CN118010069B - Vibration error compensation method of hemispherical resonator gyroscope - Google Patents
Vibration error compensation method of hemispherical resonator gyroscope Download PDFInfo
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Abstract
The invention discloses a vibration error compensation method of a hemispherical resonator gyroscope, which relates to the technical field of gyroscopes, establishes a time axis with a fixed length for implementing an acceleration stage, marks the occurrence time point of a static field error value on each curve according to the time axis, places the gyroscope in a vibration field of a target application to obtain an average total curve of vibration field acceleration, records the vibration field acceleration curve each time, sets the vibration time point which reaches a vibration reference value and affects the acceleration of the gyroscope in the vibration field as an effective vibration point, and compensates and corrects the slope of the vibration field acceleration value and vibration parameters corresponding to the effective vibration point. The vibration external force is utilized to influence the acceleration, so that excitation error increment occurs, the acceleration slope and vibration parameters of the effective vibration point are subjected to compensation correction, and the gyroscope has the beneficial effects of obviously improving the correction error compensation accuracy and the accuracy of judging an application scene when applied to the vibration field.
Description
Technical Field
The invention relates to the technical field of gyroscopes, in particular to a vibration error compensation method of a hemispherical resonator gyroscope.
Background
Hemispherical resonator gyroscopes are solid state vibratory gyroscopes that utilize the radial vibratory standing wave precession of the hemispherical shell lip to sense base rotation. Random error is an inherent error of hemispherical resonator gyroscopes. It is mainly caused by various error sources in hemispherical resonator gyroscopes. Random errors manifest themselves in irregular fluctuations and instabilities in the hemispherical resonator gyroscope measurements over time. Such errors are difficult to completely eliminate and it is often desirable to reduce their impact on the accuracy of the hemispherical resonator gyroscope by some error compensation technique. In the process of calibrating the hemispherical resonator gyroscope in an initial stage of acceleration and rotation speed improvement, when the target gyroscope is in a use scene with certain vibration (such as on a plane with small amplitude but sporadic jolty or a shell with a small quantity of vibration frequency), the hemispherical resonator gyroscope can maintain the original working state under low-amplitude or low-frequency vibration, but the acceleration in the acceleration stage can be influenced by certain amplitude, so that resonance can occur to the harmonic oscillator, and the random zero drift error can be output because the change of the vibration characteristic of the harmonic oscillator is transmitted to the whole gyroscope system; meanwhile, a random control error of the gyro rate control excitation electrode is caused, so that the gyro is easy to generate an additional drift error, and an additional compensation deviation is easy to generate when a measurement result is output by a random error compensation scheme commonly used in the prior art, so that the performance and the accuracy of global random error compensation of the hemispherical resonator gyro are affected.
Disclosure of Invention
The invention provides a vibration error compensation method of a hemispherical resonator gyroscope, which solves the problem that in the random error compensation process of the hemispherical resonator gyroscope in a vibration environment, an additional drift error is possibly generated in a global random error due to the influence of scene part vibration, so that the conventional error compensation method is biased.
The invention is realized by the following technical scheme:
a vibration error compensation method of a hemispherical resonator gyroscope, the method comprising:
Step S1: establishing a time axis with fixed length for implementing an acceleration stage, respectively implementing initial error compensation of the gyroscope body at least three times along the time axis in a static field, recording a static field acceleration curve according to the time axis in each implementation process to record a static field acceleration value of the gyroscope body, and marking an appearance time point of the static field error value on each curve according to the time axis;
Step S2: the average value of all static field acceleration curves is taken and combined to be set as a static field acceleration total curve, the occurrence time points of static field error values in all implementation times are displayed on the total acceleration curve, the acceleration values at the positions of discrete points of the static field error values are marked, and the lowest value of the acceleration values is selected as a first threshold value for limiting the acceleration values in the vibration field;
Step S3: placing the gyroscope body in a vibration field of target application, presetting a vibration reference value for vibration parameters in the vibration field, running the gyroscope body at least three times along a time axis, recording vibration field acceleration curves each time to record the vibration field acceleration value of the gyroscope body, averaging all vibration field acceleration curves, and setting the combined vibration field acceleration curves as a vibration field acceleration total curve;
Step S4: setting a vibration time point reaching a vibration reference value in a vibration field as a negative feedback time point while recording a vibration field acceleration curve each time, recording the vibration time point on a corresponding vibration field acceleration curve, setting a second threshold value for the slope of the vibration field acceleration curve, extending along the left side and the right side of the negative feedback time point, and setting an extended section as a first judgment section;
Step S5: if the slope of the acceleration value of the vibration field reaches a second threshold value or more in a first judging section of the time axis, marking the negative feedback time point in the first judging section as an effective vibration point, recording data of all the effective vibration points one by one, and setting a section higher than the first threshold value on the total curve of the acceleration of the vibration field as a second judging section on the time axis;
Step S6: if the second judging section is overlapped with the first judging section of any effective vibration point, judging that vibration interference exists in the current second judging section, and compensating and correcting the slope of the vibration field acceleration value and the vibration parameter corresponding to the overlapped effective vibration point; and if the second judging section is not overlapped with the first judging section of all the effective vibration points, judging that the vibration interference is not generated.
When the target gyroscope is in a use scene with certain vibration, the hemispherical resonator gyroscope can maintain the original working state under low-amplitude or low-frequency vibration, but the acceleration in motion can be influenced by certain amplitude, so that the harmonic oscillator is deformed or resonated, and the change of the vibration characteristic of the harmonic oscillator is transmitted to the whole gyroscope system, so that random zero drift errors can be output; meanwhile, a random control error of the gyro rate control excitation electrode is caused, so that the gyro is easy to generate an additional drift error, and an additional compensation deviation is easy to generate when a measurement result is output by a random error compensation scheme commonly used in the prior art, so that the performance and the accuracy of global random error compensation of the hemispherical resonator gyro are affected. Based on the method, the invention provides a vibration error compensation method of a hemispherical resonator gyroscope, and solves the problem that in the random error compensation process of the hemispherical resonator gyroscope in a vibration environment, an additional drift error is possibly generated in a global random error due to the influence of scene part vibration, so that the conventional error compensation method is biased.
Further, a sliding window optimization method is set for dynamically adjusting the vibration reference value, and the method process comprises the following steps:
Constructing an initial sliding window containing initial vibration parameters, setting the size and the sliding step length of the sliding window according to the output frequency value of the gyroscope body, collecting time sequence data of vibration signals in a vibration field, extracting the vibration parameters from the time sequence data, and then sliding the sliding window from the initial position of the data sequence by taking each sliding step length as a unit; each sliding window iterates a new sliding window when moving one sliding step each time, and vibration parameters obtained after iteration are covered on old data.
Further, the value of the second threshold is larger than zero, and when the slope of the vibration field acceleration curve is smaller than zero, the value is compared with the second threshold after taking the absolute value to judge the effective vibration point.
Further, setting a positive slope value exceeding a second threshold as a positive overrun value, and setting a negative slope value exceeding the second threshold as a negative overrun value; the set of vibration field acceleration curve slope values includes a first set of positive and negative limits and zero values, a second set of negative and zero values, and a third set of positive and negative limits and zero values.
Further, the case categories of negative feedback time points marked as effective vibration points in the first judging section include:
If the slope value of the vibration field acceleration curve in the first judging section is the first set, judging that the gyroscope body is in an ascending and accelerating state, marking an effective vibration point in the current first judging section as a gain vibration point, setting a gain timestamp at the left end point of the current first judging section to record the vibration field acceleration value before ascending and accelerating, and carrying out acceleration reduction compensation on the vibration field acceleration value according to the gain vibration point and the vibration parameter of the current moment by combining the gain timestamp;
Judging that the gyroscope body is in a descending and accelerating state if the slope value of the vibration field acceleration curve in the first judging section is a second set, marking an effective vibration point in the current first judging section as a vibration reducing point, setting a time reducing timestamp at the left end point of the current first judging section to record the vibration field acceleration value before descending and accelerating, and carrying out acceleration lifting compensation on the vibration field acceleration value according to the vibration parameters of the gain vibration point and the vibration parameters at the current moment by combining the time reducing timestamp;
If the slope value of the vibration field acceleration curve in the first judging section is a third set, judging that the gyroscope body has both ascending and descending states, marking the effective vibration points in the current first judging section as balanced vibration point groups, respectively setting a primary timestamp and a tail timestamp at the left end point and the right end point of the current first judging section, respectively recording vibration field acceleration values at corresponding moments, and carrying out acceleration correction compensation on the vibration field acceleration values according to the balanced vibration point groups and the vibration parameters at the current moment.
Further, if two or more balance vibration point groups appear in the first determination section, the effective vibration points in the first determination section are all marked as the balance vibration point groups appearing once.
Further, a harmonic oscillator optimization model is set to reduce incremental errors of the gyroscope body in a vibration field caused by acceleration change, and the method comprises the following steps:
Setting a calculation formula to represent harmonic oscillator parameters of a gyroscope body in a vibration field, taking an excitation value of the vibration field as external input of a harmonic oscillator optimization model, and keeping updating of the harmonic oscillator parameters by utilizing a vibration field acceleration value acquired in real time; when the acceleration of the gyroscope body is improved, the feedback intensity of the harmonic oscillator is improved so as to inhibit the influence of the error of the harmonic oscillator; when the acceleration of the gyroscope body is reduced, the feedback intensity of the harmonic oscillator is reduced so as to improve the dynamic following degree of the system.
Further, the calculation formula of the harmonic oscillator parameter is expressed as follows:；
wherein t is a time value on a time axis, m is a harmonic oscillator mass, C is a damping coefficient of a harmonic oscillator model, k is a spring constant representing the stiffness of the harmonic oscillator, x (t) is a displacement of the harmonic oscillator, The harmonic acceleration in the gyro body in the vibration field is expressed, (dx/dt) represents the average harmonic velocity at the current moment, and F (t) is the dynamically changing excitation function in the vibration field.
Compared with the prior art, the method has the advantages and beneficial effects that the vibration external force is utilized to influence the acceleration so as to cause excitation error increment, the first threshold is set as the reference value, meanwhile, the effective vibration point is found out according to the second threshold, the acceleration slope and the vibration parameter of the effective vibration point are subjected to compensation correction, and the application of the hemispherical resonator gyroscope in the vibration field has the advantages and beneficial effects of obviously improving the correction error compensation accuracy and the application scene judgment accuracy.
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 the present invention;
FIG. 2 is a schematic diagram of a flow structure of the present invention;
FIG. 3 is a graph illustrating a first set of acceleration slope values in a first determination interval according to the present invention;
FIG. 4 is a graph showing the acceleration gradient values in the first determination section as the second set according to the present invention;
FIG. 5 is a graph showing the third set of acceleration slope values in the first determination interval according to the present invention.
In the drawings, reference numerals and corresponding designations:
A-gain vibration point, A1-positive overrun value, B-primary time stamp, B1-primary time stamp acceleration value, C-terminal time stamp, C1-terminal time stamp acceleration value, D-minus vibration point, D1-negative overrun value, E-gain time stamp, E1-gain time stamp acceleration value, F-minus time stamp, F1-minus time stamp acceleration value, T-time axis, M-time axis.
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.
As shown in fig. 1-2, the present embodiment is a vibration error compensation method of a hemispherical resonator gyroscope, which includes:
Step S1: establishing a time axis with fixed length for implementing an acceleration stage, respectively implementing initial error compensation of the gyroscope body at least three times along the time axis in a static field, recording a static field acceleration curve according to the time axis in each implementation process to record a static field acceleration value of the gyroscope body, and marking an appearance time point of the static field error value on each curve according to the time axis;
Step S2: the average value of all static field acceleration curves is taken and combined to be set as a static field acceleration total curve, the occurrence time points of static field error values in all implementation times are displayed on the total acceleration curve, the acceleration values at the positions of discrete points of the static field error values are marked, and the lowest value of the acceleration values is selected as a first threshold value for limiting the acceleration values in the vibration field;
Step S3: placing the gyroscope body in a vibration field of target application, presetting a vibration reference value for vibration parameters in the vibration field, running the gyroscope body at least three times along a time axis, recording vibration field acceleration curves each time to record the vibration field acceleration value of the gyroscope body, averaging all vibration field acceleration curves, and setting the combined vibration field acceleration curves as a vibration field acceleration total curve;
Step S4: setting a vibration time point reaching a vibration reference value in a vibration field as a negative feedback time point while recording a vibration field acceleration curve each time, recording the vibration time point on a corresponding vibration field acceleration curve, setting a second threshold value for the slope of the vibration field acceleration curve, extending along the left side and the right side of the negative feedback time point, and setting an extended section as a first judgment section;
Step S5: if the slope of the acceleration value of the vibration field reaches a second threshold value or more in a first judging section of the time axis, marking the negative feedback time point in the first judging section as an effective vibration point, recording data of all the effective vibration points one by one, and setting a section higher than the first threshold value on the total curve of the acceleration of the vibration field as a second judging section on the time axis;
Step S6: if the second judging section is overlapped with the first judging section of any effective vibration point, judging that vibration interference exists in the current second judging section, and compensating and correcting the slope of the vibration field acceleration value and the vibration parameter corresponding to the overlapped effective vibration point; and if the second judging section is not overlapped with the first judging section of all the effective vibration points, judging that the vibration interference is not generated.
Hemispherical Resonator Gyroscopes (HRGs) are a type of high precision inertial sensor that is used to measure and record rotational information about an object. During normal operation, the gyroscope is mainly initialized and calibrated during the acceleration phase, which includes calibration of the sensor for factors such as zero drift, temperature variations, etc., to ensure that accurate rotation measurements are obtained during operation. Meanwhile, the gyroscope records and analyzes the acceleration change of the gyroscope body in motion so as to know the performance and response capability of the gyroscope in different dynamic environments. The acceleration phase is a critical period for performing error compensation. By performing initial error compensation in the static field and further error compensation in the vibration field, errors due to acceleration variations and other environmental factors can be minimized. During the acceleration phase, the performance of the gyroscope will be challenged, and therefore it is an important step to evaluate its performance, which may include recording the stability, noise level, sensitivity, etc. parameters of the output signal. In addition, the gyroscope can be placed in a vibration field for testing in an acceleration stage, and the stability and performance of the gyroscope in a vibration environment can be evaluated by recording the gyroscope response in the vibration field.
In the normal operation state of the static field, the main errors generated when the gyroscope keeps accelerating in the acceleration stage mainly comprise angular velocity deviation errors and excitation electrode control errors. Due to the unavoidable imperfections in the manufacturing and assembly of the gyroscope itself, including zero drift, offset, etc., the measured value of angular velocity deviates from the true value; the electric field applied by the excitation electrodes may be spatially non-uniform, resulting in inaccurate control of the gyroscope by the electric field and thus errors. The method comprises the steps of firstly obtaining an acceleration reference value for a vibration field through a conventional error compensation method under the condition of keeping acceleration for a plurality of times in a static field, namely obtaining a first threshold value for the vibration field of a gyroscope body to enter a target to work and then taking the first threshold value as a reference of acceleration limitation. The time axis is the transverse coordinate axis of the acceleration curve, and the time axis length is fixed, namely the time length of the acceleration stage is the same fixed value no matter in a static field or a vibration field. In this embodiment, since a plurality of different variables are required to be represented, the vertical coordinate axes are not set in the drawing for brevity, but the vertical variable values in the actual meaning are the values of the acceleration. At least three initial error compensations of the gyroscope body are respectively implemented along a time axis in a static field, a reference acceleration reference value for the operation of the vibrating field gyroscope is established, and the aim of implementing the initial error compensations is to obtain more stable and accurate error correcting effects. In a specific application, the more the implementation times are, the higher the accuracy that the static field acceleration total curve as the final reference value accords with the actual error occurrence condition is, and the implementation times can be adjusted as appropriate according to the satisfaction degree of the actual condition. The static field acceleration curve reflects the reference motion state of the gyroscope body in the static field and the change speed of whether the acceleration exists or not, and can reflect the running performance of the gyroscope body at different time points under the conventional static field. Marking the appearance time of the error value obtained by initial error compensation along a time axis, and setting a first threshold value for reference discrimination for the acceleration value of the vibration field by combining the static field acceleration total curve.
In practical application, the vibration field is not rare, and the vibration field of the target application may include vehicles, ships and aircrafts in the driving process, or automation system equipment and robots in an industrial environment, and precise measurement scenes in part of the scientific research field, etc. The vibration parameters in the vibration field mainly comprise frequency, amplitude, direction, periodicity, duration and the like of each vibration, and the vibration reference value is a critical value for avoiding the influence of the vibration on each parameter based on the actual requirements of the gyroscope body and the application scene. The frequency in the vibration field represents the periodicity of the vibration, the vibration amplitude represents the amplitude or magnitude of the vibration, and the vibration frequency and amplitude under different application scenarios may be different, so that a frequency range that may be encountered in practical applications needs to be considered. The vibration direction may be unidirectional or multidirectional, and is the direction in which vibration occurs, typically described by a three-dimensional coordinate system. The recorded vibration field acceleration curve is mainly used for analyzing the change condition of acceleration in the vibration field and carrying out error compensation correction on a vibration value by combining the vibration occurrence time point, and can also reflect the dynamic response of the gyroscope in a vibration environment. Similarly, the purpose of performing the acquisition of the acceleration value of the vibration field multiple times is to obtain a more stable and accurate error correction effect, in the specific implementation, the more times the gyroscope body is operated, the more accurate the acquired relationship between the acceleration of the gyroscope body and the vibration in the vibration field and the main parameter characteristics of the vibration occurring in the vibration field are, but the more times the main parameter characteristics of the vibration occurring in the vibration field are, the higher the compensation working cost is, so the times of specific operation statistics need to be set by combining the statistics of the static field acceleration curve and the vibration parameters of the vibration occurring in the vibration field. Acceleration and vibration monitoring of the gyroscope body mainly adopts a conventional technical method, and accuracy is standard, for example, an acceleration sensor and an inertial measurement unit are used for maintaining acceleration monitoring, and a vibration sensor is used for maintaining monitoring on vibration received by the gyroscope body. In particular applications, it is also necessary to ensure that the selected sensor has a sufficient sampling frequency to capture the rapid changes that may occur in the target application, while the dynamic range of the sensor should be large enough to accommodate the wide range of accelerations and vibrations that may occur in different scenarios.
More, the negative feedback time point is to primarily collect and screen vibration generated in the vibration field, and then mark the negative feedback time point as an effective vibration point after the negative feedback time point is subjected to the step screening. The step-by-step screening is to set a second threshold value for the slope of the vibration field acceleration curve, judge whether the vibration is affected by the slope change of the vibration field acceleration curve, and judge that the negative feedback point in the first judgment section affects the acceleration of the gyroscope if the slope in the first judgment section reaches the second threshold value, namely mark as an effective vibration point. In practical application, the size of the first determination section should be set in consideration of the response time of the gyroscope to external vibration. This includes gyroscope inertia, control system response speed, etc., and generally a larger decision interval may better encompass slope changes around the moment of vibration. If the response time of the system is long, a larger decision interval may be required to fully account for the dynamic response of the system while ensuring that the sampling rate is high enough to capture details of the vibration signal. Simultaneously analyzing the frequency and amplitude of the vibration signal in the negative feedback point to determine a possible vibration period, if the vibration frequency is high, the size of the decision interval may need to be reduced accordingly to more accurately capture the change in the vibration signal; if the amplitude of the vibration signal is large, the size of the decision interval may need to be increased accordingly to ensure that the peaks and valleys of the vibration signal can be adequately included. Recording data of all effective vibration points one by one, and analyzing the characteristics of the effective vibration points so as to carry out subsequent compensation and correction; the data record may include information about the time of all active vibration points, vibration field acceleration values, slopes, etc. for subsequent analysis and processing. The section of the vibration field acceleration total curve above the first threshold value is set as a second decision section on the time axis, in order to further determine the period of vibration, in order to more fully analyze the characteristics of the vibration field, and in order to identify whether there is vibration disturbance in the vibration field, if so, the accuracy of the vibration field acceleration curve is ensured by correcting the effective vibration point. If no vibration disturbance exists, no additional correction is necessary. And judging the state of the second judging section, judging that vibration interference exists in the current second judging section if the second judging section is overlapped with the first judging section of any effective vibration point, and indicating that the vibration field acceleration curve is influenced by external vibration in the time period, so that the angular velocity value output by the gyroscope is inaccurate, and compensating and correcting the overlapped effective vibration point. For the coincident effective vibration points, compensation correction is required to be carried out on the corresponding vibration field acceleration value slope and vibration parameters, which can comprise correction of the vibration parameters or error compensation by other means so as to improve the accuracy of the gyroscope.
Further, as a possible implementation manner, a sliding window optimization method is provided for dynamically adjusting the vibration reference value, and the method includes the following steps:
Constructing an initial sliding window containing initial vibration parameters, setting the size and the sliding step length of the sliding window according to the output frequency value of the gyroscope body, collecting time sequence data of vibration signals in a vibration field, extracting the vibration parameters from the time sequence data, and then sliding the sliding window from the initial position of the data sequence by taking each sliding step length as a unit; each sliding window iterates a new sliding window when moving one sliding step each time, and vibration parameters obtained after iteration are covered on old data.
Specifically, the main content of the sliding window optimization method is to establish a sliding window containing initial vibration parameters, wherein the window comprises vibration signal data within a certain time range. The size of the sliding window and the length of the sliding step are set according to the output frequency value of the gyroscope body, so as to sample and analyze the vibration signal data properly. Meanwhile, time series data of the vibration signal are acquired in the vibration field, and vibration parameters including amplitude, frequency, phase and the like are extracted from the time series data and are used for describing the characteristics of the vibration signal. When the sliding window starts from the starting position of the data sequence, iterating in units of each sliding step length, and each sliding window movement represents vibration signal data in a period of time. In each iteration of the sliding window, the scheme calculates new vibration parameters, which can be realized by re-extracting or updating the previously extracted vibration parameters in specific application, and then the new vibration parameters acquired after the iteration are overlaid on old data to realize dynamic adjustment. By utilizing the sliding window technology, vibration parameters are continuously extracted and updated from vibration signal data to dynamically adjust vibration reference values, the self-adaptability of the system can be enhanced, the system can be better adapted to the change of a vibration field, and the resistance to vibration interference is improved.
Further, as a possible implementation manner, the value of the second threshold is greater than zero, and when the slope of the vibration field acceleration curve is less than zero, the value is compared with the second threshold after taking the absolute value to determine the effective vibration point. And when the slope of the vibration field acceleration curve is smaller than zero, taking the absolute value of the vibration field acceleration curve, and then comparing the vibration field acceleration curve with a second threshold value. This means that not only the magnitude of the slope is of interest, but also the sign of its direction. If the slope after the absolute value exceeds the second threshold, it may be considered a vibration point of interest. On the vibration field acceleration curve, when the condition that the slope is smaller than zero is satisfied and the slope after the absolute value exceeds the second threshold, the point is marked as a negative feedback point, that is, vibration is considered to occur at this point. Such a discriminating process aims at identifying meaningful vibrations in the vibration field, rather than simply recording all vibrations.
Further, as a possible implementation, as shown in fig. 3 to 5, a positive slope value exceeding the second threshold is set as a positive overrun value, and a negative slope value exceeding the second threshold in absolute value is set as a negative overrun value; the set of vibration field acceleration curve slope values includes a first set of positive and negative limits and zero values, a second set of negative and zero values, and a third set of positive and negative limits and zero values.
In particular, a positive slope value indicates that the vibration field acceleration curve rises in a steep increase at a certain moment in time, while a negative slope value indicates that the curve falls in a steep decrease at a certain moment in time. Positive slope values exceeding the second threshold are defined as positive overrun values, while negative slope values having absolute values exceeding the second threshold are defined as negative overrun values. In the present embodiment, three sets are described, which correspond to three cases of the effective vibration points in the first determination section, and the value of the acceleration slope occurring in each case is limited to the corresponding set. The first set consists of positive over-limits and zero, i.e. the curve increases steeply at a certain moment and the rise speed exceeds a set threshold or the curve approaches the level. The second set consists of both negative over-limits and zero, i.e. the curve drops steeply at a certain moment and the speed of the drop exceeds a set threshold or the curve approaches the level. The third set consists of positive and negative superlimits and zero, i.e. the moment when the curve has a steep rise or a steep fall in the current first decision interval, and the absolute value of the slope exceeds a set threshold or the curve approaches the level. The present embodiment aims to identify positive and negative slopes exceeding a set threshold by classifying the slopes of the vibration field acceleration curve, and classifying them into different sets, respectively, such classification can help to determine vibration time points occurring in the vibration field to identify vibration events exceeding the threshold, and further perform negative feedback or compensation operations to reduce the influence of vibration on gyroscope performance.
More, the case categories of negative feedback time points in the first judging section marked as effective vibration points include:
If the slope value of the vibration field acceleration curve in the first judging section is the first set, judging that the gyroscope body is in an ascending and accelerating state, marking an effective vibration point in the current first judging section as a gain vibration point, setting a gain timestamp at the left end point of the current first judging section to record the vibration field acceleration value before ascending and accelerating, and carrying out acceleration reduction compensation on the vibration field acceleration value according to the gain vibration point and the vibration parameter of the current moment by combining the gain timestamp;
Judging that the gyroscope body is in a descending and accelerating state if the slope value of the vibration field acceleration curve in the first judging section is a second set, marking an effective vibration point in the current first judging section as a vibration reducing point, setting a time reducing timestamp at the left end point of the current first judging section to record the vibration field acceleration value before descending and accelerating, and carrying out acceleration lifting compensation on the vibration field acceleration value according to the vibration parameters of the gain vibration point and the vibration parameters at the current moment by combining the time reducing timestamp;
If the slope value of the vibration field acceleration curve in the first judging section is a third set, judging that the gyroscope body has both ascending and descending states, marking the effective vibration points in the current first judging section as balanced vibration point groups, respectively setting a primary timestamp and a tail timestamp at the left end point and the right end point of the current first judging section, respectively recording vibration field acceleration values at corresponding moments, and carrying out acceleration correction compensation on the vibration field acceleration values according to the balanced vibration point groups and the vibration parameters at the current moment.
Specifically, as shown in fig. 3 to 5, where T represents a time axis and M represents a range of the first determination section on the time axis. In this embodiment, when the slope value of the vibration field acceleration curve in the first determination section is the first set, it is determined that the gyro body is in an up-speed-increasing state, which means that the gyro body is experiencing a state in which acceleration is suddenly increased at this stage. The effective vibration point in the current first judging section is marked as a gain vibration point A, the vibration field acceleration value corresponding to the gain vibration point A at the time point is the positive overrun value A1, and meanwhile, a gain time stamp E is arranged at the left end point of the current first judging section to record the acceleration value E1 of the gain time stamp before rising and increasing, so that the vibration before rising and increasing is conveniently compensated in the follow-up processing. And then, combining the acceleration value E1 of the gain time stamp with the vibration parameter at the current moment, and performing acceleration reduction compensation on the vibration field acceleration value. Vibration parameters of the current moment are acquired at the gain vibration point A during compensation, and the parameters may include frequency, amplitude, phase and the like of the vibration point in the current first determination section. And calculating by using the vibration parameter at the current moment and the acceleration value E1 of the gain time stamp before the rise and the acceleration to obtain a compensation value. The purpose of this value is to adjust the vibration field acceleration value at the current moment to reduce the effect of vibration in the up-and-speed state on the gyroscope performance. The calculated compensation value is applied to the vibration field acceleration value at the current moment to realize the compensation of the vibration, which can be adjusted by adding or subtracting the compensation value. Similarly, if the slope value of the vibration field acceleration curve in the first determination section is the second set, determining that the gyroscope body is in a speed-down and speed-up state, wherein the state indicates that the gyroscope body is experiencing a state of acceleration cliff sliding in the current first determination section. Marking an effective vibration point in a current first judging section as a beneficial vibration point D, setting a beneficial time stamp F at the left end point of the current first judging section to record the acceleration value F1 of the beneficial time stamp before increasing speed, and then combining the acceleration value F1 of the beneficial time stamp with vibration parameters at the current moment to perform acceleration reduction compensation on the vibration field acceleration value, wherein the vibration field acceleration value corresponding to the beneficial vibration point D at the time point is a negative super-limit value D1. And when the slope value of the vibration field acceleration curve in the first judging section is a third set, marking the current effective vibration point as a balance vibration point group, namely, the balance vibration point group consists of a gain vibration point A and a damping vibration point D. This means that the gyro body undergoes both the up-and-down acceleration and the up-and-down acceleration states within the current first determination section period. Under the condition of marking as a balance vibration point group, a primary timestamp B and a tail timestamp C are respectively arranged at the left end point and the right end point of the current first judging section, and an acceleration value B1 of the primary timestamp and an acceleration value C1 of the tail timestamp at corresponding moments are recorded. And executing the acceleration correction compensation of the vibration field acceleration value according to the balance vibration point group and the vibration parameter at the current moment. This shows that in the case of recognizing the up-and-down acceleration states, a finer correction can be made to the acceleration of the vibration field to improve the performance and measurement accuracy of the gyroscope in this particular state. In particular, in a specific implementation, if two or more sets of balance vibration points occur within a first determination section, then the effective vibration points within the first determination section are each noted as the occurrence of a set of balance vibration points. More effective vibration points may occur within the first decision interval during which the gyroscope body experiences multiple vibration state changes, possibly due to a complex external environment or other factors. Because of the self-balancing action of the balance vibration point groups, the multiple groups of the balance vibration points are combined into one group so as to reduce the calculation load of the gyroscope body. In a specific calculation process, all positive overrun values A1 and negative overrun values D1 can be averaged respectively for subsequent calculation.
Further, as a possible implementation manner, a harmonic oscillator optimization model is set to reduce an incremental error of the gyroscope body in a vibration field caused by acceleration change, and the content includes:
Setting a calculation formula to represent harmonic oscillator parameters of a gyroscope body in a vibration field, taking an excitation value of the vibration field as external input of a harmonic oscillator optimization model, and keeping updating of the harmonic oscillator parameters by utilizing a vibration field acceleration value acquired in real time; when the acceleration of the gyroscope body is improved, the feedback intensity of the harmonic oscillator is improved so as to inhibit the influence of the error of the harmonic oscillator; when the acceleration of the gyroscope body is reduced, the feedback intensity of the harmonic oscillator is reduced so as to improve the dynamic following degree of the system. The calculation type harmonic oscillator is used for representing harmonic oscillator parameters of the gyroscope body in the vibration field, including parameters such as vibration frequency, damping ratio and the like, and describing dynamic characteristics of the harmonic oscillator. The excitation value of the vibration field is used as an external input of the harmonic oscillator optimization model, which indicates that the behavior of the harmonic oscillator is excited by the vibration field, and the change of the vibration field is adapted by adjusting the harmonic oscillator parameters. And updating the harmonic oscillator parameters in real time by utilizing the vibration field acceleration values acquired in real time. The real-time feedback mechanism enables the system to be better suitable for dynamic changes of the vibration field, and improves accuracy of the model. When the acceleration of the gyroscope body is improved, the feedback intensity of the harmonic oscillator is increased, so that the influence of the harmonic oscillator error on the output of the gyroscope is restrained, and the error caused by the acceleration change is reduced. When the acceleration of the gyroscope body is reduced, the feedback intensity of the harmonic oscillator is reduced, so that the dynamic following degree of the system is improved, and instability caused by excessive compensation of the harmonic oscillator is prevented. According to the embodiment, the harmonic oscillator parameters are updated in real time and the feedback intensity is adjusted through the control strategy, so that the increment error of the gyroscope body in the vibration field caused by acceleration change is effectively reduced, and the performance of the gyroscope is improved.
Further, the calculation formula is further defined, and the calculation formula of the harmonic oscillator parameter is expressed as follows:
；
wherein t is a time value on a time axis, m is a harmonic oscillator mass, C is a damping coefficient of a harmonic oscillator model, k is a spring constant representing the stiffness of the harmonic oscillator, x (t) is a displacement of the harmonic oscillator, The harmonic acceleration in the gyro body in the vibration field is expressed, (dx/dt) represents the average harmonic velocity at the current moment, and F (t) is the dynamically changing excitation function in the vibration field. The calculation formula expresses the stress condition of the harmonic oscillator in the vibration field, and illustrates the influence of the mass, the damping and the spring on the vibration behavior of the harmonic oscillator. The excitation function F (t) on the right of the equation represents the effect of external excitation on the harmonic oscillator and may be a dynamic change within the vibration field.
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 (5)
1. A method for compensating vibration errors of a hemispherical resonator gyroscope, the method comprising:
Step S1: establishing a time axis with fixed length for implementing an acceleration stage, respectively implementing initial error compensation of the gyroscope body at least three times along the time axis in a static field, recording a static field acceleration curve according to the time axis in each implementation process to record a static field acceleration value of the gyroscope body, and marking an appearance time point of the static field error value on each curve according to the time axis;
Step S2: the average value of all static field acceleration curves is taken and combined to be set as a static field acceleration total curve, the occurrence time points of static field error values in all implementation times are displayed on the total acceleration curve, the acceleration values at the positions of discrete points of the static field error values are marked, and the lowest value of the acceleration values is selected as a first threshold value for limiting the acceleration values in the vibration field;
Step S3: placing the gyroscope body in a vibration field of target application, presetting a vibration reference value for vibration parameters in the vibration field, running the gyroscope body at least three times along a time axis, recording vibration field acceleration curves each time to record the vibration field acceleration value of the gyroscope body, averaging all vibration field acceleration curves, and setting the combined vibration field acceleration curves as a vibration field acceleration total curve;
Step S4: setting a vibration time point reaching a vibration reference value in a vibration field as a negative feedback time point while recording a vibration field acceleration curve each time, recording the vibration time point on a corresponding vibration field acceleration curve, setting a second threshold value for the slope of the vibration field acceleration curve, extending along the left side and the right side of the negative feedback time point, and setting an extended section as a first judgment section;
Step S5: if the slope of the acceleration value of the vibration field reaches a second threshold value or more in a first judging section of the time axis, marking the negative feedback time point in the first judging section as an effective vibration point, recording data of all the effective vibration points one by one, and setting a section higher than the first threshold value on the total curve of the acceleration of the vibration field as a second judging section on the time axis;
Step S6: if the second judging section is overlapped with the first judging section of any effective vibration point, judging that vibration interference exists in the current second judging section, and compensating and correcting the slope of the vibration field acceleration value and the vibration parameter corresponding to the overlapped effective vibration point; if the second judging section is not overlapped with the first judging sections of all the effective vibration points, judging that the vibration interference is not generated;
The value of the second threshold is larger than zero, and when the slope of the acceleration curve of the vibration field is smaller than zero, the value of the second threshold is compared with the second threshold after the absolute value is taken to judge the effective vibration point;
Setting a positive slope value exceeding a second threshold as a positive overrun value, and setting a negative slope value exceeding the second threshold as a negative overrun value; the set of slope values of the acceleration curve of the vibration field comprises a first set consisting of a positive super-limit value and zero, a second set consisting of a negative super-limit value and zero and a third set consisting of a positive super-limit value, a negative super-limit value and zero;
The condition categories of the negative feedback time point marked as the effective vibration point in the first judging section comprise:
If the slope value of the vibration field acceleration curve in the first judging section is the first set, judging that the gyroscope body is in an ascending and accelerating state, marking an effective vibration point in the current first judging section as a gain vibration point, setting a gain timestamp at the left end point of the current first judging section to record the vibration field acceleration value before ascending and accelerating, and carrying out acceleration reduction compensation on the vibration field acceleration value according to the gain vibration point and the vibration parameter of the current moment by combining the gain timestamp;
Judging that the gyroscope body is in a descending and accelerating state if the slope value of the vibration field acceleration curve in the first judging section is a second set, marking an effective vibration point in the current first judging section as a vibration reducing point, setting a time reducing timestamp at the left end point of the current first judging section to record the vibration field acceleration value before descending and accelerating, and carrying out acceleration lifting compensation on the vibration field acceleration value according to the vibration parameters of the gain vibration point and the vibration parameters at the current moment by combining the time reducing timestamp;
If the slope value of the vibration field acceleration curve in the first judging section is a third set, judging that the gyroscope body has both ascending and descending states, marking the effective vibration points in the current first judging section as balanced vibration point groups, respectively setting a primary timestamp and a tail timestamp at the left end point and the right end point of the current first judging section, respectively recording vibration field acceleration values at corresponding moments, and carrying out acceleration correction compensation on the vibration field acceleration values according to the balanced vibration point groups and the vibration parameters at the current moment.
2. The vibration error compensation method of a hemispherical resonator gyroscope according to claim 1, wherein a sliding window optimization method is provided for dynamically adjusting the vibration reference value, the method comprising:
Constructing an initial sliding window containing initial vibration parameters, setting the size and the sliding step length of the sliding window according to the output frequency value of the gyroscope body, collecting time sequence data of vibration signals in a vibration field, extracting the vibration parameters from the time sequence data, and then sliding the sliding window from the initial position of the data sequence by taking each sliding step length as a unit; each sliding window iterates a new sliding window when moving one sliding step each time, and vibration parameters obtained after iteration are covered on old data.
3. The method of claim 1, wherein if two or more sets of balance vibration points occur in a first determination section, the effective vibration points in the first determination section are all marked as the set of primary balance vibration points.
4. The vibration error compensation method of a hemispherical resonator gyroscope according to claim 1, wherein a harmonic oscillator optimization model is set to reduce an incremental error of a gyroscope body in a vibration field due to acceleration change, and the method comprises the following steps:
Setting a calculation formula to represent harmonic oscillator parameters of a gyroscope body in a vibration field, taking an excitation value of the vibration field as external input of a harmonic oscillator optimization model, and keeping updating of the harmonic oscillator parameters by utilizing a vibration field acceleration value acquired in real time; when the acceleration of the gyroscope body is improved, the feedback intensity of the harmonic oscillator is improved so as to inhibit the influence of the error of the harmonic oscillator; when the acceleration of the gyroscope body is reduced, the feedback intensity of the harmonic oscillator is reduced so as to improve the dynamic following degree of the system.
5. The method for compensating for vibration error of hemispherical resonator gyroscope according to claim 4, wherein the equation of the harmonic oscillator parameter is expressed as:
；
wherein t is a time value on a time axis, m is a harmonic oscillator mass, C is a damping coefficient of a harmonic oscillator model, k is a spring constant representing the stiffness of the harmonic oscillator, x (t) is a displacement of the harmonic oscillator, The harmonic acceleration in the gyro body in the vibration field is expressed, (dx/dt) represents the average harmonic velocity at the current moment, and F (t) is the dynamically changing excitation function in the vibration field.
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