CN116929322A - Full-angle mode hemispherical resonator gyro accurate control method and system - Google Patents
Full-angle mode hemispherical resonator gyro accurate control method and system Download PDFInfo
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Abstract
The invention discloses a full-angle mode hemispherical resonator gyro accurate control method and a full-angle mode hemispherical resonator gyro accurate control system, which relate to the technical field of hemispherical resonator gyro control, and an eight-electrode time-sharing control algorithm determines a currently working electrode; the x signal is subjected to zero-crossing comparison and then is transmitted to a phase tracker, and the phase tracker outputs a local carrier wave with the same phase as the input signal through a CORDIC algorithm; meanwhile, the x signal and the y signal respectively enter a frequency phase control loop, an amplitude control loop and a quadrature control loop of the control module after A/D sampling, and in addition, key parameters E, Q, L obtained by resolving the hemispherical resonator gyro electric signals are also used as input to enter the control loop module to accurately control the hemispherical resonator gyro; and simultaneously calculating and outputting the precession angle of the hemispherical resonator gyro rotation by utilizing the key parameter S, R. The full-angle hemispherical resonator gyro has the capability of high-precision measurement under the working conditions of large dynamic measurement range and long endurance.
Description
Technical Field
The invention relates to the technical field of hemispherical resonator gyro control, in particular to a full-angle mode hemispherical resonator gyro accurate control method and system.
Background
The hemispherical resonator gyro is a new generation of inertial sensitive element, has no high-speed rotor and movable support in a classical gyro in a mechanical structure, realizes angle or angular velocity measurement by using the God effect generated by the hemispherical resonator to cause vibration mode movement, has the service life of more than fifteen years, has the advantages of high measurement precision, strong stability, radiation resistance, long service life and the like, and is particularly suitable for application in the field of space. Currently, countries developing hemispherical resonator gyroscopes are the united states, russia, france and china. In recent years, the hemispherical resonator gyro inertial reference independently developed in China also has greatly progressed, and the practical No. 9 satellite is firstly carried with the hemispherical resonator gyro inertial combination developed in the Chinese electric department 26, and successfully enters a satellite attitude control system.
The control circuit of the hemispherical resonator gyroscope generally comprises an analog circuit and a digital circuit, and the analog circuit is applied to the hemispherical resonator gyroscope control loop and comprises the following components: the analog device has the advantages of serious temperature drift, parameter change along with temperature change, easy noise introduction of each module of the analog circuit and the like, and the digital circuit has the advantages of high precision, strong reliability, simple design and small influence by temperature, and is very suitable for a control loop of a hemispherical resonator gyroscope.
The hemispherical resonator gyroscope generally has two working modes, namely a force balance working mode and a full-angle working mode, under the force balance working mode, the stable driving amplitude of the harmonic oscillator is met, and meanwhile, the electrode is used for applying precession control force to the harmonic oscillator, so that the standing wave is bound at a fixed position, when the external carrier of the gyroscope rotates, the standing wave is bound by the control force, and the precession control force is proportional to the rotating speed of the external carrier, and the hemispherical resonator gyroscope is a rate gyroscope. As the God's mass of the hemispherical resonator gyroscope is large, the force application efficiency of the electrostatic force for balancing the Golgi force precession is low, so that the output dynamic range of the gyroscope is small. The gyro in the full-angle working mode only applies standing wave amplitude control force and orthogonal control force to the hemispherical harmonic oscillator, so that standing waves can freely precess under the Gong's effect, gyro output is realized by detecting the angular increment information of the gyro, and the gyro is a rate integral gyro and has the advantage of large-range angular rate output, and the gyro can meet the requirements of accurate positioning, high-speed cruising, accurate striking and the like of flying missiles in the national defense field, but has the defects of complex control and high difficulty, and limits the accurate measurement of the hemispherical resonant gyro in the full-angle mode.
How to make the full angle mode hemispherical resonator gyro have a control method with high precision measurement capability under the working conditions of large dynamic measurement range and long endurance becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a full-angle mode hemispherical resonator gyro accurate control method and a full-angle mode hemispherical resonator gyro accurate control system, which are used for solving the defects of difficult control and great control difficulty of the full-angle mode hemispherical resonator gyro in the working conditions of large dynamic measurement range and long endurance.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a full-angle mode hemispherical resonator gyro accurate control method comprises the following steps:
s1: grouping 8 electrodes of the hemispherical resonator gyroscope in time sequence by adopting an eight-electrode time-sharing control algorithm to form a driving electrode and a detecting electrode; meanwhile, the detection electrode adopts an eight-electrode time-sharing control algorithm to determine an x signal and a y signal of the hemispherical resonator gyroscope;
s2: acquiring an x signal and a y signal from a hemispherical resonator gyroscope, and synchronizing resonance frequencies to obtain a synchronized x signal and a synchronized y signal;
s3: zero-crossing comparison is carried out on the synchronized x signals to obtain zero-crossing comparison signals, and a phase tracker outputs a local carrier wave by adopting a CORDIC algorithm according to the zero-crossing comparison signals; meanwhile, the x signal after synchronization and the y signal after synchronization are subjected to A/D sampling processing to obtain a digital signal;
s4: according to the local carrier and the digital signal, multiplying the local carrier and the digital signal by adopting a CORDIC algorithm and then demodulating the local carrier and the digital signal to obtain a demodulated signal;
s5: obtaining an error feedback control signal according to the demodulated signal, and realizing time-sharing control of the hemispherical resonator gyroscope in a full-angle mode by utilizing the error feedback control signal; meanwhile, according to the demodulated signal, a precession angle is output.
Further, in S1, the 8 electrodes include: 0 ° electrode, 90 ° electrode, 180 ° electrode, 270 ° electrode, 45 ° electrode, 135 ° electrode, 225 ° electrode, and 315 ° electrode.
Further, in S1, the driving electrode includes: x is X drive And Y drive The detection electrode includes: x is X sence And Y sence ；
X sence Consists of 0 DEG electrode and 90 DEG electrode, Y sence Consists of 45 DEG electrode and 135 DEG electrode, X drive Consists of 180 DEG electrode and 270 DEG electrode, Y drive Consists of 225 ° electrodes and 315 ° electrodes.
Further, in S4, the demodulated signal includes: quadrature axis amplitude information Q, harmonic oscillator vibration energy information E, harmonic oscillator frequency splitting phase difference information L, hemispherical resonator gyro precession angle cosine parameter R and hemispherical resonator gyro precession angle sine parameter S;
the error feedback control signal includes a phase error signal, an amplitude error signal, and a quadrature error signal.
Further, in S5, the outputting a precession angle according to the demodulated signal specifically includes:
obtaining the hemispherical resonator gyro rotation precession angle through the following formula (39) according to the hemispherical resonator gyro precession angle cosine parameter R and the hemispherical resonator gyro precession angle sine parameter S,
wherein, the liquid crystal display device comprises a liquid crystal display device,the sine parameter is the hemispherical resonance gyro precession angle, wherein R is the hemispherical resonance gyro precession angle cosine parameter, and S is the hemispherical resonance gyro precession angle sine parameter.
Further, in S5, the obtaining an error feedback control signal according to the demodulated signal specifically includes:
the frequency-phase control loop splits the phase difference information L according to the harmonic oscillator frequency to obtain a phase error signal;
the amplitude control loop obtains an amplitude error signal according to the vibration energy information e of the harmonic oscillator;
the quadrature control loop obtains a quadrature error signal based on the quadrature axis amplitude information Q.
Further, in S5, the time-sharing control of the hemispherical resonator gyro in the omni-angle mode is realized by using the error feedback control signal, and the method includes the following steps: the frequency-phase control loop tracks the resonant frequency of the harmonic oscillator in real time according to the phase error signal, and utilizes the phase-locked loop to generate reference signals with the same frequency and the same phase for signal calculation of the detection electrode and signal control quantity distribution of the driving electrode.
Further, in S5, the method for implementing time-sharing control of the hemispherical resonator gyroscope in the omni-angle mode by using the error feedback control signal further includes the following steps: and the amplitude control loop adjusts the voltage of the driving electrode according to the amplitude error signal and controls the amplitude of the hemispherical resonator gyroscope.
Further, in S5, the method for implementing time-sharing control of the hemispherical resonator gyroscope in the omni-angle mode by using the error feedback control signal further includes the following steps: and the quadrature control loop presses the quadrature axis vibration amplitude to zero by utilizing PI control according to the quadrature error signal, and carries out quadrature control on the half-sphere resonance gyro.
A full angle mode hemispherical resonator gyro accurate control system comprises:
the eight-electrode time-sharing control module is used for grouping 8 electrodes of the hemispherical resonator gyroscope in time sequence by adopting an eight-electrode time-sharing control algorithm to form a driving electrode and a detecting electrode; meanwhile, the detection electrode adopts an eight-electrode time-sharing control algorithm to determine an x signal and a y signal of the hemispherical resonator gyroscope;
the resonance frequency synchronization module is used for acquiring an x signal and a y signal from the hemispherical resonance gyroscope, and synchronizing the resonance frequency to obtain a synchronized x signal and a synchronized y signal;
the phase tracker outputs a local carrier wave by adopting a CORDIC algorithm according to the zero-crossing comparison signal; meanwhile, the x signal after synchronization and the y signal after synchronization are subjected to A/D sampling processing to obtain a digital signal;
the signal demodulation module is used for demodulating the local carrier and the digital signal after multiplying the local carrier and the digital signal by adopting a CORDIC algorithm to obtain a demodulated signal;
the control loop module is used for obtaining an error feedback control signal according to the demodulated signal and realizing time-sharing control of the hemispherical resonator gyroscope in a full angle mode by utilizing the error feedback control signal; meanwhile, according to the demodulated signal, a precession angle is output.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a full-angle mode hemispherical resonator gyro accurate control method, which adopts a 'two-piece set' hemispherical resonator gyro with an eight-plate electrode with simple structure and good vibration resistance as a controlled object, and utilizes an eight-electrode time-sharing control scheme to replace a traditional annular electrode, so that the assembly difficulty is greatly reduced, the gain consistency in all directions can be obtained more easily, and the large-scale manufacturing and application of a high-quality hemispherical resonator gyro are possible. In addition, the invention adopts an eight-electrode time-sharing detection algorithm, avoids error items of standing wave angle detection caused by difficulty in keeping consistent gains of driving and detecting signal channels in the standing wave driving and detecting process in a fixed electrode mode, ensures hardware gain consistency of driving and detecting loops, and eliminates in-phase errors caused by inconsistent gains of all channels. The time-sharing control algorithm designs a certain Loss time interval, so that the driving signal can be restrained from being coupled to the detection direction, detection errors are caused, and crosstalk influence caused by distributed capacitance is reduced. The phase tracker taking the CORDIC algorithm as the core can complete all local carrier generation tasks, only the addition and shift operation are performed in the algorithm, the consumption of resources is low, the system delay can be reduced, and the principle can be utilized to complete the demodulation of signals. According to the invention, the influence of errors on the gyroscope detection precision is reduced by controlling the standing wave precession technology, the system stability precision is further improved, the full-angle mode hemispherical resonator gyroscope has the capability of high-precision measurement under the working conditions of large dynamic measurement range and long endurance, and the full-angle mode hemispherical resonator gyroscope is suitable for the requirements of the fields of aviation and the like.
The invention provides a full-angle mode hemispherical resonator gyro accurate control system, wherein a control loop module uses three basic control loops: the frequency phase control loop maintains the same phase of the driving signal and the hemispherical resonator gyro electrode detection signal so as to synchronize excitation and resonance of the harmonic oscillator; the amplitude control loop supplements energy for the harmonic oscillator, and maintains the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated; the quadrature control loop minimizes the amplitude of the harmonic oscillator standing wave quadrature axis vibrations, constantly forcing the quadrature axis amplitude to zero.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an overall control scheme of a full angle mode hemispherical resonator gyro precise control method of the invention;
FIG. 2 is a Lissajous diagram of hemispherical resonator gyroscope electric signals according to the precise control method of the hemispherical resonator gyroscope in full angle mode;
FIG. 3 is a block diagram of an eight-electrode time-sharing control system of the full angle mode hemispherical resonator gyro precise control method of the invention;
FIG. 4 is a timing diagram of eight-electrode time-sharing control of a full angle hemispherical resonator gyro precise control method according to the invention;
FIG. 5 is a schematic diagram of the phase tracker used in the precise control method of the hemispherical resonator gyroscope with full angle mode;
FIG. 6 is a schematic diagram of signal demodulation of a full angle mode hemispherical resonator gyro precise control method according to the invention;
FIG. 7 is a diagram of a frequency-phase control loop of a full angle mode hemispherical resonator gyro precise control method according to the invention;
FIG. 8 is a diagram of an amplitude control loop of a full angle mode hemispherical resonator gyro precise control method according to the invention;
FIG. 9 is a diagram of a quadrature control loop of a full angle mode hemispherical resonator gyro precision control method of the present invention;
FIG. 10 is a diagram of a precession angle output loop of a full angle mode hemispherical resonator gyro precise control method of the invention.
FIG. 11 is a schematic diagram of the full angle mode hemispherical resonator gyro precise control system of the present invention;
FIG. 12 is a schematic flow chart of the full angle mode hemispherical resonator gyro precise control system of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
The invention provides a full-angle mode hemispherical resonator gyro accurate control method based on a digital control loop, which is realized by a hemispherical resonator gyro, an eight-electrode time-sharing controller (electrode switching module), a phase tracker, a signal demodulation module and a control loop module, and adopts a 'two-piece set' hemispherical resonator gyro with an eight-plate electrode with simple structure and good vibration resistance as a controlled object, wherein the eight-electrode time-sharing control algorithm ensures the hardware gain consistency of a driving and detecting loop, eliminates in-phase errors caused by inconsistent gains of all channels, and simplifies hardware resources; the phase tracker generates a high-precision local carrier wave; the signal demodulation module completes demodulation of 3 paths of signals; the amplitude control loop in the control loop module can maintain the vibration amplitude of the harmonic oscillator not to attenuate, the frequency-phase control loop is used for maintaining the driving signal and the hemispherical resonant gyro electrode detection signal to be in-phase so as to synchronize excitation and resonance of the harmonic oscillator, and the orthogonal control loop enables the vibration amplitude of the orthogonal axis of the standing wave of the harmonic oscillator to be minimum and continuously presses the amplitude of the orthogonal axis to zero.
Hemispherical resonator gyro detection is accomplished by a flat plate electrode, which includes eight electrodes, located at the bottom of the resonator. Each electrode is connected to an external control system by means of an electrically conductive lead. Signals transmitted from the electrodes of 0 degree, 90 degree, 180 degree and 270 degree are overlapped to form cosine signals required by a control system; signals transmitted from the electrodes of 45 degrees, 135 degrees, 225 degrees and 315 degrees are overlapped to form a sine signal required by a control system. And (3) performing a series of processing by using the two paths of signals to obtain the precession angle of the harmonic oscillator.
A full-angle mode hemispherical resonator gyro accurate control method comprises the following steps:
the 0-degree electrode signal and the 45-degree electrode signal are calculated to obtain parameters containing vibration energy information of the harmonic oscillator, and the parameters are represented by a symbol E; a parameter comprising quadrature axis amplitude information, denoted by symbol Q; parameters including hemispherical resonator gyro precession angle information are respectively represented by symbols R, S; the parameter containing the phase difference information of the resonant sub-frequency splitting is denoted by the symbol L. And carrying out frequency phase control, energy supplement (amplitude control), orthogonal control and precession angle output on the hemispherical resonator gyroscope according to the key parameters.
Eight-electrode time-sharing control algorithm divides 8 electrodes of hemispherical resonator gyroscope into 4 groups in time sequence, which are respectively X sence 、X drive 、Y sence 、Y drive The hardware is divided into two groups of positive and negative electrodes to form differential drive and detection;
acquiring x and y paths of input signals from a reading electrode of the gyroscope, carrying out A/D sampling processing, respectively carrying out resonance frequency synchronization, wherein the x signal corresponds to a 0-degree electrode signal, and the y signal corresponds to a 45-degree electrode signal;
carrying out zero-crossing comparison on the x signals after resonance frequency synchronization, and transmitting zero-crossing comparison signals to a phase tracker;
the phase tracker estimates carrier frequency through the interval of the two zero crossing signals, calculates corresponding phase accumulation steps, performs step accumulation, and finally outputs a carrier wave with the same phase as the input signal;
the x signal after the synchronization of the resonant frequency and the y signal after the synchronization of the resonant frequency are subjected to A/D sampling together, and the digital signal after the A/D sampling processing is transmitted to a signal demodulation module;
the signal demodulation module generates a local carrier V by a phase tracker rc ,V rs Multiplying the signals with x and y for demodulation, and respectively transmitting the demodulated signals to a frequency phase tracking loop, an amplitude control loop and a quadrature control loop of a control loop module;
the frequency phase tracking loop tracks the resonant frequency of the harmonic oscillator in real time under the normal working state of the gyroscope, and generates reference signals with the same frequency and the same phase by using the phase-locked loop so as to calculate hemispherical resonant gyroscope detection signals and distribute control amounts of driving signals;
the amplitude control loop demodulates the signal to obtain the total energy E of the current hemispherical resonator gyroscope, compares the E with a set energy value to obtain an error signal as a control signal of the PI controller, and controls the magnitude of the driving voltage. By using the obtained driving voltage amplitude U 0 With the driving frequency omega and gyro output precession angle generated by the frequency response tracking loopSynthesizing 0 degree electrode shaft driving signal +.>45 DEG electrode shaft drive signal->Then, after high-voltage amplification, two paths of signals act on the hemispherical resonator gyro, so that the amplitude of the hemispherical resonator gyro is controlled;
the quadrature control loop uses the judgment q, namely the vibration amplitude of the harmonic oscillator on the quadrature axis, and the vibration amplitude of the quadrature axis is pressed to zero through PI control.
The invention further improves that:
the eight-electrode time-sharing control algorithm specifically comprises the following steps: designing a certain Loss time interval, wherein the time-sharing period is related to the resonance frequency of the resonator and is provided by a phase tracking loop of the control system; the electrode switching module divides 8 electrodes into 4 groups in time sequence, which are respectively X sence 、X drive 、Y sence 、Y drive The hardware is divided into 2 groups, namely positive and negative electrodes. Under the working condition of detection time sequence, the displacement signal of the harmonic oscillator is subjected to A/D sampling after passing through the electrode switching module, enters a demodulation link after being subjected to resonance frequency synchronization, and an error feedback control signal is directly applied to a driving electrode through the electrode switching module to form a closed loop of three loops of phase, amplitude and quadrature, so that time-sharing control under a full-angle mode is realized.
The phase tracker specifically comprises: known vector (x i ,y i ) And the rotation amount θ i The rotated vector value is calculated by:
the following n times of accumulation are carried out on the formula (1) to obtain:
wherein: k is x after n iterations n ,y n The scaled multiple (i.e., cos θ in each iteration equation i Product of (d) and there is a relationship described by:
so when x 0 ＝K，y 0 ＝0，z 0 When the phase accumulated value in the control loop is controlled, the local carrier wave is obtained by the relational expression obtained after n times of accumulation:
the signal demodulation module specifically comprises: the local carrier wave generated by the phase tracker is multiplied by x and y to complete demodulation, and the demodulation process of the signal demodulation module based on the CORDIC algorithm is as follows: taking x lines as an example, the initial value of the above is set: x is x 0 To input gyro signals, x, y 0 ＝0，z 0 Is the accumulated value of the phase
The phase-locked loop is formed by adjusting a reference signal and a detection signal after resolving the reference signal and the detection signal, and the phase detector of the phase-locked loop comprises the following specific processes: the frequency-phase tracking loop uses the parameter L calculated by the signal demodulation module as a phase judgment (phase error): l= (a) 2 -q 2 ) sin (2 delta), adjusting the frequency of a reference signal through a PI controller to enable L=0, wherein the frequency of the reference signal is the same as the actual resonance frequency of a harmonic oscillator, and realizing frequency tracking。
The amplitude control loop comprises the following specific components: the amplitude control loop uses the parameter E calculated by the signal demodulation module, and takes the arithmetic square root of the parameter E as a judgment quantity (amplitude error):adjusting the driving voltage such that amp=a 0 The amplitude control of the half-ball resonance gyro can be realized. Wherein Amp is the judgment of the amplitude control loop, A 0 Is the amplitude corresponding to the hemispherical resonant gyro resonant frequency.
The quadrature control loop specifically comprises: the quadrature control loop uses the parameter Q (quadrature error) calculated by the signal demodulation module and uses the following formula as the judgment quantity of the quadrature control loop;
the judgment quantity in the formula 6 is the vibration amplitude of the harmonic oscillator in the orthogonal axis again, and the orthogonal axis vibration amplitude is pressed to zero through PI control, so that the orthogonal control of the hemispherical resonator gyro is realized.
As shown in fig. 11 and 12, the present invention provides a full angle mode hemispherical resonator gyro precise control system, comprising:
the eight-electrode time-sharing control module is used for grouping 8 electrodes of the hemispherical resonator gyroscope in time sequence by adopting an eight-electrode time-sharing control algorithm to form a driving electrode and a detecting electrode; meanwhile, an eight-electrode time-sharing control algorithm is adopted by the detection electrode to determine an x signal and a y signal of the hemispherical resonator gyroscope;
the resonance frequency synchronization module is used for acquiring an x signal and a y signal from the hemispherical resonance gyroscope, and synchronizing the resonance frequency to obtain a synchronized x signal and a synchronized y signal;
the phase tracker outputs a local carrier wave by adopting a CORDIC algorithm according to the zero-crossing comparison signal; meanwhile, the x signal after synchronization and the y signal after synchronization are subjected to A/D sampling processing to obtain a digital signal;
the signal demodulation module is used for demodulating the local carrier wave and the digital signal by multiplying the local carrier wave and the digital signal by adopting a CORDIC algorithm to obtain a demodulated signal;
the control loop module is used for obtaining error feedback control signals according to the demodulated signals respectively by the amplitude control loop, the frequency phase control loop and the quadrature control loop, and realizing time-sharing control of the hemispherical resonator gyroscope in a full angle mode by utilizing the error feedback control signals; meanwhile, according to the demodulated signal, a precession angle is output.
Examples
The scheme of measuring the angle and the angular rate of the hemispherical resonator gyroscope is essentially realized by measuring the position and the amplitude of the vibration mode of the harmonic oscillator, and the angle and the angular rate of the detection electrode are calculated according to the obtained vibration mode information and then the precession theory of the hemispherical resonator gyroscope. The gyro in the full-angle working mode only applies standing wave amplitude control force and orthogonal control force to the hemispherical harmonic oscillator, so that standing waves can freely precess under the Ge effect, and gyro output is realized by detecting the angular increment information of the gyro, so that the gyro is a rate integral gyro. The advantage of this mode of operation is: the dynamic range is large, the long endurance precision is high, the dynamic range and the theoretical precision limit have no inverse relation, the method can adapt to the working environment of the aviation inertial sensor which is always in large dynamic and long endurance, meets the requirements of the fields of future aviation exploration, strategic weapons and the like, and has the defects that: the control difficulty is high, the gauge outfit machining precision requirement is high, the standing wave drift influence is large, and the like.
Based on the above, the embodiment of the invention provides a method for realizing accurate control under the full-angle working mode of the hemispherical resonator gyroscope, which solves the problem that the hemispherical resonator gyroscope working mode is suitable for the requirements of long endurance and high precision applied in the aviation field.
In the full angle mode, the hemispherical resonator gyro is required to be in a second-order oscillation state when in control, and the lip edges of the resonators deform in two orthogonal ellipses. The lip of the harmonic oscillator moves along the proton like a simple pendulum. Referring to fig. 2, x-axis electricityThe Lissajous graph with superimposed signal variation and y-axis electrical signal variation is elliptical, wherein x and y represent principal axes of the harmonic oscillator and orthogonal axes of 45 degrees in space: the x-axis coincides with the 0-degree electrode axis; the y-axis is coincident with the 45 ° electrode axis; a is the principal axis antinode; q is an orthogonal axis antinode;is the phase variable of the main shaft; omega is the resonant frequency of hemispherical vibration; />Is the included angle between the main wave antinode axis and the 0-degree electrode axis; t is time.
The vibration displacement equations for the x-axis and y-axis are written as:
selecting a reference signal having the same natural resonant frequency as the resonator, the signal being generated by a phase-locked loop:
wherein A is the amplitude of a reference signal;for reference signal phase, V s Is a sine reference signal with the same natural resonant frequency and phase as the harmonic oscillator, V c Is a cosine reference signal with the same phase and the same natural resonant frequency as the harmonic oscillator.
The reference signal is multiplied by the x-axis and y-axis signals in pairs as follows:
x signal and V s Multiplying the signals to obtain S c ：
After passing through the low pass filter, the higher order term containing 2ωt is filtered out, yielding:
x signal and V c Multiplying the signals to obtain C x ：
After passing through the low pass filter, the higher order term containing 2ωt is filtered out, yielding:
y signal and V s Multiplying the signals to obtain S y ：
After passing through the low pass filter, the higher order term containing 2ωt is filtered out, yielding:
y signal and V c Multiplying the signals to obtain C y ：
After passing through the low pass filter, the higher order term containing 2ωt is filtered out, yielding:
will beMarked as delta->Let k be:
the combination operation of the four formulas is as follows:
so that the Q value contains quadrature axis amplitude information:
so that the E value contains the energy information of the vibration of the harmonic oscillator:
E＝C x 2 +S y 2 +C y 2 +S x 2 ＝(ka) 2 +(kq) 2 ＝k 2 (a 2 +q 2 ) (22)
the R value and the S value contain energy information of the hemispherical resonator gyro:
the L value contains phase difference information of harmonic oscillator frequency splitting:
let k=1, then the above equations are deformed again, and the control parameter equation of the hemispherical resonator gyro is:
Q＝2(C x S y -C y S x )＝2aq (26)
E＝C x 2 +S y 2 +C y 2 +S 2 2 ＝a 2 +q 2 (27)
L＝2(C x S x +C y S y )＝(a 2 -q 2 )sin(2δ) (30)
above, S x Is a sine reference signal V with the same natural resonant frequency and phase as the harmonic oscillator s Product of x signal; c (C) x Is cosine reference signal with same natural resonant frequency and phase as that of harmonic oscillatorNumber V c Product of x signal; s is S y Is a sine reference signal V with the same natural resonant frequency and phase as the harmonic oscillator s Product of y signal; c (C) y Is a cosine reference signal V with the same natural resonant frequency and phase as the harmonic oscillator c And the y signal.
The invention discloses a full-angle mode hemispherical resonator gyro accurate control method, which comprises the following steps:
referring to fig. 1, for hemispherical resonator gyro full angle control mode, eight electrode time-sharing control algorithm determines 0 ° electrode and 45 ° electrode currently operating; the x signal is subjected to zero-crossing comparison and then is transmitted to a phase tracker, and the phase tracker outputs a local carrier wave with the same phase as the input signal through a CORDIC algorithm; meanwhile, the x signal and the y signal are divided into three paths of frequency-phase control loop, amplitude control loop and quadrature control loop which respectively enter a control module after A/D sampling, in addition, key parameter E, Q, L obtained by the calculation of the hemispherical resonator gyro signal also enters the control module as input, the frequency-phase tracking loop tracks the resonance frequency of a harmonic oscillator under the normal working condition of the hemispherical resonator gyro in real time and generates reference signals with the same frequency and the same phase to be used for calculating the control quantity of the hemispherical resonator gyro detection signal and the distribution driving signal, namely, the signal is calculated to obtain key parameter L, and reference signal V is adjusted s And V c Such that l=0. The amplitude control loop controls the amplitude of the harmonic oscillator on the orthogonal axis to be zero, so that signals output by a 0-degree electrode axis and a 45-degree electrode axis of the hemispherical resonator gyroscope are kept in phase; and calculating and outputting the precession angle of the hemispherical resonator gyro rotation by using the key parameter S, R.
S1, referring to fig. 1 and 3, under the working condition of detection time sequence, a displacement signal of a harmonic oscillator enters an A/D sampling module after passing through an electrode switching module, enters a demodulation link after passing through resonance frequency synchronization, forms phase errors, amplitude errors and quadrature errors after being resolved, controls each error after being resolved by a control module, forms azimuth angle output after passing through low-pass filtering, and simultaneously, an error feedback control signal is directly applied to a driving electrode through the electrode switching module to form closed loops of three loops of phase, amplitude and quadrature, thereby realizing time-sharing control under a full-angle mode.
Referring to FIG. 4, the phase tracking loop of the control system provides the resonant frequency of the harmonic oscillator, and the electrode switching module divides 8 electrodes into 4 groups, respectively X, in time sequence according to the determined time-sharing period sence 、X drive 、Y sence 、Y drive The method specifically comprises the following steps: x is X sence Consists of 0 DEG electrode and 90 DEG electrode, X drive Consists of 180 DEG electrode and 270 DEG electrode, Y sence Consists of 45 DEG electrode and 135 DEG electrode, Y drive The differential drive and detection are formed by 225 DEG electrodes and 315 DEG electrodes.
S2, the phase tracker estimates the carrier frequency through the interval of two zero crossing signals, see FIG. 5, the zero crossing comparison signal is counted by a counter N, and the quotient of 360 DEG and N is obtained by using a 360/N module, namely the phase accumulation step C p 。C p And performing self accumulation in a phase accumulation register to obtain a required sine and cosine address, and then outputting a local carrier wave with the same phase as the input signal through a CORDIC algorithm.
Referring to fig. 6, the basic principle of the cordic algorithm is specifically: known vector (x i ,y i ) And the rotation amount θ i The rotated vector value is calculated by:
wherein: i is more than or equal to 0 and n is more than or equal to n. Here: n is the number of iterations. The greater n, x n ，y n The closer to the true target value.
The rotation angle for each iteration is shown in table 1 below:
table 1 iterative rotation angle table
| i | θ i /(°) | tanθ i ＝2 -i |
| 0 | 45 | 1 |
| 1 | 26.555 | 1/2 |
| 2 | 14.036 | 1/4 |
| 3 | 7.125 | 1/8 |
| 4 | 3.576 | 1/16 |
| ··· | ··· | ··· |
The above formula (31) is accumulated n times to obtain:
wherein: k is x after n iterations n ,y n The scaled multiple (i.e., cos θ in each iteration equation i Product of (d) and there is a relationship described by:
so when x 0 ＝K，y 0 ＝0，z 0 When the phase accumulated value in the control loop is controlled, the local carrier wave is obtained by the relational expression obtained after n times of accumulation:
the local carrier wave generated by the phase tracker and the x and y signals after A/D sampling enter a demodulation module, and the product of the signals and the local carrier wave is directly output through a CORDIC algorithm to complete demodulation of 3 paths of signals.
Referring to fig. 6, the demodulation process of the signal demodulation module based on the CORDIC algorithm is as follows: taking x lines as an example, the initial value of the above is set: x is x 0 For inputting gyro signals x, y 0 ＝0，z 0 Is the accumulated value of the phase
S3, the demodulated signals respectively enter a frequency phase tracking loop, an amplitude control loop and a quadrature control loop of the control loop module.
Referring to fig. 7, the frequency phase tracking loop is composed of signal demodulation, a digital signal synthesizer and a PI controller, and the process is as follows: the signal demodulation module obtains a parameter L through calculation by using the generated reference signal, the frequency of the reference signal is adjusted through the PI controller to enable L=0, the digital signal synthesizer generates the reference signal with the same resonant frequency as the hemispherical resonator gyro, and the reference signal with the same phase as the hemispherical resonator gyro is generated after the phase compensation. The specific process of the frequency phase tracking loop is as follows: the parameter L obtains a phase difference between the output signal and the resonance signal of the resonator. The oscillation generator adjusts the phase and frequency of the reference signal according to the magnitude of the phase difference. The frequency and phase of the output drive signal are approximated infinitely to the resonant signal by successive iterations.
If the frequency difference between the harmonic oscillator vibration signal and the output tracking signal is Deltaomega, the phase difference isThe resonance signal is cos (ωt), and when not iterated, the mathematical expression of the output tracking signal may be:
the above formula (36) is deformed to obtain:
adjusting phase difference by continuously judging phase deviation of phase discriminator outputSimultaneously, the frequency and phase errors of the tracker signal are set to be the same as the frequency and phase of the resonance signal, and the PI controller is designed to have Δω=0, ++>Namely +.>
Referring to fig. 8, the amplitude control loop is composed of signal demodulation, PI controller, and allocation control quantity, and the process is: the signal demodulation module calculates a parameter E according to the reference signal, the PI controller compares the calculated parameter E with a set capacity value, the magnitude of the driving voltage is controlled, and the voltage control quantity is distributed to the electrodes through the distribution control quantity. The specific process of the amplitude control loop is as follows: the total energy E of the current hemispherical resonator gyroscope is obtained through signal demodulation, and E is combined with the set energyAnd comparing the values, wherein the obtained error signal is used as a control signal of the PI controller to control the magnitude of the driving voltage. At the time of obtaining the driving voltage amplitude U 0 Then, the driving frequency omega and the gyro output precession angle generated by the frequency phase tracking loop are combinedSynthesizing 0 degree electrode shaft driving signal45 DEG electrode shaft drive signal->The two paths of signals act on the hemispherical resonator gyroscope, so that the control of the vibration amplitude of the hemispherical resonator gyroscope is realized.
Referring to fig. 9, the quadrature control loop is composed of signal demodulation, PI controller, and allocation control amount, and the process is: the signal demodulation module calculates parameters E and Q according to the reference signal, calculates a parameter Q, and the PI controller compares the calculated parameter Q with a set value q=0 to control the magnitude of the driving voltage, and distributes the voltage control quantity to the electrodes through the distribution control quantity. The orthogonal control loop comprises the following specific processes: the signals output by the 0-degree electrode axis and the 45-degree electrode axis are demodulated and then subjected to combination operation, and the signals are calculated by the parameters q=2 (C x S y -C y S x ) And as a judgment amount of the quadrature control loop by the following formula:
the value obtained by the method is the vibration amplitude of the harmonic oscillator on the orthogonal axis, and the orthogonal vibration amplitude is pressed to zero through PI control.
The parameters of the PI controllers in the loops are different from each other, and the parameters need to be adjusted according to actual conditions, so that the following targets are achieved: the decay ratio is optimal between 4 and 10, i.e. the ratio of the first two peaks of the response curve is between 4 and 10; steady state error approaches 0; the faster the system response, the better.
S4, in the full angle mode, force feedback control on the gyroscope is not needed, and referring to FIG. 10, the specific process is as follows: and the signal demodulation is used for resolving the reference signal to obtain key parameters R and S, and further resolving and outputting the precession angle. Calculating the precession angle of the hemispherical resonator gyro rotation according to the calculated sinusoidal parameter S of the hemispherical resonator gyro precession angle and the cosine parameter R of the hemispherical resonator gyro precession angle, wherein the calculation formula is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,the sine parameter is the hemispherical resonance gyro precession angle, wherein R is the hemispherical resonance gyro precession angle cosine parameter, and S is the hemispherical resonance gyro precession angle sine parameter.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The full-angle mode hemispherical resonator gyro accurate control method is characterized by comprising the following steps of:
s1: grouping 8 electrodes of the hemispherical resonator gyroscope in time sequence by adopting an eight-electrode time-sharing control algorithm to form a driving electrode and a detecting electrode; meanwhile, the detection electrode adopts an eight-electrode time-sharing control algorithm to determine an x signal and a y signal of the hemispherical resonator gyroscope;
s2: acquiring an x signal and a y signal from a hemispherical resonator gyroscope, and synchronizing resonance frequencies to obtain a synchronized x signal and a synchronized y signal;
s3: zero-crossing comparison is carried out on the synchronized x signals to obtain zero-crossing comparison signals, and a phase tracker outputs a local carrier wave by adopting a CORDIC algorithm according to the zero-crossing comparison signals; meanwhile, the x signal after synchronization and the y signal after synchronization are subjected to A/D sampling processing to obtain a digital signal;
s4: according to the local carrier and the digital signal, multiplying the local carrier and the digital signal by adopting a CORDIC algorithm and then demodulating the local carrier and the digital signal to obtain a demodulated signal;
s5: obtaining an error feedback control signal according to the demodulated signal, and realizing time-sharing control of the hemispherical resonator gyroscope in a full-angle mode by utilizing the error feedback control signal; meanwhile, according to the demodulated signal, a precession angle is output.
2. The precise control method of the full angle hemispherical resonator gyro according to claim 1, wherein in S1, the 8 electrodes include: 0 ° electrode, 90 ° electrode, 180 ° electrode, 270 ° electrode, 45 ° electrode, 135 ° electrode, 225 ° electrode, and 315 ° electrode.
3. The precise control method of a full angle hemispherical resonator gyro according to claim 2, wherein in S1, the driving electrode comprises: x is X drive And Y drive The detection electrode includes: x is X sence And Y sence ；
X sence Consists of 0 DEG electrode and 90 DEG electrode, Y sence Consists of 45 DEG electrode and 135 DEG electrode, X drive Consists of 180 DEG electrode and 270 DEG electrode, Y drive Consists of 225 ° electrodes and 315 ° electrodes.
4. The precise control method of a full angle hemispherical resonator gyro according to claim 1, wherein in S4, the demodulated signal comprises: quadrature axis amplitude information Q, harmonic oscillator vibration energy information E, harmonic oscillator frequency splitting phase difference information L, hemispherical resonator gyro precession angle cosine parameter R and hemispherical resonator gyro precession angle sine parameter S;
the error feedback control signal includes a phase error signal, an amplitude error signal, and a quadrature error signal.
5. The precise control method of the full angle hemispherical resonator gyro according to claim 4, wherein in S5, the outputting a precession angle according to the demodulated signal specifically includes:
obtaining the hemispherical resonator gyro rotation precession angle through the following formula (39) according to the hemispherical resonator gyro precession angle cosine parameter R and the hemispherical resonator gyro precession angle sine parameter S,
wherein θ is the rotational precession angle of the hemispherical resonator gyro, R is the cosine parameter of the precession angle of the hemispherical resonator gyro, and S is the sine parameter of the precession angle of the hemispherical resonator gyro.
6. The method for precisely controlling a hemispherical resonator gyroscope in full angle mode according to claim 4, wherein in S5, the error feedback control signal is obtained according to the demodulated signal, specifically comprising:
the frequency-phase control loop splits the phase difference information L according to the harmonic oscillator frequency to obtain a phase error signal;
the amplitude control loop obtains an amplitude error signal according to the vibration energy information E of the harmonic oscillator;
the quadrature control loop obtains a quadrature error signal based on the quadrature axis amplitude information Q.
7. The precise control method of the hemispherical resonator gyro of claim 5, wherein in S5, the error feedback control signal is used to realize the time-sharing control of the hemispherical resonator gyro in the hemispherical mode, and the method comprises the following steps: the frequency-phase control loop tracks the resonant frequency of the harmonic oscillator in real time according to the phase error signal, and utilizes the phase-locked loop to generate reference signals with the same frequency and the same phase for signal calculation of the detection electrode and signal control quantity distribution of the driving electrode.
8. The precise control method of a hemispherical resonator gyro in a full angle mode according to claim 5, wherein in S5, the error feedback control signal is used to realize time-sharing control of the hemispherical resonator gyro in the full angle mode, and further comprising the following steps: and the amplitude control loop adjusts the voltage of the driving electrode according to the amplitude error signal and controls the amplitude of the hemispherical resonator gyroscope.
9. The precise control method of a hemispherical resonator gyro in a full angle mode according to claim 5, wherein in S5, the error feedback control signal is used to realize time-sharing control of the hemispherical resonator gyro in the full angle mode, and further comprising the following steps: and the quadrature control loop presses the quadrature axis vibration amplitude to zero by utilizing PI control according to the quadrature error signal, and carries out quadrature control on the half-sphere resonance gyro.
10. The utility model provides a full angle mode hemisphere resonance top accurate control system which characterized in that includes:
the eight-electrode time-sharing control module is used for grouping 8 electrodes of the hemispherical resonator gyroscope in time sequence by adopting an eight-electrode time-sharing control algorithm to form a driving electrode and a detecting electrode; meanwhile, the detection electrode adopts an eight-electrode time-sharing control algorithm to determine an x signal and a y signal of the hemispherical resonator gyroscope;
the resonance frequency synchronization module is used for acquiring an x signal and a y signal from the hemispherical resonance gyroscope, and synchronizing the resonance frequency to obtain a synchronized x signal and a synchronized y signal;
the phase tracker outputs a local carrier wave by adopting a CORDIC algorithm according to the zero-crossing comparison signal; meanwhile, the x signal after synchronization and the y signal after synchronization are subjected to A/D sampling processing to obtain a digital signal;
the signal demodulation module is used for demodulating the local carrier and the digital signal after multiplying the local carrier and the digital signal by adopting a CORDIC algorithm to obtain a demodulated signal;
the control loop module is used for obtaining an error feedback control signal according to the demodulated signal and realizing time-sharing control of the hemispherical resonator gyroscope in a full angle mode by utilizing the error feedback control signal; meanwhile, according to the demodulated signal, a precession angle is output.
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