Method and device for compensating error forces of hemispherical resonator gyroscopes

Abstract

The embodiment of the application discloses a hemispherical resonator gyro error force compensation method and device. The method comprises the following steps: in the force balance mode, using electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force, completing self-excitation of the gyro error; according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, obtaining the HRG error evolution model of the sensitive angular velocity information, obtaining the rate HRG scale factor and the zero bias error parameter; according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient, obtaining the non-equal damping error coefficient; according to the non-equal damping error coefficient, generating electrostatic compensation force through the self-excitation control module, and acting on the x x-axis and y-axis directions, completing the gyro error force compensation. The application solves the problem that the existing gyro needs to be recalibrated before each use and the test environment and the actual use environment are different, which seriously affects the gyro reaction speed and leads to low gyro angular velocity output precision, and achieves the technical effect of improving the gyro angular velocity output precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial instrument, and particularly relates to a method and device for compensating error force of a hemispherical resonator gyro. BACKGROUND

[0002] The error parameters such as the zero bias of the gyroscope drift in the long-term storage and use process, which seriously affects the use precision. The specific performance is that in the case of once power-on multi-group test, the error parameters such as the zero bias of the gyroscope exist slow drift and inconsistency; in the case of successive or multiple power-on, the error parameters present time-space dynamic fast variation, and the variation law is difficult to determine. The existing calibration method of the gyroscope is dependent on the rate experiment of the external high-precision turntable, but this method system cannot effectively solve the above problems, and the periodic disassembly and calibration of the gyroscope exist many problems such as high maintenance cost, large workload, low use flexibility and rapidity for the single table, which are the bottleneck problems for the high-precision application of various gyroscopes. The re-calibration of the gyroscope before each use will seriously affect the reaction speed; the difference between the test environment and the actual application environment and the time-space dynamic fast variation of the error parameters of the gyroscope will lead to the difficulty in maintaining the high precision.

[0003] The problem that the gyroscope needs to be re-calibrated by the turntable before each use and the test environment and the actual use environment exist difference, which seriously affects the reaction speed of the gyroscope and leads to low output precision of the angular velocity of the gyroscope, has not been effectively solved in the prior art. SUMMARY

[0004] The embodiments of the present application provide a method and device for compensating error force of a hemispherical resonator gyro, so as to at least solve the problem that the gyroscope needs to be re-calibrated by the turntable before each use and the test environment and the actual use environment exist difference, which seriously affects the reaction speed of the gyroscope and leads to low output precision of the angular velocity of the gyroscope.

[0005] According to one aspect of the embodiments of the present application, a method for compensating error force of a hemispherical resonator gyro is provided, which comprises: in the force balance mode, utilizing the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force to complete the self-excitation of the error of the gyroscope; obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, to obtain the rate HRG scale factor and the zero bias error parameter; obtaining the non-equal damping error coefficient according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient; and generating the electrostatic compensation force by the self-excitation control module according to the non-equal damping error coefficient, and acting on the x axis and y-axis direction to complete the error force compensation of the gyroscope.

[0006] Optionally, in the force balance mode, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force are used to complete the gyro error self-excitation, including: extracting the driving mode vibration speed, generating the virtual Coriolis force and applying the virtual Coriolis force to the detection mode according to the preset order; in the force balance mode, the driving mode is locked in the x-axis direction, the detection mode is locked in the y direction, and the amplitude is suppressed, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force are used to complete the gyro error self-excitation, and the error is reflected in the electrostatic feedback force.

[0007] Optionally, the HRG error evolution model of the sensitive angular velocity information is obtained according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and the rate HRG scale factor and the zero offset error parameter are obtained, including: the HRG error evolution model of the sensitive angular velocity information is obtained according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and then the single-axis forward and reverse rotation calibration formula is obtained; the scale factor and the zero offset error parameter of the rate HRG are obtained by completing the static calibration according to the calibration formula and using the virtual angular velocity excitation.

[0008] Further, optionally, the non-equal damping error coefficient is obtained according to the relationship between the scale factor and the zero offset error parameter and the non-equal damping error coefficient, including:

[0009]

[0010]

[0011] Wherein, the scale factor is SF2 and the zero offset error is B2, K is the precession factor, τ is the oscillation decay time constant, and the non-equal damping error coefficient includes: the non-equal damping error amplitude And the main shaft deflection angle θ τ .

[0012] Optionally, according to the non-equal damping error coefficient, the electrostatic compensation force is generated by the self-excitation control module and applied to the x-axis and y-axis directions to complete the gyro error force compensation, including: the electrostatic compensation forces f xs And f ys are generated by the self-excitation control module and applied to the 0° and 45° electrode axis directions respectively, the resonance mode drift error caused by the non-equal damping error is suppressed, and the gyro error force compensation is completed, wherein the theoretical form of the electrostatic compensation forces f xs And f ys includes:

[0013]

[0014]

[0015] Wherein, the electrostatic compensation force is in phase with the resonator vibration speed, wherein, The amplitude of the resonant mode vibration output by the signal demodulation module, ω d The natural vibration angular frequency of the resonant mode tracked by the frequency-phase tracking loop, The real-time phase of the demodulation reference signal output by the frequency-phase tracking loop, The non-equal damping error amplitude, θ τ The main shaft deflection angle.

[0016] Further, optionally, the method further comprises: after the electrostatic compensation force is applied, the hemispherical resonator gyroscope dynamic model changes, wherein the changed hemispherical resonator gyroscope dynamic model comprises:

[0017]

[0018] Wherein, x represents the vibration displacement signal detected by the hemispherical resonator at 0°, y represents the vibration displacement signal detected at 45°, f x The electrostatic drive force applied to the x-direction drive electrode, f y The electrostatic feedback force applied to the y-direction drive electrode, And The Coriolis force coupling term generated by the Coriolis effect, K is the precession factor, τ is the oscillation decay time constant, Wherein, ω1 is the natural vibration angular frequency of the maximum stiffness normal axis resonator, ω2 is the natural vibration angular frequency of the minimum stiffness normal axis resonator, Δω is the non-equal elastic error coefficient, θ ω The angle between the minimum stiffness axis and the x-axis;

[0019] In the force balance mode, according to the resonant mode vibration state

[0020] After the electrostatic compensation force is applied, the drive mode resonance frequency, the electrostatic drive force f x And the electrostatic feedback force f y The theoretical form includes:

[0021]

[0022] Wherein, A is the resonator vibration amplitude, ω x The x-direction resonator natural vibration angular frequency, The real-time phase of the resonant signal.

[0023] According to another aspect of the embodiments of the present application, there is provided a device for compensating error forces of a hemispherical resonator gyroscope, comprising: a self-excitation module, configured to complete self-excitation of errors of the gyroscope by using electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force in a force balance mode; a calibration module, configured to obtain an error evolution model of the HRG for sensitive angular velocity information according to a proportional relationship between the electrostatic driving force and the electrostatic feedback force, and to obtain a scale factor and a zero bias error parameter of the HRG; a coefficient obtaining module, configured to obtain non-equal-damping error coefficients according to a relationship between the scale factor and the zero bias error parameter and the non-equal-damping error coefficients; and a compensation module, configured to complete compensation of error forces of the gyroscope by generating electrostatic compensation force in x-axis and y-axis directions through the self-excitation control module according to the non-equal-damping error coefficients.

[0024] Optionally, the self-excitation module comprises: an execution unit, configured to execute extraction of driving modal vibration speed, generation of the virtual Coriolis force and application of the virtual Coriolis force to a detection modal according to a preset order; and a self-excitation unit, configured to complete self-excitation of errors of the gyroscope by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force in the force balance mode, and to reflect the errors in the electrostatic feedback force, with the driving modal locked in the x-axis direction and the detection modal locked in the y-axis direction and the amplitude suppressed.

[0025] Optionally, the calibration module comprises: a formula obtaining unit, configured to obtain an error evolution model of the HRG for sensitive angular velocity information according to a proportional relationship between the electrostatic driving force and the electrostatic feedback force, and to further obtain a single-axis forward and reverse rotation calibration formula; and a calibration unit, configured to complete static calibration by using virtual angular velocity excitation according to the calibration formula, and to obtain a scale factor and a zero bias error parameter of the HRG.

[0026] Further, optionally, obtaining the non-equal-damping error coefficients according to the relationship between the scale factor and the zero bias error parameter and the non-equal-damping error coefficients comprises:

[0027]

[0028]

[0029] wherein the scale factor is SF2 and the zero bias error is B2, K is a precession factor, τ is an oscillation decay time constant, and the non-equal-damping error coefficients comprise: a non-equal-damping error amplitude and a main shaft deflection angle θ τ .

[0030] In the force balance mode, the gyro error self-excitation is completed by using electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force in the embodiment of the application; the HRG error evolution model of sensitive angular velocity information is obtained according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and the rate HRG scale factor and the zero bias error parameter are obtained; the non-equal damping error coefficient is obtained according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient; and the electrostatic compensation force is generated by the self-excitation control module and acts on the x-axis and y-axis directions according to the non-equal damping error coefficient, so as to complete the gyro error force compensation. That is, the embodiment of the application can solve the problem that the gyro needs to be re-calibrated by the turntable before each use in the prior art, and the test environment and the actual use environment are different, which seriously affects the gyro reaction speed and leads to low gyro angular velocity output precision, so as to achieve the technical effect of improving the gyro angular velocity output precision. BRIEF DESCRIPTION OF DRAWINGS

[0031] The drawings described herein are used to provide further understanding of the application, constitute a part of the application, and the illustrative embodiments of the application and the description thereof are used to explain the application, and do not constitute improper limitation on the application. In the drawings:

[0032] Figure 1 A flowchart of a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0033] Figure 2 An execution schematic diagram of a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0034] Figure 3 A rate HRG system control principle diagram with a self-excitation control module (realizing function one: self-excitation angular velocity application) in a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0035] Figure 4 A rate HRG system control principle diagram with a self-excitation control module (realizing function two: electrostatic compensation force application) in a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0036] Figure 5 A rate HRG control system simulation model diagram with a self-excitation control module in a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0037] Figure 6 A rate HRG error force compensation realization diagram in a hemispherical resonator gyro error force compensation method provided by the embodiment of the application is shown in the figure;

[0038] Figure 7A half-sphere harmonic gyroscope error force compensation method provided by the embodiment of the application is shown in a rate HRG error force compensation effect verification diagram.

[0039] Figure 8 A schematic diagram of a half-sphere harmonic gyroscope error force compensation device provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0041] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to limit a specific order.

[0042] According to an aspect of the embodiment of the present application, a half-sphere harmonic gyroscope error force compensation method is provided, Figure 1 A flowchart of a half-sphere harmonic gyroscope error force compensation method provided by the embodiment of the present application is shown. As shown in the figure, Figure 1 the half-sphere harmonic gyroscope error force compensation method provided by the embodiment of the present application comprises:

[0043] In step S102, in the force balance mode, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual Coriolis force are used to complete the self-excitation of the gyroscope error.

[0044] Optionally, in the force balance mode, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual Coriolis force are used to complete the self-excitation of the gyroscope error, including: extracting the driving modal vibration speed, generating the virtual Coriolis force, and applying the virtual Coriolis force to the detection modal according to a preset order; in the force balance mode, the driving modal is locked in the x-axis direction, the detection modal is locked in the y direction, and the amplitude is suppressed, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force, and the virtual Coriolis force are used to complete the self-excitation of the gyroscope error, and the error is reflected in the electrostatic feedback force.

[0045] Specifically, the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application essentially reflects gyro drift errors caused by non-equal damping errors of the resonator in the force balance mode in the electrostatic feedback force output by the force feedback control loop, and the sensitive angular velocity output of the rate HRG depends on the output accuracy of the electrostatic feedback force. There are two ways to improve the output accuracy of such gyro theoretically. The first way is to use the error self-compensation method based on self-excitation proposed in the present application to compensate for the resonant vibration drift error by force, so as to reduce the resonant vibration drift error suppression force component contained in the electrostatic feedback force and ensure the stable proportional relationship between the electrostatic feedback force and the excitation angular velocity. The second way is to use the gyro error turntable calibration method to complete the scale factor and zero bias error calibration of the rate HRG, and to compensate for the electrostatic feedback force output with gyro internal errors by algorithm, so as to obtain a high-precision gyro sensitive angular velocity output signal. The error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application corresponds to the above-mentioned first solution, and the overall implementation process is as shown in the accompanying Figure 2 , Figure 2 The execution schematic diagram of the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application is shown in the accompanying , the rate HRG error self-excitation is completed by internal signal processing, and the virtual Coriolis force is applied on the detection mode, which is equivalent to the influence of the Coriolis force generated by the external angular velocity excitation. The implementation of the HRG self-excitation needs to complete three steps of extracting the driving mode vibration speed, generating the virtual Coriolis force, and applying the virtual Coriolis force to the detection mode. In the force balance mode, the driving mode is locked in the x-axis direction, the detection mode is locked in the y-axis direction and the amplitude is almost suppressed to 0( Figure 3 , Figure 3 The rate HRG system control scheme with the self-excitation control module (realizing function one: self-excitation angular velocity application) in the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application is shown in the accompanying , The rate HRG system control scheme with the self-excitation control module (realizing function one: self-excitation angular velocity application) in the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application is shown in the accompanying + , - The rate HRG system control scheme with the self-excitation control module (realizing function one: self-excitation angular velocity application) in the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application is shown in the accompanying , The rate HRG system control scheme with the self-excitation control module (realizing function one: self-excitation angular velocity application) in the error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application is shown in the accompanying

[0046] Step S104, obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, obtaining the rate HRG scale factor and the zero bias error parameter;

[0047] Optionally, obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and obtaining the rate HRG scale factor and the zero bias error parameter includes: obtaining the HRG error evolution model of the sensitive angular velocity information according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and then obtaining the single-axis positive and negative rotation calibration formula; completing the static calibration by using the virtual angular velocity excitation according to the calibration formula, and obtaining the scale factor and the zero bias error parameter of the rate HRG.

[0048] Specifically, as shown in FIG. 4, under the premise of obtaining the electrostatic feedback force output under positive / negative excitation by using self-excitation to complete two equal reverse, positive / negative angular velocity application, the scale factor and the zero bias error parameter of the rate HRG are calibrated by using the single-axis positive and negative rotation method according to the rate HRG error evolution model. When the calibration model is as shown in FIG. 4, the calibration formula can be used as follows: Figure 2

[0049]

[0050] wherein, and are positive / negative self-excitation angular velocities, and are electrostatic feedback force outputs under positive / negative angular velocity excitation, and are corresponding electrostatic driving force outputs.

[0051] The self-calibration results of the scale factor SF2 and the zero bias error B2 in the gyro error evolution model of the angular velocity output obtained by using the ratio of the electrostatic feedback force f y and the electrostatic driving force f x under force balance mode.

[0052] Step S106, obtaining the non-equal damping error coefficient according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient.

[0053] Optionally, obtaining the non-equal damping error coefficient according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient includes:

[0054]

[0055]

[0056] ​​wherein, SF2 and B2 are scale factor and bias error, K is precession factor, τ is oscillation decay time constant, non-uniform damping error coefficient includes non-uniform damping error amplitude and main axis deflection angle θ τ .

[0057] Specifically, as shown in Figure 2 , according to the relationship between scale factor SF2 and bias error B2 and non-uniform damping error coefficient and θ τ in the error evolution model of resonator, and using the self-calibration results of scale factor SF2 and bias error B2, the non-uniform damping error coefficient can be inversely solved. If the self-recognition of non-uniform damping error coefficient of resonator in working environment is carried out without using any original engineering test parameters, the self-calibration results of scale factor SF2 and bias error B2 in the gyro error evolution model of angular velocity output obtained based on the ratio of electrostatic feedback force f y and electrostatic driving force f x , the non-uniform damping error amplitude and main axis deflection angle θ τ , that is

[0058]

[0059]

[0060] Step S108, according to the non-uniform damping error coefficient, the electrostatic compensation force is generated by the self-excitation control module and acts on the x-axis and y-axis directions to complete the gyro error force compensation.

[0061] Optionally, according to the non-uniform damping error coefficient, the electrostatic compensation force is generated by the self-excitation control module and acts on the x-axis and y-axis directions to complete the gyro error force compensation, including: the electrostatic compensation forces f xs and f ys are generated by the self-excitation control module and are applied to the 0° and 45° electrode axis directions respectively to suppress the resonant mode drift error caused by non-uniform damping error, and complete the gyro error force compensation, wherein the theoretical forms of electrostatic compensation forces f xs and f ys include:

[0062]

[0063]

[0064] wherein, the electrostatic compensation force is in phase with the resonator vibration speed, wherein, is the resonant mode vibration amplitude output by the signal demodulation module, ω d is the resonator driving mode natural vibration angular frequency tracked by the frequency phase tracking loop, the real-time phase of the demodulation reference signal output by the frequency-phase tracking loop, θ is the non-equal damping error amplitude, τ θ is the main axis deflection angle.

[0065] Further, optionally, the hemispherical resonator gyro error force compensation method provided by the embodiments of the present application further comprises: after the electrostatic compensation force is applied, the hemispherical resonator gyro dynamic model changes, wherein the changed hemispherical resonator gyro dynamic model comprises:

[0066]

[0067] wherein x represents the vibration displacement signal detected by the hemispherical resonator at 0°, y represents the vibration displacement signal detected at 45°, f x f is the electrostatic drive force applied to the x-direction drive electrode, y f is the electrostatic feedback force applied to the y-direction drive electrode, and is the Coriolis force coupling term generated by the Coriolis effect, K is the precession factor, τ is the oscillation decay time constant, wherein ω1 is the natural vibration angular frequency of the maximum stiffness normal axis resonator, ω2 is the natural vibration angular frequency of the minimum stiffness normal axis resonator, Δω is the non-equal elastic error coefficient, θ ω is the included angle between the minimum stiffness axis and the x-axis;

[0068] In the force balance mode, according to the resonant vibration state

[0069] After the electrostatic compensation force is applied, the drive mode resonant frequency, the electrostatic drive force f x and the electrostatic feedback force f y include:

[0070]

[0071] wherein A is the resonator vibration amplitude, ω x is the resonator natural vibration angular frequency in the x-direction, is the real-time phase of the resonant signal.

[0072] Specifically, as Figure 2 shown, the rate HRG error force compensation. By using internal signal processing, the electrostatic compensation force is generated by the self-excitation control module, which acts on the x-axis and y-axis directions, suppresses the resonant vibration mode drift error, obtains high-precision electrostatic feedback force output, makes the gyro zero bias error stable and tends to 0, improves the gyro sensitive angular velocity output precision, and completes the gyro error force compensation.

[0073] Given the magnitude of the non-uniform damping error of the resonator and the principal axis deflection angle, an electrostatic compensation force f is generated through an internal signal processing and self-excitation control module. xs and f ys Applied in the x-axis and y-axis directions, the suppression HRG dynamic model contains The resonant mode drift error component, i.e.

[0074]

[0075] The control scheme for the rate HRG system with a self-excited control module (implementing function two: applying electrostatic compensation force) is attached. Figure 4 As shown, Figure 4 This invention provides a hemispherical resonant gyroscope error force compensation method, which includes a rate HRG system control principle diagram with a self-excitation control module (implementing function two: electrostatic compensation force application). Based on the original four basic control loops of the force balance mode (amplitude control, frequency and phase tracking, quasi-orthogonal control, and force feedback control), it utilizes the internal resonant vibration amplitude of the control circuit board. and angular frequency ω d The signal, and the amplitude of the non-equal damping error of the harmonic oscillator obtained by autonomous identification. and principal axis deflection angle θ τ Construct a self-excited control module capable of applying electrostatic compensation force. x Apply electrostatic compensation force in the axial direction:

[0076]

[0077] Apply electrostatic compensation force in the y-axis direction:

[0078]

[0079] electrostatic compensation force f xs Together with the electrostatic compensation force that controls the stability of the resonant vibration amplitude, it acts on x In the axial direction, the electrostatic compensation force f ys Together with the electrostatic feedback force that suppresses the amplitude of the detected modal vibration and the quasi-orthogonal control force that suppresses undesirable vibrations caused by the non-equielastic error of the harmonic oscillator, the electrostatic compensation force acts in the y-axis direction. The application of the electrostatic compensation force will effectively control the undesirable vibration state of the harmonic oscillator, thereby suppressing the mode drift error caused by the non-equidistant damping error of the harmonic oscillator.

[0080] Apply the above electrostatic compensation force f xs and f ys Subsequently, the HRG dynamic model under the traditional force balance mode theoretically becomes:

[0081]

[0082] In the force balance mode, there are The vibration state (displacement, velocity, acceleration) in the x-axis and y-axis directions is substituted into the formula, and

[0083]

[0084] where A is the vibration amplitude of the resonator, ω x is x the natural vibration angular frequency of the resonator in the x-axis direction, is the real-time phase of the resonating signal;

[0085] The theoretical form of the driving modal resonant frequency, the electrostatic driving force f x and the electrostatic feedback force f y after the electrostatic compensation force is applied is as follows:

[0086]

[0087] At this time, the electrostatic feedback force f y and the electrostatic driving force f x no longer contain the error component of suppressing non-equal damping, and the reference signal is demodulated When ω d tends to ω x , tends to , the demodulated electrostatic feedback force f y is obtained in the mode, and the gyro sensitive angular velocity output is obtained, where B1=0. The zero bias theoretical value is 0, and the gyro sensitive angular velocity calculation accuracy will be greatly improved.

[0088] In order to complete the simulation verification of the rate HRG error force compensation method, the present application uses simulink to build a HRG control system simulation model in the force balance mode, including four basic control circuits, and a self-excitation control module with self-excitation angular velocity application and electrostatic compensation force application function, as shown in the accompanying Figure 5 drawings, Figure 5A rate HRG control system simulation model with a self-excitation control module is provided in a hemispherical resonator gyro error force compensation method of an embodiment of the present application. In the self-excitation control module, in order to apply a self-excitation angular velocity, a virtual Coriolis voltage signal can be generated by using an amplitude control quantity in a control circuit and a demodulation reference signal frequency, and then a virtual Coriolis force signal in phase with a vibration speed of a resonator is generated in a control signal modulation module, and acts on a HRG dynamic model, which is equivalent to the effect of a real Coriolis force generated by an external angular velocity excitation; in order to apply an electrostatic compensation force, x and y axis self-compensation voltage signals can be generated by using a resonator parameter self-recognition result and a reference signal inside a control circuit board, and then an electrostatic compensation force in phase with the vibration speed of the resonator is generated in the control signal modulation module, and acts on the HRG dynamic model, so as to achieve the effect of suppressing bad vibration of the resonator caused by non-equal damping errors.

[0089] In summary, a dynamic model of a hemispherical resonator gyro (HRG) in an embodiment of the present application is as follows:

[0090]

[0091] The dynamic model can represent a real working state of the hemispherical resonator. Wherein, x represents a vibration displacement signal detected by the hemispherical resonator in a 0° direction, y represents a vibration displacement signal detected by the hemispherical resonator in a 45° direction, f x is an electrostatic drive force applied to the x direction drive electrode, f y is an electrostatic feedback force applied to the y direction drive electrode, and is a Coriolis force coupling term generated by the Coriolis effect, K is a precession factor, Ω is an excitation angular velocity; τ is an oscillation decay time constant, wherein τ1 is an oscillation decay time constant of a resonator on a maximum and damping normal axis, τ2 is an oscillation decay time constant of a resonator on a minimum damping normal axis, is a non-equal damping error coefficient, θ τ is an included angle between the maximum damping axis and the x axis, wherein ω1 is an inherent vibration angular frequency of a resonator on a maximum stiffness normal axis, ω2 is an inherent vibration angular frequency of a resonator on a minimum stiffness normal axis, Δω is a non-equal elastic error coefficient, θ ω is an included angle between the minimum stiffness axis and the x axis.

[0092] There are two ways to calculate the gyro sensitive angular velocity output, way one, using orthogonal demodulation reference signals When ω d tends to ω x , tending to At that time, the electrostatic feedback force f is demodulated. y ,Right now Among them, the scaling factor Zero bias Method 2: Utilizing electrostatic feedback force f y and electrostatic driving force f x The ratio, i.e. Among them, the scaling factor Zero bias By using the single-axis forward and reverse rotation method and combining it with the above-mentioned rate HRG error evolution model, the gyroscope scaling factors SF1 and SF2 and the zero bias errors B1 and B2 under the two angular velocity calculation methods can be calibrated.

[0093] From the theoretical forms of the scale factor and zero bias error under the two angular velocity calculation methods, it can be seen that the amplitude of the non-uniform damping error of the harmonic oscillator and principal axis deflection angle θ τ This constitutes the same form under both solution methods, such as The zero bias error and the scaling factor are affected by the non-uniform damping error of the harmonic oscillator. These can be eliminated by changing the angular velocity calculation method. For example, the scaling factor SF1 is not affected by the non-uniform damping error.

[0094] In the embodiments of this application, the implementation of rate HRG error force compensation is as follows: Figure 6 As shown, Figure 6 This is a diagram illustrating the implementation of rate HRG error force compensation in a hemispherical resonant gyroscope error force compensation method provided in an embodiment of the present invention. Figure 6 Mid-virtual Coriolis force f c electrostatic feedback force f y electrostatic driving force f x and electrostatic compensation force f xs ,f ys The signal curves all represent the output state under the initial phase, and the control force applied to the harmonic oscillator is defined as positive outward (i.e. positive outward along the radial direction of the harmonic oscillator equator), and the initial phase of the resonant displacement signal is in cosine form.

[0095] The embodiments and implementation processes of this application are as follows:

[0096] 1) Apply as attached Figure 6 The self-excited angular velocities shown in (a1) and (a2) are obtained under various states as shown in the appendix. Figure 6 The virtual Coriolis force shown in (b1)(b2), as attached Figure 6 The electrostatic feedback forces shown in (c1) and (c2) and as attached Figure 6(c3)(c4) the electrostatic driving force, complete the gyro internal error self-excitation and its in each electrostatic control force in the manifestation. With electrostatic driving force and electrostatic compensation force output information, complete the angular rate HRG error evolution model in the calibration factor and zero error self-calibration and non-equal damping error coefficient inverse solution identification, the convergence results of each parameter are shown in the following table Figure 6 (d)(e)(f)(g);

[0097] 2) according to the self-identification results of the non-equal damping error amplitude of the resonator and the main shaft deflection angle, the self-excitation control module generates x axis and y axis self-compensation voltage signals, which are shown in the following table Figure 5 Simulation model, and then generate electrostatic compensation force, as shown in the following table Figure 6 (h1)(h2) shown, the resonant mode drift error generated by the non-equal damping error is suppressed, since the angle between the maximum damping axis of the resonator and the 0° electrode axis is 22.5°, the non-equal damping error between the maximum damping axis and the minimum damping axis is 3.1194e-05, and theoretically, the electrostatic compensation force applied to the x axis should be 0N, and the electrostatic compensation force applied to the y axis should be 9.73e-06N, which is directed inward along the resonator equatorial radius. In practice, the electrostatic compensation force applied to the x axis is in the order of 1e-07N, as shown in the following table Figure 6 (h1) shown, the electrostatic compensation force applied to the y axis is about 1e-05N, which is directed inward along the resonator equatorial radius, as shown in the following table Figure 6 (h2) shown, the application of this set of electrostatic compensation force can suppress the resonant mode drift error to a certain extent, and realize the rate HRG error force compensation based on self-excitation;

[0098] 3) After completing the rate HRG error force compensation, the non-equal damping error suppression component of the electrostatic compensation force will be greatly reduced. According to the single-axis positive and negative rotation self-calibration results of the gyro electrostatic compensation force output, the zero error is reduced from-5.80480° / h before compensation to-0.03675° / h after force compensation, that is, the error force compensation makes the gyro have a percentage angular velocity output accuracy.

[0099] In the case of multiple angular velocity inputs, the improvement effect of the rate HRG error force compensation method on the output accuracy of the gyro can be evaluated according to the gyro sensitive angular velocity output before and after the force compensation. As shown in the following table Figure 7 , the experimental results show that Figure 7 The rate HRG error force compensation effect verification diagram of the error force compensation method of the hemispherical resonator gyro provided in the embodiment of the application can complete self-precision improvement, and the rate HRG output error is reduced to a percentage level (about 3 degrees per hour).

[0100] The error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application can theoretically complete error parameter calibration and non-equal damping error coefficient identification of the gyro, and can complete error self-compensation of the rate HRG by using internal signal processing and applying compensation force through self-excitation, so that the gyro bias error is stable and tends to 0 in the whole life cycle, and the gyroscope keeps high-precision angular velocity output.

[0101] The error force compensation method of the hemispherical resonator gyro provided in the embodiments of the present application uses electrostatic compensation force to effectively control the bad vibration state of the resonator, reduce the resonant vibration mode drift error suppression force component caused by non-equal damping error in the electrostatic feedback force, ensure the stable proportional relationship between the electrostatic feedback force and the sensitive angular velocity excitation, so that the rate HRG bias error is stable and tends to 0, and the problem that the gyroscope needs to be recalibrated before each use and the test environment and the actual use environment are different, which seriously affects the reaction speed of the gyroscope and leads to low angular velocity output precision of the gyroscope, is solved, and the high-precision angular velocity output of the gyroscope in the whole life cycle is maintained. In the embodiments of the present application, in the force balance mode, the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force are used to complete self-excitation of the gyroscope; the HRG error evolution model of the sensitive angular velocity information is obtained according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and the rate HRG scale factor and the bias error parameter are obtained; the non-equal damping error coefficient is obtained according to the relationship between the scale factor and the bias error parameter and the non-equal damping error coefficient; and the electrostatic compensation force is generated by the self-excitation control module and acts on the x-axis and y-axis directions to complete the gyro error force compensation. That is, the embodiments of the present application can solve the problem that the gyroscope needs to be recalibrated before each use and the test environment and the actual use environment are different, which seriously affects the reaction speed of the gyroscope and leads to low angular velocity output precision of the gyroscope, so as to achieve the technical effect of improving the angular velocity output precision of the gyroscope.

[0102] According to another aspect of the embodiments of the present application, a hemispherical resonator gyro error force compensation device is provided, Figure 8 A schematic diagram of a hemispherical resonator gyro error force compensation device provided in the embodiments of the present application is shown in Figure 8 The hemispherical resonator gyro error force compensation device provided in the embodiments of the present application includes:

[0103] The self-excitation module 82 is configured to complete self-excitation of errors of the gyroscope by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force in the force balance mode; the calibration module 84 is configured to obtain an HRG error evolution model of sensitive angular velocity information according to a proportional relationship between the electrostatic driving force and the electrostatic feedback force, and to obtain a rate HRG scale factor and a zero bias error parameter; the coefficient acquisition module 86 is configured to obtain non-equal-damping error coefficients according to a relationship between the scale factor and the zero bias error parameter and the non-equal-damping error coefficients; and the compensation module 88 is configured to generate electrostatic compensation forces by the self-excitation control module according to the non-equal-damping error coefficients, and to act on the x-axis and y-axis directions, so as to complete compensation of the gyro error forces.

[0104] Optionally, the self-excitation module 82 comprises: an execution unit configured to execute extraction of driving modal vibration speed, generation of the virtual Coriolis force and application of the virtual Coriolis force to the detection modal according to a preset order; and a self-excitation unit configured to complete self-excitation of errors of the gyroscope by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force in the force balance mode, and to reflect the errors in the electrostatic feedback force, wherein the driving modal is locked in the x-axis direction, the detection modal is locked in the y-axis direction, and the amplitude is suppressed.

[0105] Optionally, the calibration module 84 comprises: a formula acquisition unit configured to obtain an HRG error evolution model of sensitive angular velocity information according to a proportional relationship between the electrostatic driving force and the electrostatic feedback force, and to further obtain a single-axis forward and reverse rotation calibration formula; and a calibration unit configured to complete static calibration by using the virtual angular velocity excitation according to the calibration formula, and to obtain a scale factor and a zero bias error parameter of the rate HRG.

[0106] Further, optionally, the non-equal-damping error coefficients are obtained according to a relationship between the scale factor and the zero bias error parameter and the non-equal-damping error coefficients, and the relationship comprises:

[0107]

[0108]

[0109] wherein the scale factor is SF2 and the zero bias error is B2, K is a precession factor, τ is an oscillation decay time constant, and the non-equal-damping error coefficients comprise: a non-equal-damping error amplitude and a main shaft deflection angle θ τ .

[0110] In the force balance mode, the gyro error self-excitation is completed by using electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force in the embodiment of the application; the HRG error evolution model of sensitive angular velocity information is obtained according to the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and the rate HRG scale factor and the zero bias error parameter are obtained; the non-equal damping error coefficient is obtained according to the relationship between the scale factor and the zero bias error parameter and the non-equal damping error coefficient; and the electrostatic compensation force is generated by the self-excitation control module according to the non-equal damping error coefficient and acts on the x-axis and y-axis directions, so as to complete the gyro error force compensation. That is, the embodiment of the application can solve the problem that the gyro needs to be re-calibrated by the turntable before each use in the prior art, and the test environment and the actual use environment are different, which seriously affects the gyro reaction speed and leads to low gyro angular velocity output precision, so as to achieve the technical effect of improving the gyro angular velocity output precision.

[0111] The above merely describes preferred embodiments of the application, but is not intended to limit the protection scope of the application.

Claims

1. A method for compensating for error force in a hemispherical resonant gyroscope, characterized in that, include: In force balance mode, electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force are used to complete the self-excitation of gyroscope error; Based on the proportional relationship between the electrostatic driving force and the electrostatic feedback force, the HRG error evolution model of the sensitive angular velocity information is obtained, and the rate HRG scaling factor and zero bias error parameter are obtained. The non-uniform damping error coefficient is obtained based on the relationship between the scaling factor, the zero bias error parameter, and the non-uniform damping error coefficient. Based on the aforementioned non-uniform damping error coefficient, an electrostatic compensation force is generated through a self-excited control module and applied to... shaft and In the axial direction, gyroscope error force compensation is completed; Based on the non-uniform damping error coefficient, an electrostatic compensation force is generated by the self-excitation control module and applied to... shaft and In the axial direction, gyroscope error force compensation includes: Electrostatic compensation force is generated through a self-excitation control module. and The electrostatic compensation force is applied at 0° and 45° electrode axes respectively to suppress the resonant mode drift error caused by non-uniform damping error, thus completing the gyroscope error force compensation. and The theoretical forms include: ； ； Among them, the electrostatic compensation force is in phase with the vibration velocity of the harmonic oscillator. The amplitude of the resonant mode output by the signal demodulation module. The natural angular frequency of the resonator driving mode tracked by the phase tracking circuit. The real-time phase of the demodulation reference signal output by the frequency phase tracking circuit. This represents the amplitude of the non-uniform damping error. Principal axis deflection angle; After the electrostatic compensation force is applied, the dynamic model of the hemispherical resonant gyroscope changes, wherein the changed dynamic model of the hemispherical resonant gyroscope includes: ； in, This represents the vibration displacement signal detected at the 0° direction of the hemispherical harmonic oscillator. This represents the vibration displacement signal detected in the 45° direction. The electrostatic driving force applied to the driving electrode in the x-direction. The electrostatic feedback force applied to the driving electrode in the y-direction. and This is the coupling term of the Coriolis force generated by the Coriolis effect. As the precession factor, The oscillation decay time constant is ,in, The natural angular frequency of the maximum stiffness normal axis harmonic oscillator. The natural angular frequency of the harmonic oscillator on the minimum stiffness normal axis. The non-equielasticity error coefficient is... , For the minimum stiffness axis and The angle between the axes; Under the force balance mode, according to the vibration state of the resonant mode After the electrostatic compensation force is applied, the driving modal resonant frequency and electrostatic driving force are determined. and electrostatic feedback force The theoretical forms include: ； in, The amplitude of the harmonic oscillator's vibration. for The natural angular frequency of the harmonic oscillator in the direction of vibration. This represents the real-time phase of the resonant signal.

2. The method for compensating for error force in a hemispherical resonant gyroscope according to claim 1, characterized in that, In the force balance mode, the gyroscope error self-excitation is achieved by utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force, and virtual Coriolis force, including: The process involves extracting the vibration velocity of the driving mode, generating the virtual Coriolis force, and applying the virtual Coriolis force to the detection mode according to a preset order. In the force balance mode, the driving mode is locked in In the axial direction, the detection mode is locked in The direction and amplitude are suppressed. The gyroscope error self-excitation is completed by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force, and the error is reflected in the electrostatic feedback force.

3. The method for compensating for error force in a hemispherical resonant gyroscope according to claim 1 or 2, characterized in that, The HRG error evolution model, which obtains sensitive angular velocity information based on the proportional relationship between the electrostatic driving force and the electrostatic feedback force, yields the following parameters: the rate HRG scaling factor and zero bias error parameters. Based on the proportional relationship between the electrostatic driving force and the electrostatic feedback force, the HRG error evolution model of the sensitive angular velocity information is obtained, and then the single-axis forward and reverse rotation calibration formula is obtained. Static calibration is performed based on the calibration formula and using virtual angular velocity excitation to obtain the scaling factor and zero bias error parameter of the rate HRG.

4. The method for compensating for error force in a hemispherical resonant gyroscope according to claim 3, characterized in that, The method of obtaining the non-uniform damping error coefficient based on the relationship between the scaling factor, the zero bias error parameter, and the non-uniform damping error coefficient includes: ； ； The scaling factor is and zero bias error , As the precession factor, The oscillation decay time constant, the non-uniform damping error coefficient includes: non-uniform damping error amplitude. and principal axis deflection angle .

5. A hemispherical resonant gyroscope error force compensation device, characterized in that, include: The self-excitation module is used to complete the self-excitation of gyroscope error in force balance mode by utilizing electrostatic driving force, electrostatic feedback force, quasi-orthogonal control force and virtual Coriolis force. The calibration module is used to obtain the HRG error evolution model of the sensitive angular velocity information based on the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and to obtain the rate HRG scaling factor and zero bias error parameter. The coefficient acquisition module is used to obtain the non-uniform damping error coefficient based on the scaling factor and the relationship between the zero bias error parameter and the non-uniform damping error coefficient. The compensation module is used to generate an electrostatic compensation force based on the non-uniform damping error coefficient through a self-excitation control module, which then acts on... shaft and In the axial direction, gyroscope error force compensation is completed; Based on the non-uniform damping error coefficient, an electrostatic compensation force is generated by the self-excitation control module and applied to... shaft and In the axial direction, gyroscope error force compensation includes: Electrostatic compensation force is generated through a self-excitation control module. and The electrostatic compensation force is applied at 0° and 45° electrode axes respectively to suppress the resonant mode drift error caused by non-uniform damping error, thus completing the gyroscope error force compensation. and The theoretical forms include: ； ； Among them, the electrostatic compensation force is in phase with the vibration velocity of the harmonic oscillator. The amplitude of the resonant mode output by the signal demodulation module. The natural angular frequency of the resonator driving mode tracked by the phase tracking circuit. The real-time phase of the demodulation reference signal output by the frequency phase tracking circuit. This represents the amplitude of the non-uniform damping error. Principal axis deflection angle; After the electrostatic compensation force is applied, the dynamic model of the hemispherical resonant gyroscope changes, wherein the changed dynamic model of the hemispherical resonant gyroscope includes: ； in, This represents the vibration displacement signal detected at the 0° direction of the hemispherical harmonic oscillator. This represents the vibration displacement signal detected in the 45° direction. The electrostatic driving force applied to the driving electrode in the x-direction. The electrostatic feedback force applied to the driving electrode in the y-direction. and This is the coupling term of the Coriolis force generated by the Coriolis effect. As the precession factor, The oscillation decay time constant is ,in, The natural angular frequency of the maximum stiffness normal axis harmonic oscillator. The natural angular frequency of the harmonic oscillator on the minimum stiffness normal axis. The non-equielasticity error coefficient is... , For the minimum stiffness axis and The angle between the axes; Under the force balance mode, according to the vibration state of the resonant mode After the electrostatic compensation force is applied, the driving modal resonant frequency and electrostatic driving force are determined. and electrostatic feedback force The theoretical forms include: ； in, The amplitude of the harmonic oscillator's vibration. for The natural angular frequency of the harmonic oscillator in the direction of vibration. This represents the real-time phase of the resonant signal.

6. The hemispherical resonant gyroscope error force compensation device according to claim 5, characterized in that, The self-excitation module includes: The execution unit is configured to perform the following steps according to a preset order: extracting the vibration velocity of the driving mode, generating the virtual Coriolis force, and applying the virtual Coriolis force to the detection mode. A self-excitation unit is used to lock the driving mode in the force balance mode. In the axial direction, the detection mode is locked in The direction and amplitude are suppressed. The gyroscope error self-excitation is completed by using the electrostatic driving force, the electrostatic feedback force, the quasi-orthogonal control force and the virtual Coriolis force, and the error is reflected in the electrostatic feedback force.

7. The hemispherical resonator gyroscope error force compensation device according to claim 5 or 6, characterized in that, The calibration module includes: The formula acquisition unit is used to obtain the HRG error evolution model of sensitive angular velocity information based on the proportional relationship between the electrostatic driving force and the electrostatic feedback force, and then obtain the single-axis forward and reverse rotation calibration formula. The calibration unit is used to perform static calibration based on the calibration formula and using virtual angular velocity excitation to obtain the scaling factor and zero bias error parameter of the rate HRG.

8. The hemispherical resonant gyroscope error force compensation device according to claim 5, characterized in that, The method of obtaining the non-uniform damping error coefficient based on the relationship between the scaling factor, the zero bias error parameter, and the non-uniform damping error coefficient includes: ； ； The scaling factor is and zero bias error , As the precession factor, The oscillation decay time constant, the non-uniform damping error coefficient includes: non-uniform damping error amplitude. and principal axis deflection angle .

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