Working mode switching control method and system of hemispherical resonator gyro

Abstract

The invention relates to the technical field of hemispherical resonator gyro control, in particular to a working mode switching control method and system of a hemispherical resonator gyro. The control method comprises the following steps: calculating the angular acceleration of the current hemispherical resonator gyro and filtering; if the angular acceleration is greater than 0 and the angular velocity absolute value is less than a first judgment threshold, or the angular acceleration is less than or equal to 0 and the angular velocity absolute value is less than a second judgment threshold, entering a force balance mode; applying a control force Cp according to a force balance PID controller to keep the standing wave position of the harmonic oscillator still, and calculating and outputting the angular velocity; if the angular acceleration is less than or equal to 0 and the angular velocity absolute value is greater than or equal to a second judgment threshold, or the angular acceleration is greater than 0 and the angular velocity absolute value is greater than or equal to a first judgment threshold, entering a full-angle mode; cutting off the control force applied by the force balance loop according to the force balance PID controller to enable Cp to be equal to 0, and calculating and outputting angular velocity increment; hybrid control of a force balance mode and a full-angle mode is realized according to the input angular velocity of the carrier.

Description

technical field [0001] The invention relates to the technical field of hemispherical resonant gyroscope control, in particular to a method and system for switching control modes of hemispherical resonant gyroscopes. Background technique [0002] The gyroscope is one of the core devices of the inertial navigation system, and its function is to measure the angular motion of the carrier in the inertial space. Hemispherical resonant gyroscope is a new type of inertial navigation level solid gyroscope, which has the advantages of small size, low cost, long life and high reliability, and can be widely used in aviation, aerospace, vehicles, industrial robot navigators, and attitude performance detection of unmanned devices Instrument and attitude real-time calibrator, stable platform, airport security and many other fields. [0003] At present, there are two working modes of the hemispherical resonator gyroscope: full angle mode and force balance mode. When the gyro works in the ...

AI Technical Summary

Problems solved by technology

When the gyro works in the force balance mode, the standing wave of the harmonic oscillator changes the magnitude of the excitation force in real time through the force balance control loop so that it does not deflect. The magnitude of the excitation force is proportional to the input angular velocity of the gyro; the characteristics of the gyro in the force balance mode are : It has the advantages of low noise and high measurement accuracy, but the measurement range is small

This limits the use of force-balanced mode hemispherical gyros in applications characterized by large maneuvers

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