A control structure and method for frequency tuning of a ring-type mechanical gyroscope

Abstract

The present invention belongs to the technical field of ring-type micromechanical gyroscopes and discloses a control structure and method for frequency tuning of a ring-type mechanical gyroscope. The structure comprises: a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, a third adder, and a detection mode closed-loop controller. The first adder, the mechanical transfer function unit, the detection mode differential capacitance detection unit, the second adder, the detection mode circuit gain module, the multiplier, and the tuning channel controller are connected in sequence. The detection mode closed-loop controller is connected between the output end of the detection mode circuit gain module and the first adder. The tuning channel circuit gain module is connected between the tuning channel controller and the third adder. The third adder is connected to the mechanical transfer function unit. The structure has the advantages of simple circuit structure, high precision, strong anti-interference capability, and high reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of ring-type micro-mechanical gyroscope error control, and in particular relates to a control structure and method for frequency tuning of a ring-type mechanical gyroscope. Background Art

[0002] Ring-type mechanical gyroscope systems are increasingly being used in long-duration navigation systems due to their outstanding advantages, including small size, high precision, light weight, long life, and extended flight time. MEMS ring gyroscopes are difficult to maintain invariant in all directions during processing. To achieve this invariant frequency characteristic, the use of real-time modal matching control technology is crucial. A key characteristic of modal matching is the ability to detect a mode that still resonates at the driving frequency. This inevitably involves characteristics associated with a second-order resonant system, so all modal matching techniques utilize the characteristics of a resonant second-order system for modal identification.

[0003] Current tuning technologies are all based on open-loop measurements and do not achieve real-time modal matching. When the external environment changes dramatically, it is difficult for the tuning loop to track the frequency difference between the drive loop and the detection loop, causing the frequency difference to widen and the detection mode to be in a non-resonant state. Summary of the Invention

[0004] The purpose of the present invention is to address the problems in the background technology and provide a control method for frequency tuning of a ring-type mechanical gyroscope, which is a ring-type mechanical gyroscope operating method with a simple circuit structure, high precision, strong anti-interference ability and high reliability.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions to achieve it.

[0006] Technical solution 1:

[0007] A control structure for frequency tuning of a ring-type mechanical gyroscope, the control structure comprising: a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, a third adder, and a detection mode closed-loop controller;

[0008] The first adder, the mechanical transfer function unit, the detection mode differential capacitance detection unit, the second adder, the detection mode circuit gain module, the multiplier, and the tuning channel controller are connected in sequence;

[0009] The detection mode closed-loop controller is connected between the output end of the detection mode circuit gain module and the first adder; the tuning channel circuit gain module is connected between the tuning channel controller and the third adder, and the third adder is connected to the mechanical transfer function unit.

[0010] The characteristics and further improvements of the technical solution 1 of the present invention are:

[0011] (1) A dither signal is input into a second adder, wherein the dither signal is added before the detection mode closed-loop controller;

[0012] The jitter signal is specifically a signal A1cos(ω1) with the same bandwidth added on both sides of the driving mode resonance frequency. x +ω e )t+A2cos(ω x -ω e )t,ω x is the fundamental frequency of the driving mode, ω e The sideband signal ω1=ω x +ω e ,ω2=ω x -ω e They are the two frequencies of the jitter signal, and A1 and A1 are the two amplitudes of the jitter signal.

[0013] (2) a tuning loop consisting of a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, and a third adder;

[0014] A detection loop is composed of a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, and a detection mode closed-loop controller.

[0015] (3) a first adder, configured to receive an external input force signal and a feedback force signal of a detection modal closed-loop controller, and output a sum of the two signals;

[0016] A mechanical transfer function unit, used to characterize the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop;

[0017] A detection mode differential capacitance detection unit is used to detect the gyro vibration mode capacitance signal and convert it into a voltage signal;

[0018] A second adder is used to receive the jitter signal input, sum it with the gyro vibration mode voltage signal and output the sum;

[0019] A detection mode circuit gain module is used to extract, amplify and output the signal input by the second adder;

[0020] A multiplier, configured to demodulate the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal;

[0021] A tuning channel controller, used to determine the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal;

[0022] A tuning channel circuit gain module is used to adjust the electrical stiffness of the tuning loop;

[0023] a third adder, configured to add the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and output the sum to the mechanical transfer function unit;

[0024] The detection mode closed-loop controller is used to introduce the signal output by the detection mode circuit gain module into the first adder.

[0025] Technical solution 2:

[0026] A control method for frequency tuning of a ring-type mechanical gyroscope, the control method being implemented based on the control structure described in Technical Solution 1, the control method being:

[0027] a first adder receiving an external input Coriolis force signal and a feedback force signal of a detection modal closed-loop controller, and outputting a sum of the two signals;

[0028] A mechanical transfer function unit, characterizing the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop;

[0029] Detection mode differential capacitance detection unit, detects gyro vibration mode capacitance signal and converts it into voltage signal;

[0030] The second adder receives the jitter signal input, sums it with the gyro vibration mode voltage signal and outputs the sum;

[0031] The detection mode circuit gain module extracts and amplifies the signal input by the second adder and outputs it;

[0032] A multiplier, for demodulating the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal;

[0033] The tuning channel controller determines the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal;

[0034] Tuning channel circuit gain module, adjusts the electrical stiffness of the tuning loop;

[0035] a third adder, which adds the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and outputs the sum to the mechanical transfer function unit;

[0036] The detection mode closed-loop controller introduces the signal output by the detection mode circuit gain module into the first adder.

[0037] The characteristics and further improvements of the second technical solution of the present invention are:

[0038] (1) The tuning channel controller determines the electrical stiffness of the tuning loop based on the frequency difference of the gyro vibration mode voltage signal; specifically:

[0039] Let A1A2 be the amplitude of the dither signal, ω1=ω x +ω e ω2=ω x -ω e are the two frequencies of the dither signal, so the output response is

[0040]

[0041]

[0042] K s Electrical stiffness of the tuning circuit, m s To detect the quality of the mode, K x-v K v-f are the gains from displacement to voltage and voltage to feedback force, respectively; b s is the stiffness gain of the detection mode;

[0043] V 01 V 02 The in-phase phase is an effective signal that can be used to adjust the detection modal stiffness, while the signal residual of the orthogonal phase can be suppressed by orthogonal demodulation, and the frequency difference information is equivalent to the amplitude and information of the two jitter signals, which facilitates signal demodulation:

[0044]

[0045] Adjust K s , making the frequency difference information zero.

[0046] (2) The system transfer function with the jitter signal as input and the feedback voltage as output is:

[0047]

[0048] (3) The circuit structure of the detection mode differential capacitance detection unit includes resistors R1, R2, C1, C2, high-speed differential operational amplifier N1, high-speed differential operational amplifier N2, and high-speed analog switches N3 and N4, wherein:

[0049] One end of R1 and R2 is connected to a pair of detection differential electrodes A+ and A- of the gyroscope, converting the capacitance change caused by the change of the gyroscope's vibration mode into a charge change. The charge change information includes the carrier information in addition to the vibration mode change of the gyroscope. This information is converted into a differential voltage after passing through the first-stage high-speed operational amplifier N1. The differential voltage is then amplified in the second stage by the high-speed operational amplifier N2 to form an amplified signal. The amplified signal is then connected through analog switch modules N3 and N4. The control signal of the analog switch modules N3 and N4 is a carrier signal. The carrier is demodulated by the analog switch controlled by the carrier signal, and the signal is restored to a vibration mode signal.

[0050] The present invention provides a method for frequency tuning and control of a ring-type mechanical gyroscope, comprising a differential capacitance detection method, a frequency deviation detection scheme, and a frequency deviation controller scheme. The method comprises: adding the frequency deviation of the ring-type mechanical gyroscope to a Coriolis force closed loop via a double-sideband modulation signal; identifying the frequency deviation based on the second-order transfer characteristics of the ring-type gyroscope's mechanical transfer function; a detection circuit connected to the ring-type gyroscope electrodes and a frequency deviation controller circuit, extracting the frequency error after orthogonal demodulation; and an error calculation and feedback circuit feeding back the calculated frequency error to a specific gyroscope tuning electrode. The gyroscope's resonant frequency is then adjusted using the negative stiffness characteristics of the electrode, thereby achieving frequency uniformity in the ring-type mechanical gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a functional principle block diagram of the frequency tuning control method of a ring-type mechanical gyroscope;

[0052] Figure 2 This is a schematic diagram of a ring-type mechanical gyroscope carrier-type differential capacitance detection circuit. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is described in detail below with reference to the accompanying drawings.

[0054] An embodiment of the present invention provides a control structure for frequency tuning of a ring-type mechanical gyroscope, the control structure comprising: a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, a third adder, and a detection mode closed-loop controller;

[0055] The first adder, the mechanical transfer function unit, the detection mode differential capacitance detection unit, the second adder, the detection mode circuit gain module, the multiplier, and the tuning channel controller are connected in sequence;

[0056] The detection mode closed-loop controller is connected between the output end of the detection mode circuit gain module and the first adder; the tuning channel circuit gain module is connected between the tuning channel controller and the third adder, and the third adder is connected to the mechanical transfer function unit.

[0057] (1) A dither signal is input into a second adder, wherein the dither signal is added before the detection mode closed-loop controller;

[0058] The jitter signal is specifically a signal A1cos(ω1) with the same bandwidth added on both sides of the driving mode resonance frequency. x +ω e )t+A2cos(ω x -ω e )t,ω x is the fundamental frequency of the driving mode, ω e It is the sideband signal ω1=ω x +ω e ,ω2=ω x -ω e They are the two frequencies of the jitter signal, and A1 and A1 are the two amplitudes of the jitter signal.

[0059] (2) a tuning loop consisting of a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, and a third adder;

[0060] A detection loop is composed of a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, and a detection mode closed-loop controller.

[0061] (3) a first adder, configured to receive an external input force signal and a feedback force signal of a detection modal closed-loop controller, and output a sum of the two signals;

[0062] A mechanical transfer function unit, used to characterize the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop;

[0063] A detection mode differential capacitance detection unit is used to detect the gyro vibration mode capacitance signal and convert it into a voltage signal;

[0064] A second adder is used to receive the jitter signal input, sum it with the gyro vibration mode voltage signal and output the sum;

[0065] A detection mode circuit gain module is used to extract, amplify and output the signal input by the second adder;

[0066] A multiplier, configured to demodulate the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal;

[0067] A tuning channel controller, used to determine the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal;

[0068] A tuning channel circuit gain module is used to adjust the electrical stiffness of the tuning loop;

[0069] a third adder, configured to add the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and output the sum to the mechanical transfer function unit;

[0070] The detection mode closed-loop controller is used to introduce the signal output by the detection mode circuit gain module into the first adder.

[0071] An embodiment of the present invention further provides a control method for frequency tuning of a ring-type mechanical gyroscope. The control method is implemented based on the control structure described above. The control method is as follows:

[0072] a first adder receiving an external input Coriolis force signal and a feedback force signal of a detection modal closed-loop controller, and outputting a sum of the two signals;

[0073] A mechanical transfer function unit, characterizing the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop;

[0074] Detection mode differential capacitance detection unit, detects gyro vibration mode capacitance signal and converts it into voltage signal;

[0075] The second adder receives the jitter signal input, sums it with the gyro vibration mode voltage signal and outputs the sum;

[0076] The detection mode circuit gain module extracts and amplifies the signal input by the second adder and outputs it;

[0077] A multiplier, for demodulating the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal;

[0078] The tuning channel controller determines the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal;

[0079] Tuning channel circuit gain module, adjusts the electrical stiffness of the tuning loop;

[0080] a third adder, which adds the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and outputs the sum to the mechanical transfer function unit;

[0081] The detection mode closed-loop controller introduces the signal output by the detection mode circuit gain module into the first adder.

[0082] (1) The tuning channel controller determines the electrical stiffness of the tuning loop based on the frequency difference of the gyro vibration mode voltage signal; specifically:

[0083] Let A1A2 be the amplitude of the dither signal, ω1=ω x +ω e ω2=ω x -ω e are the two frequencies of the dither signal, so the output response is

[0084]

[0085]

[0086] K s Electrical stiffness of the tuning circuit, m s To detect the quality of the mode, K x-v K v-f are the gains from displacement to voltage and voltage to feedback force, respectively; b s is the stiffness gain of the detection mode;

[0087] V 01 V 02 The in-phase phase is an effective signal that can be used to adjust the detection modal stiffness, while the signal residual of the orthogonal phase can be suppressed by orthogonal demodulation, and the frequency difference information is equivalent to the amplitude and information of the two jitter signals, which facilitates signal demodulation:

[0088]

[0089] Adjust K s , making the frequency difference information zero.

[0090] (2) The system transfer function with the jitter signal as input and the feedback voltage as output is:

[0091]

[0092] (3) The circuit structure of the detection mode differential capacitance detection unit includes resistors R1, R2, C1, C2, high-speed differential operational amplifier N1, high-speed differential operational amplifier N2, and high-speed analog switches N3 and N4, wherein:

[0093] One end of R1 and R2 is connected to a pair of detection differential electrodes A+ and A- of the gyroscope, converting the capacitance change caused by the change of the gyroscope's vibration mode into a charge change. The charge change information includes the carrier information in addition to the vibration mode change of the gyroscope. This information is converted into a differential voltage after passing through the first-stage high-speed operational amplifier N1. The differential voltage is then amplified in the second stage by the high-speed operational amplifier N2 to form an amplified signal. The amplified signal is then connected through analog switch modules N3 and N4. The control signal of the analog switch modules N3 and N4 is a carrier signal. The carrier is demodulated by the analog switch controlled by the carrier signal, and the signal is restored to a vibration mode signal.

[0094] Example 1

[0095] like Figure 1 As shown, the technical solution of the present invention is: a real-time modal matching closed-loop control scheme for frequency tuning of a ring-type mechanical gyroscope, and a differential capacitance detection circuit. The differential capacitance detection circuit is connected to the gyroscope electrode circuits to pick up the gyroscope vibration error signal.

[0096] In such Figure 1 The second adder shown in the figure applies left and right frequency dither signals. These signals pass through the detection mode circuit gain module and enter the gyro's Coriolis force channel controller, thus imbuing the gyro's Coriolis force circuit with the dither signal's modulation characteristics. The modulated signal's second-order system transfer characteristics in the detection mode are used to identify the gyro's frequency difference, which is the difference between the gyro's drive mode resonant frequency and the detection mode resonant frequency. Based on this frequency difference, the tuning channel controller feeds the frequency difference error back to the tuning gyro electrodes, compensating for the frequency difference and ensuring perfect matching between the gyro's drive and detection modes.

[0097] Figure 1 The frequency difference modulation signal A1cos(ω x +ω e )t+A2cos(ω x -ω e )t, applied before the detection mode controller, the modulated signal is demodulated after passing through the circuit gain, and the frequency difference signal is amplified. The frequency difference signal is then fed back to the detection mode tuning electrode by the tuning channel controller, so that the frequency difference between the gyro drive and detection resonant modes is controlled to 0, achieving mode matching. The purpose of the tuning loop controller is to eliminate the target value of the frequency difference signal to 0 and ensure that it remains stable throughout the entire working point. And the frequency difference information is modulated onto the carrier ω x ±ω e Department, ω x is the fundamental frequency of the driving mode, ω e is the sideband signal. The frequency mismatch error is a variable, so the modulated signal must occupy a non-zero bandwidth. In order to fully recover the modulation information, the dither signal spectrum ω eNo aliasing is allowed, such as Figure 1 The controller of the tuning loop is similar to an integral link, providing sufficient phase margin to ensure loop stability and avoid aliasing.

[0098] The displacement-voltage function and circuit gain are merely static gain coefficients and do not affect the system zero point. The inflection points and corresponding functions of the tuned modal transfer function and the detection modal transfer function are mirror images. For example, the tuned modal transfer function is superior to the detection modal transfer function because it avoids the extremes caused by high Q values, which severely limit the effective bandwidth of dither signal tuning. Frequency deviation can also be identified by monitoring the phase delay of the dither signal, but this method is affected by the external force input, meaning that the dither signal phase delay is modulated by the external force. Therefore, frequency deviation identification is usually performed by monitoring the amplitude response of the dither signal. Specifically, a dither signal of the same bandwidth is added to both sides of the driving frequency, and the resonant frequency of the detection mode is continuously adjusted to correct the output signal amplitude. If the signal response at a higher (or lower) dither signal frequency is higher than that at a lower dither signal frequency, the frequency of the detection mode should be lowered; otherwise, the resonant frequency of the detection mode should be raised. The difference in the amplitude response between the two frequencies indicates the degree of frequency deviation.

[0099] Let A1A2 be the amplitude of the input signal, ω1=ω x +ω e ω2=ω x -ω e are the two frequencies of the dither signal, so the output response is

[0100]

[0101]

[0102] V 01 V 02 The in-phase phase is an effective signal that can be used to adjust the detection modal stiffness, while the signal residual of the orthogonal phase can be suppressed by orthogonal demodulation. Compared with the feedforward method, this frequency difference identification method has low sensitivity requirements on the Q value and can equate the frequency difference information to the amplitude and information of two jitter signals, which is convenient for signal demodulation.

[0103]

[0104] Example 2

[0105] like Figure 2 As shown, the capacitive carrier differential detection circuit includes resistors R1, R2, C1, C2, a high-speed differential operational amplifier N1, a high-speed differential operational amplifier N2, and high-speed analog switches N3 and N4, wherein:

[0106] One end of R1 and R2 is connected to the gyroscope's pair of differential detection electrodes A+ and A-, converting capacitance changes caused by the gyroscope's vibration mode changes into charge changes. This charge change information includes the gyroscope's vibration mode changes and carrier information. This information is converted into a differential voltage after passing through the first-stage high-speed op amp N1. The differential voltage is then amplified by the second-stage high-speed op amp N2, creating an amplified signal with strong anti-interference capabilities. This amplified signal is then connected through analog switch modules N3 and N4. The control signal of analog switch modules N3 and N4 is a carrier signal. The analog switches controlled by the carrier signal demodulate the carrier and restore the signal to the vibration mode signal. When the switching frequency is in the open state, the analog switch is turned on, the charge terminal is in a discharge state, and the charge accumulated during the integration process is discharged to prevent charge saturation and circuit saturation. During the charge integration process, the error in the differential capacitance is amplified, resulting in displacement amplification. Ultimately, the capacitance detection is quantified as displacement detection, providing detection information to the controller.

[0107] The frequency tuning control scheme of the ring-type mechanical gyroscope control of the present invention is mainly applied to hemispherical resonant gyroscopes, micro-hemispherical resonant gyroscopes, single-ring gyroscopes, multi-ring gyroscopes, micro-mechanical four-mass gyroscopes and other systems. It operates stably and reliably and can achieve a stable real-time mode of the gyroscope.

[0108] The present invention provides a method for frequency tuning and control of a ring-type mechanical gyroscope, comprising a differential capacitance detection method, a frequency deviation detection scheme, and a frequency deviation controller scheme. The method comprises: adding the frequency deviation of the ring-type mechanical gyroscope to a Coriolis force closed loop via a double-sideband modulation signal; identifying the frequency deviation based on the second-order transfer characteristics of the ring-type gyroscope's mechanical transfer function; a detection circuit connected to the ring-type gyroscope electrodes and a frequency deviation controller circuit, extracting the frequency error after orthogonal demodulation; and an error calculation and feedback circuit feeding back the calculated frequency error to a specific gyroscope tuning electrode. The gyroscope's resonant frequency is then adjusted using the negative stiffness characteristics of the electrode, thereby achieving frequency uniformity in the ring-type mechanical gyroscope.

Claims

1. A control structure for frequency tuning of a ring-type mechanical gyroscope, characterized in that: The control structure includes: a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, a multiplier, a tuning channel controller, a tuning channel circuit gain module, a third adder, and a detection mode closed-loop controller; The first adder, the mechanical transfer function unit, the detection mode differential capacitance detection unit, the second adder, the detection mode circuit gain module, the multiplier, and the tuning channel controller are connected in sequence; The detection mode closed-loop controller is connected between the output end of the detection mode circuit gain module and the first adder; the tuning channel circuit gain module is connected between the tuning channel controller and the third adder, and the third adder is connected to the mechanical transfer function unit.

2. The control structure for frequency tuning of a ring-type mechanical gyroscope according to claim 1, characterized in that: Inputting a dither signal into the second adder, wherein the dither signal is added before the detection mode closed-loop controller; The jitter signal is specifically a signal with the same bandwidth added on both sides of the driving mode resonant frequency. , is the fundamental frequency of the driving mode, is the sideband signal, , are the two frequencies of the jitter signal, and A1 and A1 are the two amplitudes of the jitter signal.

3. The control structure for frequency tuning of a ring-type mechanical gyroscope according to claim 1, characterized in that: The mechanical transfer function unit, the detection mode differential capacitance detection unit, the second adder, the detection mode circuit gain module, the multiplier, the tuning channel controller, the tuning channel circuit gain module, and the third adder form a tuning loop; A detection loop is composed of a first adder, a mechanical transfer function unit, a detection mode differential capacitance detection unit, a second adder, a detection mode circuit gain module, and a detection mode closed-loop controller.

4. The control structure for frequency tuning of a ring-type mechanical gyroscope according to claim 3, characterized in that: a first adder, configured to receive an external input Coriolis force signal and a feedback force signal of a detection modal closed-loop controller, and output a sum of the two signals; A mechanical transfer function unit, used to characterize the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop; A detection mode differential capacitance detection unit is used to detect the gyro vibration mode capacitance signal and convert it into a voltage signal; A second adder is used to receive the jitter signal input, sum it with the gyro vibration mode voltage signal and output the sum; A detection mode circuit gain module is used to extract, amplify and output the signal input by the second adder; A multiplier, configured to demodulate the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal; A tuning channel controller, used to determine the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal; A tuning channel circuit gain module is used to adjust the electrical stiffness of the tuning loop; a third adder, configured to add the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and output the sum to the mechanical transfer function unit; The detection mode closed-loop controller is used to introduce the signal output by the detection mode circuit gain module into the first adder.

5. A control method for frequency tuning of a ring-type mechanical gyroscope, the control method being implemented based on the control structure according to any one of claims 1 to 4, characterized in that: The control method is: a first adder receiving an external input Coriolis force signal and a feedback force signal of a detection modal closed-loop controller, and outputting a sum of the two signals; A mechanical transfer function unit, characterizing the mechanical characteristics of the gyro detection mode, wherein the mechanical characteristics are adjusted by the electrical stiffness of the tuning loop; Detection mode differential capacitance detection unit, detects gyro vibration mode capacitance signal and converts it into voltage signal; The second adder receives the jitter signal input, sums it with the gyro vibration mode voltage signal and outputs the sum; The detection mode circuit gain module extracts and amplifies the signal input by the second adder and outputs it; A multiplier, for demodulating the signal outputted by the gain module of the detection mode circuit according to the jitter signal to obtain the frequency difference of the gyro vibration mode voltage signal; The tuning channel controller determines the electrical stiffness of the tuning loop according to the frequency difference of the gyro vibration mode voltage signal; Tuning channel circuit gain module, adjusts the electrical stiffness of the tuning loop; a third adder, which adds the electrical stiffness of the tuning loop and the stiffness of the gyro in the detection mode, and outputs the sum to the mechanical transfer function unit; The detection mode closed-loop controller introduces the signal output by the detection mode circuit gain module into the first adder.

6. The control method for frequency tuning of a ring-type mechanical gyroscope according to claim 5, characterized in that: The tuning channel controller determines the electrical stiffness of the tuning loop based on the frequency difference of the gyro vibration mode voltage signal; specifically: set up 、 As the amplitude of the jitter signal, , are the two frequencies of the dither signal, so the output response is The electrical stiffness of the tuning circuit, To check the quality of the mode, 、 are the gains from displacement to voltage and from voltage to feedback force, respectively; is the stiffness gain of the detection mode; Using the same phase signal pair 、 Demodulation is performed to obtain the effective signal for detecting modal stiffness. The signal residuals of the in-phase and quadrature phases are suppressed by orthogonal demodulation. The frequency difference information is equivalent to the amplitude and information of the two jitter signals, which facilitates signal demodulation: Adjustment , making the frequency difference information zero.

7. The control method for frequency tuning of a ring-type mechanical gyroscope according to claim 6, characterized in that: The system transfer function with the dither signal as input and the feedback voltage as output is 。 8. The control method for frequency tuning of a ring-type mechanical gyroscope according to claim 6, characterized in that: The circuit structure of the detection modal differential capacitance detection unit includes resistors R1, R2, C1, C2, a high-speed differential operational amplifier N1, a high-speed differential operational amplifier N2, and high-speed analog switches N3 and N4, wherein: One end of R1 and R2 is connected to a pair of detection differential electrodes A+ and A- of the gyroscope, converting the capacitance change caused by the change of the gyroscope's vibration mode into a charge change. The charge change information includes the carrier information in addition to the vibration mode change of the gyroscope. This information is converted into a differential voltage after passing through the first-stage high-speed operational amplifier N1. The differential voltage is then amplified in the second stage by the high-speed operational amplifier N2 to form an amplified signal. The amplified signal is then connected through analog switch modules N3 and N4. The control signal of the analog switch modules N3 and N4 is a carrier signal. The carrier is demodulated by the analog switch controlled by the carrier signal, and the signal is restored to the vibration mode signal.

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