Resonant gyroscope closed-loop control method and system

Abstract

The invention discloses a resonant gyroscope closed-loop control method and system. The method comprises the following steps: vibration displacement signals are acquired and converted in driving and detecting directions in driving and detecting modes; a driving displacement signal generates a control signal through a driving loop and the control signal is input into the driving electrode to excitethe harmonic oscillator to vibrate at a constant amplitude in the driving direction; a detection displacement signal is divided into two paths, and one path is input into the detection electrode through the quadrature error suppression loop and the other path generates a detection signal through a force balance loop and superposes the detection signal with a correction demodulation signal; demodulation and amplitude operation is performed on the signals demodulated by the two loops; amplitude results are summed and PID control operation is performed to obtain a scale compensation signal; andthe amplitude of the signal with the disturbance feedback force is regulated by using the scale compensation signal, and the signal subjected to the amplitude regulation is input into the detection electrode to realize automatic compensation of the scale factor of the gyroscope. According to the method and the system, the complete closed-loop control function of the resonant gyroscope is realized,the problems of poor adaptability, time consumption, labor consumption and the like in the prior art are solved, and the stability of the scale factor of the gyroscope in the running state is improved.

Description

technical field [0001] The invention relates to the technical field of resonant gyroscopes, in particular to a micro-electromechanical system (MEMS, Micro-Electro-Mechanical System) resonant gyroscope closed-loop control method and system. Background technique [0002] The gyroscope is a sensor that measures the rotational motion of the carrier relative to the inertial space. It is the core device in the fields of aerospace, satellite navigation, ocean-going submarine, attitude measurement, etc. Very important application value. Traditional gyroscopes include mechanical rotor gyroscopes, electrostatic gyroscopes, hemispherical resonant gyroscopes, laser gyroscopes, fiber optic gyroscopes, etc., which generally have high precision, but at the same time have disadvantages such as large size, high power consumption, and high price, making it increasingly difficult to adapt to informatization The times demand for small size and low power consumption. MEMS gyroscopes based on m...

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Problems solved by technology

[0004] The invention provides a resonant gyroscope closed-loop control method, system and gyroscope, which are used to overcome the defects in the prior art, such as poor adaptability due to high requirements on gyroscope stability, and time-consuming and labor-intensive problems due to the need for a large amount of early data. Closed-loop control, automatically compensates the scale factor of the gyro during the state change process, and stabilizes the scale factor near a higher value to improve the stability of the scale factor of the gyro in the running state

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