TW475056B - Gyroscope dual-current pulse-width-modulated control loop - Google Patents

Abstract

The present invention relates to a kind dual-current pulse-width-modulated (PWM) control loop that is applied in a gyroscope. The status of the sensed body, which is with either high angular velocity or low angular velocity, is detected from the loop to determine the working current of PWM control loop, which is either at high level or low level. When the dual-current mode PWM control loop is used in a gyroscope, it can satisfy the requirement of high angular velocity measurement range; additionally, when it is in high current (or high angular velocity) working mode, the same output resolution as that obtained when operated in low current (or low angular velocity) working mode still can be maintained. In low current (or low angular velocity) working mode, power consumption is reduced and better precision like that obtained when it is operated by low current is maintained. In addition to the application in a gyroscope control loop, the dual-current mode pulse-width-modulated (PWM) control loop can also be used in accelerators or the other application fields of PWM loop.

Description

475056 V. Description of the invention (1) Field of the invention The present invention relates to a pulse width modulation balancing circuit applied to a gyroscope. The gyroscope generates a torsional moment (Gyr () s_ cope Torque) due to sensing the input angular rate (6Ji). , HX6 ^, Η is the angular momentum of the gyroscope), which causes the float of the gyroscope to deviate from the equilibrium position. The deviation angle is proportional to the amplitude modulation (Amplitude Modulating) error signal generated by the gyroscope ’s angular displacement detector. The amplitude modulated wave is determined by the error signal. After demodulation and gain compensation by the processor, a telecommunication proportional to the deviation angle of the float is generated, and then sampled by the width modulation circuit and precisely quantified into a working cycle of the forward and reverse width modulation. The pulse wave is synchronously driven by the torque current generator to generate a corresponding pulse width modulation current. The pulse width modulation current acts on the torque device of the gyroscope, and the net current obtained from the difference in forward and reverse widths is balanced. Torque to return the gyroscope float to its equilibrium position. Background of the invention Figures show the basic steps of a gyro PWM balance circuit π, Α, and ordering a picture. The composition of the check and balance circuit is mainly divided into two parts, one is the wash-bar q Danby screw meter; the check is connected so that it can maintain the accurate sense of the check and balance circuit; the other is the negative adultery 7 η bedusheng you 3 times & Timing of recording and digital control circuit of control signal. Traditional pulse width modulation (PWM) control. Di & • Can be used in applications with high angular rate 475056. The disadvantages are: (1) ask The requirement of the measurement range of the angular rate makes the f μ level requirement of the designed PWM balancing circuit much higher than the normal requirement. Except for the increase of power consumption, it is very likely that the gyroscope will be damaged due to the excessive current. (1) At the same quantized pulse wave output, the high current level of the PWM check-and-balance circuit will reduce the resolution of the wheel; (3) Increase the thunder of the PW-M check-and-balance circuit. Wave H Judgement 4, the level of electricity, the level, will increase the leakage during PWM operation ... Loss of sensing accuracy. So, pass

The modulation (rain) balancing circuit is only limited to the occasion of U = K measurement. Summary of inventions at low and medium angular rates in J. The purpose of the present invention is to provide a PWM balancing circuit that corresponds to high and low current levels, which not only: but also automatically switches the measurement range requirements' and under high current working conditions :: : N: Resolution during operation. To maintain a low power M To achieve the purpose of the cost invention, the present invention provides a dual current PWM balancing circuit with a gyroscope. The detection port in the loop is used in high angular rate or low angular rate states to determine the PWM control system. &Quot; laugh Sense " the measurement body is ^, check the balance of the circuit, you mine can be south or low level. This corresponds to the high and low angular rates. ^ "The month is dry and automatically switches the PWM to high 475056. V. Description of the invention (3) Low effect mode loop effect design, high and low power output the same resolution check and balance circuit, application ^ demand, which is in The high current (or low angular rate) workflow (or low angular rate) workflow operation has the advantages of a field instrument combination that is applied to the gyroscope circuit, including detection of high and low angular rate switching range and hysteresis M level synchronous switching Design and measurable pulse wave design for high and low working modes. This dual current mode PWM gyroscope 'not only meets the high angular rate measurement range (or + high angular rate) working mode, it can still maintain the output analysis when operating in low power mode In the low current mode, the power consumption is reduced and the low power accuracy is maintained. In addition to the PWM current balancing circuit of the dual current mode, it can also be used in accelerometers or other applications. Detailed description of the invention Block diagram of current PWM balancing circuit. In the basin ^ speed ... gyroscope, which mainly has a rotor 10 with a fixed speed, an angular displacement detector U, and a torque device 12 11 by a known excitation of a system attack junction park smoke from a pennant formula A ^ ^ 1 ^ ^ a phantom and a primary coil induction coil al composed, the

The inductance of a k coil is proportional to the input from the sound; acoustic account τ: VL Μ, 、, the angular velocity is proportional to Amplitude (Amplitude

Modulating) signal, the poor signal fee is renting daddy gurgle # Therapist's suspect, n / ° Hai Xun in the block differential signal processing circuit 2 after the amplification, π pass filtering, synchronous demodulation, gain compensation Is a part # which is proportional to the input angular rate, and the disc becomes 垆 2 η. Device, # 系 _ 士 φ p ° " referred to as the angular rate analog voltage voltage

No. 20 angular speed sheep analog voltage signal 20 turns into Gao Qiaogu L and PWM modulation circuit 4. High and low angular rate detection is the first rate detector 3 parody state 3 has a low transition point and 475056

5. Description of the invention (4) Hysteresis function, which has 2 outputs, jade angular rate signal 30 and negative angular rate signal 31. Figure 2 shows the conversion function of the high and low angular rate setting of the high and low angular rate detector 3. When the angular rate analog voltage signal 20 is in the forward high angular rate region, the positive angular rate signal 30 is High; in the forward low angular rate region, the positive angular rate signal 30 is Low; when the angular rate analog voltage signal is 20 In the negative surface angular rate region, the negative angular rate signal 31 is High, and in the negative low angular rate region, the negative angular rate signal 31 is Low. Figure 4 shows the high-low mode logic circuit 5. When the positive angular rate, signal 30 and negative angular rate signal 31 are input to the high and low mode logic circuit 5, 'will generate a high and low mode (H / L) driving signal 50 which is synchronized with the operating frequency of the 1.2K system, of which 1.2K 糸The system operating frequency signal (1.2K System Trigger) 60 is generated by the timing generator 6. When the positive angular rate signal 3 0 and the negative angular rate signal 3 1 are maintained at H igh, it indicates that in the next duty cycle, the low-level logic circuit 5 will output the high-low mode (H / L) of the high mode. Drive. Signal 50, the circuit will work in high angular rate mode; when both ends of positive angular rate signal 30 and negative angular rate signal 31 are maintained in L0w state, it means that in the next duty cycle, high and low mode logic circuit 5 It will output the high and low core (H / L) driving signal 50 in L0w mode, and the circuit will work in low angular rate mode. Angular rate analog voltage signal 20, 1.2K system operating frequency signal 6

Page 7 475056

= The low-mode (H / L) drive signal 50 is sent to the PWM modulation circuit 4. The pwM modulation private circuit 4 compares the angular rate analog voltage signal 20 with the internal ramp (RAMp) signal and converts it into a PWM wave. 41. Step switching circuit diagram. Ramp-shaped signal 60 is excited and resets. Negative reverse (Nega t i ve) High When in low angular rate mode, the unit (when the PWM conversion gain is 1, the ramp-shaped (RAMP) signal is 1/4 unit). Adjust the gain of the ramp stage. The ramp shape (from the low current magnification) is shown in Figure 5 under the high and low angular rate modes. The ramp shape (RAMP) gain is the same as the (RAMP) signal. 40 is the operating frequency of the 1.2K system, and Ramp-shaped (RAMP) signal 40 is controlled by the high / low mode (H / L) drive signal 51. If the ramp-shaped (RAMP) signal is used as the slope unit of 40), then the slope of 40 is adjusted to 4 units in the high angular rate mode. (The slope of the PWM conversion gain (RAMP) signal 40 is equal to the adjustment of the RAMP.) The adjustment ratio of the signal 40 is based on the high to maintain the same loop gain, so that the loops have the same response characteristics. Figure 6 shows the timing diagram of the PWM conversion, high and low working mode signals. It is switched by m _ π + town and related pressure signal 2. Divide the same angular rate by analog PWM waves 41 on the opposite shore Hr. These two different rain waves can be switched in phase PWM gain at the current level corresponding to the phase contrast. This class of towels, increase the rate, get, to avoid the circuit due to gain. This scarf gives the circuit stability.

4/5056

The P " M wave 41 quantization and high and low frequency quantization pulses are switched simultaneously. The wave 41 must be quantized to obtain a measurable: high and low angular rate) working modes are: Λ: 6 production [in conjunction with the south low current (or, high low frequency // 1 low frequency two f (the legend is 1 228.8 quantization processing The output is 4τ, which is carried out by low-frequency summerization pulse wave 62; output; two output pulse wave 71, the life of the flow), the drive signal 73 (positive P phase) of the switch of 私 s ^ 杻 moment private flow generator 8 Once in the negative direction) ° and the high current (or high angular rate) working mode, the same processing is performed by the chirped pulse 61. The field computer is counted as the phase resolution, The counted current is only the same for the period of time when the net electricity accumulated flow is simply obtained. The benefit of quantizing the pulse is the positive and negative flow. The output pulse flows through the gyro to the level multiple. Therefore, the wave is replaced by the output pulse wave that calculates the current amount ( Up Pulse) 71 wave number reduction (D〇wn puise) 72 wave number, you can get the net current of the torque meter of the screwdriver, this can be explained. Because the high and low current (or high and low angular rate) power and high The low-frequency quantized pulse wave frequency is set at each high and low current (Or high or low angular rate) The currents of the working mode tables are equal, that is, with the same solver, it is not necessary to know the working mode of the circuit, and the cumulative wave number of the pulses from the wheels can be accurately obtained. 475056 V. Invention Explanation (7) The driver closes the torque and turns on the torque through the 8-flow generator to control production, the flow 8 electrical torque produces the torque on the production line, and the 7-torque circuit W electric transmission «Ϊ 4-wave 7 Μ, W 3 Ρ 7 by signal ituu 5 # 流 流 ^ ¾ r ^ Br The magnitude of the current is wide and the current is ο 氐 2/1 1 is higher than the high-speed or high-speed angle type low-high level is the level current Its f ο the same system, uncontrollable, step-wise quasi-current negative current 5 positive #u 代 模 ㈣ PZa — g 4 area C current is high ^ ¾ _ f is at a low level. The transposition cuts the exact step with the same potential, and the on-time flow electric model is low for high work.} When the apparent eight-speed diagram has a low angle or the position is used as the current application, the position-time quasi-flow electric work rate is doubled. ly 4 The rate depends on the speed. The angle is set to high or S or VD C to reduce the flow voltage Εμ-Γ and Η R value -tt. The current potential is set to W ο L n. Its

The V measurement is connected directly or the reliability is calculated. The special crystal is turned on for S D V step-down. The median value is similar to F) Near E VR. In summary, the overall operation of the gyro PWM balance circuit is described below. The PWM balancing circuit that automatically switches to high and low current levels corresponding to the high and low angular rates. First, the high or low angular rate is detected in the loop. The high and low angular rate detectors 3 and high and low mode logic circuits 5 are used to determine whether the current should be high. Or low level. When the need for switching is established, at the beginning of the next working cycle, a high-low mode (H / L) drive signal 50 is generated, and this drive signal triggers 3 switching actions at the same time: / 1. The high-low current level is switched synchronously, which makes the circuit The pulse current works at the required level.

Page 10 475056 V. Description of the invention (8) 2. The RAMP gain is switched synchronously. Its switching magnification is the inverse of the switching magnification of the high and low current levels, so that the loop gain is maintained at a fixed amount and the frequency response characteristics are the same. 3. Synchronized switching of high and low frequency quantized pulse waves. The switching magnification is the same as that of the high and low current levels, so that the output pulses at the high and low current levels have the same resolution. The dual current PWM check and balance circuit has the design of high and low current level synchronous switching, RAMP gain synchronous switching and high and low frequency quantized pulse synchronous switching design. The working circuit has the characteristics of low loss, high resolution and high accuracy, which expands the application space of the PWM check and balance circuit. . t Although the present invention has been disclosed as above with a preferred embodiment, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and decorations without departing from the spirit and scope of the present invention. The protection scope of the present invention shall be determined by the scope of the attached patent application.

Page 11 475056 Simple diagrams Simple diagrams Figure 1 Basic structure diagram of a series of gyroscope PWM balancing circuits Figure 2 Block diagram of a series of gyroscope dual current PWM balancing circuits' Three series of high and low angular rate setting conversion function chart Figure four High and low mode logic circuit diagrams. Five series of RAMP gain synchronous switching circuit diagrams. Six series of PWM conversion, high and low operation mode switching and quantization related signal timing diagrams. Seven series of high and low frequency quantized pulse synchronous switching circuit diagrams. Eight series of high and low current level synchronous switching. Circuit diagram drawing number description 1 gyroscope 10 rotor 11 angular displacement detector 1 2 torque device 1 2 0 current (return) signal flowing through the torque device 2 error signal processing circuit 2 0 angular rate analog voltage signal

Page 12 475056 Brief description of the diagram 3 High and low angular rate detector 3 0 Positive angular rate signal 3 1 Negative angular rate signal 4 fWM modulation circuit 4 0 RA MP signal 41 PWM wave 5 High and low mode logic circuit 50 High and low mode (H / L) drive signal 51 Negative high / low mode (H / L) drive signal 6 Timing generator 6 0 1. 2K system operating frequency signal 6 1 High-frequency quantized pulse 6 2 Low-frequency quantized pulse 63 12 8K synchronous demodulation signal 64 carrier wave 7 PWM wave quantization circuit 7 1 output pulse wave of positive current amount 7 2 output pulse wave of negative current amount, 7 3, 7 4 switch driving signal of torque current generator

Page 13 475056 Brief description of the diagram 8 Torque current generator 8 0 Current signal flowing through the torque device

IHHII Page 14

Claims (1)

475056 Complement VI. Application for Patent Scope Application for Patent Scope 1. A 罅 y for gyro dual current pulse width adjustment r P WM w circuit, tied to a balancer connection with a skn ^ CPWM) The loop, the loop contains ... 4 quadrilateral gyro generation kits, which are used to generate a differential signal processing circuit that connects the loop to the =, the 12.8K synchronous demodulation of the timing generator, but t °. Wheel output and angular rate analog voltage signal; π arm rain terminal, which is used to generate the terminal: Takada low angle J4 rate detector connected to the error signal processing circuit, it is used to detect whether the angular rate is high or low State; $ 路 之 轮 出 "-high and low mode logic circuit is connected to the second of the" angular rate detector ", u 14 mi π σ / system operating frequency signal output terminal, No .; Synchronous level of i.2K The mode driving signal is a pulse width modulation (PWM). In the weaving, a Φ ^ ^ t is connected to the output terminal of the error signal processing 2 and the 12K m of the timing generator as the frequency signal = terminal and rWM. The output terminal of the high-low mode logic circuit is used to compare the angle 2 analog voltage signal with an internal ramp-shaped signal to convert it into a pulse width modulation (pwM) wave in the form of width modulation; 15th stomach 475056 . A pulse width modulation (PWM) wave quantization circuit is connected to the output end of the logic circuit and the pulse width modulation (PWM) modulation, the pull-up terminal and the timing generator 1 228.8} (high frequency Output of quantized pulse wave signal "7. 2K low-frequency quantized pulse wave signal output terminal, which is used to generate υ j out j, quantized pulse width modulation (PWM) wave; quantifiable—torque current generator connected to the torque device And the output terminal of the high-low mode circuit and the pulse-width modulation (PWM) wave terminal are used to generate the torque current. The output of the circuit, such as the loop described in the first item of the scope of patent application, where the error The processing circuit performs actions such as preamplification, band > 5 compensation, etc. m pico steps, gain compensation, the circuit as described in item 丨 of the patent application range, where the high and low have high and low transition points and hysteresis Effect function, the high and low angular rates are set by the transfer function. ▲ The circuit described in the first item of the patent application scope, wherein the pulse width modulation (PWM) modulation circuit includes a ramp (RAMp) gain synchronization Switching circuit, the ramp (RAMP) gain is switched synchronously The switching magnification of the circuit is the same as the reciprocal of the switching magnification of the low current level, which is used to make the loop gain only a fixed amount, and the frequency response characteristics are the same. 6. If the scope of the patent application is changed, the current of the pulse wave circuit will be low, and the output will be changed to a high output width. The same step rate will be the same as the lower pulse. The high-cut and low-cut high-cuts are described in the same way. The steps included in the use of the same package wave P pulse, Wai Fan Li Zhuan, please M Shen 1 low frequency of electrochemical densities) high resolution analysis solution The same phase has the loop described in the second item of the patent scope 2 patent scope, wherein the momentary electric generator includes a high-low current level synchronous switching circuit, and a packet / sine-phase synchronous switching circuit is used to make the pulse of the loop ^ And low current. This includes working on circuits with exact requirements, as described in item 1 of the scope of patent application. The gyroscope can be a single-degree-of-freedom rate integral tudor, and the circuit can be connected to a Dry Tuning Gyr. Or dry-tuning instrument for tug displacement detector and torque device. ’, ,, σ speed meter or other pins