CN117872724A - Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope - Google Patents
Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope Download PDFInfo
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- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
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Abstract
The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator frequency phase tracking control method of a hemispherical resonator gyroscope, which aims to solve the problems that in occasions with high precision requirements, oscillation or overshoot phenomenon exists in a system of the hemispherical resonator gyroscope, so that the system is difficult to stably operate and the control precision is low. The method comprises the following steps: s1, analyzing a hemispherical resonator subsystem of a hemispherical resonator gyroscope, and establishing a system model according to dynamic behaviors; s2, setting target frequency and phase; s3, designing a PID controller and a state feedback controller, and designing a loop according to the working mode of the hemispherical resonator gyroscope; s4, generating a corresponding driving signal for the controller according to the actual response of the system, and ensuring the accuracy and stability of the signal by the reversed phase operation; s5, forming a closed-loop control system. The PID controller and the state feedback controller are combined and used in the loop, so that the working state of the hemispherical resonator gyroscope can be monitored in real time, and the stability of the hemispherical resonator gyroscope is improved.
Description
Technical Field
The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator frequency phase tracking control method of a hemispherical resonator gyroscope.
Background
The hemispherical resonator gyroscope is a solid vibration gyroscope based on the Coriolis effect, has the characteristics of high precision, long service life, high reliability, small mass, small volume and the like, is currently applied to the fields of aerospace, navigation, tactics and the like, and becomes a research hotspot in the current inertial navigation field.
The hemispherical resonator gyro has two working modes of powerful balance and full angle, the gyro vibration mode is controlled in the direction of a fixed electrode in the force balance mode, the frequency tracking can be carried out on signals on the hemispherical resonator gyro, in the field of aerospace, navigation and control systems, a highly stable gyro device is required to be ensured to ensure the accurate operation and attitude control of the system, if the hemispherical resonator gyro has low precision, the phenomenon of oscillation or overshoot can occur, the system cannot be stably operated, so the research and development requirements for improving the stability are increasingly increased, the phase discrimination and the filtering of digital signals are required to be realized based on the full digital frequency tracking, and the problem of how to realize the high-precision frequency tracking and improve the performance of the hemispherical resonator gyro is the problem which needs to be solved at present.
Disclosure of Invention
The invention aims to provide a hemispherical resonator frequency phase tracking control method of a hemispherical resonator gyro, which aims to solve the problems that in the occasion of high precision requirement, the hemispherical resonator gyro system has oscillation or overshoot phenomenon, so that the system is difficult to stably operate and the control precision is low.
The invention is realized by the following technical scheme:
a hemispherical harmonic oscillator frequency phase tracking control method of a hemispherical harmonic oscillator gyro comprises the following steps:
s1, analyzing a hemispherical resonator subsystem of a hemispherical resonator gyroscope, and establishing a system model according to dynamic behaviors;
s2, setting target frequency and phase;
s3, designing a PID controller and state feedback control, and designing a corresponding loop according to the working mode of the hemispherical resonator gyroscope;
s4, adjusting targets of the PID controller and the state feedback controller according to actual response of the system, controlling an algorithm to generate corresponding driving signals, ensuring that control signals of the hemispherical resonator gyroscope are consistent with expected control actions by utilizing reverse phase operation, correcting or correcting phase differences of the signals, and ensuring accuracy and stability of the signals;
s5, forming a closed-loop control system.
In the technical scheme, the PID controller and the state feedback controller are designed by researching the system model of the hemispherical resonator gyroscope, and the PID controller and the state feedback controller are combined and applied in a loop, so that the stability of the hemispherical resonator gyroscope is improved.
In some optional embodiments, the step S3 includes:
s31: designing a PID controller;
s32: designing a state feedback controller;
s33: designing a control loop;
the S31 includes:
the PID controller consists of three parts, namely a proportion P, an integral I and a derivative D, and the expression of the PID controller is as follows:
；
where u (t) is the output of the controller, i.e. the control input, which will be applied to the controlled system, K p Is a proportional gain for adjusting the control input, K, in dependence on the deviation e (t) i An integral gain for adjusting the control input according to the integral of the deviation, K d Is the differential gain for adjusting the control input in dependence on the rate of change of the deviation, e (t) is the control error, which is the difference between the setpoint or track value and the actual controlled variable, t represents time,representing the integral of the deviation e (t) over time for handling steady state errors of the system;
designing a relation between the controlled variable and the control input according to a mathematical model of the PID controller, and executing S311 to S316 respectively;
s311, adjusting the proportion part: when the method is started, the gains of the I and D parts are set to be zero, the P part is used for control, and the proportion Kp is adjusted to be in a first range;
s312, observing steady-state errors of the system by using control of the P part;
s313, gradually increasing Kp until the steady-state error is reduced to be within a second range;
s314, adjusting an integral part: setting a Kp value according to S312, starting the part I, setting the gain of the part D to be zero, and gradually reducing the integral coefficient Ki until the steady-state error is eliminated;
s315, adjust differential part: kp and Ki are respectively valued in a first range and a third range, a D part is started, the gain of an I part is set to be zero, a differential coefficient Kd is gradually reduced, the transient response of the system is improved, and overshoot and oscillation are reduced;
s316, comprehensive adjustment: further fine tuning K p 、K i And K d And the performance of the controller is verified through experiments and simulations.
In the technical scheme, the input and output of the PID controller part are obtained according to the system model of the hemispherical resonator gyroscope and the expression of the PID controller.
In some optional embodiments, the S32 includes:
and (3) designing a state feedback controller: the state feedback controller realizes the required performance by adjusting the state feedback matrix, the feedback control of the state feedback controller measures state variables and calculates control inputs in each control period, and the expression of the control inputs is as follows:
；
where u (t) is the control input vector, K is the state feedback gain matrix, and x (t) is the system state vector;
and S33, taking the output of the PID controller in S31 as the reference input of the state feedback controller, applying the calculated control input to the hemispherical resonator gyroscope to realize frequency phase tracking, correcting the output of the PID controller according to the system state, regulating the system behavior, and designing a control loop according to the feedback control system.
According to the technical scheme, the reference value is obtained according to the output of the PID controller and the expression of the state feedback controller and is applied to the hemispherical resonator gyro, and the stability and the robustness of the hemispherical resonator gyro can be effectively improved by combining the two controllers.
In some optional technical solutions, in a force balance mode, the hemispherical resonator gyro is formed by a main vibration mode control loop and a slave vibration mode control loop, the main vibration mode control loop drives the hemispherical resonator gyro to vibrate in a main vibration mode direction, so that the vibration frequency is maintained at the resonance frequency of the main vibration mode, a correct phase is maintained, and correct demodulation signals are provided for the main vibration mode control loop and other control loops, and S33 includes:
s331, reading a 0-degree electrode shaft signal, and sending the electrode shaft signal into an FPGA through AD conversion;
s332, adjusting the 0-degree electrode axis signal, and calculating the phase of the 0-degree electrode axis vibration mode;
s333, obtaining the phase difference between the two times of adjustment;
s334, PI correction is carried out according to the phase difference between the two previous and subsequent modulations, and the frequency difference is obtained;
s335, correcting the frequency of a reference signal, completing an initial frequency tracking link, and starting a phase-locked loop link;
s336, demodulating the 0-degree electrode axis signal according to the corrected frequency signal to obtain a phase of a 0-degree electrode axis vibration mode;
s337, calculating a phase error by the phase value reference signal, and performing PI correction according to the phase error to obtain a frequency difference;
s338, correcting the frequency of the reference signal, outputting a driving signal, and ending the control period.
In the technical scheme, the main vibration mode control loop is designed according to the input and output of the two controllers, so that the stability of the hemispherical resonator gyroscope is effectively controlled.
In some optional technical schemes, the system further comprises a frequency phase tracking loop, wherein the frequency phase tracking loop is used for tracking the resonant frequency of the harmonic oscillator in real time under the normal working state of the hemispherical resonator gyroscope, and generating reference signals with the same frequency and the same phase through the phase-locked loop for the calculation of the hemispherical resonator gyroscope detection signals and the control quantity distribution of the driving signals, and the output tracking signal expression of the harmonic oscillator is as follows:
；
the method is characterized in that the method comprises the following steps of:
；
and the delta is the frequency difference between the harmonic oscillator vibration signal and the output tracking signal, the delta is the phase difference, the resonance signal is cos (), and the frequency phase tracking control loop and the main vibration mode control loop are connected in series to form a closed loop control system for controlling and tracking the vibration mode characteristic and the frequency phase characteristic of the hemispherical resonator gyroscope.
According to the technical scheme, the main vibration mode control loop and the frequency phase tracking loop are connected in series to form a closed-loop control system, so that the vibration mode and stable control and tracking of the hemispherical resonator gyroscope can be effectively improved.
Compared with the prior art, the invention has the following advantages and beneficial effects:
in the invention, the PID controller and the state feedback controller are combined and applied in the loop, and the main vibration control loop and the frequency phase tracking loop are also connected in series, so that the combination mode can effectively monitor the state of the hemispherical resonator gyro in real time when the hemispherical resonator gyro works, reflect the system error, enable the system to quickly reach a stable state, and simultaneously can reduce the oscillation of the system and improve the robustness.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a diagram of a closed loop control system of the present invention;
fig. 2 is a flowchart of harmonic oscillator tracking control of the hemispherical resonator gyro of the invention.
The reference numerals are represented as follows:
A. a main vibration mode control loop; B. a frequency phase tracking loop.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
As shown in fig. 2, a hemispherical resonator frequency phase tracking control method of a hemispherical resonator gyroscope includes the following steps:
s1, analyzing a hemispherical resonator subsystem of a hemispherical resonator gyroscope, and establishing a system model according to dynamic behaviors;
s2, setting target frequency and phase;
s3, designing a PID controller and state feedback control, and designing a corresponding loop according to the working mode of the hemispherical resonator gyroscope;
s4, adjusting targets of the PID controller and the state feedback controller according to actual response of the system, controlling an algorithm to generate corresponding driving signals, ensuring that control signals of the hemispherical resonator gyroscope are consistent with expected control actions by utilizing reverse phase operation, correcting or correcting phase differences of the signals, and ensuring accuracy and stability of the signals;
s5, forming a closed-loop control system.
S1 comprises the following steps:
s11, in a force balance mode, the main vibration mode of the hemispherical resonant gyroscope is on a 0-degree electrode shaft, and a frequency control loop completes frequency control of the gyroscope through signals on the control-degree electrode shaft;
s12, a system model expression formula of the hemispherical resonator gyro is as follows:
；
wherein,𝜔 0 the frequency of the hemispherical resonator gyro is represented by Q, the quality factor of the hemispherical resonator gyro, s represents complex frequency domain variable, and G(s) represents the transfer function of the hemispherical resonator gyro.
S3 comprises the following steps:
s31: designing a PID controller;
s32: designing a state feedback controller;
s33: designing a control loop;
s31 includes:
the PID controller consists of three parts, namely a proportion P, an integral I and a derivative D, and the expression of the PID controller is as follows:
；
where u (t) is the output of the controller, i.e. the control input, which will be applied to the controlled system, K p Is a proportional gain for adjusting the control input, K, in dependence on the deviation e (t) i An integral gain for adjusting the control input according to the integral of the deviation, K d Is the differential gain for adjusting the control input in dependence on the rate of change of the deviation, e (t) is the control error, which is the difference between the setpoint or track value and the actual controlled variable, t represents time,representing the integral of the deviation e (t) over time for handling steady state errors of the system;
designing a relation between the controlled variable and the control input according to a mathematical model of the PID controller, and executing S311 to S316 respectively;
s311, adjusting the proportion part: when the method is started, the gains of the I and D parts are set to be zero, the P part is used for control, and the proportion Kp is adjusted to be in a first range;
s312, observing steady-state errors of the system by using control of the P part;
s313, gradually increasing Kp until the steady-state error is reduced to be within a second range;
s314, adjusting an integral part: setting a Kp value according to S312, starting the part I, setting the gain of the part D to be zero, and gradually reducing the integral coefficient Ki until the steady-state error is eliminated;
s315, adjust differential part: kp and Ki are respectively valued in a first range and a third range, a D part is started, the gain of an I part is set to be zero, a differential coefficient Kd is gradually reduced, the transient response of the system is improved, and overshoot and oscillation are reduced;
s316, comprehensive adjustment: further fine tuning K p 、K i And K d And the performance of the controller is verified through experiments and simulations.
S32 includes:
and (3) designing a state feedback controller: the state feedback controller realizes the required performance by adjusting the state feedback matrix, the feedback control of the state feedback controller measures state variables and calculates control inputs in each control period, and the expression of the control inputs is as follows:
；
where u (t) is the control input vector, K is the state feedback gain matrix, and x (t) is the system state vector;
and S33, taking the output of the PID controller in S31 as the reference input of the state feedback controller, applying the calculated control input to the hemispherical resonator gyroscope to realize frequency phase tracking, correcting the output of the PID controller according to the system state, regulating the system behavior, and designing a control loop according to the feedback control system.
Specifically, after a system model of the hemispherical resonator gyroscope is established, a PID controller and a state feedback controller are designed, and the output of the PID controller is used as the input of the state feedback controller, wherein in the PID controller, K is needed to be calculated p Adjusting the first range to have a range of (0, 1), the steady state error having a value within the second range to have a range of (0, 1), K i Take on values in a third range, the interval of the third range being (0.01,1), in the present invention, K p The value can be from 0.2, the maximum value is 0.8, and the value of the relative steady state error is lower than K p Can be selected from 0.1, K i The start value of (2) may be set to 0.05 and fine-tuned according to the system situation.
Under the force balance mode, the hemispherical resonator gyro is formed by a main vibration mode control loop and a slave vibration mode control loop, the main vibration mode control loop drives the hemispherical resonator gyro to vibrate in the main vibration mode direction, so that the vibration frequency is maintained at the resonance frequency of the main vibration mode, the correct phase is maintained, and correct demodulation signals are provided for the main vibration mode control loop and other control loops, and S33 comprises:
s331, reading a 0-degree electrode shaft signal, and sending the electrode shaft signal into an FPGA through AD conversion;
s332, adjusting the 0-degree electrode axis signal, and calculating the phase of the 0-degree electrode axis vibration mode;
s333, obtaining the phase difference between the two times of adjustment;
s334, PI correction is carried out according to the phase difference between the two previous and subsequent modulations, and the frequency difference is obtained;
s335, correcting the frequency of a reference signal, completing an initial frequency tracking link, and starting a phase-locked loop link;
s336, demodulating the 0-degree electrode axis signal according to the corrected frequency signal to obtain a phase of a 0-degree electrode axis vibration mode;
s337, calculating a phase error by the phase value reference signal, and performing PI correction according to the phase error to obtain a frequency difference;
s338, correcting the frequency of the reference signal, outputting a driving signal, and ending the control period.
The frequency phase tracking loop is used for tracking the resonant frequency of the harmonic oscillator in real time under the normal working state of the hemispherical resonator gyroscope, and generating reference signals with the same frequency and the same phase through the phase-locked loop for the calculation of the hemispherical resonator gyroscope detection signals and the control quantity distribution of driving signals, wherein the expression of the output tracking signals of the harmonic oscillator is as follows:
；
the method is characterized in that the method comprises the following steps of:
；
the frequency phase tracking control loop and the main vibration mode control loop are connected in series to form a closed-loop control system for controlling and tracking the vibration mode characteristic and the frequency phase characteristic of the hemispherical resonator gyroscope.
As shown in fig. 1, the part a is a main vibration mode control loop, the part B is a frequency phase tracking loop, the two parts are connected in series to form a closed loop control system, namely a closed loop control loop, the main vibration mode control loop is further divided into a phase control loop and an amplitude control loop, the phase control loop is realized through a phase-locked loop, the phase error of a signal obtained by demodulating a detection signal of the main vibration mode of the upper part of the part a and a cosine signal generated by a voltage-controlled oscillator is realized through a PID controller, the feedback control of the phase error is realized through the PID controller, the amplitude signal is obtained by demodulating the detection signal of the main vibration mode of the lower part of the part a and the sine signal generated by the voltage-controlled oscillator, the amplitude error is obtained by subtracting the amplitude signal from the preset amplitude, and the amplitude voltage is kept near the preset amplitude through the PID controller. The phase-locked loop is composed of an oscillation generator, and a phase comparator of the phase-locked loop can be formed by adjusting the PID controller and the state feedback controller after resolving a reference signal and a detection signal.
In the invention, the voltage-controlled oscillator is used for providing reference signals for hemispherical resonator gyroscopes, as described above, the voltage-controlled oscillator generates cosine signals and sine signals, the low-pass filter is mainly used for processing sensor signals to filter out high-frequency noise and interference, ensure stability and accuracy of output signals, the amplifier is used for amplifying signals, meanwhile, the amplifier also has a certain noise suppression function, the capacitance differential detection can convert mechanical displacement or rotation into electric signals, the capacitor sensor is used for sensing tiny changes of the oscillator, the digital signal synthesizer is also used for processing original signals from hemispherical resonator gyroscopes, and comprises operations such as filtering, amplifying, calibrating and encoding, and the like, so as to ensure the quality and accuracy of the signals, meanwhile, the voltage-controlled oscillator can convert analog signals into digital signals, the driving signal control quantity is distributed to different control quantities, so as to control or manipulate the motion or gesture of hemispherical resonator systems, the PID (proportion) control loop is used for controlling the state of the closed-loop control, so as to ensure that the hemispherical resonator gyroscopes can be regulated by the corresponding state of the PID (proportion of the input signals) to control the hemispherical resonator, the phase difference is regulated by the PID (proportion of the hemispherical resonator) control loop, so as to ensure the stability of the hemispherical resonator gyroscopes can be regulated by the phase difference is ensured, the hemispherical resonator control is regulated to be stable, and the hemispherical resonator control is stable, and stable is controlled by the hemispherical resonator control is controlled by the phase-locked loop, the accuracy of signals is maintained in the measuring and controlling process, the preset amplitude value refers to the preset output amplitude range of the oscillator, which is set in the system operation process, so that the hemispherical resonator gyro is prevented from exceeding a safety range or being damaged during operation, and the functions of all devices of the closed loop control circuit in the invention are realized.
The method comprises the steps of combining a main vibration type control loop and a frequency phase tracking loop, firstly determining vibration type characteristics or expected frequency phase characteristics of a hemispherical resonator gyroscope, enabling the two loops to be controlled together based on the reference signal, then carrying out a series connection structure on the two loops, enabling the main vibration type control loop to serve as an outer loop controller and the frequency phase tracking loop to serve as an inner loop controller, wherein the former can adjust the vibration characteristics of the hemispherical resonator gyroscope, the latter can adjust the frequency phase characteristics of a system, then feeding signals back into the system of the hemispherical resonator gyroscope according to a state feedback controller in the closed loop control loop, so that the vibration characteristics and the frequency phase characteristics of the system can be monitored in real time, and correspondingly adjusting control signals, so that the vibration type and the frequency phase of the system are kept in an expected range, finally, ensuring that parameters of the main vibration type loop controller and the frequency phase tracking loop are mutually coordinated, avoiding collision and instability between control signals, and effectively controlling and tracking the vibration type characteristics and the frequency phase characteristics of the hemispherical resonator gyroscope by combining the two loops, and the state feedback controller and using the PID controller in the loop, improving the stability of the hemispherical resonator gyroscope, and the stability of the resonator gyroscope, and the resonator gyroscope can be improved.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A hemispherical harmonic oscillator frequency phase tracking control method of a hemispherical harmonic oscillator gyro is characterized by comprising the following steps of: the hemispherical harmonic oscillator frequency phase tracking control method comprises the following steps:
s1, analyzing a hemispherical resonator subsystem of a hemispherical resonator gyroscope, and establishing a system model according to dynamic behaviors;
s2, setting target frequency and phase;
s3, designing a PID controller and a state feedback controller, and designing a corresponding loop according to the working mode of the hemispherical resonator gyroscope;
s4, adjusting targets of the PID controller and the state feedback controller according to actual response of the system, controlling an algorithm to generate corresponding driving signals, ensuring that control signals of the hemispherical resonator gyroscope are consistent with expected control actions by utilizing reverse phase operation, correcting or correcting phase differences of the signals, and ensuring accuracy and stability of the signals;
s5, forming a closed-loop control system.
2. The hemispherical harmonic oscillator frequency phase tracking control method of the hemispherical resonator gyroscope according to claim 1, wherein the method comprises the following steps: the step S1 comprises the following steps:
s11, in a force balance mode, the main vibration mode of the hemispherical resonant gyroscope is on a 0-degree electrode shaft, and a frequency control loop completes frequency control of the gyroscope through signals on the control-degree electrode shaft;
s12, a system model expression formula of the hemispherical resonator gyro is as follows:
；
wherein,𝜔 0 the frequency of the hemispherical resonator gyro is represented by Q, the quality factor of the hemispherical resonator gyro, s represents complex frequency domain variable, and G(s) represents the transfer function of the hemispherical resonator gyro.
3. The hemispherical resonator frequency phase tracking control method of the hemispherical resonator gyroscope according to claim 2, wherein the hemispherical resonator frequency phase tracking control method is characterized by comprising the following steps of: the step S3 comprises the following steps:
s31: designing a PID controller;
s32: designing a state feedback controller;
s33: designing a control loop;
the S31 includes:
the PID controller consists of three parts, namely a proportion P, an integral I and a derivative D, and the expression of the PID controller is as follows:
；
where u (t) is the output of the controller, i.e. the control input, which will be applied to the controlled system, K p Is a proportional gain for adjusting the control input, K, in dependence on the deviation e (t) i An integral gain for adjusting the control input according to the integral of the deviation, K d Is the differential gain for adjusting the control input in dependence on the rate of change of the deviation, e (t) is the control error, which is the difference between the setpoint or track value and the actual controlled variable, t represents time,representing the integral of the deviation e (t) over time for handling steady state errors of the system;
designing a relation between the controlled variable and the control input according to a mathematical model of the PID controller, and executing S311 to S316 respectively;
s311, adjusting the proportion part: when the method is started, the gains of the I and D parts are set to be zero, the P part is used for control, and the proportion Kp is adjusted to be in a first range;
s312, observing steady-state errors of the system by using control of the P part;
s313, gradually increasing K p Until the steady state error decreases to within a second range;
s314, adjusting an integral part: setting K according to S312 p The value of the I part is started, the gain of the D part is set to be zero, and the integral coefficient K is gradually reduced i Until steady state errors are eliminated;
s315, adjust differential part: will K p And K i Respectively taking values in a first range and a third range, starting a D part, setting the gain of an I part to be zero, and gradually reducing a differential coefficient K d The transient response of the system is improved, and overshoot and oscillation are reduced;
s316, comprehensive adjustment: further fine tuning K p 、K i And K d And the performance of the controller is verified through experiments and simulations.
4. The hemispherical resonator frequency phase tracking control method of the hemispherical resonator gyroscope according to claim 3, wherein: the S32 includes:
and (3) designing a state feedback controller: the state feedback controller realizes the required performance by adjusting the state feedback matrix, the feedback control of the state feedback controller measures state variables and calculates control inputs in each control period, and the expression of the control inputs is as follows:
；
where u (t) is the control input vector, K is the state feedback gain matrix, and x (t) is the system state vector;
and S33, taking the output of the PID controller in S31 as the reference input of the state feedback controller, applying the calculated control input to the hemispherical resonator gyroscope to realize frequency phase tracking, correcting the output of the PID controller according to the system state, regulating the system behavior, and designing a control loop according to the feedback control system.
5. The hemispherical resonator frequency phase tracking control method of the hemispherical resonator gyroscope according to claim 4, wherein the hemispherical resonator frequency phase tracking control method comprises the following steps: under the force balance mode, the hemispherical resonator gyro is formed by a main vibration mode control loop and a slave vibration mode control loop, the main vibration mode control loop drives the hemispherical resonator gyro to vibrate in the main vibration mode direction, so that the vibration frequency is maintained at the resonance frequency of the main vibration mode, the correct phase is maintained, and correct demodulation signals are provided for the main vibration mode control loop and other control loops, and the S33 comprises:
s331, reading a 0-degree electrode shaft signal, and sending the electrode shaft signal into an FPGA through AD conversion;
s332, adjusting the 0-degree electrode axis signal, and calculating the phase of the 0-degree electrode axis vibration mode;
s333, obtaining the phase difference between the two times of adjustment;
s334, PI correction is carried out according to the phase difference between the two previous and subsequent modulations, and the frequency difference is obtained;
s335, correcting the frequency of a reference signal, completing an initial frequency tracking link, and starting a phase-locked loop link;
s336, demodulating the 0-degree electrode axis signal according to the corrected frequency signal to obtain a phase of a 0-degree electrode axis vibration mode;
s337, calculating a phase error by the phase value reference signal, and performing PI correction according to the phase error to obtain a frequency difference;
s338, correcting the frequency of the reference signal, outputting a driving signal, and ending the control period.
6. The hemispherical resonator frequency phase tracking control method of the hemispherical resonator gyroscope according to claim 5, wherein the hemispherical resonator frequency phase tracking control method is characterized in that: the frequency phase tracking loop is used for tracking the resonant frequency of the harmonic oscillator in real time under the normal working state of the hemispherical resonator gyroscope, and generating reference signals with the same frequency and the same phase through the phase-locked loop for the calculation of the hemispherical resonator gyroscope detection signals and the control quantity distribution of driving signals, wherein the expression of the output tracking signals of the harmonic oscillator is as follows:
；
the method is characterized in that the method comprises the following steps of:
；
and the delta is the frequency difference between the harmonic oscillator vibration signal and the output tracking signal, the delta is the phase difference, the resonance signal is cos (), and the frequency phase tracking control loop and the main vibration mode control loop are connected in series to form a closed loop control system for controlling and tracking the vibration mode characteristic and the frequency phase characteristic of the hemispherical resonator gyroscope.
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