RU2207510C2 - Solid-body wave gyroscope - Google Patents

Abstract

FIELD: gyroscopic instrument engineering, applicable for measurement of angles in the control systems. SUBSTANCE: the solid-body wave gyroscope has a resonator in the form of an asymmetric thin-walled element, at least one electrode of the resonator fastened on the surface of the resonator, body attached to which are the resonator and a great number of body electrodes located in the immediate proximity to the resonator electrodes, the control and reference voltages are applied to the electrodes of the body and resonator, it is featured by the fact that applied to resonator electrode is the reference voltage including the components of the high-frequency voltage for feeding the capacitive movement transducer formed by the body electrodes and the resonator electrode, fed to the body electrodes in turn are the zero potential and the control voltages, the oscillation signals are taken off the resonator electrode. The supply of the zero potential to the body electrodes is synchronized with the supply of the high-frequency signal to the resonator electrode, the supply of the control signals is synchronized with the supply of the zero potential to the resonator electrode. EFFECT: enhanced precision and simplified construction of the instrument. 3 cl, 5 dwg

Description

 The invention relates to gyroscopic instrumentation and can be used to measure angles in control systems.

 Known solid-state wave gyroscope [1], containing a resonator in the form of an axisymmetric thin-walled element capable of vibration in at least one of the many modes of standing waves, at least one resonator electrode mounted on the outer or inner surface of the resonator, at least one electrode mounted on the end surface of the resonator, a housing on which the resonator is fixed, a plurality of sensor electrodes and control electrodes. The electronic control unit contains sources of reference alternating currents of high frequency, separate differential amplifiers-adders of signals from capacitive displacement transducers along their own axes, devices for detecting and filtering low frequencies to extract resonator oscillation signals. The oscillation signals of the resonator are removed from the capacitive displacement transducers formed by the sensor electrodes and electrodes mounted on the end surface of the resonator.

 The disadvantage of this design is that the separate selection of the oscillation signals of the resonator along its own axes leads to the appearance of an error in determining the position of the vibrational pattern due to the non-identical transmission coefficients of the signal amplitudes associated with different values of the drifts on individual conversion channels.

 This disadvantage is eliminated in a vibrational rotation sensor with multiplexed electronics [2], which contains a resonator in the form of an axisymmetric thin-walled element, at least one electrode mounted on the surface of the resonator and connected to a sensor electronic unit, the input port of which is connected to the output port of the resonator and is intended for determining from the signal at the output port of the resonator the parameters of at least one standing wave arising from the vibration of the resonator, a housing to which the resonators are attached op and eight electrodes connected to the master electronic control unit. High-frequency exciting voltages and control voltages are applied to the electrodes of the housing. The resonator oscillation signals are obtained as a result of separate multiplex processing of the signal taken from the resonator electrode.

 In a vibrational rotation sensor with multiplexed electronics, which is the closest in design, reading and control method to the present invention, when the signals are added to the resonator electrode, due to the mutual influence of the signals along different intrinsic axes of resonator oscillations, the measurement accuracy decreases, as well as the dynamic operating range of the device with sequential multiplex supply of control voltages.

 The present invention solves the problem of increasing the accuracy and reliability of solid-state wave gyroscopes. To obtain the technical result, a solid-state wave gyroscope is presented, containing a resonator in the form of an axisymmetric thin-walled element capable of vibrating on at least one of the many modes of standing waves, at least one resonator electrode mounted on the surface of the resonator, a housing on which the resonator is mounted and a plurality of housing electrodes located in close proximity to one or more resonator electrodes, an electronic control unit comprising stabilizing devices oscillation amplitudes, suppression of quadrature oscillations, calculation of the angle, an input unit connected to the resonator electrode, a driving unit connected to the housing electrodes and the resonator electrode, capacitive displacement transducers are formed, the driving unit is designed to supply a reference voltage to the resonator electrode , including high-frequency components, and to the electrodes of the housing of control signals including zero potential for the operation of capacitive converters ne displacements.

 For the first embodiment of the design of a solid-state wave gyroscope, the input unit contains an amplifier, a multiplier-demodulator, to which the reference voltage is supplied, a low-pass filter, data storage devices, the signal to which is recorded synchronously with the supply of zero potential to the electrodes along the corresponding resonator axes, differential amplifiers for summing output signals and a device for generating output signals along the own axes of oscillation of the resonator.

 For the second embodiment of the design of a solid-state wave gyroscope, the input unit contains an amplifier, two data storage devices, which are recorded only when the potential of the control signals is applied to the electrodes along the respective axes of the resonator synchronously with the high-frequency components included in the reference voltage supplied to the resonator electrode, differential amplifier, analog-to-digital converter and digital signal processing processor for extracting parameters from the received data arrays s resonator on its own axis.

Distinctive features in the claimed design of a solid-state wave gyroscope is that:
- the resonator oscillation signals are removed from the capacitive displacement transducers [3] formed by the resonator electrode and the body electrodes; in the signal reading mode, a high-frequency reference voltage is supplied to the resonator electrode, which does not significantly affect the resonator dynamics, the potential is supplied to the body electrodes, the operation of the transducers high-frequency alternating current avoids the appearance of care components caused by direct leakage currents and improves the accuracy of measuring the position of the oscillatory th pattern;
- the oscillation signals of the resonator pass through one common path of amplification, detection and filtering for the first design option and through a single common path of amplification, storage, differential summation and analog-to-digital conversion for the second design option, which increases the accuracy of measuring the position of the oscillatory pattern;
- the simultaneous supply of control signals at zero potential on the resonator electrode increases the dynamic range of the device.

 The invention is illustrated by drawings, presented in figures 1-5.

 Figure 1 shows a General view of the design of a solid-state wave gyro with a metallized inner hemispherical surface of the resonator, housing electrodes mounted on the outer hemispherical surface of the lower base of the housing.

 FIG. 2 shows a functional diagram of the inclusion of the master and input blocks of the electronic control unit for the first embodiment of the design of a solid-state wave gyroscope.

 FIG. 3 shows a functional diagram of the inclusion of the master and input blocks of the electronic control unit for the second embodiment of the design of a solid-state wave gyroscope.

 FIG. 4, 5 show timing diagrams of control signals of the master electronic unit. Figure 4 corresponds to the work of the first embodiment of the solid-state wave gyroscope, Figure 5 corresponds to the work of the second embodiment of the solid-state wave gyro.

 Solid-state wave gyroscope (figure 1) contains a hemispherical quartz resonator 1 with a metallized inner surface 2, leg 3, sixteen electrodes of the housing 4, the ring electrode of the housing 5, the lower base of the housing 6.

 A solid-state wave gyroscope operates as follows. When the gyroscope is turned on, resonator oscillations are excited on one of the eigenmodes of standing waves by the body electrode connected to the excitation circuit of the electronic control unit. When the resonator oscillates, the integral gap value of the capacitive displacement transducers formed by the electrodes of the housing 4 and the metallized surface of the resonator 2 changes. If the antinode of the standing wave is in the center of the electrode, the gap changes to the maximum, and when the node of the standing wave is in the center of the electrode, the gap does not change. When a standing wave is found between the electrodes, the change in the gap in the sensors for the second eigenmode of the standing wave along the corresponding axes is proportional to the doubled cosine and sine of the angle of the antinode position of the standing wave. A change in the gap causes a change in the value of the capacitance in the capacitive displacement transducers and, accordingly, a change in the amplitude of the high-frequency voltage at the output.

 The master unit generates control signals U1-U6 supplied to the groups of housing electrodes located along the respective axes of the resonator, U7 to the ring electrode of the housing, the reference voltage U8 to the resonator electrode, and the control signals U1, U2, U3, U4 include components A1 ( t), A2 (t), A3 (t), A4 (t) and B1 (t) V1 (t), B2 (t) V2 (t), B3 (t) V3 (t), B4 (t) V4 (t), where A1 (t), A2 (t), A3 (t), A4 (t) and B1 (t), B2 (t), B3 (t), B4 (t) are given functions of time t, V1 (t), V2 (t), V3 (t), V4 (t) are the control voltages of the quadrature oscillation suppression device, control signals U5, U6 include components B5 (t) V 5 (t), B6 (t) V6 (t), where B5 (t), B6 (t) are given functions of time t, V5 (t), V6 (t) are the control voltages of the quadrature oscillation suppression device, control signal U7 includes components C7 (t) V7 (t), where C7 (t) is a given function of time t, V7 (t) is the control voltage of the oscillation amplitude stabilization device, the reference voltage U8 includes components D8 (t) F8 (t), where D8 (t) is a given function of time t, F8 (t) is a periodic function of time t, the component of the reference voltage U8 D8 (t) is proportional to the time function rectangular pulses taking values 1 and 0, components A1 (t), A2 (t), A3 (t) and A4 (t) are proportional to time functions taking values 0 and high impedance, and functions A1 (t), A2 (t ), A3 (t) and A4 (t) are not equal to 0 at the same time and take the value 0 with the value of the function D8 (t) equal to 1, components B1 (t), B2 (t), B3 (t), B4 (t), B5 (t), B6 (t) and C7 (t) are proportional to the time function B0 (t), which takes on high impedance values and 1, and the function B0 (t) takes the value 1 when the value of the function D8 (t) is 0, the function F8 (t) is a given periodic function of time t with a frequency greater than 6Ω, where Ω is the angular vibration frequency of the resonator.

 For the first embodiment, the electronic control unit (figure 2) contains a master unit 7, which generates control signals U1-U8, which are supplied to sixteen electrodes of the housing 4, the ring electrode 5 and the electrode of the resonator 2. The operation of the circuit is illustrated by a time chart (figure 4) . When the values of the function D8 (t) equal to unity, the zero potential is connected in series with the electrodes along the corresponding axes, while the remaining electrodes are in a high impedance state (open), and a high-frequency voltage is applied to the resonator electrode through the reference resistor R. The signal from the electrode the resonator 2 is fed to the input unit 8, containing an amplifier 9, a multiplier-demodulator 10, to which a reference frequency F8 (t), a low-pass filter 11, a storage device 12, the signal to which is recorded synchronously with the supply of zero potential to the electrodes along the respective axes, differential amplifiers 13, output signal generating devices 14, containing, for example, smoothing filters. The voltages from the outputs of the devices for generating the output signals Vc and Vs, which are proportional to the oscillation signals of the resonator along the corresponding axes, are applied to the inputs of the oscillation amplitude stabilization device, the device for excitation and suppression of the quadrature oscillation components, and the device for calculating the angle of the electronic control unit. When the values of the function D8 (t) are equal to zero, a zero potential is applied to the resonator electrode, and control signals are simultaneously applied to the electrodes of the housing.

 In the first embodiment, the input unit performs the operations of multiplying the signal from the capacitive displacement transducer by a predetermined function of time F8 (t), followed by low-pass filtering, recording the values obtained in the data storage devices from the capacitive displacement transducers along the corresponding resonator axes, each recording operation is synchronized with the zero value of the functions A1 (t), A2 (t), A3 (t) and A4 (t), differential summation of signals from data storage devices and supply of received signals in the device for generating output signals along the own axes of oscillation of the resonator.

 For the second embodiment, the electronic control unit (Fig. 3) contains a master unit 7, which generates control signals U1-U8, which are supplied to sixteen electrodes of the housing 4, the ring electrode 5 and the resonator electrode 2. The operation of the circuit is illustrated by a time diagram (Fig. 5) . When the values of the function D8 (t) equal to unity, the zero potential is connected in series with the electrodes along the corresponding axes, while the remaining electrodes are in a high impedance state (open), and a high-frequency voltage is applied to the resonator electrode through the reference resistor R. The signal from the electrode the resonator 2 is supplied to the input unit 8, containing the amplifier 9, data storage devices 10 and 11. Functions A1 (t), A2 (t), A3 (t) and A4 (t) are synchronized with the frequency of the specified periodic time function F8 (t) e.g. duration and pulses may be a quarter period, with the storage device is recorded the maximum signal amplitude. The signals from the storage devices are fed to a differential amplifier 12, an analog-to-digital converter 13, whose operation is synchronized with the functions A3 (t) and A4 (t). Digital data is supplied to the corresponding memory registers of the digital signal processing processor 14, which processes the resulting data arrays, in order to extract resonator oscillation parameters along its own axes. A digital signal processing processor can also be used to calculate the angle of the position of the oscillatory pattern, and to calculate control functions.

 In the second embodiment of the gyroscope design, the input unit performs the operations of recording the signal of the capacitive displacement transducer in the first data storage device, recording the signal of the capacitive displacement transducer in the second data storage device, each recording operation being synchronized with the zero value of the functions A1 (t), A2 (t), A3 (t) and A4 (t), and the functions A1 (t), A2 (t), A3 (t) and A4 (t) are synchronized with the frequency of the specified periodic time function F8 (t), differential summation of signals from data storage devices analog-to-digital eobrazovaniya received signal and records the received data to the corresponding memory register of the digital signal processor.

 Tests of the claimed design of a solid-state wave gyroscope were carried out with a resonator with a diameter of 60 mm and a natural frequency of 2.7 kHz, with metallization of the inner surface, with an electrode width of 10 mm, an electrode height of 5 mm, a working gap of 100 μm. The frequency of the reference AC voltage was 126 kHz, and the cutoff frequency of the filters was 10 kHz.

 With an oscillation amplitude of the resonator in air of 2 μm and a gain of 1000, the amplitude of the output signal for the circuit of FIG. 2 was about 300 mV.

 Experimental tests of the claimed design of a solid-state wave gyroscope confirm the effectiveness of its application, leading to an increase in the accuracy of measuring the oscillation parameters of the resonator and a significant simplification of the design of a solid-state wave gyroscope.

Sources of information
1. RF patent 2168702, G 01 C 19/56 (publ. 10.06.2001).

 2. US patent 5763780, G 01 C 19/00 (publ. 09.06.1998).

 3. Atsyukovsky V.A. Capacitive displacement transducers. M.-L.: Energy, 1966

Claims (3)

 1. A solid-state wave gyroscope containing a resonator in the form of an axisymmetric thin-walled element capable of vibrating at least one of the many modes of standing waves, at least one resonator electrode mounted on the surface of the resonator, a housing on which a resonator and a plurality of housing electrodes are mounted located in close proximity to one or more electrodes of the resonator, an electronic control unit containing devices for stabilizing the amplitude of the oscillations, suppressing quadrature oscillations, calculating the angle, an input unit connected to the resonator electrode, a driving unit connected to the housing electrodes and the resonator electrode, housing electrodes and the resonator electrode are formed capacitive displacement transducers, characterized in that the driving unit is designed to supply a reference voltage to the resonator electrode, including components of high frequency, and to the electrodes of the housing control signals, including zero potential for the operation of capacitive displacement transducers.  2. The solid-state wave gyroscope according to claim 1, characterized in that the input unit contains an amplifier, a multiplier-demodulator, to which a reference voltage, a low-pass filter, data storage devices are fed, the signal to which is recorded synchronously with the supply of zero potential to the electrodes according to the corresponding the axes of the resonator, differential amplifiers for summing the output signals and a device for generating output signals along the own axes of oscillation of the resonator.  3. The solid-state wave gyroscope according to claim 1, characterized in that the input unit contains an amplifier, two data storage devices, which are recorded only when the potential of the control signals is applied to the electrodes along the respective resonator axes synchronously with the high-frequency components of the reference voltage supplied to a resonator electrode, a differential amplifier, an analog-to-digital converter, and a digital signal processor for extracting resonance parameters from the received data arrays nator on own axes.

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