CN117872724B - 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
- Publication number
- CN117872724B CN117872724B CN202410269308.XA CN202410269308A CN117872724B CN 117872724 B CN117872724 B CN 117872724B CN 202410269308 A CN202410269308 A CN 202410269308A CN 117872724 B CN117872724 B CN 117872724B
- Authority
- CN
- China
- Prior art keywords
- control
- phase
- signal
- frequency
- hemispherical resonator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000010355 oscillation Effects 0.000 claims abstract description 8
- 230000006399 behavior Effects 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 claims 1
- 230000004069 differentiation Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 claims 1
- 238000012795 verification Methods 0.000 claims 1
- 238000001914 filtration Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- 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
- G01C19/5691—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 of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
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 the proportional gain for adjusting the control input in accordance with the deviation e (t), K i is the integral gain for adjusting the control input in accordance with the integral of the deviation, K d is the differential gain for adjusting the control input in accordance with 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: k p、Ki and K d are further fine tuned and the performance of the controller is verified by trial and simulation.
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:
；
Wherein Δω is a frequency difference between the harmonic oscillator vibration signal and the output tracking signal, ΔΦ is a phase difference, the resonance signal is cos (ωt), 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 application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. 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 is the resonant frequency of the hemispherical resonator gyro, Q is the quality factor of the hemispherical resonator gyro, s represents a 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 the proportional gain for adjusting the control input in accordance with the deviation e (t), K i is the integral gain for adjusting the control input in accordance with the integral of the deviation, K d is the differential gain for adjusting the control input in accordance with 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: k p、Ki and K d are further fine tuned and the performance of the controller is verified by trial and simulation.
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 a hemispherical resonator gyroscope is established, a PID controller and a state feedback controller are designed, and an output of the PID controller is used as an input of the state feedback controller, wherein K p is required to be adjusted in a first range, a section of the first range is (0, 1), a section of a steady state error is required to be in a second range, a section of the second range is (0, 1), K i is required to be in a third range, and a section of the third range is (0.01,1), in the invention, K p can be subjected to a value from 0.2, the maximum value is 0.8, the value of a relative steady state error is required to be lower than the value of K p, a starting value of 0.1 can be selected, and a starting value of K i can be set to be 0.05, and fine adjustment is performed according to the system condition.
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:
；
Wherein Δω is the frequency difference between the harmonic oscillator vibration signal and the output tracking signal, Δφ is the phase difference, the resonance signal is cos (ωt), 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.
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 (1)
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;
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, The method is characterized in that the method is used for obtaining the resonant frequency of the hemispherical resonator gyroscope, Q is the quality factor of the hemispherical resonator gyroscope, s represents a complex frequency domain variable, and G(s) represents the transfer function of the hemispherical resonator gyroscope;
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 the proportional gain for adjusting the control input in accordance with the deviation e (t), K i is the integral gain for adjusting the control input in accordance with the integral of the deviation, K d is the differential gain for adjusting the control input in accordance with 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 is reduced to be within a second range;
S314, adjusting an integral part: according to the S312, setting the K p value, starting the I part, setting the gain of the D part to be zero, and gradually reducing the integral coefficient K i until the steady-state error is eliminated;
S315, adjust differential part: taking the values of K p and K i in a first range and a third range respectively, starting a D part, setting the gain of an I part to be zero, gradually reducing a differential coefficient K d, improving the transient response of the system, and reducing overshoot and oscillation;
S316, comprehensive adjustment: further fine tuning of K p、Ki and K d, and verification of the controller performance by trial and simulation;
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;
Taking the output of the PID controller in the 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 executing the S33 according to the design control loop of the feedback control system;
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;
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:
；
wherein, Is the frequency difference between the harmonic oscillator vibration signal and the output tracking signal,/>Is phase difference, the resonance signal isThe frequency phase tracking control loop and the main vibration mode control loop are connected in series to form a closed-loop control system which is used for controlling and tracking the vibration mode characteristic and the frequency phase characteristic of the hemispherical resonator gyroscope;
The closed-loop control system comprises a voltage-controlled oscillator, a low-pass filter, an amplifier, capacitance differential detection and a digital signal synthesizer, wherein the main vibration mode control loop generates a cosine signal and a sine signal through the voltage-controlled oscillator, the detection signal of the main vibration mode and the cosine signal are demodulated to obtain the phase error of the signal, feedback control is realized through a PID (proportion integration differentiation) controller, the detection signal of the main vibration mode and the sine signal are demodulated to obtain an amplitude signal, the amplitude signal is subtracted from a preset amplitude value to obtain the amplitude error, the closed-loop control system ensures that the control signal of the hemispherical resonator gyroscope keeps consistent with the expected control action through inverting operation, compensates the output signal through phase compensation operation, corrects or corrects the phase difference of the signal, and ensures the accuracy and stability of the signal, and the closed-loop control system is also provided with a preset amplitude value for the predetermined oscillator output amplitude range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410269308.XA CN117872724B (en) | 2024-03-11 | 2024-03-11 | Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410269308.XA CN117872724B (en) | 2024-03-11 | 2024-03-11 | Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117872724A CN117872724A (en) | 2024-04-12 |
| CN117872724B true CN117872724B (en) | 2024-05-31 |
Family
ID=90595056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410269308.XA Active CN117872724B (en) | 2024-03-11 | 2024-03-11 | Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117872724B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118424243B (en) * | 2024-07-04 | 2024-09-06 | 四川图林科技有限责任公司 | Hemispherical resonator gyroscope system for adaptive dynamic range |
| CN118533160B (en) * | 2024-07-24 | 2024-09-24 | 四川图林科技有限责任公司 | Hemispherical resonant gyro system for temperature calibration and compensation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4011440A (en) * | 1975-04-29 | 1977-03-08 | General Electric Company | System for generating an angular rate signal from an angular position signal utilizing a constant amplitude-variable carrier phase signal |
| CN109104903B (en) * | 2014-12-10 | 2017-09-29 | 上海新跃仪表厂 | A kind of hemispherical reso nance gyroscope frequency control circuit based on dynamic balance mode |
| CN208206150U (en) * | 2018-06-13 | 2018-12-07 | 中国兵器工业集团第二一四研究所苏州研发中心 | Digital PLL circuit in restructural MEMS gyro number TT&C system |
| CN112697123A (en) * | 2021-01-05 | 2021-04-23 | 中国电子科技集团公司第二十六研究所 | Working mode switching control method and system of hemispherical resonator gyroscope |
| CN116358602A (en) * | 2023-04-03 | 2023-06-30 | 哈尔滨工程大学 | Method and system for online calibrating phase error of control loop of hemispherical resonator gyroscope |
| CN116412837A (en) * | 2023-02-16 | 2023-07-11 | 西北工业大学 | Method for generating hemispherical resonance gyro force balance mode calibration electric signal |
| CN116929322A (en) * | 2023-07-17 | 2023-10-24 | 长安大学 | Full-angle mode hemispherical resonator gyro accurate control method and system |
| CN117387589A (en) * | 2023-12-11 | 2024-01-12 | 四川图林科技有限责任公司 | Harmonic oscillator detection electrode output signal filtering method of hemispherical resonator gyroscope |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7437253B2 (en) * | 2004-07-29 | 2008-10-14 | The Boeing Company | Parametrically disciplined operation of a vibratory gyroscope |
| US11175138B2 (en) * | 2019-06-26 | 2021-11-16 | Stmicroelectronics, Inc. | MEMS gyroscope control circuit |
-
2024
- 2024-03-11 CN CN202410269308.XA patent/CN117872724B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4011440A (en) * | 1975-04-29 | 1977-03-08 | General Electric Company | System for generating an angular rate signal from an angular position signal utilizing a constant amplitude-variable carrier phase signal |
| CN109104903B (en) * | 2014-12-10 | 2017-09-29 | 上海新跃仪表厂 | A kind of hemispherical reso nance gyroscope frequency control circuit based on dynamic balance mode |
| CN208206150U (en) * | 2018-06-13 | 2018-12-07 | 中国兵器工业集团第二一四研究所苏州研发中心 | Digital PLL circuit in restructural MEMS gyro number TT&C system |
| CN112697123A (en) * | 2021-01-05 | 2021-04-23 | 中国电子科技集团公司第二十六研究所 | Working mode switching control method and system of hemispherical resonator gyroscope |
| CN116412837A (en) * | 2023-02-16 | 2023-07-11 | 西北工业大学 | Method for generating hemispherical resonance gyro force balance mode calibration electric signal |
| CN116358602A (en) * | 2023-04-03 | 2023-06-30 | 哈尔滨工程大学 | Method and system for online calibrating phase error of control loop of hemispherical resonator gyroscope |
| CN116929322A (en) * | 2023-07-17 | 2023-10-24 | 长安大学 | Full-angle mode hemispherical resonator gyro accurate control method and system |
| CN117387589A (en) * | 2023-12-11 | 2024-01-12 | 四川图林科技有限责任公司 | Harmonic oscillator detection electrode output signal filtering method of hemispherical resonator gyroscope |
Non-Patent Citations (2)
| Title |
|---|
| 半球谐振陀螺力再平衡数字控制技术;李云;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20120715(第07期);第C031-176页 * |
| 基于三步法的三自由度陀螺仪轨迹跟踪控制;刘志成;《中国优秀硕士学位论文全文数据库 信息科技辑》;20230115(第第01期期);第I140-1371页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117872724A (en) | 2024-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117872724B (en) | Hemispherical harmonic oscillator frequency phase tracking control method of hemispherical harmonic oscillator gyroscope | |
| CN113686356B (en) | Resonant gyro zero bias on-line self-compensation system and method based on RBF network | |
| CN115876182B (en) | Electrode error modeling method of hemispherical resonator gyroscope | |
| CN114608612B (en) | Full-angle mode resonant gyro damping uneven drift online compensation system and method | |
| CN115773741B (en) | Hemispherical resonator gyroscope self-compensation control system and method | |
| US9356607B2 (en) | Controller unit and device for resetting an oscillator excited by a harmonic oscillation, and yaw rate sensor | |
| EP2733461B1 (en) | Amplitude control for vibrating resonant sensors | |
| Fan et al. | Rate-integration gyroscope (RIG) with gain self calibration | |
| CN114440933A (en) | Self-correcting system for rotation modulation scale of resonant gyroscope | |
| US5442593A (en) | Apparatus and method of nulling discrete frequency noise signals | |
| Raspopov et al. | Tuning and calibration of a coriolis vibratory gyroscope with a metal resonator to operate in angular rate sensor mode | |
| Zhang et al. | Design of MEMS gyroscope interface ASIC with on-chip temperature compensation | |
| Liu et al. | Design of a digital closed control loop for the sense mode of a mode-matching MEMS vibratory gyroscope | |
| Chikovani et al. | Digital rate MEMS vibratory gyroscope modeling, tuning and simulation results | |
| JP2023062480A (en) | Phase synchronization circuit and sensing device | |
| CN113819898A (en) | Error suppression method for orthogonal force feedback closed loop small-frequency-difference quartz gyroscope | |
| CN114894221B (en) | Hemispherical resonator gyroscope orthogonal coupling error calibration method | |
| CN116610030A (en) | Hemispherical resonator gyro dead zone compensation and anti-interference control loop design method under full angle mode | |
| CN114137253B (en) | Rigidity modulation MEMS accelerometer and closed-loop control method thereof | |
| JP7302129B2 (en) | Gyro device and control method for gyro device | |
| Marconi et al. | Exploiting nonlinearities for frequency-matched mems gyroscopes tuning | |
| GB2597041A (en) | Improved inertial sensor | |
| Goncharov et al. | Digital Excitation Channel for Ring Micromechanical Gyroscope | |
| CN107884018B (en) | A kind of coriolis mass flowmeters driving method | |
| Jiao et al. | A novel design of closed-loop drive of MEMS gyroscope based on LADRC controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |