Method for extracting vibration amplitude of cup-shaped gyroscope with high precision
A vibration amplitude and high-precision technology, which is applied in the field of gyro vibration amplitude extraction and cup gyro, can solve the problems of inability to apply gyro servo control and compensation, and inability to participate in servo control and compensation.
Active Publication Date: 2019-04-19
SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD
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Problems solved by technology
The acquisition of the vibration amplitude plays a very important role in the control and compensation of the cup-shaped gyroscope. There are two main ways to obtain the existing amplitude. One is to directly measure the vibration amplitude of the resonator through a laser vibrometer. This method obtains The vibration amplitude is real and reliable, but it cannot be applied to the servo control and compensation of the gyro; another way is to measure the waveform output by the piezoelectric ceramic driven by the gyro vibration with an oscilloscope to obtain the vibration amplitude. This method still cannot participate in the servo control. issues with compensation
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[0016] Such as figure 1 The shown cup-shaped gyroscope includes a gyroscope cover 2, a resonator 3, a vibration guide ring 4, a base 5 and a screw 6. When using the present invention to extract the vibration amplitude of a cup-shaped gyroscope, a group of them needs to be evenly distributed on the base of the resonator 3 The piezoelectric ceramic sheet 1 is used to collect the vibration signal and convert it into a voltage signal, wherein the piezoelectric ceramic sheet 1 is pasted on the base of the resonator 3 through conductive glue, and at least 8 piezoelectric ceramic sheets 1 are arranged, or 16 piezoelectric ceramic sheets 1 are used. Piezoelectric ceramic sheets 1 are also acceptable, and the number of piezoelectric ceramic sheets 1 can be increased or decreased in multiples of 8, as long as there is enough installation space.
[0017] The overall circuit structure is as figure 2 As shown: the piezoelectric ceramic sheet 1 is electrically connected to the fusion circ...
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The invention discloses a method for extracting vibration amplitude of a cup-shaped gyroscope with high precision, wherein a group of piezoelectric ceramic pieces are uniformly distributed on the cup-shaped gyroscope, a fusion circuit connected with each piezoelectric ceramic piece is also included, and a low-pass filter circuit and an ARM control chip are connected with the fusion circuit; the fusion circuit is used for collecting voltage change signals generated by vibration of each piezoelectric ceramic plate and 183Hz pulse width modulation signals fed back by the ARM control chip; the 183Hz pulse width modulation signal fed back to the fusion circuit by the ARM control chip adopts a digital PID algorithm the PID algorithm is shown in the description, wherein u (t) represents the pulsewidth output of the controller, e (t) represents the input of the controller, kp represents the proportional amplification factor of the controller, Ti represents the integration time of the controller, and Td represents the differentiation time of the controller.
Description
technical field [0001] The invention relates to the technical field of cup gyroscopes, in particular to the technical field of extraction of gyroscope vibration amplitude. Background technique [0002] The cup gyroscope is a typical Gothic vibrating gyroscope. When it vibrates at a stable amplitude at the resonant frequency, it can detect the angular velocity signal input from the outside at the 45° orientation of the resonant oscillator, and demodulate and filter the signal. , After collecting, the external angular velocity signal can be obtained. The acquisition of the vibration amplitude plays a very important role in the control and compensation of the cup-shaped gyroscope. There are two main ways to obtain the existing amplitude. One is to directly measure the vibration amplitude of the resonator through a laser vibrometer. This method obtains The vibration amplitude is real and reliable, but it cannot be applied to the servo control and compensation of the gyro; anoth...
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IPC IPC(8): G01C19/56
CPCG01C19/56
Inventor 南慧杰
Owner SHAANXI AEROSPACE TIMES NAVIGATION EQUIP CO LTD