JP7292514B2 - RESONANCE CONTROL DEVICE, VIBRATION GYRO, AND RESONANCE CONTROL METHOD - Google Patents

Description

The present disclosure relates to a resonance control device, a vibration gyro, and a resonance control method.

A vibrating gyroscope having a circular resonator is used as a vibratory rotation sensor (VRS) (for example, Patent Document 1). The main components of the vibratory rotation sensor described in US Pat. No. 5,800,006 are a resonator having a surface with conductive areas, a forced drive electrode and a pickoff electrode.

A vibratory rotation sensor (VRS) described in Patent Document 1 excites a standing wave vibration in a resonator by generating an AC forced drive voltage at a forced drive electrode, and a sensing signal at a pick-off electrode detects the standing wave. Detect antinode positions and vibration amplitudes.

When the VRS rotates about an axis that is perpendicular to the plane of the resonator edges, the standing wave rotates in the opposite direction by an angle proportional to the angle of rotation of the VRS. Since the standing wave pattern can be freely rotated in the VRS, a velocity integration gyro (open loop mode) that detects the rotation angle of the VRS from the rotation angle and a constant antinode position of the standing wave in the resonator are used. Based on the voltage, it can be operated as an angular rate gyro (closed loop mode) that detects the angular rate of rotation of the VRS.

JP-A-10-274533

In the oscillatory rotation sensor having a circular resonator described in Patent Document 1, the closed-loop mode is characterized by superior drift characteristics and low output noise compared to the open-loop mode. P control (proportional control) is generally used for control to keep the antinode position of the resonator constant in the closed loop mode.

In general vibration gyroscopes, it is desirable that the resonance magnification of the resonator is high in order to improve stability and reduce power consumption. Low is desirable.

However, in the operation in the closed loop mode using P control, there is a problem that the response of the gyro deteriorates and the angular velocity measurement range decreases as the ratio between the resonance magnification and the resonance frequency of the resonator increases.

The present disclosure has been made in view of the above circumstances. The object is to provide a control method.

In order to achieve the above object, the resonance control device of the present disclosure includes a circular resonator, a plurality of actuators that generate a radial excitation force on the resonator, and detection of radial displacement of the resonator. and a plurality of displacement sensors for controlling the driving of the actuator and outputting an estimated value of the angular velocity of the resonator. The resonance control device includes a reference signal having a reference signal frequency that matches the resonance frequency of the resonator calculated based on the sensor signal output by the displacement sensor, and the amplitude of the resonance vibration excited in the resonator derived from the sensor signal. and an antinode azimuth angle, and an inphase signal generating means for generating an inphase signal having the same phase as the reference signal based on the reference signal and the amplitude and antinode azimuth angle of the reference signal, and the reference signal and anti-phase signal generation means for generating an anti-phase signal of the anti-phase. The resonance controller further AC drives the actuator with the in-phase signal and the anti-phase signal, and operates the resonator based on the amplitude and antinode azimuth angle of the in-phase signal and the amplitude and anti-antinode angle of the antiphase signal. and an angular velocity output means for outputting an angular velocity estimated value of.

According to the present disclosure, the angular velocity is estimated based on the antinode azimuth angles of the in-phase signal and the anti-phase signal, regardless of the ratio between the resonance magnification and the resonance frequency of the resonator. Therefore, when the resonance magnification of the resonator is high, Also, it is possible to secure the angular velocity measurement range without increasing the resonance frequency.

1 is a block diagram showing the overall configuration of a vibrating gyroscope according to Embodiment 1. FIG. Mechanical system configuration diagram of a hemispherical resonance type vibrating gyro Functional block diagram of the resonance control device according to the first embodiment Functional block diagram of in-phase signal generating means Schematic diagram showing the deformed shape of the edge of the resonator Schematic diagram showing the deformed shape of the edge of the resonator Schematic diagram showing the deformed shape of the edge of the resonator Block diagram showing the overall configuration of a vibrating gyroscope according to Embodiment 2 Functional block diagram of the resonance control device according to the second embodiment Functional block diagram of the resonance control device according to the third embodiment Functional block diagram of a resonance control device according to a modification of the third embodiment

Embodiment 1.
FIG. 1 shows the overall configuration of a vibrating gyroscope 1 according to Embodiment 1 of the present disclosure. Vibration gyroscope 1 according to the present embodiment, as shown in FIG. and a displacement sensor 103 that detects a displacement in the direction. The vibration gyroscope 1 further includes reference signal generation means 104 for generating a reference signal that serves as a reference for the drive signal of the actuator 102, vibration shape extraction means 105 for extracting the signal shape of the resonance mode of the resonator 101, and a resonance controller 106 that controls the drive and outputs an angular velocity estimate.

The resonator 101 has any circular shape, for example, a toric, cylindrical, hemispherical shape. The resonator 101 has circular edges. A plurality of actuators 102 and displacement sensors 103 are arranged along the inner or outer circumference of the circular resonator 101 .

FIG. 2 is a diagram showing an example of the mechanical system configuration of the vibrating gyroscope 1 according to Embodiment 1, and shows an example of the hemispherical resonance type vibrating gyroscope 1 in which the resonator 101 is hemispherical. FIG. 2 is a cross-sectional view along a plane containing the angle measurement axis 107. FIG. Although FIG. 2 shows the X-axis and the Z-axis, the Z-axis is the axis along the angle measurement axis 107 and the X-axis is the axis perpendicular to the Z-axis. Although illustration of the Y-axis is omitted, the Y-axis is perpendicular to the X-axis and the Z-axis.

A hemispherical resonance type vibrating gyroscope 1 includes a resonator 101 having a hemispherical shape axially symmetrical with respect to an angle measurement axis 107 (Z-axis). The resonator 101 can maintain a resonance pattern in a plane (XY plane) perpendicular to the angle measurement axis 107 . The resonator 101 is supported via an angle measurement axis 107 by an upper housing 108 and a lower housing 109 .

The upper housing 108 is a rectangular box-shaped member with an open bottom and a trapezoidal cross section. The lower housing 109 is a plate-like member and has a size that closes the opening of the upper housing 108 . A circular resonator 101 is housed within a housing that includes an upper housing 108 and a lower housing 109 .

In the upper housing 108 , a plurality of actuators 102 are arranged at equal intervals around the angle measurement axis 107 for generating attractive force in the radial direction with respect to the resonator 101 having a hemispherical shape. In FIG. 2, each actuator 102 is denoted by D _j (j=1, 2, . . . ). A plurality of displacement sensors 103 for detecting radial displacement of the resonator 101 are arranged around the angle measurement axis 107 at equal intervals in the lower housing 109 . In FIG. 2, each displacement sensor 103 is denoted by S _k (k=1, 2, . . . ).

The most common configuration of the hemispherical resonance type vibrating gyro 1 is a total of 16 actuators 102 (D _j ; j=1, 2, . It is arranged by In this configuration, the primary resonance mode can be generated in the resonator 101 by controlling the radial attraction force generated by each actuator _Dj .

When this primary resonance mode is generated, the edge of the resonator 101 becomes elliptical on the plane (XY plane) perpendicular to the angle measurement axis 107 . For example, when the primary resonance mode is excited with reference to the X-axis and the Y-axis that are orthogonal to each other, the elliptical shape with the major axis in the X-axis direction and the elliptical shape with the major axis in the Y-axis direction are halved. It becomes a vibration mode that repeats alternately for each cycle. Such operation of the resonator 101 is the same not only for hemispherical resonators, but also for other circular resonators including toric and cylindrical resonators.

The plurality of actuators 102 apply excitation force to the resonator 101 based on the outputs Fc _j and Fa _j (j=1, 2, . . . ) of the resonance control device 106, and the resonator 101 vibrate in a resonant mode.

A plurality of displacement sensors 103 detect the displacement, velocity, or acceleration of vibration of the edges of the resonator 101 . The detected sensor output E _k (k=1, 2, .

The reference signal generating means 104 generates the resonator 101 based on the current reference signals cos(ω _r t) and sin(ω _r t) and the sensor output E _k (k=1, 2, . . . ). generates a reference signal having a reference signal frequency ω _r matched to the resonant frequency of .

The vibration shape extracting means 105 calculates the amplitude A and the wave antinode azimuth angle _θr of the resonance vibration excited in the resonator 101 based on the reference signal and the sensor output.

The resonance control device 106 adjusts the amplitude A and the antinode azimuth angle _θr of the resonance vibration to the preset resonance amplitude target value A ^* and the antinode azimuth angle target value _θr ^* , respectively. , and outputs an estimated value _{of the} angular velocity Ω.

FIG. 3 is a functional block diagram of resonance control device 106 according to this embodiment. The resonance control device 106 includes in-phase signal generation means 111 , anti-phase signal generation means 112 and angular velocity output means 113 .

FIG. 4 is a functional block diagram of the in-phase signal generating means 111. As shown in FIG. The in-phase signal generation means 111 has a signal amplitude generation means 114 , a signal antinode azimuth generation means 115 and an actuator drive signal generation means 116 .

The signal amplitude generating means 114 calculates the amplitude _Ac of the in-phase signal by PID control (proportional/integral/differential control) based on the amplitude A of the resonance vibration of the resonator 101 and the resonance amplitude target value A*.

The signal antinode azimuth generating means 115 generates an antinode of the in-phase signal by P control (proportional control) based on the antinode azimuth θ _r of the resonant vibration of the resonator 101 and the antinode azimuth target value θ _r ^* . Calculate the azimuth angle _θc .

The actuator drive signal generating means 116 generates a signal having the same phase as the reference signal, represented by the amplitude A _c calculated by the signal amplitude generating means 114 and the azimuth angle θ _c calculated by the signal antinode azimuth generating means 115 . It generates and outputs AC drive signals Fc _j (j=1, 2, .

The antiphase signal generating means 112 shown in FIG. 3 determines the amplitude Aa _and antinode azimuth _θa of the antiphase signal based on the amplitude A and antinode azimuth _θr of the resonance vibration of the resonator 101. .

Then, the anti-phase signal generating means 112 generates an alternating-current drive signal for a plurality of actuators for applying an excitation force having a phase opposite to that of the reference signal, represented by the amplitude _Aa and the antinode azimuth angle _θa , to the edge of the resonator. Determine Fa _j (j=1, 2, . . . ).

Angular velocity output means 113 outputs the amplitude _Ac and antinode azimuth _θc of the in-phase signal, the amplitude _Aa and antinode azimuth _θa of the antiphase signal, and the antinode azimuth θ of the resonant vibration of the resonator 101 . An estimated value of the angular velocity Ω is calculated and output based on _r and .

The operation of the resonance control device 106 configured as described above will be described, including a comparison with a conventional configuration in which an excitation force is applied to one angular position of the resonator edge.

The conventional resonance control device uses P control for the antinode azimuth angle control, and from the antinode azimuth angle θ _r of the resonator 101 and the antinode azimuth target value θ _r ^* , the antinode of the excitation force by the actuator 102 Azimuth angles were calculated using equation (1).

When an angular velocity Ω is input around an axis perpendicular to the plane of the resonator edge, the antinode azimuth angle _θr of the resonant vibration of the resonator rotates due to the Coriolis force. At this time, the conventional resonance control device calculates the angular velocity estimated value input around the axis perpendicular to the resonator edge by Equation (2) using the precalculated scale factor _KΩ .

Here, first, the behavior of the wave antinode azimuth angle _θr of the resonator when there is no angular velocity input will be described. When there is no angular velocity input to the resonator, the circumferential displacement of the resonator edges is shaped _{A 1 cos} {n(θ− _{θ 1} )} and A ₂ cos {n(θ−θ ₂ )}, which is expressed by the formula (3). Here, A ₁ and A ₂ are the amplitudes of the respective reference vibrations in the circumferential direction.

5A and 5B show two reference vibration shapes at n=2, and FIG. 5C shows the vibration shape superimposed.

Let y be the radial displacement of the resonator edge at the position θ. The equation is represented by Equation (4). In equation (4), the dot above the variable represents the time derivative.

Here, at time t=0, the azimuth angle of the antinode of the resonance vibration is _θ1 , and the azimuth angle χ of the excitation force applied to the resonator edge is in the range of _θ1 <χ≦ _θ2. think. At this time, the resonance amplitude at θ ₁ decreases in proportion to -exp(-ω _n t/2Q), and the resonance amplitude at θ ₂ increases in proportion to exp(-ω _n t/2Q). That is, the time change of the wave antinode azimuth angle _θr of the resonance vibration of the resonator is expressed by the equation (5) from the equation of motion (4) and the superposition equation (3).

From this, the time required for θ _r (t) to match the antinode azimuth angle χ of the excitation force increases as ω _n /Q increases. Therefore, in the wave antinode azimuth angle control by the P control represented by the equation (1), the control response deteriorates as Q/ _ωn increases.

Next, the behavior of the antinode azimuth angle of the resonator when an angular velocity Ω is input around the axis perpendicular to the plane of the resonator edge will be described. Here, for the sake of simplicity, the case of an annular resonator will be described, but the basic principle is the same for resonators having other circular edges, and the present disclosure is not limited to annular resonators. .

When a constant angular velocity Ω is input, and the circumferential displacement at the position θ of the resonator edge is x, and the radial displacement is y, the excitation force with an antinode azimuth angle χ and an amplitude F is The equation of motion in the given case is represented by equation (6).

Since the deformation of the resonator edge is non-stretch deformation, the circumferential displacement x and the radial displacement y have the relation of Equation (7).

Considering a steady state, the displacement of the resonator edge when a resonance mode with an antinode azimuth angle θ _r is excited is expressed by equation (8).

Considering that Ω ² <<ω _n ² at this time, the equation of motion (6) becomes the equation (9).

Equation (10) is obtained from this.

Here, when the P control of Equation (1) is considered as the azimuth angle control, Equation (11) is obtained.

Therefore, when n(K _p +1)(θ _r ^* −θ _r )<<1, that is, when α<<1, equation (12) holds.

Therefore, the estimated value of the input angular velocity Ω can be calculated by the formula (2) in which the azimuth angle control output K _p (θ _r ^* −θ _r ) is multiplied by a constant value.

On the other hand, when ΩQ/ _ωn is large and cannot be regarded as α<<1, the above equation (12) does not hold and the azimuth angle control output is not proportional to the input angular velocity. That is, when ΩQ/ _ωn increases, the range of input angular velocities in which the azimuth angle control output is proportional to the input angular velocities decreases, and the measurable range of the vibration gyro decreases.

As described above, the conventional resonance control device has the problem that the responsiveness of azimuth angle control deteriorates as ΩQ/ _ωn increases, and the measurable range of the vibration gyro decreases.

Therefore, in the first embodiment, in the resonance control device 106, an excitation force having the same phase as the reference signal is applied to the position calculated by the equation (1), and an excitation force having the opposite phase to the reference signal is applied to the position _θa . add force.

In the resonance control device 106 according to the first embodiment, the amplitude F (F>0) of the excitation force by the actuator 102 is determined by PID control from the amplitude A of the resonance vibration of the resonator 101 and the resonance amplitude target value A ^* . and the AC drive signal F _j (j=1, 2, . determined to be a signal that can

That is, the resonance control device 106 applies an excitation force in phase with the reference signal shown in Equation (13) and also applies an excitation force in phase opposite to the reference signal shown in Equation (14). In equation (14), A _a (A _a >0) is the amplitude of the antiphase signal.

In the in-phase signal generating means 111 shown in FIG. 4, the signal amplitude generating means 114 calculates the amplitude _Ac of the in-phase signal by PID control based on the amplitude A of the resonance vibration of the resonator 101 and the resonance amplitude target value A ^* . do. The signal antinode azimuth angle generating means 115 generates the same phase by P control represented by Equation (1) based on the antinode azimuth angle θ _r of the resonant vibration of the resonator 101 and the antinode azimuth angle target value θ _r ^* . Calculate the antinode azimuth angle θ _c of the signal.

Actuator drive signal generating means 116 determines AC drive signals _Fcj for a plurality of actuators capable of applying the excitation force represented by equation (15) to the resonator edge.

On the _other hand, the anti-phase signal generating means 112 shown in FIG _. Determine the AC drive signal _Faj for the plurality of actuators 102 that can apply the excitation force shown in equation (16 ₎ to the resonator edge.

A combined excitation force applied to the resonator 101 by the plurality of actuators 102 driven by the signals determined by the in-phase signal generation means 111 and the anti-phase signal generation means 112 is represented by Equation (17). Here, the amplitude A _com and the antinode azimuth angle θ _com of the combined excitation force are represented by Equation (18).

At this time, the signal amplitude generating means 114 calculates the amplitude _Ac of the in-phase signal that allows the amplitude _Acom of the combined exciting force to satisfy the equation (19). The amplitude is the same as the amplitude of the combined excitation force in the first embodiment.

On the other hand, the combined excitation force at the current antinode azimuth angle θ _r has an amplitude given by equation (20). Therefore, the amplitude Aa and antinode azimuth angle θa of the antiphase signal are set to values that satisfy the relationship shown in Equation (21). As a result, the excitation force applied to the antinode azimuth angle θ _r is reduced and the excitation force applied to the position of θ _r +π/2n is increased as compared with the conventional resonance control device.

Therefore, the damping speed of the vibration at _θr and the expansion speed of the vibration at _θr +π/2n are increased, so that the responsiveness of the azimuth angle control can be improved.

Also, the equation (22) is obtained from the equation of motion shown in (6).

From this, the angular velocity output means 113 calculates an estimated value of the input angular velocity _Ω shown in Equation (23) using the scale factor K'Ω calculated in advance. In this case, since no condition relating to the magnitude of ΩQ/ _ωn is added, the measurable range of angular velocities does not decrease due to the expansion of Q/ _ωn .

As described above, according to the first embodiment, in the resonance control device 106 of the vibration gyroscope 1 using the circular resonator 101, the resonator 101 is calculated based on the sensor signal output from the displacement sensor 103. and the amplitude and antinode angle of the resonant vibration excited in the resonator 101 derived from the sensor signal. A phase signal and an anti-phase signal opposite in phase to the reference signal are generated. The actuator 102 is alternately driven by the in-phase signal and the anti-phase signal, and the estimated angular velocity of the resonator 101 is based on the amplitude and antinode azimuth of the in-phase signal and the amplitude and anti-antinode azimuth of the anti-phase signal. was to be output.

As a result, the actuator 102 applies an excitation force having the same phase as the reference signal and an excitation force having the opposite phase to the resonator 101, so that the ratio Q/ _ωn between the _resonance magnification Q and the resonance frequency ωn of the resonator 101 becomes Even if it is large, it is possible to improve the responsiveness of the azimuth angle control and maintain the angular velocity measurable range of the vibration gyro.

Embodiment 2.
FIG. 6 shows the overall configuration of a vibrating gyroscope 1 according to Embodiment 2 of the present disclosure. The vibrating gyroscope 1 according to this embodiment has the same configuration as that of the first embodiment, but the configuration and operation of the resonance control device 106 are different. FIG. 7 shows a functional block diagram of the resonance control device 106 according to this embodiment.

As shown in FIG. 7, the resonance control device 106 according to the second embodiment includes an in-phase signal generation means 111, an anti-phase signal generation means 112, and an angular velocity output means 113 similar to those in the first embodiment. Generating means 121 and actuator drive signal generating means 122 are provided. The resonance control device 106 outputs an actuator AC drive signal Fj to be output to the actuator 102 and an estimated value of the angular velocity Ω of the resonator 101 .

In-phase signal generating means 111 in the second embodiment includes signal amplitude generating means 114 and signal antinode azimuth generating means 115 similar to those in the first embodiment. Based on the angle _.theta.r , the amplitude _A.sub.c and antinode azimuth angle _{.theta..sub.c} of the in-phase signal are output. The anti-phase signal generating means 112 outputs the amplitude Aa of the excitation force and the anti-phase azimuth angle _θa of the anti-phase signal based on the amplitude _A and antinode azimuth angle _θr of the resonance vibration of the resonator 101 .

Based on the amplitude _Ac and antinode azimuth _θc of the in-phase signal and the amplitude _Aa and antinode azimuth _θa of the anti-phase signal, the synthesized signal generation means 121 generates the synthesized signal by Equation (18). Output amplitude A _com and antinode azimuth angle θ _com .

Angular velocity output means 113 in Embodiment 2 outputs an angular velocity estimated value by Equation (23) based on the antinode azimuth angle θ _com of the combined signal and the antinode azimuth angle θ _r of the resonance vibration.

Actuator drive signal generation means 122 is a plurality of actuators capable of applying a combined excitation force represented by Equation (17) to the resonator edge based on the amplitude A _com and antinode azimuth angle θ _com of the combined signal. 102 AC drive signals F _j (j=1, 2, . . . ) are determined.

The excitation force realized by the AC drive signal _Fj of the actuator 102 of the vibration gyroscope 1 according to the second embodiment is the resultant force of the excitation forces realized by the AC drive signals _Fcj and _Faj in the first embodiment. Since they are equal, the behavior and effects of the azimuth angle control in the second embodiment are the same as in the first embodiment.

As described above, according to the second embodiment, a combined signal of an in-phase signal having the same phase as the reference signal and an opposite-phase signal having the opposite phase to the reference signal is generated, and the actuator 102 is operated by this combined signal. The oscillator 101 is driven by an alternating current, and an estimated angular velocity value of the resonator 101 is output based on the antinode azimuth angle θ _r of the resonant vibration and the antinode azimuth angle θ _com of the synthesized signal. As a result, it is possible to use the conventional hardware configuration in which a single-system signal is applied to the actuator 102, and improve the responsiveness of the azimuth angle control even when the ratio between the resonance magnification and the resonance frequency of the resonator 101 is large. It is possible to maintain the angular velocity measurable range of the vibration gyro.

Embodiment 3.
A vibrating gyroscope 1 according to Embodiment 3 of the present disclosure has a configuration similar to that of Embodiment 2, but the configuration and operation of the resonance control device 106 are different. FIG. 8 shows a functional block diagram of the resonance control device 106 according to the third embodiment.

In-phase signal generation means 111, combined signal generation means 121, and actuator drive signal generation means 122 of resonance control device 106 are the same as those in Embodiment 2, but the configuration and operation of anti-phase signal generation means 112 and angular velocity output means 113 are is different.

The anti-phase signal generating means 112 of the resonance control device 106 according to the present embodiment determines the amplitude _Aa and the antinode azimuth _θa of the anti-phase signal according to Equation (24). However, s is a parameter defining the ratio of the in-phase signal to the amplitude _Ac , and 0≤s<1.

At this time, the amplitude A _com and antinode azimuth angle θ _com of the synthesized signal are given by equation (25).

From this, since the formula (26) is established, it is possible to improve the responsiveness of the azimuth angle control as in the first and second embodiments.

Also, if the parameter s is set to a value close to 1, it is possible to satisfy the equation (27) even when ΩQ/ _ωn is large.

Then an approximation of equation (28) is possible.

Therefore _, the angular velocity output means ₁₁₃ according _to the third embodiment can obtain ^a An estimated value of the angular velocity is calculated using equation (2).

As described above, according to the third embodiment, the amplitude _Aa of the anti-phase signal is calculated from the preset amplitude ratio of the in-phase signal and the anti-phase signal, and the antinode azimuth angle θ of the resonance vibration is calculated. _r is matched with the antinode azimuth angle _θa of the antiphase signal to generate an antiphase signal, and the actuator 102 is AC-driven by the inphase signal and the antiphase signal, and based on the antinode azimuth angle _θr of the resonance vibration , the angular velocity estimated value of the resonator 101 is output. As a result, even when the ratio Q/ _ωn between the resonance magnification Q of the resonator 101 and the resonance frequency ωn is large, the responsiveness _of the azimuth angle control can be improved. Furthermore, by multiplying the antinode azimuth angle _θr of the resonance vibration by a constant scale factor, the angular velocity can be detected without narrowing the angular velocity measurable range.

Note that here, with respect to the configuration of Embodiment 2, the anti-phase signal generated by the anti-phase signal generation means 112 has an amplitude calculated from the preset amplitude ratio s of the in-phase signal and the anti-phase signal. has been described. However, the configuration in which the amplitude of the anti-phase signal is calculated from the preset ratio s to the amplitude of the in-phase signal may be applied to the first embodiment. FIG. 9 shows a modification applied to the first embodiment.

In this case, as shown in FIG. 9, the amplitude Aa obtained by multiplying the amplitude _Ac of the in-phase signal by _a preset ratio s and the antinode azimuth angle _θa that coincides with the antinode azimuth angle _θr of the resonance vibration and are applied to the actuator 102 along with the in-phase signal. Then, the angular velocity output means 113 outputs an estimated value of the angular velocity based on the preset target value θ _r ^* of the antinode azimuth angle and the antinode azimuth angle θ _r of the resonance vibration.

Embodiment 4.
A vibrating gyroscope 1 according to Embodiment 4 of the present disclosure has a configuration similar to that of Embodiment 3, but the operation of resonance control device 106 is different.

The resonance control device 106 according to the third embodiment increases the responsiveness of the antinode azimuth angle control as the ratio s between the amplitude _Ac of the in-phase signal and the amplitude _Aa of the anti-phase signal is set to be larger and closer to 1. can be improved, and the angular velocity measurable range can be expanded.

On the other hand, _bringing the value of s close to 1 suppresses the amount of variation in the azimuth angle of wave antinode (θ _r ^* - θ _r ) due to the input of angular velocity. become more susceptible to

Therefore, s is set large when a wide angular velocity measurement range is required, and s is set small when excellent noise characteristics are required. Then, scale factors _KΩs for a plurality of set values of s are measured in advance. Angular velocity output means 113 switches the value of s according to the measurable range and noise characteristics, and calculates the estimated value of the angular velocity by using the scale factor K _Ωs instead of the scale factor K _Ω in equation (2). do.

As described above, according to the fourth embodiment, the ratio s between the amplitude _Ac of the in-phase signal and the amplitude _Aa of the anti-phase signal is variable, and when a wide angular velocity measurement range is required, s is set large, and the value of s is set small when excellent noise characteristics are required. As a result, by multiplying the antinode azimuth angle _θr of the resonance vibration by a variable scale factor, the angular velocity can be detected with improved angular velocity measurable range and noise immunity.

This disclosure is capable of various embodiments and modifications without departing from the broader spirit and scope of this disclosure. In addition, the embodiments described above are for explaining the present disclosure, and do not limit the scope of the present disclosure. That is, the scope of the present disclosure is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and within the scope of equivalent disclosure are considered to be within the scope of the present disclosure.

Reference Signs List 1 vibration gyroscope 101 resonator 102 actuator 103 displacement sensor 104 reference signal generation means 105 vibration shape extraction means 106 resonance control device 107 angle measurement axis 108 upper housing 109 lower housing 111 same phase signal Generating means 112 Opposite phase signal generating means 113 Angular velocity output means 114 Signal amplitude generating means 115 Signal antinode azimuth generating means 116 Actuator driving signal generating means 121 Combined signal generating means 122 Actuator driving signal generating means.

Claims (8)

A vibration gyroscope comprising a circular resonator, a plurality of actuators for generating a radial excitation force on the resonator, and a plurality of displacement sensors for detecting radial displacement of the resonator, A resonance control device that controls driving of the actuator and outputs an estimated angular velocity value of the resonator,
a reference signal having a reference signal frequency that matches the resonance frequency of the resonator calculated based on the sensor signal output from the displacement sensor; an in-phase signal generation means for generating an in-phase signal having the same phase as the reference signal based on the antinode azimuth angle;
anti-phase signal generation means for generating an anti-phase signal opposite in phase to the reference signal based on the reference signal and the amplitude and antinode angle of the resonance vibration;
The actuator is alternately driven by the in-phase signal and the anti-phase signal, and the resonator is operated based on the amplitude and antinode azimuth angle of the in-phase signal and the anti-phase signal amplitude and anti-antinode azimuth angle. angular velocity output means for outputting an angular velocity estimated value;
A resonance control device comprising: A vibration gyroscope comprising a circular resonator, a plurality of actuators for generating a radial excitation force on the resonator, and a plurality of displacement sensors for detecting radial displacement of the resonator, A resonance control device that controls driving of the actuator and outputs an estimated angular velocity value of the resonator,
a reference signal having a reference signal frequency that matches the resonance frequency of the resonator calculated based on the sensor signal output from the displacement sensor; an in-phase signal generation means for generating an in-phase signal having the same phase as the reference signal based on the antinode azimuth angle;
anti-phase signal generation means for generating an anti-phase signal opposite in phase to the reference signal based on the reference signal and the amplitude and antinode angle of the resonance vibration;
combined signal generation means for generating a combined signal from the in-phase signal generated by the in-phase signal generation means and the anti-phase signal generated by the anti-phase signal generation means;
angular velocity output means for AC-driving the actuator with the synthesized signal and outputting an angular velocity estimated value of the resonator based on the antinode azimuth angle of the resonance vibration and the antinode azimuth angle of the synthesized signal;
A resonance control device comprising: The in-phase signal generating means calculates the amplitude of the in-phase signal based on the amplitude of the resonance vibration of the resonator and a preset resonance amplitude target value,
The in-phase signal generating means calculates an antinode azimuth angle of the inphase signal based on an antinode azimuth angle of the resonance vibration of the resonator and a preset antinode azimuth angle target value,
The resonance control device according to claim 1 or 2. The in-phase signal generating means is
signal amplitude generating means for outputting the amplitude of the in-phase signal from the amplitude of the resonance vibration of the resonator and a preset resonance amplitude target value;
signal antinode azimuth generating means for outputting an antinode azimuth angle of the in-phase signal from an antinode azimuth angle of the resonance vibration of the resonator and a preset antinode azimuth angle target value;
actuator drive signal generating means for generating the in-phase signal having the amplitude of the in-phase signal and the antinode angle of the in-phase signal and having the same phase as the reference signal;
The anti-phase signal generating means calculates the amplitude of the anti-phase signal from a preset amplitude ratio of the in-phase signal and the anti-phase signal, and calculates the antinode azimuth angle of the resonance vibration as the anti-phase signal. generating the antiphase signal by matching the antinode azimuth angle of
The angular velocity output means outputs the angular velocity estimated value based on the preset target antinode azimuth angle and the antinode azimuth angle of the resonance vibration.
The resonance control device according to claim 1. The in-phase signal generating means is
signal amplitude generating means for outputting the amplitude of the in-phase signal from the amplitude of the resonance vibration of the resonator and a preset resonance amplitude target value;
signal antinode azimuth generating means for outputting the antinode azimuth angle of the in-phase signal based on the antinode azimuth angle of the resonance vibration of the resonator and a preset antinode azimuth angle target value; ,
The anti-phase signal generating means calculates the amplitude of the anti-phase signal from a preset amplitude ratio of the in-phase signal and the anti-phase signal, and calculates the antinode azimuth angle of the resonance vibration as the anti-phase signal. generating the antiphase signal by matching the antinode azimuth angle of
The angular velocity output means outputs the angular velocity estimated value based on the preset target antinode azimuth angle and the antinode azimuth angle of the resonance vibration.
3. The resonance control device according to claim 2. The amplitude ratio between the in-phase signal and the anti-phase signal is variable and is set according to the measurable range or noise characteristics of the vibration gyro.
The resonance control device according to claim 4 or 5. a circular resonator;
a plurality of actuators that generate a radial excitation force on the resonator;
a plurality of displacement sensors for detecting radial displacement of the resonator;
reference signal generation means for generating a reference signal having a reference signal frequency that matches the resonance frequency of the resonator calculated based on the sensor signal output from the displacement sensor;
vibration shape extraction means for deriving the amplitude and antinode azimuth angle of the resonance vibration excited in the resonator based on the sensor signal;
an in-phase signal having the same phase as the reference signal based on the reference signal output from the reference signal generation means and the amplitude and antinode angle of the resonance vibration output from the vibration shape extraction means; and generating an anti-phase signal opposite in phase to the reference signal, AC-driving the actuator with the in-phase signal and the anti-phase signal, and determining the antinode azimuth angle of the in-phase signal and the wave of the anti-phase signal. a resonance controller that outputs an estimated angular velocity of the resonator based on an anti-antinode azimuth angle;
vibrating gyro. A resonance control method for a vibration gyro using a plurality of actuators for generating radial excitation forces on a circular resonator, wherein the driving of the actuators is controlled to output an estimated value of the angular velocity of the resonator. hand,
In-phase with the reference signal based on a reference signal having a reference signal frequency that matches the resonance frequency of the resonator and the amplitude and antinode angle of the resonance vibration excited in the resonator an in-phase signal generating step for generating a signal;
an anti-phase signal generation step of generating an anti-phase signal opposite in phase to the reference signal based on the reference signal and the amplitude and antinode angle of the resonance vibration;
The actuator is AC-driven by the in-phase signal and the anti-phase signal, and an angular velocity estimate value of the resonator is calculated based on the anti-antinode azimuth angle of the in-phase signal and anti-phase signal. an angular velocity output step to be output;
A resonance control method comprising:

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