CN117928508A - Hemispherical resonator gyroscope standing wave azimuth angle resolving method in full-angle control mode - Google Patents
Hemispherical resonator gyroscope standing wave azimuth angle resolving method in full-angle control mode Download PDFInfo
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Abstract
The application discloses a hemispherical resonator gyroscope standing wave azimuth angle resolving method of a full-angle control mode, and relates to the technical field of hemispherical resonator gyroscopes. Wherein the method comprises the following steps: the signal demodulation and precession angle calculation circuit detects a capacitance output signal of a harmonic oscillator of the hemispherical resonator gyroscope in a precession process and solves the capacitance output signal; the amplitude control loop supplements energy for the harmonic oscillator, and maintains the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated; the orthogonal control loop maintains the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than a preset amplitude; the signal demodulation and precession angle calculation circuit determines the precession angle of the resonant sub-standing wave mode; and determining the azimuth speed based on the precession angle of the resonant sub-standing wave mode. The application can reduce the drift error of the hemispherical resonator gyroscope under the normal working condition.
Description
Technical Field
The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator gyroscope standing wave azimuth angle resolving method of a full-angle control mode.
Background
Classical gyroscopes are made by exploiting the dead-axis and precession of the mass rotating at high speed, conservation of angular momentum according to a main principle. Such gyroscopes are structurally subject to rotor and frame support and thus create various additional errors to the gyroscope. To avoid additional errors caused by moving parts and mechanical friction, new types of optical gyroscopes, resonant gyroscopes and piezoelectric crystal gyroscopes have been developed. Among them, the resonant gyroscopes are becoming more and more important with their unique advantages, and hemispherical resonant gyroscopes are a new type of gyroscopes that are only developed in the 60 s of the 20 th century. Compared with the traditional mechanical gyro and optical gyro, the hemispherical resonator gyro has the advantages of no high-speed rotor and no movable part, no need of preheating and short starting time; the high-quality quartz resonator has the characteristics of high Q value, and even if a driving electrode fails, the hemispherical resonator gyro of the high-quality quartz resonator can still keep the working time of more than 20 minutes; meanwhile, quartz glass has intrinsic radiation resistance, so that the hemispherical resonator gyroscope is commonly used for attitude determination and navigation of a space spacecraft and military navigation.
Hemispherical resonator gyroscopes are commonly operated in a force balanced mode in the prior art. When the hemispherical resonator gyro works in a force balance mode, the driving signal can be regulated to form a torque to the harmonic oscillator to inhibit precession of the harmonic oscillator, so that the harmonic oscillator can continuously adjust the posture of the harmonic oscillator to keep the harmonic oscillator at a balanced position all the time, and the driving signal is in direct proportion to the speed of the harmonic oscillator during control, thereby directly outputting the precession angular speed of the hemispherical resonator gyro.
The disadvantage of this control mode is that the harmonic oscillator can only operate within a very narrow rate range and cannot be applied to a wide range of angular velocity output conditions. When the hemispherical resonant gyroscope works in the full-angle control mode, no extra torque is required to be applied to the harmonic oscillator, and the harmonic oscillator can randomly precess as long as the harmonic oscillator is continuously supplemented with resonance energy, so that precession of the harmonic oscillator in a speed range is released. Therefore, the hemispherical resonator gyro with the full-angle mode has wider application field, can be expanded to the inertial navigation fields of aviation, navigation, land vehicles and the like besides the space detection field, and can fully play the advantages of the resonator gyro.
Aiming at the current situation, it is particularly important to design a hemispherical resonator gyroscope standing wave azimuth angle resolving method in a full-angle control mode.
Disclosure of Invention
The invention aims to provide a hemispherical resonator gyroscope standing wave azimuth angle resolving method in a full-angle control mode, so as to solve the technical problems.
The invention provides a hemispherical resonator gyroscope standing wave azimuth angle resolving method in a full-angle control mode, which comprises the following steps: the signal demodulation and precession angle calculation circuit detects a capacitance output signal of a harmonic oscillator of the hemispherical resonator gyroscope in a precession process and demodulates the capacitance output signal, wherein the hemispherical resonator gyroscope works in a full-angle control mode; the amplitude control loop supplements energy for the harmonic oscillator, and maintains the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated; the orthogonal control loop maintains the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than a preset amplitude; the signal demodulation and precession angle calculation circuit determines the precession angle of the resonant sub-standing wave mode; and determining azimuth speed based on the precession angle of the resonant sub-standing wave mode, wherein the frequency-phase tracking control loop maintains the signals in the signal detection process, the signal demodulation process and the resolving process to be in the same frequency and phase with the resonant sub-.
Further, before the signal demodulation and precession angle calculation circuit determines the precession angle of the resonant standing wave mode, the method further includes: and analyzing a motion equation of the hemispherical resonator gyroscope by using an average method to determine a slow variable of the hemispherical resonator gyroscope, wherein the slow variable comprises the vibration amplitude of the orthogonal axis of the standing wave of the harmonic oscillator, the quadrature error amount of the gyroscope and the phase of the vibration of the harmonic oscillator.
Further, the maintaining, by the quadrature control loop, the amplitude of the resonant sub-standing wave orthogonal axis vibration to be smaller than a preset amplitude includes: and the orthogonal control loop performs closed-loop control on the wave node parameter and the antinode parameter through a PI controller so as to maintain the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than the preset amplitude.
Further, the performing closed-loop control on the node parameter and the antinode parameter by the quadrature control loop through the PI controller includes: determining the phase shift quantity of the harmonic oscillator; adjusting the phase displacement according to the change of the node parameters to obtain a reference phase displacement; determining a target phase displacement according to the reference phase displacement and the change of the antinode point parameter; the PI controller determines the preset amplitude according to a stable amplitude formula, and determines a final phase displacement corresponding to the preset amplitude as a closed-loop phase displacement, wherein an independent variable of the stable amplitude formula is the target phase displacement, and a dependent variable of the stable amplitude formula is an amplitude corresponding to the phase displacement; and performing closed-loop control on the node parameter and the antinode parameter by using the closed-loop phase displacement.
Further, the stable amplitude formula is:
Wherein F is the amplitude of the harmonic oscillator, For amplitude amplification parameters,/>For the target phase shift quantity,/>For the reference phase shift quantity,/>Is the eigen frequency of the harmonic oscillator,/>Is the decay time constant.
Further, the PI controller has a proportional and integral correction module.
Further, the range of the precession angle of the resonant sub-standing wave mode is minus 180 degrees to 180 degrees.
Further, the angular variation of the hemispherical resonator gyroscope is affected by the asymmetry of the hemispherical resonator gyroscope.
Further, the resonance mode parameter information included in the capacitance output signal is extracted by using a multiplication coherent demodulation and low-pass filter.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. The hemispherical resonator gyroscope standing wave azimuth angle resolving method of the full-angle control mode can reduce drift errors of the hemispherical resonator gyroscope under normal working conditions and improve the accuracy of the hemispherical resonator gyroscope by improving effective work of a signal demodulation and precession angle resolving loop, an amplitude control loop, an orthogonal control loop and a frequency phase tracking control loop.
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 flow chart of a method for resolving the azimuth angle of a standing wave of a hemispherical resonator gyroscope in an alternative full angle control mode according to an embodiment of the application;
FIG. 2 is a schematic diagram of an alternative ideal motion profile of a gyro harmonic oscillator in accordance with an embodiment of the present application;
FIG. 3 is a flow chart of a method of resolving the azimuth angle of a hemispherical resonator gyroscope standing wave in another alternative full angle control mode according to an embodiment of the application.
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.
When the hemispherical resonator gyro works in a force balance (force feedback) mode, the driving signal is regulated to form a torque to the harmonic oscillator to inhibit the precession of the harmonic oscillator, so that the harmonic oscillator can continuously adjust the posture of the harmonic oscillator to keep the harmonic oscillator at a balanced position all the time, and the driving signal is in direct proportion to the speed of the harmonic oscillator during control, thereby directly outputting the precession angular rate of the hemispherical resonator gyro. The disadvantage of this control mode is that the harmonic oscillator can only operate within a very narrow rate range and cannot be applied to a wide range of angular velocity output conditions. When the hemispherical resonant gyroscope works in the full-angle control mode, no extra torque is required to be applied to the harmonic oscillator, and the harmonic oscillator can randomly precess as long as the harmonic oscillator is continuously supplemented with resonance energy, so that precession of the harmonic oscillator in a speed range is released. Therefore, the hemispherical resonator gyro with the full-angle mode has wider application field, can be expanded to the inertial navigation fields of aviation, navigation, land vehicles and the like besides the space detection field, and can fully play the advantages of the resonator gyro.
Compared with the force balance mode, the full-angle control mode has higher requirements on the processing technology, assembly and the like of the gyroscope, and the control system and the control method are more complex, so the full-angle control mode is a key technology which is necessary to break through for the domestic hemispherical resonator gyroscope. The full angle control mode includes four important control loops: a signal demodulation and precession angle calculation circuit, a frequency phase tracking control circuit, an amplitude control circuit and a quadrature control circuit. The signal demodulation and precession angle resolving loop is used for detecting and demodulating a capacitance output signal of the harmonic oscillator in the precession process and resolving the precession angle of the harmonic oscillator standing wave mode. The frequency-phase tracking control loop is used for ensuring that the reference signal and the actual working harmonic oscillator in the process of signal detection and calculation and driving force application ensure the same frequency and the same phase. The amplitude control loop is used for supplementing energy for the harmonic oscillator and maintaining the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated. The quadrature control loop minimizes the amplitude of the harmonic standing wave quadrature axis vibrations, compressing the quadrature axis amplitude to zero as much as the conditions permit. The drift error of the gyroscope under the normal working condition can be greatly reduced by improving the processing and assembly processes of the gyroscope and the effective work of the four control loops, and the accuracy of the gyroscope is improved.
Optionally, as an optional implementation manner, as shown in fig. 1, the method for resolving the standing wave azimuth angle of the hemispherical resonator gyroscope in the full-angle control mode provided by the application includes:
s101, a signal demodulation and precession angle calculation circuit detects a capacitance output signal of a harmonic oscillator of a hemispherical resonator gyroscope in a precession process and demodulates the capacitance output signal, wherein the hemispherical resonator gyroscope works in a full-angle control mode;
S102, the amplitude control loop supplements energy for the harmonic oscillator, and maintains the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated;
s103, the orthogonal control loop maintains the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than a preset amplitude;
S104, a signal demodulation and precession angle calculation loop determines a precession angle of a resonant sub-standing wave mode;
s105, determining azimuth speed based on the precession angle of the resonant sub-standing wave mode, wherein the frequency-phase tracking control loop maintains the signal detection process, the signal demodulation process and the signal in the solution process to be in the same frequency and phase with the resonant sub-.
In some embodiments of the present application, the principle of operation of the full angle mode is: when the angular velocity is input, the harmonic oscillator receives a force generated along a direction perpendicular to both the angular velocity direction and the vibration direction, and under the action of the force, the rotation angle of the harmonic oscillator vibration mode is different from the rotation angle of the carrier by a hysteresis angle, and the hysteresis angle is a precession angle or a hysteresis angle. The precession angle and the carrier rotation angle have a fixed proportional relationship. In the full-angle working mode, a series of processing solutions can be generally carried out by an external circuit on the basis of a vibration signal output by a gyroscope head, a precession angle is finally obtained, and the precession angle is used for representing the real-time rotation angle of a carrier where the gyroscope is positioned.
Alternatively, as an alternative embodiment, the precession angle of the resonant sub-standing wave mode is in the range of minus 180 degrees to 180 degrees.
Alternatively, as an alternative embodiment, the angular variation of the hemispherical resonator gyroscope is affected by the asymmetry of the hemispherical resonator gyroscope.
Alternatively, as an optional implementation manner, the resonant vibration mode parameter information included in the capacitance output signal is extracted by using a multiplication coherent demodulation and low-pass filter.
Optionally, as an optional implementation manner, before the signal demodulation and precession angle calculation circuit determines the precession angle of the resonant standing wave mode of vibration of the harmonic oscillator, the method further includes:
And analyzing a motion equation of the hemispherical resonator gyroscope by using an averaging method to determine a slow variable of the hemispherical resonator gyroscope, wherein the slow variable comprises the vibration amplitude of an orthogonal axis of a standing wave of the harmonic oscillator, the quadrature error quantity of the gyroscope and the phase of vibration of the harmonic oscillator.
In some embodiments of the present application, the motion equation of the hemispherical resonator gyroscope may be calculated based on the Lynch hemispherical resonator gyroscope theoretical model. In the full angle mode, the resonant cavity mode freely precesses along with the external input angular velocity, and the mode angular velocity is in direct proportion to the external input angular velocity. When the harmonic oscillator works at the resonant frequency, larger amplitude can be obtained by smaller driving force, but the frequency of the harmonic oscillator is continuously changed due to the change of the working environment of the harmonic oscillator, a phase-locked loop can be designed to realize phase locking, and the excitation voltage frequency is ensured to be consistent with the resonant frequency. In order to prevent the amplitude from being lost, energy needs to be continuously supplemented, and an amplitude control loop is designed to keep the amplitude stable. The magnitude of the external angular velocity can be reversely deduced according to the vibration mode precession angular velocity of the harmonic oscillator.
Optionally, as an optional implementation manner, the quadrature control loop maintaining the amplitude of the resonant sub-standing wave orthogonal axis vibration to be smaller than the preset amplitude includes:
The orthogonal control loop performs closed-loop control on the wave node parameter and the antinode parameter through the PI controller so as to maintain the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than a preset amplitude.
In some embodiments of the present application, as shown in fig. 2, which is the motion trace of a gyro resonator in an ideal case, a is the major half axis of the elliptical orbit of the ideal resonator, q is the minor half axis, θ is the major axis azimuth,The phase of the ideal harmonic oscillator vibration, ω is the natural frequency of the harmonic oscillator. And analyzing the motion equation of the hemispherical resonator gyroscope by using an averaging method to obtain a slow variable.
Alternatively, as shown in fig. 3, as an alternative embodiment, the closed-loop control of the node parameter and the antinode parameter by the quadrature control loop through the PI controller includes:
S301, determining the phase shift quantity of a harmonic oscillator;
S302, adjusting the phase displacement according to the change of the node parameters to obtain a reference phase displacement;
S303, determining a target phase displacement according to the reference phase displacement and the change of the antinode point parameter;
S304, the PI controller determines preset amplitude according to a stable amplitude formula, and determines a final phase displacement corresponding to the preset amplitude as a closed loop phase displacement, wherein an independent variable of the stable amplitude formula is a target phase displacement, and an independent variable of the stable amplitude formula is an amplitude corresponding to the phase displacement;
And S305, performing closed-loop control on the node parameter and the antinode parameter by using the closed-loop phase displacement quantity.
In some embodiments of the present application, the change trend of the corresponding vibration amplitude may be observed through the change of the antinode parameter, and if the corresponding vibration amplitude becomes large, the phase displacement amount after the change is used as a new reference phase displacement amount until the current phase displacement amount is within a certain range. And compared with the gyro output vibration signal, the resonance vibration mode parameter is a low-frequency parameter, and the resonance vibration mode parameter information included in the capacitance output signal can be extracted by adopting multiplication coherent demodulation and a low-pass filter. Because the harmonic oscillator quality factor is higher, the change of the amplitude parameter of the antinode point is slower, so that the node parameter and the antinode point parameter can be used as the node feedback value together. The PI controller can be used for carrying out closed-loop control on the wave node parameter and the antinode parameter, so that the position resonance vibration mode is stable. It can be appreciated that the control action of the PI controller cannot be directly applied to the harmonic oscillator because:
1) The resonance mode is changed in real time relative to the positions of the gyro and the driving electrode, so that the control action of the PI controller cannot be directly applied to the harmonic oscillator, but the control action needs to be enabled to 'track' the precession intersection of the resonance mode; 2) The frequency of the resonant signal is higher than the frequency of the control signal and thus the efficiency of directly applying the control action is low.
Alternatively, as an alternative embodiment, the PI controller has a proportional and integral correction module.
Alternatively, as an alternative embodiment, the stable amplitude formula is:
wherein F is the amplitude of the harmonic oscillator, For amplitude amplification parameters,/>For the target phase shift quantity,/>For reference phase shift quantity,/>Is the eigen frequency of harmonic oscillator,/>Is the decay time constant.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts, as some steps may be performed in other order or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (9)
1. A hemispherical resonator gyroscope standing wave azimuth angle resolving method of a full angle control mode is characterized by comprising the following steps:
The signal demodulation and precession angle calculation circuit detects a capacitance output signal of a harmonic oscillator of the hemispherical resonator gyroscope in a precession process and demodulates the capacitance output signal, wherein the hemispherical resonator gyroscope works in a full-angle control mode;
the amplitude control loop supplements energy for the harmonic oscillator, and maintains the vibration amplitude of the lip edge of the harmonic oscillator not to be attenuated;
The orthogonal control loop maintains the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than a preset amplitude;
the signal demodulation and precession angle calculation loop determines the precession angle of the resonant sub-standing wave mode;
and determining azimuth speed based on the precession angle of the resonant sub-standing wave mode, wherein a frequency-phase tracking control loop maintains the signals in the signal detection process, the signal demodulation process and the resolving process to be in the same frequency and phase with the resonant sub-.
2. The method of claim 1, wherein prior to the signal demodulation and precession angle resolution loop determining a precession angle of the resonant sub-standing wave mode of operation, the method further comprises:
And analyzing a motion equation of the hemispherical resonator gyroscope by using an average method to determine a slow variable of the hemispherical resonator gyroscope, wherein the slow variable comprises the vibration amplitude of the orthogonal axis of the standing wave of the harmonic oscillator, the quadrature error quantity of the gyroscope and the phase of the vibration of the harmonic oscillator.
3. The method of claim 2, wherein the quadrature control loop maintaining the harmonic standing wave quadrature axis vibration amplitude less than a preset amplitude comprises:
and the orthogonal control loop performs closed-loop control on the wave node parameter and the antinode parameter through a PI controller so as to maintain the vibration amplitude of the orthogonal axis of the harmonic oscillator standing wave to be smaller than the preset amplitude.
4. A method according to claim 3, wherein the closed loop control of the node and antinode parameters by the quadrature control loop via a PI controller comprises:
determining the phase shift quantity of the harmonic oscillator;
adjusting the phase displacement according to the change of the node parameters to obtain a reference phase displacement;
Determining a target phase displacement according to the reference phase displacement and the change of the antinode point parameter;
The PI controller determines the preset amplitude according to a stable amplitude formula, and determines a final phase displacement corresponding to the preset amplitude as a closed-loop phase displacement, wherein an independent variable of the stable amplitude formula is the target phase displacement, and a dependent variable of the stable amplitude formula is an amplitude corresponding to the phase displacement;
and performing closed-loop control on the wave node parameter and the antinode parameter by using the closed-loop phase displacement quantity.
5. The method of claim 4, wherein the step of determining the position of the first electrode is performed,
The stable amplitude formula is:
；
Wherein F is the amplitude of the harmonic oscillator, For amplitude amplification parameters,/>For the target phase shift quantity,/>For the reference phase shift quantity,/>Is the eigen frequency of the harmonic oscillator,/>Is the decay time constant.
6. The method of claim 4, wherein the PI controller has a proportional and integral correction module.
7. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The range of the precession angle of the resonant sub-standing wave mode is minus 180 degrees to 180 degrees.
8. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The angular variation of the hemispherical resonator gyroscope is affected by the asymmetry of the hemispherical resonator gyroscope.
9. The method of claim 1, wherein the step of determining the position of the substrate comprises,
And extracting resonance vibration mode parameter information included in the capacitance output signal by adopting multiplication coherent demodulation and a low-pass filter.
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