Error suppression method for small-frequency-difference quartz gyroscope of orthogonal force feedback closed loop

Abstract

The invention relates to an error suppression method for a small-frequency-difference quartz gyroscope of an orthogonal force feedback closed loop, and belongs to the technical field of micro-mechanical inertial devices. The supported gyroscope device comprises a quartz tuning fork, a driving module, a detection module, a digital signal processing module and an orthogonal force feedback closed loop module. The digital signal processing module is connected with the driving module, the detection module and the orthogonal force feedback closed loop module. The method comprises the following steps that 1) a driving software unit and the driving module output a sine driving excitation signal; 2) the detection module starts to carry out signal detection to obtain in-phase and orthogonal components; (3) in-phase and orthogonal signal PI closed-loop control is established, in-phase and orthogonal force feedback closed-loop signals are generated respectively, and force feedback closed-loop signals are generated through digital-to-analog conversion; and 4) the force feedback signal is loaded to the detection end of the quartz tuning fork for force feedback closed-loop control, so that the displacement of the detection end of the quartz tuning fork is zero. According to the method, high sensitivity is realized, noise is suppressed, the zero drift of the gyroscope is effectively improved, and the circuit is easy to realize.

Description

technical field [0001] The invention relates to an orthogonal force feedback closed-loop small frequency difference quartz gyroscope error suppression method, which belongs to the technical field of micromechanical inertial devices. Background technique [0002] A gyroscope is an inertial sensitive device used to measure the rotational angular velocity of an object relative to inertial space. Due to its small size, light weight, low power consumption, low cost, and easy mass production, the micromechanical gyroscope is an important development direction in the gyroscope field and has received extensive attention. [0003] Quartz tuning fork gyroscope is a typical representative of micromechanical gyroscope. Its working principle is the piezoelectric / inverse piezoelectric effect and Coriolis effect of quartz crystal, including driving and detecting two pairs of tuning forks. The driving electrode is designed and manufactured on the driving tuning fork, and the testing tuning ...

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