WO2007115911A2 - Method for operating a vibrating gyroscope and sensor arrangement - Google Patents
Method for operating a vibrating gyroscope and sensor arrangement Download PDFInfo
- Publication number
- WO2007115911A2 WO2007115911A2 PCT/EP2007/052670 EP2007052670W WO2007115911A2 WO 2007115911 A2 WO2007115911 A2 WO 2007115911A2 EP 2007052670 W EP2007052670 W EP 2007052670W WO 2007115911 A2 WO2007115911 A2 WO 2007115911A2
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- WO
- WIPO (PCT)
- Prior art keywords
- frequency
- signal
- excitation signal
- sensor arrangement
- steps
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
- G01C19/5649—Signal processing
Definitions
- the invention relates to a method for operating a Vibra ⁇ tion gyroscope and a sensor arrangement having a vibration ⁇ gyroscope which constitutes a resonator and is part of at least one control loop which guide the vibration gyro by switching an excitation signal is excited with a resonance frequency of the vibration gyro, wherein the Vibrating gyro, an output signal is taken, from which the excitation signal is derived by filtering and amplification, wherein after switching on a sensor arrangement with the Vibrationskrei- be before supplying the excitation signal, the resonant frequency is determined.
- gyroscopes be ⁇ become known, is genüber a major axis radially aligned axes excited at which a vibration gyro in two overall, including a primary and a secondary control loop with respective transducers are hen to the vibrating gyro vorgese ⁇ . If such rotational speed sensors used in vehicles to stabilize the vehicle motion is a function of the rotation rate sensor is immediately after the vehicle In istset ⁇ wetting required. However, this is delayed by the time-consuming search of the resonant frequency of the Vibrationskrei ⁇ sels.
- a method for operating a vibratory gyroscope is known from German patent application with priority number 10 2005 043 592.0, in which the determination of the resonant frequency of the vibrating gyroscope is effected by exciting the vibratory gyroscope with a signal to a free vibration Exciting signal passes through a predetermined frequency range. Since the resonant frequency of vibration gyros of construction Part to component has large tolerances and further depends on the temperature, the determination derselbigen due to the high quality of the vibratory gyroscope according to the above method take a certain amount of time.
- Object of the present invention is therefore to shorten this period.
- This object is achieved according to the invention as ⁇ by that the resonance frequency is determined by the vibration-sensing gyro in a first step excited by an excitation signal to a free oscillation and dependent on the frequency of the excitation signal measuring signal of the sensor arrangement is detected.
- the frequency of the excitation signal in dependence of the measurement ⁇ is changed signal of the sensor assembly of the previous step verän-, the vibration gyro by the excitation signal to ei ⁇ ner free oscillation excited and detects a dependent on the frequency of the excitation signal measuring signal of the sensor arrangement.
- the instructions according to the second step are repeated until a predetermined number of steps have been reached, wherein the amount of the difference between the frequencies of the excitation signals of two successive steps is reduced with increasing number of steps.
- the resonance frequency is determined on the basis of the frequency of the excitation signal of a last step.
- the inventive method has the advantage that the time span for determining the resonant frequency compared to the method in which the excitation signal passes through a predetermined frequency range (linear sweep) is shortened and thus the vibratory gyroscope after a start (power-on, or reset) faster for measurements is available.
- the frequency of the excitation signal is within a predetermined frequency range.
- the frequency range can be selected such that it comprises a resonant frequency of the vibrating gyroscope, the value of which is calculated from a stored value whose temperature dependence and the temperature measured at power up.
- the stored value is the value which at a predetermined temperature, for example 25 0 C, for a matching method of the vibration gyro or the gyro Vibra ⁇ tion measured containing the sensor arrangement and is stored in egg nem non-volatile memory.
- the temperature during the adjustment process to be stored in the memory and optionally for the temperature dependence.
- the frequency of the excitation signal is selected in the first step so that it corresponds to the center frequency of the predetermined frequency range.
- the time period for determining the resonance frequency can be shortened.
- the resonance frequency is determined according to the principle of successive approximation, wherein the frequency of the excitation signal is successively changed depending on the measurement signal of the sensor arrangement.
- the magnitude of the difference is reduced between the frequencies of the excitation signals of two successive steps with increasing number of steps in ⁇ which the amount of the difference is in each case halved.
- the pre ⁇ sign of the difference is determined as a function of the measurement signal of the sensor arrangement. The sign indicates whether the new frequency of the excitation signal is above or below the old frequency.
- the principle of successive approximation is used in A / D converters to convert analog to digital Signals applied. With this principle, the determination of the resonance frequency can be carried out particularly effectively.
- a binary phase position of a phase discriminator of a tracking synchronization device is used as the measurement signal of the sensor arrangement.
- ge ⁇ uses that the phase position (phase shift between input and output signal of the vibrating gyroscope) in the region of the resonant frequency of the vibrating gyroscope has a sudden course. Based on the phase position, it is thus possible to determine whether the frequency of the excitation signal is above or below the resonance frequency.
- Determination of the resonant frequency Test steps performed to determine if there is a unique switching point of the phase discriminator. In this way it can be determined whether the phase discriminator is hysteresis. By a large hysteresis, the exact determination of the Resonanzfre ⁇ frequency can be difficult.
- Steps by a first one-sided linear approximation wherein the magnitude and the sign of the difference between the frequencies of the excitation signals of two successive linear steps is constant. This allows a very accurate determination of the resonant frequency.
- a determination of the hysteresis of the phase discriminator ⁇ by a second linear approximation ⁇ SUC gene is chosen opposite to the first linear approximation, that is, when the first sub at the start frequency is half the resonant frequency, the starting frequency of the second is above the resonant frequency.
- the determined resonant frequency is stored in a memory.
- the vibration gyro is in the normal application after a power-on or reset particularly fast for measurements available.
- a sensor arrangement solves the problem by means which excite the vibratory gyroscope in a first step by an excitation signal to a free oscillation and detect a dependent of the frequency of the excitation signal measurement signal of the sensor arrangement and in a second step, the frequency of the excitation signal in dependence ⁇ gtechnik the measurement signal of the sensor arrangement of the previous step change, the vibrating gyroscope excite by the excitation signal to a free vibration and detect a dependent of the frequency of the excitation signal measurement signal of the sensor arrangement.
- the sensor arrangement of the invention characterized by means which are repeated in wei ⁇ direct steps, the instructions so-according to the second step a long time, until a predetermined number of iterations is reached, whereby the amount of the difference between the frequencies of the excitation signals of two sequential steps of is reduced with increasing number of steps and which determine the resonant frequency based on the frequency of the excitation signal of a final step.
- the means comprise a frequency measuring device, a microcontroller with a non-volatile memory and a frequency synthesizer.
- FIG. 1 shows a block diagram of a sensor arrangement with a vibrating gyroscope with the elements used to carry out the method according to the invention
- Figure 2 shows an embodiment for determining the resonant frequency of a vibratory gyro according to the principle of successive approximation including test steps for determining a unique switching point of a phase discriminator and
- Figure 3 shows an embodiment of an accurate determination of the resonant frequency by a one-sided linear
- the sensor arrangement of Figure 1 and parts thereof are shown as block diagrams. However, this does not mean that the sensor arrangement according to the invention is limited to a re ⁇ alization using individual blocks corresponding to the blocks. Rather, the sensor arrangement according to the invention can be realized in a particularly advantageous manner with the aid of highly integrated circuits. In this case, microprocessors can be used, which perform the processing steps shown in the block diagrams with appropriate programming.
- Vibratory gyros 1 of this type are known, for example, from EP 0 307 321 A1 and are based on the action of the Coriolis force.
- the vibratory gyroscope 1 represents a high-quality filter, in which the distance between the input 2 and the output 4 is part of a primary control circuit 6 and the distance between the input 3 and the output 5 is part of a secondary control circuit, which is not shown. since its explanation is not required for understanding the invention.
- the primary control circuit 6 is used to excite vibrations with the resonant frequency of the vibratory gyro 1.
- the excitation takes place in an axis of the vibratory gyroscope 1, to which the direction of oscillation used for the secondary control loop is offset by 90 °.
- the signal is split into two components, of which one component can be removed after suitable processing as a signal proportional to the rate of rotation.
- the primary control circuit 6 has an amplifier 11 for the output signal PO, to which an anti-alias filter 12 and an analog / digital converter 13 are connected. With the aid of multipliers 14, 15, to which carriers TiI and TqI are fed, a splitting into an inphase component (real part) and a quadrature component (imaginary part) takes place. examples then de components pass through each filter 16, 17.
- the filtered real part is passed a phase discriminator 18 to ⁇ that controls the digital frequency synthesizer 10, whereby a trailing synchronizer (PLL) is closed, which causes the correct phase position of the carrier TiI and TQI ,
- a carrier Ti2 is generated which passes through a converter 21 and is subsequently modulated in a circuit 22 comprising a modulator and an output driver with the output of a PI controller 19 which receives the filtered imaginary part.
- Circuit 22 is supplied to the input 2 of the vibratory gyroscope 1 as an exciter signal.
- PI controller 19 is also a PID controller can play, be provided at ⁇ .
- a further amplifier 24, a Schmitt trigger 25 and a counter 26 are provided. These serve as a frequency measuring device.
- a microcontroller 27 controls the individual steps of the method according to the invention and has access to a non-volatile memory 28, which is designed as an EEPROM.
- Bus system 31 connects the listed components to each other and to the digital frequency synthesizer 10 as well as to the circuit 22.
- the microcontroller 27 controls the frequency synthesizer 10, the converter 21 and the circuit 22 such that the excitation signals explained in more detail later in connection with FIGS. 2 to 3 are fed to the input 2 of the vibratory gyroscope 1.
- the control circuit is interrupted (primary open-loop operation) and the vibratory gyroscope 1 excited by a corresponding excitation signal to a free vibration.
- the calculation of the frequency of the excitation signal can be carried out in the microcontroller 27 by a corresponding software algorithm in the application case (stand-alone operation). It is also conceivable that z. B. in the manufacture of the vibratory gyroscope 1 at a matching step from an external computer via an integrated interface 20 software function calls are called, which are stored in a memory of the microcontroller 27.
- the tegrated in ⁇ interface 20 may for example be realized as UART, SPI or CAN bus.
- the frequency of the Anre ⁇ supply signal can, for. B. correspond to the center frequency of a predetermined frequency range.
- Step determined based on the binary phase position of the phase discriminator of the tracking synchronizing device, whether the frequency of the excitation signal above or below the resonant frequency ⁇ of the vibratory gyroscope 1 is located.
- the frequency of the excitation signal at ⁇ is changed in the subsequent third step ⁇ changed.
- the instructions according to the second step are repeated in further steps until a predetermined number of steps is reached, wherein the amount of the difference between the frequencies of the excitation signals of two successive steps with increasing number of steps Steps is reduced.
- the resonant frequency is the last step he averages based on the frequency of the excitation signal ⁇ .
- the resonance frequency determined in this way can be stored in the non-volatile memory 28 and is therefore available after a power-on or reset of the vibration gyro 1.
- Figure 2 shows an exemplary embodiment to determine the Reso ⁇ nanzfrequenz of the vibrating gyroscope 1 according to the principle of successive approximation, including checking steps to determine ⁇ whether a clear switching point of the present Phasendiskrimi- nators 18th
- two diagrams are ⁇ recorded, each frequency or the frequency grid as abscissa and the steps for determining the resonant frequency are plotted as ordinate.
- the determination is the Reso ⁇ nanzfrequenz according to the principle of successive approximation with an 8-bit software counters executed.
- this counter 256 different frequencies can be represented, which are mapped to a predetermined frequency range, so that the minimum frequency corresponds to a counter value of 0 and the maximum frequency to a counter value of 256.
- the lower diagram are six steps SA-I to SA-6 of the successive approximation, in the upper two last steps SA-7 and SA-8 of the successive approximation and four test steps C-Ia to C-Ib, to determine a unique Switch ⁇ point of the phase discriminator 18, located.
- the frequency raster of the 8-bit software counter shown in the upper diagram is enlarged in relation to that shown on the lower diagram.
- the to be ascertained Reso ⁇ nanzfrequenz of the vibration gyro 1 is shown as a vertical line in the diagrams and will be described with FO ⁇ net.
- the resonance frequency of the vibratory gyroscope becomes 1 determined according to the principle of successive approximation by the frequency of the excitation signal corresponding to the center frequency of the predetermined frequency range (F_min to F_max) is set with the frequency synthesizer in a first step SA-I.
- the center frequency in this example corresponds to the value 128 (corresponding to the herebywer ⁇ tigsten bit) of the 8-bit software counter.
- the excitation signal is fed to the input 2 of the vibratory gyroscope 1 and evaluated the binary indicated phase position of the phase discriminator 18 of the tracking synchronizer to determine whether the frequency of the excitation signal is above or below the resonant frequency FO.
- the excitation signal is in turn supplied to the input 2 of the vibratory gyroscope 1 and the binary indicated Pha ⁇ senlage of the phase discriminator 18 of the tracking synchronizing device evaluated to determine whether the frequency of the excitation signal is above or below the resonant frequency FO.
- step SA-3 is above the frequency of step SA-2.
- step ⁇ width corresponds to the amount of the difference between the frequencies of the excitation signals of two successive
- step SA-8 This process is repeated in subsequent steps SA-3 SA-to 8 until the highest predetermined Frequenzauflö ⁇ solution (corresponding to the value of the least significant bits) ER is enough. In this case up to and including step SA-8.
- the increment is successively halved.
- the sign of the step size results for each step from the signal of the phase discriminator 18, SA-8 illustrates the last few step for determining the resonance frequency FO.
- the resonant frequency determined corresponding to the frequency of the Anre ⁇ supply signal at the step SA-8.
- phase discriminator 18 After the highest frequency resolution of the successive approximation has been reached, it is determined in the test steps C-Ia to C-Ib whether there is a unique switching point of the phase discriminator 18 (see upper diagram, FIG. 1).
- the hysteresis of the phase discriminator 18 is illustrated in the upper diagram of a shaded by, the resonance frequency FO bounding rectangle 30, wherein the two ver tical ⁇ sides of the rectangle are illustrated by vertical dashed lines thirtieth
- the frequencies are plotted, in which switching points of the Phasendiskrimina ⁇ sector 18 are present.
- the phase discriminator 18 switches at the frequency F0_high.
- the phase discriminator 18 switches at the frequency F0_low.
- test steps C-2a and C-2b are Haut- leads.
- steps C-Ia and C-Ib may be sufficient in other cases, ie steps C-2a and C-2b may be dispensed with.
- a very accurate determination of the resonance frequency FO can be made by a one-sided linear approximation.
- the step size of the test steps C-Ia to C-Ib corresponds to the smallest step size of the steps Sa-I to SA-8 of the successive approximation.
- Steps L-O to L-10 of the one-sided linear approximation shown Furthermore, in addition to the coarse frequency grid of the successive approximation (99 to 102), a higher-resolution frequency grid (0 to 15) of the one-sided linear approximation is drawn.
- the step size of the one-sided linear approximation corresponds to one fifth of the smallest step size of the successive approximation.
- phase discriminator 18 If a determination of the hysteresis of the phase discriminator 18 is of interest, this can be determined by a second linear
- the start frequency is chosen to be opposite to the first linear approximation, i. H. if at the first the starting frequency is below the resonance frequency FO, the starting frequency of the second is above the resonance frequency FO.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112007000811T DE112007000811A5 (en) | 2006-04-05 | 2007-03-21 | Method for operating a vibration gyro and sensor arrangement |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200610015984 DE102006015984A1 (en) | 2006-04-05 | 2006-04-05 | Method for operating a vibration gyro and sensor arrangement |
DE102006015984.5 | 2006-04-05 |
Publications (2)
Publication Number | Publication Date |
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WO2007115911A2 true WO2007115911A2 (en) | 2007-10-18 |
WO2007115911A3 WO2007115911A3 (en) | 2008-05-15 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2007/052670 WO2007115911A2 (en) | 2006-04-05 | 2007-03-21 | Method for operating a vibrating gyroscope and sensor arrangement |
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DE (2) | DE102006015984A1 (en) |
WO (1) | WO2007115911A2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN118032015B (en) * | 2024-04-12 | 2024-06-11 | 四川图林科技有限责任公司 | Method for improving quality factor of hemispherical resonator gyroscope |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0663724A2 (en) * | 1993-06-28 | 1995-07-19 | Texas Instruments Deutschland Gmbh | Automatic antenna tuning method |
US5918280A (en) * | 1996-07-29 | 1999-06-29 | Aisin Seiki Kabushiki Kaisha | Angular rate sensing device |
WO2004020948A1 (en) * | 2002-08-30 | 2004-03-11 | Austriamicrosystems Ag | Vibrating gyroscope |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2620528B1 (en) * | 1987-09-11 | 1991-05-17 | Sagem | PIEZOELECTRIC GYROMETRIC DEVICE |
ES2056580T3 (en) * | 1990-05-18 | 1994-10-01 | British Aerospace | INERTIAL SENSORS. |
DE102004056669A1 (en) * | 2004-10-13 | 2006-04-20 | Robert Bosch Gmbh | Device for the calibration of an image sensor system in a motor vehicle |
-
2006
- 2006-04-05 DE DE200610015984 patent/DE102006015984A1/en not_active Withdrawn
-
2007
- 2007-03-21 WO PCT/EP2007/052670 patent/WO2007115911A2/en active Application Filing
- 2007-03-21 DE DE112007000811T patent/DE112007000811A5/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0663724A2 (en) * | 1993-06-28 | 1995-07-19 | Texas Instruments Deutschland Gmbh | Automatic antenna tuning method |
US5918280A (en) * | 1996-07-29 | 1999-06-29 | Aisin Seiki Kabushiki Kaisha | Angular rate sensing device |
WO2004020948A1 (en) * | 2002-08-30 | 2004-03-11 | Austriamicrosystems Ag | Vibrating gyroscope |
Also Published As
Publication number | Publication date |
---|---|
DE102006015984A1 (en) | 2007-10-11 |
DE112007000811A5 (en) | 2009-02-26 |
WO2007115911A3 (en) | 2008-05-15 |
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