CN117470209A - Thermal balance control method and device for laser gyroscope - Google Patents
Thermal balance control method and device for laser gyroscope Download PDFInfo
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- CN117470209A CN117470209A CN202311788163.6A CN202311788163A CN117470209A CN 117470209 A CN117470209 A CN 117470209A CN 202311788163 A CN202311788163 A CN 202311788163A CN 117470209 A CN117470209 A CN 117470209A
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- 238000001816 cooling Methods 0.000 claims description 20
- 238000012937 correction Methods 0.000 claims description 8
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- 230000003287 optical effect Effects 0.000 claims description 5
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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
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
- G01C19/665—Ring laser gyrometers details control of the cavity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/1927—Control of temperature characterised by the use of electric means using a plurality of sensors
- G05D23/193—Control of temperature characterised by the use of electric means using a plurality of sensors sensing the temperaure in different places in thermal relationship with one or more spaces
- G05D23/1931—Control of temperature characterised by the use of electric means using a plurality of sensors sensing the temperaure in different places in thermal relationship with one or more spaces to control the temperature of one space
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
- G05D23/32—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature with provision for adjustment of the effect of the auxiliary heating device, e.g. a function of time
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Abstract
The invention discloses a thermal balance control method and device of a laser gyroscope, and belongs to the technical field of inertial navigation. The invention carries out active heat balance control on the laser gyro through the plurality of temperature sensors, the plurality of heaters and the refrigerator, thereby reducing the temperature gradient in the resonant cavity and improving the output precision of the laser gyro. The temperature in the cavity of the laser gyro is predicted according to the temperature data measured by the temperature sensors, and the power of the heater and the refrigerator is controlled according to the temperature in the cavity, so that the purpose of actively controlling the laser gyro to reach the heat balance time is achieved. The method accelerates the laser gyro to reach thermal balance, so that the zero offset of the laser gyro is stable, software compensation is not needed, and the use convenience of the laser gyro is improved.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a heat balance control method and device of a laser gyroscope.
Background
When the laser gyro works, high voltage is applied between the cathode and the anode, so that helium-neon gas in the cavity generates glow discharge, and the gain medium is excited to form a particle beam, so that laser output is generated. A glow discharge region is formed between the cathode and the anode during glow discharge. When glow discharge exists in high current and high voltage, a part of energy is converted into heat energy, so that the temperature of a glow discharge area is higher than the temperature of other parts of the resonant cavity. The temperature rise in the glow discharge region can adversely affect the performance of the laser gyro. On the one hand, the temperature of the glow discharge area is higher than that of other parts, so that the heat convection effect of working gas in the resonant cavity is aggravated, and zero offset error is brought to the output signal of the ring laser. On the other hand, local heat sources generated in the resonant cavity by the glow discharge area delay the heat balance of the resonant cavity and bring stronger thermal relaxation effect, thereby causing trend item errors in the laser gyro. Chinese patent application CN200910062919.2 discloses a temperature compensation control device for laser gyro and its use, the device is characterized in that a temperature sensor and a temperature controller are placed on the cavity of the laser gyro, and the self-adaptive temperature control circuit controls the semiconductor temperature controller according to the difference between the actual temperature fed back by the temperature sensor and the set temperature, so as to change the temperature in the cavity of the laser gyro. The final goal of temperature control should be that the laser gyro temperature tends to equilibrate in the absence of an external heat source. The temperature conditions of each point of the laser gyro are complex, and the patent application does not solve the problem of how to ensure the stable operation of the laser gyro in the temperature control process. It is necessary to propose a method for effectively accelerating the heat balance, so as to avoid the increase of measurement errors caused by temperature differences at various points.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a heat balance control method and device of a laser gyroscope. According to the heat balance control method of the laser gyroscope, the temperature outside the cavity of the laser gyroscope is measured through the temperature sensor, so that the power of the heater and the power of the refrigerator are further determined, the heat balance of the laser gyroscope is accelerated, meanwhile, the working states of the heater and the refrigerator are adjusted in advance according to the relaxation effect of the temperature, and the temperature difference is prevented from being increased in the reverse direction of heating or refrigerating operation.
The technical scheme of the invention is realized as follows:
a heat balance control method of a laser gyro comprises the following steps:
step 1: the laser gyro is provided with a laser excitation component and a light path component, the laser excitation component is provided with a cathode and two groups of anodes, a temperature sensor is arranged in a stress hole of the laser gyro, the light path component is provided with a resonant cavity, and the resonant cavity is divided into a plurality of grid units;
step 2: the ignition transformer provides a test voltage for the cathode, the test voltage respectively generates first laser and second laser between the cathode and the two anodes, and the laser gyro enters a thermal unbalance state;
step 3: if the maximum temperature difference of the laser gyro is smaller than or equal to a reference balance threshold value, the laser gyro enters a thermal balance state, a temperature sensor acquires first temperature data, and a balance temperature matrix is generated according to the first temperature data;
step 4: the anode divides a grid unit of the resonant cavity into an excitation area and a refraction area, a refrigerator is arranged in the excitation area, and a heater is arranged in the refraction area;
step 5: the ignition transformer provides excitation voltage for the cathode, the excitation voltage respectively generates first laser and second laser between the cathode and two groups of anodes, and the laser gyro enters a thermal unbalance state;
step 6: in each sampling period, the temperature sensor collects second temperature data, a first working parameter of the heater is determined according to the balance temperature matrix and the second temperature data, and a second working parameter of the refrigerator is determined according to the first working parameter and the balance temperature matrix;
step 7: generating a relaxation temperature difference based on the first working parameter, the second working parameter and the excitation voltage, generating a correction balance threshold value according to the relaxation temperature difference, and re-acquiring a plurality of second temperature data, if the maximum temperature difference of the laser gyro is smaller than or equal to the correction balance threshold value, entering a step 8, otherwise returning to the step 5;
step 8: the laser gyro enters a thermal balance state, and the heater and the refrigerator are closed.
In the invention, in step 1, at least one stress hole is arranged in four adjacent grid cells, and an identity is given to the temperature sensor according to the grid cell in which the stress hole is located.
In the present invention, in step 3, the temperature matrix is equilibrated，T ij For the heat balance temperature of the ith row and jth column grid cells, I and J represent the total number of rows and total columns of grid cells, respectively.
In the present invention, in step 4, the heater is composed of a plurality of groups of heating sheets, the heating sheets are installed in at least one grid cell, the refrigerator is composed of a plurality of groups of cooling sheets, and the cooling sheets are installed in at least one grid cell.
In the invention, in step 5, the first laser reaches the light combining prism through the resonant cavity, the first spherical reflector, the first plane reflector and the second plane reflector, the second laser reaches the light combining prism through the resonant cavity, the second spherical reflector and the second plane reflector, and the signal analyzer measures the light intensity signals of the first laser and the second laser and adjusts the excitation voltage according to the light intensity signals.
In the present invention, in step 6, the first operating parameter consists of the heating power of each heating plate, and the first operating parameter p= { P 1 , P 2 ,…,P m M is the number of heating plates, and the heating power P of the m heating plate m =ΔT 1 ×ΔT 2 /(T m e m )×K 1 ×P 0 ，ΔT 1 And DeltaT 2 A first temperature difference and a second temperature difference respectively determined based on the second temperature data and the equilibrium temperature matrix, T m E is the heat balance temperature of the grid unit where the m heating plate is positioned m K is the second temperature data of the grid unit where the mth heating plate is positioned 1 For gain factor of heater, P 0 Is the rated power of the heater.
In the present invention, in step 6, the second operation parameter is composed of the cooling power of each cooling fin, and the second operation parameter q= { Q 1 , Q 2 ,…,Q n The number of the refrigerating sheets is n, and the refrigerating power of the nth refrigerating sheet。ΔT 3 For a third temperature difference determined based on the second temperature data and the equilibrium temperature matrix, f n K is the second temperature data of the grid unit where the nth refrigerating sheet is positioned 2 Gain factor of refrigerator, Q 0 Rated for refrigerator, P s The heating power of the s-th heating plate.
In the present invention, in step 7, the relaxation temperature difference，Q z The refrigerating power of the z-th refrigerating sheet is U, exciting voltage, exciting current, deltat, the specific heat capacity of the laser gyro, and the mass of the laser gyro.
In the present invention, in step 7, the equilibrium threshold y=x+epsilon is corrected, and epsilon is the reference equilibrium threshold.
A heat balance control apparatus according to the heat balance control method of a laser gyro, comprising: the laser excitation component, the laser acquisition component, the light path component, the temperature sensor, the refrigerator, the heater and the controller,
the laser excitation assembly is used for generating first laser and second laser;
the laser acquisition component comprises a light combining prism and a signal analyzer, and the signal analyzer is used for measuring light intensity signals of the first laser and the second laser;
the optical path component comprises a resonant cavity, and the first laser and the second laser reach the light combining prism through the resonant cavity;
the temperature sensor is used for collecting first temperature data and second temperature data of the laser gyroscope;
the heater is used for heating at least one grid unit of the laser gyro;
the refrigerator is used for cooling at least one grid unit of the laser gyro;
the controller is used for controlling the opening and closing of the heater and the refrigerator according to the first temperature data and the second temperature data.
The method and the device for controlling the heat balance of the laser gyroscope have the following beneficial effects: the invention carries out active heat balance control on the laser gyro through a plurality of temperature sensors, the heater and the refrigerator, thereby reducing the temperature gradient in the resonant cavity and improving the output precision of the laser gyro. The temperature in the cavity of the laser gyro is predicted according to the temperature data measured by the temperature sensors, and the power of the heater and the power of the refrigerator are controlled according to the temperature in the cavity, so that the laser gyro is actively controlled, and the time for achieving heat balance is shortened. Meanwhile, according to the relaxation effect of the temperature, the working states of the heater and the refrigerator are adjusted in advance, and the temperature difference is prevented from being further increased. The method accelerates the laser gyro to reach thermal balance, so that the zero offset of the laser gyro is stable, software compensation is not needed, and the use convenience of the laser gyro is improved.
Drawings
FIG. 1 is a schematic view of a glow discharge of a laser gyro;
FIG. 2 is a block diagram of a laser gyro of the present invention;
FIG. 3 is a flow chart of a method of controlling the thermal balance of a laser gyro according to the present invention;
FIG. 4 is a schematic diagram of the laser gyro gridding of the present invention;
FIG. 5 is a schematic diagram of a laser gyro mounting temperature sensor of the present invention;
FIG. 6 is a graph of the maximum temperature difference change at each coordinate point of the laser gyro of the present invention;
FIG. 7 is a graph of temperature change at one of the coordinate points of the laser gyro of the present invention;
FIG. 8 is a schematic diagram of the installation of the refrigerator of the present invention;
FIG. 9 is a schematic view of the installation of the heater of the present invention;
fig. 10 is a structural view of a refrigerating sheet of the present invention;
FIG. 11 is a system block diagram of a thermal balance control device of a laser gyro according to the present invention.
The reference numerals in the drawings: the device comprises a stress hole 101, a frequency stabilizing channel 102, a first vacuum channel 103, an anode 104, a gas channel 105, a cathode 106, a second vacuum channel 107, a glow discharge area 108, a grid unit 201, a refrigerating sheet switch 202, a refrigerating sheet 203, a semiconductor 204, a heat absorbing copper sheet 205 and a heating sheet switch 206.
Detailed Description
For a clearer understanding of the objects, technical solutions and advantages of the present application, the present application is described and illustrated below with reference to the accompanying drawings and examples.
The laser gyro is a heating device, and the laser gyro self reaches thermal balance in a few hours, and the temperature field is more complicated and difficult to balance due to the change of conditions such as ambient temperature, so that the air flow field is changed due to the change of the temperature field, the imbalance of the discharge current of the cathode and the anode of the laser gyro is caused, the Lang Miao Erliu effect is aggravated, and zero-bias temperature drift is generated. As shown in fig. 1, the thick line of the laser is a glow discharge region 108, and the temperature of the glow discharge region 108 is drastically increased due to the heat release of the voltage in both the negative and positive stages. As shown in fig. 2, the laser gyro includes: the glow discharge area 108 consists of a part of the first vacuum channel 103, a part of the second vacuum channel 107 and the gas channel 105. In order to keep zero offset stable, the invention accelerates the laser gyro to reach heat balance through the heater and the refrigerator.
Example 1
The heat balance control method of the laser gyro of the present invention as shown in fig. 3 to 10 includes the following steps.
Step 1: the laser gyro is provided with a laser excitation component and an optical path component, the laser excitation component is provided with a cathode and two groups of anodes, a temperature sensor is arranged in a stress hole of the laser gyro, the optical path component is provided with a resonant cavity, and the resonant cavity is divided into a plurality of grid units. At least one stress hole is arranged in each of the four adjacent grid cells, and identity identification is given to the temperature sensor according to the grid cell in which the stress hole is located. The location of the grid cell where the temperature sensor is located is the identity. As shown in fig. 4, in the present embodiment, the resonant cavity is divided into 7 rows and 7 columns, and a total of 49 grid cells 201. As shown in fig. 5, a plurality of temperature sensors are used for measuring temperatures at different positions, and are distributed in stress holes 101 on the surface of the cavity, and the total number of the temperature sensors is 12, and the identity is: (i, j), i representing the number of rows of grid cells and j representing the number of columns of grid cells.
Step 2: the ignition transformer provides a test voltage for the cathode, the test voltage respectively generates first laser and second laser between the cathode and the two anodes, and the laser gyro enters a thermal unbalance state. The thermal unbalance state indicates that the temperature difference of all parts in the resonant cavity of the laser gyro is larger, namely the data difference of the temperature sensor is larger. After the laser gyro is started and works, a large amount of heat is generated between the cathode and the two anodes due to the test voltage, so that the temperature is rapidly increased, and the laser gyro enters a thermal unbalance state.
Step 3: if the maximum temperature difference of the laser gyro is smaller than or equal to a reference balance threshold value, the laser gyro enters a thermal balance state, a temperature sensor acquires first temperature data, and a balance temperature matrix is generated according to the first temperature data. In the present embodiment, there are 12 temperature sensors, and the first temperature data H 1 ={t 1 ,t 2 ,…,t d D=12, maximum temperature difference Δt of laser gyro max =F max -F min ，F max For maximum value in temperature sensor, F min For the minimum value in the temperature sensor, a reference equilibrium threshold epsilon=2℃. And when the maximum temperature difference is smaller than or equal to the reference balance threshold value, the laser gyro enters a thermal balance state. As shown in fig. 6, the maximum temperature difference of each coordinate point of the laser gyro increases with time and decreases, and when the thermal balance point is reached, the maximum temperature difference Δt of the laser gyro increases max Remain unchanged and are not equal to 0.
As shown in FIG. 7, the temperature of one of the coordinate points of the laser gyro increases with time, and when the temperature reaches the thermal equilibrium point, the temperature is stable, and the temperature at this time isHeat balance temperature. Balanced temperature matrix，T ij For the heat balance temperature of the ith row and jth column grid cell, I and J are the number of rows and columns of the grid cell, respectively, and I and J represent the total number of rows and total columns of the grid cell, respectively. In this embodiment, the identity of the temperature sensor is a one-dimensional array, and the temperature balance matrix is a two-dimensional matrix. The temperature sensor can be converted into a two-dimensional matrix according to the location of the temperature sensor for convenience of conversion. For example, the temperature balance matrix is a 7×7 matrix, i= 7,J =7. The temperature sensor has 12 groups, and the position that temperature sensor corresponds to temperature balance matrix is in proper order: { (1, 2), (1, 6), (2, 1), (2, 4), (2, 7), (4, 2), (4, 6), (6, 1), (6, 4), (6, 7), (7, 2), (7, 6) }, the corresponding first temperature data H 1 ={t 1 ,t 2 ,…,t 12 T in the temperature balance matrix }, then 12 =t 1 ,T 16 =t 2 ,…,T 76 =t 12 . The grid cells in the temperature balance matrix which cannot be directly measured by the temperature sensor are calculated by the heat balance temperature of the nearest grid cell or cells, e.g. T 44 =(T 24 +T 42 +T 64 +T 46 ) And/4, the rest of the grid cells are so on, and finally the temperature balance matrix of 7×7 is filled.
Step 4: the anode divides the grid unit of the resonant cavity into an excitation area and a refraction area, a refrigerator is arranged in the excitation area, and a heater is arranged in the refraction area. The excitation area is a glow discharge area, and the temperature of the laser gyro is increased due to the heating of the glow discharge area, so that a refrigerator is arranged in the excitation area, and a heater is correspondingly arranged in the refraction area of the laser gyro. The heater consists of a plurality of groups of heating plates, the heating plates are arranged in at least one grid unit, the refrigerator consists of a plurality of groups of refrigerating plates, and the refrigerating plates are arranged in at least one grid unit. As shown in fig. 8, the refrigerator of the excitation area has 13 sets of cooling fins 203, and the grid cells 201 where the 13 sets of cooling fins 203 are located are { (4, 1), (4, 7), (5, 1), (5, 7), (6, 1), (6, 7), (7, 1), (7, 2), (7, 3), (7, 4), (7, 5), (7, 6), (7, 7) }, and each cooling fin 203 is controlled by a cooling fin switch 202, and the power is different. As shown in FIG. 9, the heater of the refraction region has 11 sets of heating plates, and the grid cells where the 11 sets of heating plates are located are { (1, 1), (1, 2), (1, 3), (1, 4), (1, 5), (1, 6), (1, 7), (2, 1), (2, 7), (3, 1), (3, 7) }, each heating plate being controlled by a heating plate switch 206, respectively, with different powers. As shown in fig. 10, one surface of the cooling sheet 203 is attached to the corresponding grid cell 201, the other surface is connected to the semiconductor 204, and the semiconductor 204 is connected to the heat absorbing copper sheet 205. When a direct current flows into the semiconductor 204, both sides of the semiconductor 204 absorb heat from one side and generate heat from the other side. By utilizing the principle, the surface of the semiconductor 204 connected with the heat absorbing copper sheet 205 generates heat, and the surface of the semiconductor attached with the refrigerating sheet 203 absorbs heat, so that the refrigerating effect of the refrigerating sheet is achieved.
Step 5: the ignition transformer provides excitation voltage for the cathode, the excitation voltage respectively generates first laser and second laser between the cathode and the two groups of anodes, and the laser gyro enters a thermal unbalance state. In this embodiment, the first laser reaches the light combining prism through the resonant cavity, the first spherical mirror, the first plane mirror and the second plane mirror, the second laser reaches the light combining prism through the resonant cavity, the second spherical mirror and the second plane mirror, and the signal analyzer measures the light intensity signals of the first laser and the second laser, and can adjust the excitation voltage according to the light intensity signals.
Step 6: and in each sampling period, the temperature sensor acquires second temperature data, determines a first working parameter of the heater according to the balance temperature matrix and the second temperature data, and determines a second working parameter of the refrigerator according to the first working parameter and the balance temperature matrix. The first operating parameter is composed of the heating power of each heating plate. The second operating parameter consists of the cooling power of each cooling fin. The speed of heat balance can be controlled by heating power and cooling power, and a preferred adjustment method of heating power and cooling power can be described with reference to embodiment two.
Step 7: generating a relaxation temperature difference based on the first working parameter, the second working parameter and the excitation voltage, generating a correction balance threshold value according to the relaxation temperature difference, re-acquiring a plurality of second temperature data, and entering a step if the maximum temperature difference of the laser gyroscope is smaller than or equal to the correction balance threshold valueStep 8, otherwise, returning to step 5. Relaxation temperature difference，P s Heating power of the s-th heating plate, Q z For the refrigerating power of the z-th refrigerating plate, deltaT 1 And DeltaT 2 The first temperature difference and the second temperature difference are determined based on the second temperature data and the balance temperature matrix respectively, U is excitation voltage, I is excitation current, delta t is a sampling period, C is the specific heat capacity of the laser gyro, and M is the mass of the laser gyro. The corrected balance threshold y=x+epsilon, epsilon being the reference balance threshold. Maximum temperature difference delta T of laser gyro max =F max -F min ，F max For maximum value in temperature sensor, F min Is the minimum value in the temperature sensor.
Step 8: the laser gyro enters a thermal balance state, and the heater and the refrigerator are closed. Due to the relaxation phenomenon of temperature, the heater and the refrigerator may be overoperated before reaching the next sampling period, so that the temperature difference is reversely increased, and the temperature field is caused to oscillate. It is therefore necessary to adjust the threshold value for determining the thermal equilibrium state, i.e. to adjust the correction equilibrium threshold value according to the operating states of the heater and the refrigerator. If the maximum temperature difference of the laser gyroscope is smaller than or equal to the correction balance threshold value, the heater and the refrigerator are turned off in advance.
Example two
The embodiment further discloses a method for calculating the first working parameter and the second working parameter.
The second temperature data H 2 ={c 1 ,c 2 ,…,c d -said first operating parameter p= { P 1 , P 2 ,…,P m M is the number of heating plates, and the heating power P of the m heating plate m =ΔT 1 ×ΔT 2 /(T m e m )×K 1 ×P 0 ，ΔT 1 And DeltaT 2 A first temperature difference and a second temperature difference respectively determined based on the second temperature data and the equilibrium temperature matrix, T m E is the heat balance temperature of the grid unit where the m heating plate is positioned m K is the second temperature data of the grid unit where the mth heating plate is positioned 1 For heating upGain coefficient of the device, P 0 Is the rated power of the heater. If the grid cell where the m heating plate is positioned has no temperature sensor, selecting an average value of second temperature data of one or more grid cells closest to the m heating plate, and specifically referring to a method for calculating the heat balance temperature of the grid cells which cannot be directly measured by the temperature sensor in the temperature balance matrix. Delta T 1 =T m -e m ，ΔT 2 =c max -e m ，c max Is the maximum value in the second temperature data.
The second working parameter Q= { Q 1 , Q 2 ,…,Q n The number of the refrigerating sheets is n, and the refrigerating power of the nth refrigerating sheet。ΔT 3 For a third temperature difference determined based on the second temperature data and the equilibrium temperature matrix, f n K is the second temperature data of the grid unit where the nth refrigerating sheet is positioned 2 Gain factor of refrigerator, Q 0 Rated for refrigerator, P s The heating power of the s-th heating plate. If the grid cell where the nth refrigerating piece is positioned is not provided with a temperature sensor, selecting an average value of second temperature data of one or more grid cells closest to the nth refrigerating piece, and specifically referring to a method for calculating the heat balance temperature of the grid cells which cannot be directly measured by the temperature sensor in the temperature balance matrix. Delta T 3 =f n -R n Wherein R is n Is the heat balance temperature of the grid unit where the nth refrigeration piece is positioned.
Example III
As shown in fig. 11, the present embodiment discloses a thermal balance control device according to the thermal balance control method of a laser gyro, including: the device comprises a laser excitation assembly, a laser acquisition assembly, a light path assembly, a temperature sensor, a refrigerator, a heater and a controller. The laser excitation assembly, the laser acquisition assembly and the temperature sensor are respectively connected with the controller, and the controller is respectively connected with the heater and the refrigerator. The laser excitation assembly is used for generating first laser and second laser, and comprises a cathode, two groups of anodes and an ignition transformer, wherein the ignition transformer is used for providing excitation voltage for the cathode. The laser acquisition component comprises a light combining prism and a signal analyzer, wherein the signal analyzer is used for measuring light intensity signals of the first laser and the second laser. The optical path component comprises a resonant cavity, and the first laser and the second laser reach the light combining prism through the resonant cavity. The temperature sensor is used for collecting first temperature data and second temperature data of the laser gyroscope. The heater is used for heating at least one grid cell of the laser gyro. The refrigerator is used for cooling at least one grid cell of the laser gyro. The controller is used for controlling the opening and closing of the heater and the refrigerator according to the first temperature data and the second temperature data.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. The heat balance control method of the laser gyroscope is characterized by comprising the following steps of:
step 1: the laser gyro is provided with a laser excitation component and a light path component, the laser excitation component is provided with a cathode and two groups of anodes, a temperature sensor is arranged in a stress hole of the laser gyro, the light path component is provided with a resonant cavity, and the resonant cavity is divided into a plurality of grid units;
step 2: the ignition transformer provides a test voltage for the cathode, the test voltage respectively generates first laser and second laser between the cathode and the two anodes, and the laser gyro enters a thermal unbalance state;
step 3: if the maximum temperature difference of the laser gyro is smaller than or equal to a reference balance threshold value, the laser gyro enters a thermal balance state, a temperature sensor acquires first temperature data, and a balance temperature matrix is generated according to the first temperature data;
step 4: the anode divides a grid unit of the resonant cavity into an excitation area and a refraction area, a refrigerator is arranged in the excitation area, and a heater is arranged in the refraction area;
step 5: the ignition transformer provides excitation voltage for the cathode, the excitation voltage respectively generates first laser and second laser between the cathode and two groups of anodes, and the laser gyro enters a thermal unbalance state;
step 6: in each sampling period, the temperature sensor collects second temperature data, a first working parameter of the heater is determined according to the balance temperature matrix and the second temperature data, and a second working parameter of the refrigerator is determined according to the first working parameter and the balance temperature matrix;
step 7: generating a relaxation temperature difference based on the first working parameter, the second working parameter and the excitation voltage, generating a correction balance threshold value according to the relaxation temperature difference, and re-acquiring a plurality of second temperature data, if the maximum temperature difference of the laser gyro is smaller than or equal to the correction balance threshold value, entering a step 8, otherwise returning to the step 5;
step 8: the laser gyro enters a thermal balance state, and the heater and the refrigerator are closed.
2. The method for controlling heat balance of a laser gyro according to claim 1, wherein in step 1, at least one stress hole is provided in four adjacent grid cells, and an identity is given to the temperature sensor according to the grid cell in which the stress hole is located.
3. The method of controlling thermal balance of laser gyro according to claim 1, wherein in step 3, the temperature matrix is balanced，T ij For the heat balance temperature of the ith row and jth column grid cells, I and J represent the total number of rows and total columns of grid cells, respectively.
4. The method of controlling heat balance of a laser gyro according to claim 1, wherein in step 4, the heater is composed of a plurality of sets of heating sheets, the heating sheets are installed in at least one grid cell, the refrigerator is composed of a plurality of sets of cooling sheets, and the cooling sheets are installed in at least one grid cell.
5. The method according to claim 1, wherein in step 5, the first laser beam reaches the light combining prism through the resonant cavity, the first spherical mirror, the first planar mirror, and the second planar mirror, the second laser beam reaches the light combining prism through the resonant cavity, the second spherical mirror, and the second planar mirror, and the signal analyzer measures light intensity signals of the first laser beam and the second laser beam, and adjusts the excitation voltage according to the light intensity signals.
6. The method according to claim 4, wherein in step 6, the first operation parameter is composed of heating power of each heating plate, and the first operation parameter p= { P 1 , P 2 ,…,P m M is the number of heating plates, and the heating power P of the m heating plate m =ΔT 1 ×ΔT 2 /(T m e m )×K 1 ×P 0 ，ΔT 1 And DeltaT 2 A first temperature difference and a second temperature difference respectively determined based on the second temperature data and the equilibrium temperature matrix, T m E is the heat balance temperature of the grid unit where the m heating plate is positioned m K is the second temperature data of the grid unit where the mth heating plate is positioned 1 For gain factor of heater, P 0 Is the rated power of the heater.
7. The method according to claim 6, wherein in step 6, the second operation parameter is composed of cooling power of each cooling fin, and the second operation parameter q= { Q 1 , Q 2 ,…,Q n The number of the refrigerating sheets is n, and the refrigerating power of the nth refrigerating sheet，ΔT 3 For a third temperature difference determined based on the second temperature data and the equilibrium temperature matrix, f n K is the second temperature data of the grid unit where the nth refrigerating sheet is positioned 2 Gain factor of refrigerator, Q 0 For the refrigeratorConstant power, P s The heating power of the s-th heating plate.
8. The method of controlling thermal balance of laser gyro according to claim 7, wherein in step 7, the relaxation temperature difference is，Q z The refrigerating power of the z-th refrigerating sheet is U, exciting voltage, exciting current, deltat, the specific heat capacity of the laser gyro, and the mass of the laser gyro.
9. The method of controlling thermal balance of a laser gyro according to claim 8, wherein in step 7, the corrected balance threshold value y=x+ε, ε is a reference balance threshold value.
10. A heat balance control device according to the heat balance control method of a laser gyro of claim 1, comprising: the laser excitation component, the laser acquisition component, the light path component, the temperature sensor, the refrigerator, the heater and the controller,
the laser excitation assembly is used for generating first laser and second laser;
the laser acquisition component comprises a light combining prism and a signal analyzer, and the signal analyzer is used for measuring light intensity signals of the first laser and the second laser;
the optical path component comprises a resonant cavity, and the first laser and the second laser reach the light combining prism through the resonant cavity;
the temperature sensor is used for collecting first temperature data and second temperature data of the laser gyroscope;
the heater is used for heating at least one grid unit of the laser gyro;
the refrigerator is used for cooling at least one grid unit of the laser gyro;
the controller is used for controlling the opening and closing of the heater and the refrigerator according to the first temperature data and the second temperature data.
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