CN215639490U - Cross coupling compensation circuit of flexible gyroscope - Google Patents
Cross coupling compensation circuit of flexible gyroscope Download PDFInfo
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- CN215639490U CN215639490U CN202122319237.4U CN202122319237U CN215639490U CN 215639490 U CN215639490 U CN 215639490U CN 202122319237 U CN202122319237 U CN 202122319237U CN 215639490 U CN215639490 U CN 215639490U
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- resistor
- input end
- torquer
- operational amplifier
- flexible gyroscope
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Abstract
A cross-coupling compensation circuit of a flexible gyroscope comprises an X torquer and a Y torquer of the flexible gyroscope, resistors R11-R20, capacitors C11-C12 and an operational amplifier U1, wherein the torquer on the flexible gyroscope is positively coupled or negatively coupled by testing the gyroscope, the resistance value of the resistors is adjusted according to the test result to disconnect one circuit of the torquer, and the input ends of the two torquers are connected with the operational amplifier to form an addition operation circuit or a subtraction operation circuit for compensation, so that the output precision of the flexible gyroscope is improved.
Description
Technical Field
The utility model relates to the field of gyroscope control, in particular to a cross-coupling compensation circuit of a flexible gyroscope.
Background
The flexible gyroscope is mainly used for an inertial navigation system, provides information such as angular velocity and the like, has a sensitive measurement function on the angular velocity or angular increment of a carrier, comprises a torquer, and is used for applying correction torque or compensation torque to a rotor along two precession axes.
Disclosure of Invention
In order to solve the defect that the measurement accuracy is incorrect due to the fact that the flexible gyroscope in the prior art is influenced by cross coupling, the utility model provides a cross coupling compensation circuit of the flexible gyroscope.
The technical scheme of the utility model is as follows: a cross-coupling compensation circuit of a flexible gyroscope comprises an X torquer and a Y torquer of the flexible gyroscope, and further comprises resistors R11-R20, capacitors C11-C12 and an operational amplifier U1;
the Vx input end inputs a low-voltage signal of the X torquer;
the Vy input end inputs a low voltage signal of the Y torquer;
the Vx input end is sequentially connected with a resistor R11, a resistor R12 and a resistor R13 in series, the resistor R13 is grounded, and the resistor R14 is connected with a connection point between a resistor R11 and a resistor R12;
the Vy input end is connected with a resistor R15 and is grounded, the Vy input end is sequentially connected with a resistor R16 and a resistor R17 in series, the resistor R17 is connected with the inverting input end of an operational amplifier U1, a grounded capacitor C1 is connected between the resistor R16 and the resistor R17, and the resistor R14 is connected with a connection point between a resistor R16 and the resistor R17;
the capacitor C2 is connected with a connection point between the resistor R17 and the inverting input end of the operational amplifier, the other end of the capacitor C2 is connected with the output end of the operational amplifier U1, and the capacitor C2 filters low-frequency signals;
the resistor R14 is also connected with the resistor R18, and the other end of the resistor R18 is connected with the output end of the operational amplifier U1;
the Vx input end is connected with the non-inverting input end of an operational amplifier U1 through a resistor R11 and a resistor R19, and a grounded resistor R20 is connected between the resistor R19 and the non-inverting input end of the operational amplifier U1;
the resistor R14 and the resistor R19 are adjustable resistors.
Preferably, an inductor L1 is connected to the Vy input terminal.
Preferably, the X torquer and the Y torquer are further connected to a circuit configuration identical to that of the cross-coupling compensation circuit, in which the Vx input terminal and the Vy input terminal are reversed in position.
The utility model has the beneficial effects that: the moment devices on the flexible gyroscope are positively or negatively coupled through testing the gyroscope, resistance values are adjusted according to test results to disconnect one circuit of the moment devices, and the input ends of the two moment devices are connected with the operational amplifier to form an addition operation circuit or a subtraction operation circuit for compensation, so that the output precision of the flexible gyroscope is improved.
Drawings
Fig. 1 is a schematic diagram of a cross-coupling compensation circuit of a flexible gyro X moment device.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The technical scheme of the utility model is as follows: a cross-coupling compensation circuit of a flexible gyroscope comprises an X torquer and a Y torquer of the flexible gyroscope, and further comprises resistors R11-R20, capacitors C11-C12 and an operational amplifier U1 as shown in figure 1;
the Vx input end inputs a low-voltage signal of the X torquer;
the Vy input end inputs a low voltage signal of the Y torquer;
the Vx input end is sequentially connected with a resistor R11, a resistor R12 and a resistor R13 in series, the resistor R13 is grounded, and the resistor R14 is connected with a connection point between a resistor R11 and a resistor R12;
the Vy input end is connected with a resistor R15 and is grounded, the Vy input end is sequentially connected with a resistor R16 and a resistor R17 in series, the resistor R17 is connected with the inverting input end of an operational amplifier U1, a grounded capacitor C1 is connected between the resistor R16 and the resistor R17, and the resistor R14 is connected with a connection point between a resistor R16 and the resistor R17;
the capacitor C2 is connected with a connection point between the resistor R17 and the inverting input end of the operational amplifier, and the other end of the capacitor C2 is connected with the output end of the operational amplifier U1;
the resistor R14 is also connected with the resistor R18, and the other end of the resistor R18 is connected with the output end of the operational amplifier U1;
the Vx input terminal is connected to the non-inverting input terminal of the operational amplifier U1 through a resistor R11 and a resistor R19, and a grounded resistor R20 is connected between the resistor R19 and the non-inverting input terminal of the operational amplifier U1.
The resistor R14 and the resistor R19 are adjustable resistors.
And an inductor L1 is connected to the Vy input end.
When the angular speed is input by the flexible gyroscope, under the influence of the rotor of the flexible gyroscope, the output signals of the X torquer and the Y torquer are cross-coupled, and whether the X torquer and the Y torquer are influenced by positive feedback or negative feedback is firstly measured by the gyroscope.
When negative feedback occurs to the X torquer and the Y torquer, the resistance value of the resistor R19 is increased, the Vx input end is disconnected with the non-inverting input end of the operational amplifier U1, the voltage signal is input to the inverting input end of the operational amplifier U1 through the Vx input end, the voltage signal is input to the inverting input end of the operational amplifier U1 through the Vy input end, therefore, the Vx input end and the Vy input end form an addition operation circuit, the Vx voltage signal and the Vy voltage signal are added and then amplified and output through the operational amplifier U1, and the Vx voltage signal and the Vy voltage signal are added and compensated for cross-coupled output.
When positive feedback occurs to the X torquer and the Y torquer, the resistance value of the resistor R14 is increased, the Vx input end is disconnected with the inverting input end of the operational amplifier U1, the Vx input end inputs a voltage signal to the non-inverting input end of the operational amplifier U1, the Vy input end inputs a voltage signal to the inverting input end of the operational amplifier U1, therefore, the Vx input end and the Vy input end form a subtraction operation circuit, the operational amplifier U1 subtracts the Vy voltage signal from the Vx voltage signal and then amplifies and outputs the Vx voltage signal, and the Vx voltage signal subtracts the Vy voltage signal to compensate cross-coupled output.
Because the flexible gyroscope is provided with two torquers, the two torquers have the effect of compensating the cross coupling, therefore, the output of the two torquers is required to compensate the effect of the cross coupling, the X torquer and the Y torquer are also connected with a circuit structure which is the same as the cross coupling compensation circuit, and the position of the Vx input end and the Vy input end in the circuit structure is exchanged to compensate the effect of the cross coupling of the Y torquer, and the principle is the same as the above.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (3)
1. A cross-coupling compensation circuit of a flexible gyroscope comprises an X torquer and a Y torquer of the flexible gyroscope, and is characterized in that: the circuit also comprises resistors R11-R20, capacitors C11-C12 and an operational amplifier U1;
the Vx input end inputs a low-voltage signal of the X torquer;
the Vy input end inputs a low voltage signal of the Y torquer;
the Vx input end is sequentially connected with a resistor R11, a resistor R12 and a resistor R13 in series, the resistor R13 is grounded, and the resistor R14 is connected with a connection point between a resistor R11 and a resistor R12;
the Vy input end is connected with a resistor R15 and is grounded, the Vy input end is sequentially connected with a resistor R16 and a resistor R17 in series, the resistor R17 is connected with the inverting input end of an operational amplifier U1, a grounded capacitor C1 is connected between the resistor R16 and the resistor R17, and the resistor R14 is connected with a connection point between a resistor R16 and the resistor R17;
the capacitor C2 is connected with a connection point between the resistor R17 and the inverting input end of the operational amplifier, and the other end of the capacitor C2 is connected with the output end of the operational amplifier U1;
the resistor R14 is also connected with the resistor R18, and the other end of the resistor R18 is connected with the output end of the operational amplifier U1;
the Vx input end is connected with the non-inverting input end of an operational amplifier U1 through a resistor R11 and a resistor R19, and a grounded resistor R20 is connected between the resistor R19 and the non-inverting input end of the operational amplifier U1;
the resistor R14 and the resistor R19 are adjustable resistors.
2. The cross-coupling compensation circuit of a flexible gyroscope of claim 1, wherein: and an inductor L1 is connected to the Vy input end.
3. The cross-coupling compensation circuit of a flexible gyroscope of claim 2, wherein: the X torquer and the Y torquer are also connected with a circuit structure which is the same as the cross coupling compensation circuit, and the Vx input end and the Vy input end are exchanged in position in the circuit structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122319237.4U CN215639490U (en) | 2021-09-24 | 2021-09-24 | Cross coupling compensation circuit of flexible gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122319237.4U CN215639490U (en) | 2021-09-24 | 2021-09-24 | Cross coupling compensation circuit of flexible gyroscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215639490U true CN215639490U (en) | 2022-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122319237.4U Active CN215639490U (en) | 2021-09-24 | 2021-09-24 | Cross coupling compensation circuit of flexible gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215639490U (en) |
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2021
- 2021-09-24 CN CN202122319237.4U patent/CN215639490U/en active Active
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