CN118210238B - Full-angle mode control method of hemispherical resonant gyroscope - Google Patents
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Abstract
The invention discloses a full angle mode control method of a hemispherical resonator gyro, which relates to the field of hemispherical resonator gyro control.
Description
Technical Field
The invention relates to the field of hemispherical resonator gyro control, in particular to a full-angle mode control method of a hemispherical resonator gyro.
Background
A hemispherical resonator gyro (HEMISPHERICAL RESONATOR GYROSCOPE, HRG) is a gyro that uses hemispherical resonators as sensing elements. It senses angular velocity by measuring the frequency change of a vibrating object in a rotating reference system based on the coriolis effect principle. The hemispherical resonator gyroscope has the advantages of high precision, high stability, long service life and the like, and is widely applied to navigation and positioning systems in the fields of aerospace, aviation, ships, ground transportation and the like. Due to its excellent performance, hemispherical resonator gyroscopes play an important role in improving the accuracy of navigation systems.
In the prior art, a full angle mode control method of a hemispherical resonator gyroscope mainly focuses on how to ensure stable operation and accurate measurement of the gyroscope through a control algorithm. These methods typically involve complex kinetic models and control theory, as well as real-time monitoring and processing of gyroscope vibration signals. However, these methods may have some limitations, such as reliance on real-time feedback, high requirements on model accuracy, and robustness issues in the face of unknown disturbances or parameter variations.
Disclosure of Invention
The invention aims to provide a full angle mode control method of a hemispherical resonator gyroscope, which can more directly guide the system state to reach the expected angular speed through the defined sliding mode surface function and control law design, does not need complex feedback adjustment, and can adapt to the change of system parameters and external disturbance by updating a gain matrix in real time through a self-adaptive rule, thereby improving the robustness of the system.
A full angle mode control method of a hemispherical resonator gyro comprises the following steps:
s1, initializing a sensor system, and starting a sensor array arranged in a gyroscope, wherein the sensor array at least comprises a vibration accelerometer; continuously collecting data through a fixed frequency of 1kHz, and collecting vibration signal readings of a gyroscope in real time;
s2, defining a sliding mode surface function: Wherein the said Representing a sliding mode surface function, saidRepresenting angular displacement of gyroscope, saidRepresenting the angular velocity of a gyroscope, saidIndicating a desired angular velocity; design control law: Wherein the said Representing a diagonal matrix ofRepresenting the adaptive gain matrix of the system,The representation symbol function, the control law is used for guiding the system state to reach and keep on the sliding surface;
s3, according to the self-adaptive rule, self-adaptive gain matrix Dynamically adjusting, and updating according to the latest sliding mode surface error and state change in each control cycleA value;
S4, calculating a control signal according to the control law of the current gyroscope state, and converting the control signal into a control instruction of an actuator.
Further, in the step S2, defining the slip-form mask specifically includes the following steps:
S201, establishing a space state model of the resonant gyroscope:
；
；
wherein the said Representing the natural angular frequency of the system, saidRepresents the damping coefficient, saidRepresenting the moment of inertia of a gyroscope, saidRepresenting a control moment applied to the gyroscope, saidRepresenting angular displacementThe time derivative of (a), i.e. the actual angular velocity, ofIndicating angular velocityI.e. angular acceleration;
s202, defining a sliding mode surface based on the state space model.
Further, the step S202 specifically includes the following substeps:
s2021 defining error variables As the difference between the actual state and the desired state:；
S2022 when the desired system state reaches the desired angular velocity and remains unchanged, Set to 0; when the convergence speed of the system state needs to be adjusted,Set to a non-0 value;
S2023 defining the sliding mode surface equation as an error variable Is a function of (1), namely:
；
；
Wherein when Indicating the actual angular velocity of the systemReaching the desired angular velocityAt this time, the system state is located on the sliding surface.
Further, in the step S3, according to the adaptive rule, the adaptive gain matrix is obtainedThe specific process for dynamic adjustment comprises the following steps:
By adaptive law Updating a gain matrix, wherein the gain matrix is updated by the methodRepresenting positive coefficients that are dynamically adjusted based on the system response.
Further, in the step S4, a specific flow of converting the control signal into the control instruction of the actuator is as follows:
Will control the signal By passing throughConverting to PWM signals, whereinRepresenting PWM signal values, saidRepresenting the maximum voltage of the PWM signal.
Further, the method further comprises the step S5: monitoring the angular displacement and angular velocity of the resonant gyroscope in real time, and dynamically adjusting parameters according to the sliding mode surface function when deviation existsValue sumValues.
The invention has the beneficial effects that:
the method provided by the invention is applied to the full angle mode control scheme, the control system of the resonance gyro does not depend on the feedback of the actual angular velocity, and a preset model and algorithm are used for calculating the control input, so that the system can realize accurate control under the condition of no real-time feedback.
Drawings
FIG. 1 is a flow chart of a method for controlling a full angle mode of a hemispherical resonator gyroscope according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a terminal device of a full angle mode control system of a hemispherical resonator gyro according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a product for implementing a full angle mode control system of a hemispherical resonator gyro according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
A full angle mode control method of a hemispherical resonator gyro, as shown in figure 1, comprises the following steps:
s1, initializing a sensor system, and starting a sensor array arranged in a gyroscope, wherein the sensor array at least comprises a vibration accelerometer; continuously collecting data through a fixed frequency of 1kHz, and collecting vibration signal readings of a gyroscope in real time;
s2, defining a sliding mode surface function: Wherein the said Representing a sliding mode surface function, saidRepresenting angular displacement of gyroscope, saidRepresenting the angular velocity of a gyroscope, saidIndicating a desired angular velocity; design control law: Wherein the said Representing a diagonal matrix ofRepresenting the adaptive gain matrix of the system,The representation symbol function, the control law is used for guiding the system state to reach and keep on the sliding surface;
s3, according to the self-adaptive rule, self-adaptive gain matrix Dynamically adjusting, and updating according to the latest sliding mode surface error and state change in each control cycleA value;
S4, calculating a control signal according to the control law of the current gyroscope state, and converting the control signal into a control instruction of an actuator. Wherein in sliding mode control, the sliding mode plane (or sliding plane) is a hyperplane defined in the state space that determines the desired dynamic behavior of the system state variables. When the system condition reaches this slide face, it will slide along this face to the equilibrium point, i.e. the desired working condition. The design of the slide face is critical in choosing the proper normal vector and position so that the system can quickly and stably reach and remain in the desired state.
In particular, the control law is designed to control the control of the control system by applying appropriate control inputsThe drive system state reaches and remains on the sliding surface, and for this embodiment the control law includes two main parts: a slip form part and a dynamic adjustment part. The sliding mode part is passed through the functionEnsure that the system state converges toward the sliding surface. When the system state is positioned at one side of the sliding surface, the sign function can generate a control function opposite to the error direction to push the system state to pass through the sliding surface; when the system state passes through the sliding surface to the other side, the sign function changes the direction of the control action to ensure that the system state is not far from the sliding surface. The dynamic adjustment part is used for self-adapting gain matrixThe control inputs are adjusted to accommodate changes in system parameters and external disturbances.The elements of the matrix can be dynamically adjusted according to the real-time performance of the system to optimize the control effect.
Further, in the step S2, defining the slip-form mask specifically includes the following steps:
S201, establishing a space state model of the resonant gyroscope:
S201, establishing a space state model of the resonant gyroscope:
；
；
wherein the said Representing the natural angular frequency of the system, saidRepresents the damping coefficient, saidRepresenting the moment of inertia of a gyroscope, saidRepresenting a control moment applied to the gyroscope, saidRepresenting angular displacementThe time derivative of (a), i.e. the actual angular velocity, ofIndicating angular velocityI.e. angular acceleration; specifically, by definition in sliding mode controlEnsuring that the control law can accurately adjust the angular velocity to achieve accurate control of the angular displacement of the gyroscope, and in addition, in practical control system implementation,The relationship of (2) can be used to obtain information on the change in angular displacement by measuring the angular velocity, facilitating closed-loop control (see step S5 for details).
S202, defining a sliding mode surface based on the state space model.
Further, the step S202 specifically includes the following substeps:
s2021 defining error variables As the difference between the actual state and the desired state:；
S2022 when the desired system state reaches the desired angular velocity and remains unchanged, Set to 0; when the convergence speed of the system state needs to be adjusted,Set to a non-0 value; in particular, the method comprises the steps of,Typically set to zero to directly reach the desired angular velocity at the desired system state and remain unchanged. But can be adjusted according to the actual needs,A non-zero value is selected to adjust the convergence speed of the system state. In addition, when defining the sliding surface, the dynamic response of the system needs to be considered. The design of the sliding surface should ensure that the system state can be reached and maintained on the sliding surface by a control action, starting from any initial condition. The sliding surface should have a certain attractive force, and even in the presence of disturbances and parameter uncertainties, the system state can converge on the sliding surface.
S2023 defining the sliding mode surface equation as an error variableIs a function of (1), namely:
；
；
Wherein when Indicating the actual angular velocity of the systemReaching the desired angular velocityAt this time, the system state is located on the sliding surface.
Further, in the step S3, according to the adaptive rule, the adaptive gain matrix is obtainedThe specific process for dynamic adjustment comprises the following steps:
By adaptive law Updating a gain matrix, wherein the gain matrix is updated by the methodRepresenting positive coefficients that are dynamically adjusted based on the system response.
Further, in the step S4, a specific flow of converting the control signal into the control instruction of the actuator is as follows:
Will control the signal By passing throughConverting to PWM signals, whereinRepresenting PWM signal values, saidRepresenting the maximum voltage of the PWM signal.
Further, the method further comprises the step S5: monitoring the angular displacement and angular velocity of the resonant gyroscope in real time, and dynamically adjusting parameters according to the sliding mode surface function when deviation existsValue sumValues.
As a further preferred embodiment, the above embodiment may further calculate the control input through a preset model and control law without real-time angular velocity feedback, so as to implement accurate control of the resonant gyroscope, and the specific flow is as follows:
a system model is used to predict the change in system state (including angular displacement and angular velocity) over time at the current control input.
Setting the desired state of the system, i.e. setting the desired angular velocity for the present embodiment；
Calculating an error between the current predicted state and the expected state; the error can be expressed as: ; wherein the said Representing a predicted angular velocity;
Using errors according to a control law of design Instead of the slip plane equation, the required control inputs are calculated。
The above embodiment is based on a preset system model and control law, not on the actually measured angular velocity.
As a further preferred embodiment, a software system matched with a full angle mode control method of a hemispherical resonator gyro is provided, and the full angle mode control system of the hemispherical resonator gyro specifically comprises:
the data acquisition module is used for acquiring real-time parameters of the resonance gyroscope;
The dynamic analysis module is used for defining a sliding mode surface function and a designed control law, updating the sliding mode surface and calculating the control law according to the current estimated system state and the preset expected angular speed, ensuring the convergence of the system state to the sliding surface by using a symbol function by the sliding mode part, and dynamically adjusting a gain matrix by the self-adaptive part according to the sliding mode surface error and the change of the system state;
The signal execution module is used for calculating a control signal according to the control law of the current gyroscope state, converting the control signal into a control instruction of an actuator, sending a PWM signal to the actuator, accurately controlling the moment output of the actuator, and adjusting the gyroscope attitude;
The closed-loop control module is used for monitoring the angular displacement, the angular speed and the vibration state of the gyroscope in real time and ensuring that the system runs according to a preset track; when the deviation between the system state and the expected track is detected, the control strategy is adjusted in real time according to the deviation and the trend, and specifically, a control signal is sent By passing throughConverting to PWM signals, whereinRepresenting PWM signal values, saidRepresenting the maximum voltage of the PWM signal.
Wherein, the dynamic analysis module includes:
A space state model building unit: the method is used for establishing a space state model of the resonant gyroscope:
；
；
wherein the said Representing the natural angular frequency of the system, saidRepresents the damping coefficient, saidRepresenting the moment of inertia of a gyroscope, saidRepresenting a control moment applied to the gyroscope, saidRepresenting angular displacementThe time derivative of (a), i.e. the actual angular velocity, ofIndicating angular velocityI.e. angular acceleration;
slide face definition unit: defining a sliding mode surface based on a state space model;
control law calculation unit: for following the control law: performing a calculation, wherein the Representing a diagonal matrix ofRepresenting the adaptive gain matrix of the system,The representation is a sign function.
The sliding mode surface defining unit specifically comprises:
Error definition subunit: for defining error variables As the difference between the actual state and the desired state:；
An expected value setting subunit: when the desired system state reaches the desired angular velocity and remains unchanged, Set to 0; when the convergence speed of the system state needs to be adjusted,Set to a non-0 value;
the slip form surface defining subunit: defining the sliding mode surface equation as an error variable Is a function of (1), namely:
；
；
Wherein when Indicating the actual angular velocity of the systemReaching the desired angular velocityAt this time, the system state is located on the sliding surface;
parameter updating subunit by adaptive rule Updating a gain matrix, wherein the gain matrix is updated by the methodRepresenting positive coefficients that are dynamically adjusted based on the system response.
As a further preferred embodiment, a terminal device for full angle mode control of hemispherical resonator gyroscopes is proposed, as in fig. 2, the terminal device 200 comprising at least one memory 210, at least one processor 220 and a bus 230 connecting the different platform systems.
Memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program may be executed by the processor 220, so that the processor 220 executes the full angle mode control system of the hemispherical resonator gyro according to any one of the embodiments of the present application, and a specific implementation manner of the full angle mode control system is consistent with an implementation manner and an achieved technical effect described in the embodiments of the method, and some contents are not repeated. Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Accordingly, the processor 220 may execute the computer programs described above, as well as the program/utility 214.
Bus 230 may be a local bus representing one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or using any of a variety of bus architectures.
Terminal device 200 can also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., as well as one or more devices capable of interacting with the terminal device 200, and/or with any device (e.g., router, modem, etc.) that enables the terminal device 200 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 250. Also, terminal device 200 can communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 260. Network adapter 260 may communicate with other modules of terminal device 200 via bus 230. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with terminal device 200, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.
As a further preferred embodiment, a computer readable storage medium of a full angle mode control system of a hemispherical resonator gyro is provided, the computer readable storage medium having stored thereon instructions which, when executed by a processor, implement a full angle mode control system of any one of the hemispherical resonator gyroscopes described above. The specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect recorded in the embodiment of the method, and part of the contents are not repeated.
Fig. 3 shows a program product 300 provided by the present embodiment for implementing the above method, which may employ a portable compact disc read-only memory (CD-ROM) and comprise program code, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not limited thereto, and in the present embodiment, the readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (4)
1. The full angle mode control method of the hemispherical resonator gyroscope is characterized by comprising the following steps of:
s1, initializing a sensor system, and starting a sensor array arranged in a gyroscope, wherein the sensor array at least comprises a vibration accelerometer; continuously collecting data through a fixed frequency of 1kHz, and collecting vibration signal readings of a gyroscope in real time;
s2, defining a sliding mode surface function: Wherein the said Representing a sliding mode surface function, saidRepresenting angular displacement of gyroscope, saidRepresenting the angular velocity of a gyroscope, saidIndicating a desired angular velocity; design control law: Wherein the said Representing a diagonal matrix ofRepresenting an adaptive gain matrix, saidRepresenting a symbolic function, wherein the control law is used for guiding the system state to reach and be kept on a sliding mode surface;
s3, according to the self-adaptive rule, self-adaptive gain matrix Dynamically adjusting, and updating according to the latest sliding mode surface error and state change in each control cycleA value;
s4, calculating a control signal according to the control law of the current gyroscope state, and converting the control signal into a control instruction of an actuator; in the step S2, defining the slip-form surface specifically includes the following steps:
S201, establishing a space state model of the resonant gyroscope:
；
；
wherein the said Representing the natural angular frequency of the system, saidRepresents the damping coefficient, saidRepresenting the moment of inertia of a gyroscope, saidRepresenting a control moment applied to the gyroscope, saidRepresenting angular displacementThe time derivative of (a), i.e. the actual angular velocity, ofIndicating angular velocityI.e. angular acceleration;
S202, defining a sliding mode surface based on a state space model; the step S202 specifically includes the following substeps:
s2021 defining error variables As the difference between the actual state and the desired state:；
S2022 when the desired system state reaches the desired angular velocity and remains unchanged, Set to 0; when the convergence speed of the system state needs to be adjusted,Set to a non-0 value;
S2023 defining the sliding mode surface equation as an error variable Is a function of (1), namely:
；
；
Wherein when Indicating the actual angular velocity of the systemReaching the desired angular velocityAt this time, the system state is located on the sliding surface.
2. The method of controlling a hemispherical resonator gyro according to claim 1, wherein in step S3, the adaptive gain matrix is adapted according to an adaptive ruleThe specific process for dynamic adjustment comprises the following steps:
By adaptive law Updating a gain matrix, wherein the gain matrix is updated by the methodRepresenting positive coefficients that are dynamically adjusted based on the system response.
3. The full angle mode control method of hemispherical resonator gyro according to claim 1, wherein in the step S4, the specific flow of converting the control signal into the control command of the actuator is as follows:
Will control the signal By passing throughConverting to PWM signals, whereinRepresenting PWM signal values, saidRepresenting the maximum voltage of the PWM signal.
4. The full angle mode control method of a hemispherical resonator gyro according to claim 1, further comprising the step S5 of: monitoring the angular displacement and angular velocity of the resonant gyroscope in real time, and dynamically adjusting parameters according to the sliding mode surface function when deviation existsValue sumValues.
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| CN104122794A (en) * | 2014-07-02 | 2014-10-29 | 河海大学常州校区 | Self-adaption fuzzy neural compensating nonsingular terminal sliding mode control method of micro gyroscope |
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
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| CN104122794A (en) * | 2014-07-02 | 2014-10-29 | 河海大学常州校区 | Self-adaption fuzzy neural compensating nonsingular terminal sliding mode control method of micro gyroscope |
| CN117190997A (en) * | 2023-11-06 | 2023-12-08 | 四川图林科技有限责任公司 | Orthogonal error control method of hemispherical resonator gyroscope |
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