Compensation control method and system for damping non-uniformity of all-angle hemispherical resonator gyroscope

Abstract

The invention provides a compensation control method and system for the damping non-uniformity of an all-angle hemispherical resonator gyroscope. According to the method, through fitting calculation and real-time compensation, drift errors caused by damping non-uniformity can be effectively inhibited, and through the period integration technology, scale factor errors and residual sine and cosine errors existing in a loop after fitting compensation can be fundamentally eliminated, and the problem of strong angle dependence caused by a damping non-uniform error is solved, so that the control precision of the gyroscope can be improved. The system comprises a capacitor driving and detection module, an AD data acquisition module, a multiplication coherent demodulation module, an error parameter identification module, an amplitude phase control loop module, a fitting calculation module, a period integration module, a driving synthesis and control module and a DAC digital-to-analog conversion module. According to the technical scheme of the invention, the technical problem of drift error caused by non-uniform damping of the full-angle hemispherical resonator gyroscope is solved.

Description

technical field [0001] The present invention relates to the technical field of inertial instrument control, in particular to a compensation control method and system for uneven damping of a full-angle hemispherical resonant gyroscope. Background technique [0002] There are two main control modes of hemispherical resonant gyro: force balance mode and full angle mode. There are relatively few researches on full-angle mode hemispherical resonant gyroscopes in China. Most of the previous researches are on force balance mode. The understanding of full-angle mode is not enough, the theory and experiment are not systematic and in-depth, and there are many problems that have not yet been solved. At present, the uneven damping of the resonator is the primary problem in the full-angle mode of the hemispherical resonator gyroscope. Since the standing wave precesses freely in the circumferential direction in the full-angle mode, the uneven damping error will bring strong angle dependen...

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Problems solved by technology

There are relatively few researches on full-angle mode hemispherical resonant gyroscopes in China. Most of the previous researches are on force balance mode. The understanding of full-angle mode is not enough. The theory and experiment are not systematic and in-depth. There are many problems that have not yet been solved.

At present, the uneven damping of the resonator is the primary problem in the full-angle mode of the hemispherical resonator gyroscope. Since the standing wave precesses freely in the circumferential direction in the full-angle mode, the uneven damping error will bring strong angle dependence, and the uneven damping error The azimuth angle changes periodically with the standing wave, which greatly affects the performance of the gyroscope and must be solved

[0003] Although a lot of research work has been carried out at home and abroad on the compensation of uneven damping error in the full-angle mode of the hemispherical resonator gyroscope, there are still many problems: the compensation method for uneven damping error is too single, the real-time compensation is not good enough, and multiple errors The coupling of factors will bring great difficulties to compensation, and the core content is less open internationally

[0004] At present, aiming at the compensation of uneven damping error of the hemispherical resonator gyro in the full-angle mode, Najafi et al. of the University of Michigan proposed a "six-force control" compensation method. The simulation results show that the compensation of the "six-force control" The method can reduce the angle-dependent drift error of the gyroscope by more than two orders of magnitude, but the theoretical derivation is not clear, and the compensation effect is not obvious in the experiment; Dmitry I.Bugrov of Moscow State University proposed a virtual rotation compensation control method , this method can solve the problem of angular velocity blocking, but for compensating the angular drift caused by uneven damping, the virtual rotation speed is required to be very high, and other coupling errors will be introduced

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