Hemispherical harmonic oscillator parameter identification method

A hemispherical oscillator and parameter identification technology, which can be used in complex mathematical operations, instruments, and gyroscopic effects for velocity measurement, etc., and can solve the problems of difficult reliability of measurement parameters, long time consumption, and high equipment costs.

Pending Publication Date: 2022-08-05
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, the difference between the working environment of the harmonic oscillator and the test environment will cause changes in the parameters of the harmonic oscillator. The high-precision measurement operation based on external equipment and strict engineering test methods is complicated, the equipment cos

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  • Hemispherical harmonic oscillator parameter identification method
  • Hemispherical harmonic oscillator parameter identification method
  • Hemispherical harmonic oscillator parameter identification method

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Embodiment Construction

[0049] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0050] The identification of harmonic oscillator parameters based on self-excitation is realized as follows: Figure 4 and Figure 5 shown, the virtual Coriolis force f in the figure c , electrostatic feedback force f y and the electrostatic driving force f x The signal curves of all represent the output state under the initial phase, and it is defined that the control force exerted on the resonator is positive outward (that is, radially outward along the equator of the resonator), and the initial phase of the resonant signal is in the form of cosine.

[0051] Specific implementation steps:

[0052] 1. When applying forward / reverse self-excited angular velocity (such as Figure 4 (a 1 )(a 2 ), Figure 5 (a 1 )(a 2 )), the virtual Coriolis force (such as Figure 4 (b 1 )(b 2 ), Figure 5 (b 1 )(b 2 )), in the force balance mode, the corresp...

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Abstract

The invention relates to a hemispherical harmonic oscillator parameter identification method. The method comprises the steps of self-excitation angular velocity application, gyroscope internal control force signal output, gyroscope error evolution model and harmonic oscillator parameter inverse solution identification model construction, single-axis forward and reverse rotation self-calibration and the like. A set of rate HRG control system simulation model with a self-excitation control module is constructed, and self-excitation angular velocity application, gyroscope error self-calibration and harmonic oscillator parameter autonomous identification under two inverse solution models can be completed. According to the method, the harmonic oscillator non-equal damping error amplitude and the main shaft deflection angle can be rapidly and autonomously identified by utilizing self-excitation in any stage of a full life cycle in a gyroscope working environment, and the method is a new method for rapidly and autonomously identifying the harmonic oscillator non-equal damping error amplitude and the main shaft deflection angle by utilizing various methods and means, such as self-excitation-based rate/rate integral HRG self-compensation (force compensation), non-equal damping error suppression and resonance mode drift error reduction. The output angular velocity/angular increment precision of the gyroscope is improved, application conditions are created, and a solution is provided.

Description

technical field [0001] The invention belongs to an inertial instrument and a hemispherical resonant gyroscope, and relates to a method for identifying parameters of a hemispherical resonator. Background technique [0002] The dynamic model of hemispherical resonance gyroscope (HRG) proposed by Lynch is: [0003] Among them, x and y represent the vibration displacement signals detected in the 0° and 45° directions of the hemispheric resonator, respectively, and f x , f y are the electrostatic driving force and electrostatic feedback force exerted by the driving electrodes in the x and y directions, respectively, and is the Coriolis force coupling term generated by the Coriolis effect, K is the precession factor, Ω is the excitation angular velocity; τ is the oscillation decay time constant, where τ 1 and τ 2 are the oscillation decay time constants of the harmonic oscillator on the maximum and minimum "damped normal axes", respectively, is the unequal damping err...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C19/5691G06F17/10
CPCG01C25/005G01C19/5691G06F17/10
Inventor 晏恺晨王小旭史信达刘明雍
Owner NORTHWESTERN POLYTECHNICAL UNIV
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