CN116576886B - Hemispherical resonator gyro damping non-uniformity identification method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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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Abstract
A hemispherical resonator gyro damping non-uniformity identification method belongs to the technical field of inertia. The invention solves the problem of poor gyro output performance caused by harmonic oscillator standing wave drift. The main technical scheme adopted by the invention is as follows: step 1, fixing a hemispherical resonator gyro on a speed turntable, wherein a sensitive axis of the hemispherical resonator gyro is parallel to a rotary axis of the turntable; step 2, driving the hemispherical resonant gyroscope to start vibrating, and maintaining a given amplitude; step 3, driving the turntable to rotate; step 4, cutting off a hemispherical resonant gyro driving loop after the rotating speed of the turntable is stable; step 5, collecting hemispherical resonance gyro vibration signals by adopting an upper computer; step 6, resolving harmonic oscillator energy E; step 7, identifying azimuth angles of damping shafts and damping uneven amplitude values; and 8, compensating harmonic oscillator standing wave drift. The method can be applied to the identification of the damping non-uniformity of the hemispherical resonator gyroscope.
Description
Technical Field
The invention belongs to the technical field of inertia, and particularly relates to a hemispherical resonator gyro damping non-uniformity identification method.
Background
The hemispherical resonant gyroscope works in the principle that when an external angle input exists, the harmonic oscillator vibration standing wave produces precession under the action of coriolis force, and the precession angle is in direct proportion to the input angle. And the harmonic oscillator circumferential damping distribution is uneven due to the limitation of the harmonic oscillator processing technology, and the damping is distributed in a sine way along the harmonic oscillator circumferential direction. The harmonic oscillator standing wave can drift towards the damping shaft, so that the zero-bias stability of the hemispherical resonator gyroscope is affected.
In summary, since the damping distribution is uneven and the harmonic standing wave drift is caused, and the harmonic standing wave drift is caused to have poor gyro output performance, it is necessary to provide a method for reducing gyro drift.
Disclosure of Invention
The invention aims to solve the problem of poor gyro output performance caused by harmonic oscillator standing wave drift, and provides a hemispherical resonator gyro damping non-uniform identification method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a hemispherical resonator gyro damping non-uniformity identification method specifically comprises the following steps:
step 1, fixing a hemispherical resonator gyro on a speed turntable, wherein a sensitive axis of the hemispherical resonator gyro is parallel to a rotary axis of the turntable;
step 2, driving the hemispherical resonant gyroscope to start vibrating, and maintaining a given amplitude;
step 3, driving the turntable to rotate;
step 4, cutting off a hemispherical resonant gyro driving loop after the rotating speed of the turntable is stable;
step 5, collecting hemispherical resonant gyro vibration signals C by adopting an upper computer x 、S x 、C y And S is y ；
Step 6, according to the vibration signal C x 、S x 、C y And S is y Resolving harmonic oscillator energy E;
step 7, fitting the obtained harmonic oscillator energy E through a nonlinear least square method according to a harmonic oscillator free attenuation model to obtain an estimated value of the damping axis azimuth angleResistance and method for manufacturing sameEstimated value of Ni-inhomogeneity amplitude +.>
And 8, compensating the standing wave drift of the harmonic oscillator according to the estimated value of the azimuth angle of the damping shaft and the estimated value of the damping non-uniform amplitude.
Further, in the step 3, the turntable is driven to rotate at a speed of 500 °/s.
Further, the vibration signal C x 、S x 、C y And S is y The method comprises the following steps of:
wherein a represents the main wave amplitude of the harmonic oscillator, q represents the orthogonal wave amplitude, delta represents the phase difference between the reference signal and the actual vibration signal, and theta represents the azimuth angle of the standing wave of the harmonic oscillator.
Further, in the step 6, according to the vibration signal C x 、S x 、C y And S is y Resolving harmonic oscillator energy E; the method comprises the following steps:
E＝C x 2 +S x 2 +C y 2 +S y 2
further, the harmonic oscillator free-decay model is:
wherein,is the first derivative of E, τ is the time constant, θ τ For damping axis azimuth, delta (τ -1 ) To damp non-uniform amplitude.
Further, an estimate of the damping axis azimuth angleEstimated value of damping non-uniformity amplitudeThe identification process of (2) is as follows:
step S1, setting an initial value theta of a damping axis azimuth angle τ (0) =0, the initial value Δ (τ -1 )(0)＝0；
Step S2, calculating a value function of the current k moment:
wherein,for collecting the actual detection value of harmonic oscillator energy at the current k moment after signal processing, the method comprises the steps of +.>The theoretical value of the harmonic oscillator energy at the current k moment is calculated according to the harmonic oscillator free attenuation model;
s3, calculating a jacobian matrix J of the current k moment of the value function r (k)：
S4, calculating the increment of the azimuth angle of the damping shaft and the uneven damping amplitude at the current k moment:
wherein, the upper corner mark T represents the transposition of the matrix, the upper corner mark-1 represents the inverse of the matrix, delta theta τ (k) Is the increment of the damping axis azimuth angle at the current k moment, delta [ delta (tau) -1 )](k) Is the increment of the damping non-uniform amplitude at the current k moment;
step S5, updating the azimuth angle of the damping shaft and the uneven damping amplitude at the next moment:
wherein θ τ (k+1) is the damping axis azimuth angle at time k+1, Δ (τ) -1 ) (k+1) is the damping non-uniform amplitude at time k+1;
and S6, judging whether data are input, if so, making k=k+1, and jumping to the step S2, otherwise, completing fitting.
The beneficial effects of the invention are as follows:
the invention provides a hemispherical resonance gyro damping non-uniformity identification method, which can simultaneously identify the azimuth angle of a damping shaft and the damping non-uniformity amplitude by adopting a harmonic oscillator free attenuation model, then compensate according to the azimuth angle of the damping shaft and the damping non-uniformity amplitude in a control loop, and can reduce harmonic oscillator standing wave drift, thereby improving gyro output performance.
Drawings
FIG. 1 is a flow chart of a method for identifying damping non-uniformity of a hemispherical resonator gyroscope.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings by way of specific embodiments. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the invention. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present invention.
Detailed description of the inventionin the first embodiment, this embodiment will be described with reference to fig. 1. The method for identifying damping unevenness of hemispherical resonator gyroscopes specifically comprises the following steps:
step 1, fixing a hemispherical resonator gyro on a speed turntable, wherein a sensitive axis of the hemispherical resonator gyro is parallel to a rotary axis of the turntable;
step 2, driving the hemispherical resonant gyroscope to start vibrating; and maintaining a certain amplitude;
step 3, driving the turntable to rotate;
step 4, cutting off a hemispherical resonant gyro driving loop after the rotating speed of the turntable is stable;
step 5, collecting hemispherical resonant gyro vibration signals C by adopting an upper computer x 、S x 、C y And S is y ；
Step 6, according to the vibration signal C x 、S x 、C y And S is y Resolving harmonic oscillator energy E;
step 7, fitting the obtained harmonic oscillator energy E through a nonlinear least square method according to a harmonic oscillator free attenuation model to obtain an estimated value of the damping axis azimuth angleEstimated value of damping non-uniform amplitude +.>
The invention can also be realized by adopting other nonlinear identification algorithms such as extended Kalman filtering and the like.
And 8, compensating the standing wave drift of the harmonic oscillator according to the estimated value of the azimuth angle of the damping shaft and the estimated value of the damping non-uniform amplitude.
The second embodiment is as follows: in the present embodiment, the step 3 is different from the specific embodiment in that the turntable is driven to rotate at a speed of 500 °/s.
Other steps and parameters are the same as in the first embodiment.
And a third specific embodiment: this embodiment differs from the first or second embodiments in that the vibration signal C x 、S x 、C y And S is y The method comprises the following steps of:
wherein a represents the main wave amplitude of the harmonic oscillator, q represents the orthogonal wave amplitude, delta represents the phase difference between the reference signal and the actual vibration signal, and theta represents the azimuth angle of the standing wave of the harmonic oscillator.
Other steps and parameters are the same as in the first or second embodiment.
The specific embodiment IV is as follows: this embodiment differs from one to three embodiments in that in the step 6, the vibration signal C is used x 、S x 、C y And S is y Resolving harmonic oscillator energy E; the method comprises the following steps:
E＝C x 2 +S x 2 +C y 2 +S y 2
other steps and parameters are the same as in one to three embodiments.
Fifth embodiment: the difference between this embodiment and one to four embodiments is that the harmonic oscillator free-decay model is:
wherein,is the first derivative of E, τ is the time constant, θ τ For damping axis azimuth, delta (τ -1 ) To damp non-uniform amplitude.
Other steps and parameters are the same as in one to four embodiments.
Specific embodiment six: this embodiment differs from one to fifth embodiments in that the estimated value of the damping axis azimuth angleEstimated value of damping non-uniform amplitude +.>The identification process of (2) is as follows:
step S1, setting an initial value theta of a damping axis azimuth angle τ (0) =0, the initial value Δ (τ -1 )(0)＝0；
Step S2, calculating a value function of the current k moment:
wherein,for collecting the actual detection value of harmonic oscillator energy at the current k moment after signal processing, the method comprises the steps of +.>The theoretical value of the harmonic oscillator energy at the current k moment is calculated according to the harmonic oscillator free attenuation model;
s3, calculating a jacobian matrix J of the current k moment of the value function r (k)：
S4, calculating the increment of the azimuth angle of the damping shaft and the uneven damping amplitude at the current k moment:
wherein, the upper corner mark T represents the transposition of the matrix, the upper corner mark-1 represents the inverse of the matrix, delta theta τ (k) Is the increment of the damping axis azimuth angle at the current k moment, delta [ delta (tau) -1 )](k) Is the increment of the damping non-uniform amplitude at the current k moment;
step S5, updating the azimuth angle of the damping shaft and the uneven damping amplitude at the next moment:
wherein θ τ (k+1) is the damping axis azimuth angle at time k+1, Δ (τ) -1 ) (k+1) is the damping non-uniform amplitude at time k+1;
and S6, judging whether data are input, if so, making k=k+1, and jumping to the step S2, otherwise, completing fitting.
Other steps and parameters are the same as in one of the first to fifth embodiments.
The above examples of the present invention are only for describing the calculation model and calculation flow of the present invention in detail, and are not limiting of the embodiments of the present invention. Other variations and modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, all of which are within the scope of the invention.
Claims (4)
1. A hemispherical resonance gyro damping non-uniformity identification method is characterized by comprising the following steps:
step 1, fixing a hemispherical resonator gyro on a speed turntable, wherein a sensitive axis of the hemispherical resonator gyro is parallel to a rotary axis of the turntable;
step 2, driving the hemispherical resonant gyroscope to start vibrating, and maintaining a given amplitude;
step 3, driving the turntable to rotate;
step 4, cutting off a hemispherical resonant gyro driving loop after the rotating speed of the turntable is stable;
step 5, collecting hemispherical resonant gyro vibration signals C by adopting an upper computer x 、S x 、C y And S is y ；
Step 6, according to the vibration signal C x 、S x 、C y And S is y Resolving harmonic oscillator energy E;
step 7, fitting the obtained harmonic oscillator energy E through a nonlinear least square method according to a harmonic oscillator free attenuation model to obtain dampingEstimated value of axial azimuthEstimated value of damping non-uniform amplitude +.>
The harmonic oscillator free attenuation model is as follows:
wherein,is the first derivative of E, τ is the time constant, θ τ For damping axis azimuth, delta (τ -1 ) For damping non-uniform amplitude, θ represents harmonic oscillator standing wave azimuth;
estimate of the damping axis azimuthEstimated value of damping non-uniform amplitude +.>The identification process of (2) is as follows:
step S1, setting an initial value theta of a damping axis azimuth angle τ (0) =0, the initial value Δ (τ -1 )(0)＝0；
Step S2, calculating a value function of the current k moment:
wherein,for collecting the actual detection value of harmonic oscillator energy at the current k moment after signal processing, the method comprises the steps of +.>The theoretical value of the harmonic oscillator energy at the current k moment is calculated according to the harmonic oscillator free attenuation model;
s3, calculating a jacobian matrix J of the current k moment of the value function r (k)：
S4, calculating the increment of the azimuth angle of the damping shaft and the uneven damping amplitude at the current k moment:
wherein, the upper corner mark T represents the transposition of the matrix, the upper corner mark-1 represents the inverse of the matrix, delta theta τ (k) Is the increment of the damping axis azimuth angle at the current k moment, delta [ delta (tau) -1 )](k) Is the increment of the damping non-uniform amplitude at the current k moment;
step S5, updating the azimuth angle of the damping shaft and the uneven damping amplitude at the next moment:
wherein θ τ (k+1) is the damping axis azimuth angle at time k+1, Δ (τ) -1 ) (k+1) is the damping non-uniform amplitude at time k+1;
step S6, judging whether data are input, if so, enabling k=k+1, and jumping to step S2, otherwise, completing fitting;
and 8, compensating the standing wave drift of the harmonic oscillator according to the estimated value of the azimuth angle of the damping shaft and the estimated value of the damping non-uniform amplitude.
2. The method for identifying damping unevenness of a hemispherical resonator gyro according to claim 1, wherein in the step 3, the turntable is driven to rotate at a speed of 500 °/s.
3. The method for identifying damping unevenness of hemispherical resonator gyroscope according to claim 2, wherein the vibration signal C is x 、S x 、C y And S is y The method comprises the following steps of:
wherein a represents the main wave amplitude of the harmonic oscillator, q represents the orthogonal wave amplitude, delta represents the phase difference between the reference signal and the actual vibration signal, and theta represents the azimuth angle of the standing wave of the harmonic oscillator.
4. The method for identifying damping unevenness of hemispherical resonator gyroscope according to claim 3, wherein in step 6, the damping unevenness is identified according to the vibration signal C x 、S x 、C y And S is y Resolving harmonic oscillator energy E; the method comprises the following steps:
E＝C x 2 +S x 2 +C y 2 +S y 2 。
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| CN115540903A (en) * | 2022-09-14 | 2022-12-30 | 哈尔滨工业大学 | Method and system for correcting and adjusting non-uniform damping and rigidity of hemispherical resonator gyroscope |
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