the elliptical locus of the gyroscope relative to the coordinate system, namely the gyro vibration mode angle,the phase of the motion of the harmonic oscillator of the gyroscope along the elliptical track, namely the phase of the detected displacement, and q is the short axis of the elliptical track of the gyroscope.
Substituting the formulas (1) and (3) into the formula (2) according to the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal to obtain the demodulation representation of the vibration signal:
where V' is a demodulated representation of the vibration signal.
Demodulating the vibration signal according to the demodulation representation of the vibration signal, the original carrier signal, an in-phase reference signal (a signal in-phase with a sinusoidal signal vibrated by the gyroscope) of the gyroscope resonance signal, and a quadrature reference signal (a signal orthogonal to the sinusoidal signal vibrated by the gyroscope), so as to obtain a reference variable:
wherein, c x 、s x 、c y 、s y As a reference variable, phi is the reference phase, i.e. the drive phase.
And step 108, constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonance state according to the control variable.
Specifically:
E＝c x 2 +s x 2 +c y 2 +s y 2
Q＝2(c x s y -c y s x )
L＝2(c x s x +c y s y )
wherein E, Q, L is a control variable.
In this step, vibration control is performed to control the gyroscope to be in a normal resonance state, including: the energy control loop controls the amplitude of the driving signal by using the controller, controls E to be a constant value, and ensures that the gyroscope vibrates at a constant amplitude; the quadrature control loop utilizes the controller to control the quadrature force, suppresses Q to 0, and ensures that the vibration track of the gyroscope is a straight line; the resonance control loop uses the controller to control L to 0, so as to ensure that the gyro is in a resonance state.
Step 110, according to the control variable, controlling the carrier rotation superposition angle of the gyroscope in the normal resonance state, so that the virtual rotation angle of the detection shaft tracks the gyro vibration mode angle in real time, and the output angle of the gyroscope is obtained.
Specifically:
according to the control variable E, Q, L, the controller is used for controlling the magnitude of the virtual rotation angle epsilon of the detection shaft, namely controlling the carrier rotation superposition angle epsilon of the gyroscope in a normal resonance state to track theta, so that the reference variable cy is 0, and epsilon=theta at the moment, the real-time superposition of the detection shaft and the vibration mode angle theta of the gyroscope is realized, and the virtual rotation angle epsilon of the detection shaft, namely the output angle of the gyroscope, is realized.
It is necessary to explain that: epsilon represents both the carrier rotation superposition angle and the virtual rotation angle of the detection shaft, and is realized by the rotation superposition of the carrier in terms of method, and the virtual rotation of the detection shaft is realized in terms of effect.
In the present embodiment, as shown in fig. 2, the detection axis tracking mode detects the input angle using the precession effect at the time of gyro vibration. The mode shape of the resonant structure is a composite of two modes, mode X and mode Y. The vibration mode is at the starting point position at the initial moment, and the position of the vibration mode is kept unchanged. When the gyro rotates, the vibration mode moves relative to the shell under the action of the coriolis force. When the shell rotates anticlockwise around the central shaftWhen the vibration mode is rotated by an angle theta relative to the resonant structure, the magnitude of the precession angle theta and the magnitude of the input angle are +.>Proportional and +.>(kappa is the scaling factor, and kappa)<1)。
The gyro system is abstracted into a second-order resonance system, and a vibration equation of the gyro is established, wherein the vibration equation is a static elliptic track, as shown in fig. 3. F (F) a And F q As the driving force, a driving force is applied,
the normal rate integration mode obtains the value of tan theta by measuring the ratio of the magnitudes of the long axes (the ratio of the magnitude components of the long axes in the x and y axes), thereby solving for the theta angle. Thus, the measured noise of the amplitude component of the long axis in both the x and y axes will directly affect the gyro output angle noise.
In the present application, F as shown in FIG. 4 a And F q For driving force, x 'and y' are virtual detection axes (after carrier superposition, virtual detection axes are generated for tracking θ, angle output is not calculated by the ratio of amplitude values, but rotation superposition angle of carrier), and θ angle is tracked by controlling virtual rotation angle epsilon of detection axes, so that c y And 0, i.e., epsilon=θ, where epsilon is the output of the gyro.
During normal operation:
wherein a is x A is the component of the long axis in the x direction y The noise level is calculated by measuring the component of the long axis in the y direction through a measuring system, and is dependent on the measuring noise. However, since c is only satisfied when the tracking condition ε=θ, no matter how much the measurement noise of a is y Is 0, i.e. error of controller in virtual rotation tracking moduleThe difference input is only 0 and therefore the measurement noise is insensitive to angular output noise.
According to the rate integration gyro measurement and control method based on the virtual rotation of the detection shaft, the virtual rotation of the detection shaft is realized by applying two paths of rotation superimposed carrier signals (namely, the rotation superimposed of two paths of different carrier signals) on two orthogonal axes of the gyro to carry out modulation and demodulation, the detection shaft is enabled to track the gyro vibration mode angle in real time, and the rotation superimposed angle epsilon of the two paths of carrier signals is controlled by the controller, so that epsilon=theta, namely c y And the angle of the gyro output is 0, namely the virtual rotation angle of the detection shaft, so that closed-loop tracking detection of the gyro angle in a rate integration mode is realized. The method has the advantages of high bandwidth, large measuring range and good scale factor stability of the rate integration mode gyroscope, and the advantages of reducing the noise of the gyroscope, improving the measuring precision and being compatible with the rate gyroscope and the rate integration gyroscope are realized by the closed-loop control of the tracking of the detection shaft.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
The application also provides a rate integration gyro measurement and control device based on virtual rotation of a detection shaft, as shown in fig. 5, in one embodiment, the device comprises: the device comprises a gyroscope structure, a detection shaft virtual rotation module, a signal acquisition module, a signal demodulation module, a vibration control module and a detection shaft virtual rotation tracking module, wherein:
the gyro structure is used for sensing external angular velocity input by utilizing the God's precession effect, is excited in a resonance state when the gyro system works normally, and converts the angular velocity input into a detectable vibration signal;
the detection shaft virtual rotation module is used for acquiring two original carrier signals and obtaining two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals;
the signal acquisition module is used for respectively applying the two paths of modulated carrier signals to two orthogonal axes of the gyroscope and acquiring vibration signals of the gyroscope to obtain an original representation of the vibration signals;
the signal demodulation module is used for demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable;
the vibration control module is used for constructing a control variable according to the reference variable and controlling the gyroscope to be in a normal resonance state according to the control variable;
the detection shaft virtual rotation tracking module is used for controlling the carrier rotation superposition angle of the gyroscope in a normal resonance state according to the control variable to obtain the output angle of the gyroscope;
one end of the gyroscope structure is connected with one end of the signal acquisition module, and the other end of the gyroscope structure is connected with one end of the detection shaft virtual rotation module; the other end of the signal acquisition module is connected with the other end of the gyro structure through the signal demodulation module and the vibration control module in sequence; the other end of the signal demodulation module is also connected with the other end of the detection shaft virtual rotation tracking module through the detection shaft virtual rotation tracking module.
The specific limitation of the rate integration gyro measurement and control device based on the virtual rotation of the detection shaft can be referred to as the limitation of the rate integration gyro measurement and control method based on the virtual rotation of the detection shaft, and the description is omitted here. Each of the modules in the above-described apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (11)
1. The rate integration gyro measurement and control method based on the virtual rotation of the detection shaft is characterized by comprising the following steps of:
acquiring two original carrier signals, and acquiring two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals;
respectively applying two paths of modulated carrier signals to two orthogonal axes of a gyroscope, and collecting vibration signals of the gyroscope to obtain original representation of the vibration signals;
demodulating the vibration signal according to a vibration equation of a gyroscope, the original carrier signal, the modulated carrier signal and an original representation of the vibration signal to obtain a reference variable;
constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonance state according to the control variable;
and controlling the carrier rotation superposition angle of the gyroscope in the normal resonance state according to the control variable, so that the virtual rotation angle of the detection shaft tracks the gyro vibration mode angle in real time, and the output angle of the gyroscope is obtained.
2. The method of claim 1, wherein demodulating the vibration signal according to a vibration equation of a gyroscope, the raw carrier signal, the modulated carrier signal, and the raw representation of the vibration signal to obtain a reference variable comprises:
abstracting a gyroscope into a second-order resonance system, establishing a vibration equation of the gyroscope, and obtaining a general solution of the vibration equation;
obtaining a demodulation representation of the vibration signal according to the general solution of the vibration equation, the modulated carrier signal and the original representation of the vibration signal;
and demodulating the vibration signal according to the demodulation representation of the vibration signal and the original carrier signal to obtain a reference variable.
3. The method for measuring and controlling a rate integration gyro based on virtual rotation of a detection shaft according to claim 2, wherein the step of obtaining two original carrier signals comprises the steps of:
two sinusoidal signals or square wave signals with different frequencies and identical amplitudes are obtained and used as original carrier signals.
4. The method for measuring and controlling a rate integration gyro based on virtual rotation of a detection axis according to claim 2 or 3, wherein obtaining two original carrier signals and obtaining two paths of modulated carrier signals according to a rotation superposition angle of the original carrier signals comprises:
wherein E is 1 And E is 2 For two paths of modulated carrier signals, E a And E is b For two original carrier signals, ε is the rotation superposition angle of the original carrier signals.
5. The method for measuring and controlling a rate-integrated gyroscope based on virtual rotation of a detection axis according to claim 4, wherein the steps of applying two paths of modulated carrier signals to two orthogonal axes of a gyroscope, respectively, and collecting vibration signals of the gyroscope to obtain an original representation of the vibration signals, include:
where V is the original representation of the vibration signal.
6. The method for measuring and controlling a rate integrated gyro based on virtual rotation of a detection shaft according to claim 5, wherein abstracting the gyro into a second-order resonance system, establishing a vibration equation of the gyro, and obtaining a general solution of the vibration equation, comprises:
abstracting a gyroscope into a second-order resonance system, and establishing a vibration equation of the gyroscope:
obtaining a general solution of the vibration equation:
wherein x is the displacement of the harmonic oscillator of the gyroscope in the x direction, y is the displacement of the harmonic oscillator of the gyroscope in the y direction, ω is the resonant frequency of the harmonic oscillator of the gyroscope, t is time, a is the long axis of the elliptical locus of the gyroscope, θ is the included angle of the elliptical locus of the gyroscope relative to the coordinate system,the phase of the motion of the harmonic oscillator of the gyroscope along the elliptical track is represented by q, and the short axis of the elliptical track of the gyroscope is represented by q.
7. The method of measuring and controlling a rate-integrating gyro based on virtual rotation of a detection axis of claim 6, wherein obtaining a demodulated representation of the vibration signal from a general solution of the vibration equation, the modulated carrier signal, and an original representation of the vibration signal comprises:
where V' is a demodulated representation of the vibration signal.
8. The method for measuring and controlling a rate integration gyro based on virtual rotation of a detection shaft according to claim 7, wherein demodulating the vibration signal according to the demodulated representation of the vibration signal and the raw carrier signal to obtain the reference variable comprises:
wherein, c x 、s x 、c y 、s y As a reference variable, phi is the reference phase.
9. The method for measuring and controlling a rate-integrating gyroscope based on virtual rotation of a detection axis according to claim 8, wherein constructing a control variable according to the reference variable, and controlling the gyroscope to be in a normal resonance state according to the control variable, comprises:
E＝c x 2 +s x 2 +c y 2 +s y 2
Q＝2(c x s y -c y s x )
L＝2(c x s x +c y s y )
wherein E, Q, L is a control variable.
10. The method for measuring and controlling a rate integration gyro based on virtual rotation of a detection shaft according to claim 8, wherein according to the control variable, controlling a carrier rotation superposition angle of the gyro in a normal resonance state so that the virtual rotation angle of the detection shaft tracks the gyro vibration mode angle in real time to obtain an output angle of the gyro, comprises:
according to the control variable E, Q, L, the carrier rotation superposition angle epsilon is controlled to track theta so as to lead the reference variable c to be y At 0, the output angle of the gyroscope is ε.
11. The utility model provides a rate integration top measurement and control device based on virtual rotation of detection axis which characterized in that includes:
the gyro structure is used for sensing external angular velocity input by utilizing the God's precession effect, is excited in a resonance state when the gyro system works normally, and converts the angular velocity input into a detectable vibration signal;
the detection shaft virtual rotation module is used for acquiring two original carrier signals and obtaining two paths of modulated carrier signals according to the rotation superposition angle of the original carrier signals;
the signal acquisition module is used for respectively applying the two paths of modulated carrier signals to two orthogonal axes of the gyroscope and acquiring vibration signals of the gyroscope to obtain an original representation of the vibration signals;
the signal demodulation module is used for demodulating the vibration signal according to the vibration equation of the gyroscope, the original carrier signal, the modulated carrier signal and the original representation of the vibration signal to obtain a reference variable;
the vibration control module is used for constructing a control variable according to the reference variable and controlling the gyroscope to be in a normal resonance state according to the control variable;
the detection shaft virtual rotation tracking module is used for controlling the carrier rotation superposition angle of the gyroscope in a normal resonance state according to the control variable to obtain the output angle of the gyroscope;
one end of the gyroscope structure is connected with one end of the signal acquisition module, and the other end of the gyroscope structure is connected with one end of the detection shaft virtual rotation module; the other end of the signal acquisition module is connected with the other end of the gyro structure through the signal demodulation module and the vibration control module in sequence; the other end of the signal demodulation module is connected with the other end of the detection shaft virtual rotation tracking module through the detection shaft virtual rotation tracking module.
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| CN202310175134.6A CN116481563A (en) | 2023-02-27 | 2023-02-27 | Rate integration gyro measurement and control method and device based on virtual rotation of detection shaft |
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