A fiber-optic gyroscope universal digital closed-loop control system and method

Abstract

The application discloses a kind of general digital closed loop control system and method of fiber-optic gyroscope, it is related to fiber-optic gyroscope technical field, including parameter configuration module for determining the modulation mode of fiber-optic gyroscope, according to precision grade and application scene selects fixed square wave modulation, random square wave modulation, fixed four-state wave modulation or random four-state wave modulation;Control timing generation module;Modulation phase generation module;Demodulation module;Angular rate closed loop module;2π voltage closed loop module.The technical scheme of the present application can be compatible with the application scene of different precision fiber-optic gyroscopes without changing the hardware circuit, only by configuring appropriate modulation mode, improve gyro scale factor performance, suppress gyro random drift and dead zone, improve the environmental adaptability of fiber-optic gyroscope.Especially, using the technical scheme, control algorithm is solidified into fiber-optic gyroscope signal processing circuit FPGA chip for SIP packaging, it is conducive to the miniaturization of fiber-optic gyroscope, generalization, with greater practical significance.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fiber-optic gyroscope, in particular to a universal digital closed-loop control system and method for fiber-optic gyroscope. BACKGROUND

[0002] The fiber-optic gyroscope is an angular rate sensor based on Sagnac effect. It has a wide application prospect due to its low cost, simple process, high reliability and strong anti-impact and vibration ability, and has become one of the mainstream sensors. The traditional digital closed-loop control methods for fiber-optic gyroscope include double feedback control based on square wave, double feedback control based on four-state wave and random phase jump modulation. Among them, the double feedback control based on four-state wave can realize accurate control of the closed-loop feedback gain under any input angular rate by using the characteristics of four-state wave, and improve the scale factor performance of the fiber-optic gyroscope; the random phase jump modulation can eliminate the influence of electronic crosstalk error caused by the modulation waveform on the gyroscope through subsequent averaging process by using the characteristics that the modulation waveform is irrelevant to the reset, and suppress the dead zone of the gyroscope. However, a single modulation method has strict limitations for different precision fiber-optic gyroscope application scenarios, and is not conducive to the generalization and miniaturization of the fiber-optic gyroscope. SUMMARY

[0003] In view of the above prior art, the technical scheme of the present application can be compatible with different precision fiber-optic gyroscope application scenarios, improve the scale factor performance of the gyroscope, suppress the random drift and dead zone of the gyroscope, and improve the environmental adaptability of the fiber-optic gyroscope without changing the hardware circuit, only by configuring a suitable modulation method.

[0004] To achieve the above object, the present application adopts the following technical scheme:

[0005] A universal digital closed-loop control system for fiber-optic gyroscope, comprising a parameter configuration module, a control timing generation module, a modulation phase generation module, a demodulation module, an angular rate closed-loop module and a 2π voltage closed-loop module.

[0006] The parameter configuration module is used to determine the modulation method of the fiber-optic gyroscope, and select fixed square wave modulation, random square wave modulation, fixed four-state wave modulation or random four-state wave modulation according to the precision level and application scenario.

[0007] The control timing generation module is used to generate modulation, demodulation and error integration timing signal flags.

[0008] The modulation phase generation module is used to generate different modulation phases according to the selected modulation method, and generate angular rate closed-loop and 2π voltage closed-loop demodulation flags related to modulation.

[0009] The demodulation module is configured to demodulate the A / D acquisition data to obtain an angular velocity error and a 2π voltage error signal;

[0010] The angular rate closed loop module is configured to realize functions of angular velocity error integration, step wave generation, step wave amplitude adjustment, and step wave data output.

[0011] The 2π voltage closed loop module is configured to generate a corrected real-time 2π voltage and a flag.

[0012] As a preferred embodiment of the above scheme, the parameter configuration module selects fixed square wave modulation, random square wave modulation, fixed four-state wave modulation, or random four-state wave modulation by inputting a parameter "0" or "1" according to the precision level and application scenario.

[0013] As a preferred embodiment of the above scheme, the modulation phase generation module adopts fixed phase value modulation in fixed square wave modulation and fixed four-state wave modulation, and generates random jump modulation phase values that meet the conditions under the guidance of a random sequence in random square wave modulation and random four-state wave modulation, and determines the angular rate closed loop demodulation symbol according to the random sequence value. The modulation phase generation module determines the angular rate closed loop and 2π voltage closed loop demodulation flag by judging the combination value of the modulation phase difference according to the modulation type.

[0014] As a preferred embodiment of the above scheme, the demodulation module generates the input data of the angular rate closed loop and 2π voltage closed loop, i.e., the angular velocity error and 2pi voltage error, according to the selected modulation mode and demodulation flag; wherein the angular rate closed loop is the main closed loop, and the 2π voltage closed loop is the second closed loop.

[0015] As a preferred embodiment of the above scheme, the main closed loop demodulation method is median demodulation, and the second closed loop adopts different methods according to the modulation type, wherein reset detection demodulation is adopted for fixed square wave modulation, and fixed phase demodulation is adopted for random square wave modulation and four-state modulation.

[0016] A general digital closed loop control method for an optical fiber gyroscope, comprising the following steps:

[0017] Step 1: receiving external interface input parameters through a parameter configuration module, and selecting one of the following four optical fiber gyroscope modulation modes by combining parameters "0" or "1": a, fixed square wave modulation; b, random square wave modulation; c, fixed four-state wave modulation; d, random four-state wave modulation.

[0018] Step 2: generating modulation, demodulation, and error integration time sequence signal flags through a control time sequence generation module.

[0019] Step 3: According to the modulation mode selected in step 1, different modulation phases are generated under the signal mark generated in step 2, and the main closed loop, the second closed loop demodulation mark related to modulation are generated as the input of the demodulation module;

[0020] Step 4: According to the demodulation mark generated in step 3, the A / D acquisition data is demodulated, the main closed loop demodulation method is median demodulation, and the main closed loop demodulation value is obtained as the input of the angular rate closed loop module; the second closed loop adopts different methods according to the modulation type, wherein the reset detection demodulation is adopted for the fixed square wave modulation, and the fixed phase demodulation is adopted for the random square wave and four-state modulation, and the second closed loop demodulation value and the demodulation mark are obtained as the input of the 2π voltage closed loop module;

[0021] Step 5: The angular velocity error signal in step 4 is integrated, step wave is generated, step wave amplitude is adjusted, and step wave data is output through the angular rate closed loop module.

[0022] Step 6: The 2π voltage error in step 4 is integrated through the 2π voltage closed loop module to obtain the corrected real-time 2π voltage and mark.

[0023] Due to the above structure, the beneficial effects of the present application are as follows:

[0024] 1. Without changing the hardware circuit, the application can be compatible with different precision fiber optic gyroscope application scenarios by configuring appropriate modulation modes, improve the gyro scale factor performance, suppress the gyro random drift and dead zone, improve the environmental adaptability of the fiber optic gyroscope, and has less modification to the original circuit, which is beneficial to implementation.

[0025] 2. The control algorithm of the present application can be compatible with most application scenarios, and the control algorithm is fixed in the fiber optic gyroscope signal processing circuit FPGA chip for SIP packaging, which is beneficial to the miniaturization and generalization of the fiber optic gyroscope, and has great practical significance. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced.

[0027] Figure 1 The application is a general digital closed loop control system block diagram of fiber optic gyroscope. DETAILED DESCRIPTION

[0028] The technical solutions of the present application will be described clearly and completely in combination with the drawings of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] As Figure 1As shown, the embodiment provides a general digital closed-loop control system for fiber-optic gyroscope, which comprises a parameter configuration module, a control timing generation module, a modulation phase generation module, a demodulation module, an angular rate closed-loop module, and a 2pi voltage closed-loop module.

[0030] The parameter configuration module is configured to determine the modulation mode of the fiber-optic gyroscope, and select fixed square wave modulation, random square wave modulation, fixed four-state wave modulation, or random four-state wave modulation according to the precision level and application scenario.

[0031] The control timing generation module is configured to generate modulation, demodulation, and error integration timing signal flags.

[0032] The modulation phase generation module is configured to generate different modulation phases according to the selected modulation mode, and generate angular rate closed-loop and 2pi voltage closed-loop demodulation flags related to modulation.

[0033] The demodulation module is configured to demodulate A / D collected data to obtain angular velocity error and 2pi voltage error signals.

[0034] The angular rate closed-loop module is configured to realize angular velocity error integration, step wave generation, step wave amplitude adjustment, and step wave data output functions.

[0035] The 2pi voltage closed-loop module is configured to generate corrected real-time 2pi voltage and flags.

[0036] In the embodiment, the parameter configuration module selects fixed square wave modulation, random square wave modulation, fixed four-state wave modulation, or random four-state wave modulation by inputting parameter "0" or "1" according to the precision level and application scenario.

[0037] In the embodiment, the modulation phase generation module adopts fixed phase value modulation in fixed square wave modulation and fixed four-state wave modulation, and generates random jump modulation phase values that meet the conditions under the guidance of a random sequence in random square wave modulation and random four-state wave modulation. Meanwhile, the modulation phase generation module determines the angular rate closed-loop demodulation symbol according to the random sequence value. The modulation phase generation module generates angular rate closed-loop and 2pi voltage closed-loop demodulation flags by combining the value of the modulation phase difference.

[0038] In the embodiment, the demodulation module generates input data of the angular rate closed-loop and 2pi voltage closed-loop, i.e., angular velocity error and 2pi voltage error, according to the selected modulation mode and demodulation flags. The angular rate closed-loop is the main closed loop, and the 2pi voltage closed-loop is the second closed loop.

[0039] In the embodiment, the main closed-loop demodulation method is median demodulation, and the second closed loop adopts different methods according to the modulation type. The fixed square wave modulation adopts reset detection demodulation, and the random square wave and four-state modulation both adopt fixed phase demodulation.

[0040] The embodiment also provides a general digital closed loop control method for fiber optic gyroscope, comprising the following steps:

[0041] Step 1: receiving external interface input parameters through a parameter configuration module, and selecting one of the following four fiber optic gyroscope modulation modes through parameter "0" or "1" combination: a, fixed square wave modulation; b, random square wave modulation; c, fixed four-state wave modulation; d, random four-state wave modulation;

[0042] Step 2: generating modulation, demodulation and error integration time sequence signal marks through a control time sequence generation module;

[0043] Step 3: generating different modulation phases under the signal marks generated in step 2 according to the modulation mode selected in step 1, and generating main closed loop and second closed loop demodulation marks related to modulation as inputs of a demodulation module;

[0044] Step 4: demodulating A / D acquisition data according to the demodulation marks generated in step 3, wherein the main closed loop demodulation method is median demodulation, and the main closed loop demodulation value is obtained as an input of an angular rate closed loop module; the second closed loop adopts different methods according to the modulation type, wherein reset detection demodulation is adopted for fixed square wave modulation, and fixed phase demodulation is adopted for random square wave and four-state modulation, and the second closed loop demodulation value and demodulation mark are obtained as inputs of a 2π voltage closed loop module;

[0045] Step 5: integrating, step wave generating, step wave amplitude adjusting and step wave data outputting the angular velocity error signal in step 4 through an angular rate closed loop module;

[0046] Step 6: integrating the 2π voltage error in step 4 through a 2π voltage closed loop module to obtain a corrected real-time 2π voltage and mark.

[0047] After receiving external configuration parameters and selecting a modulation mode in step 1, steps 2 to 6 constitute a complete closed loop control loop composed of detection, demodulation, control and driving, so as to maintain long-term stable operation of the fiber optic gyroscope closed loop system.

[0048] The technical scheme of the application can be compatible with application scenarios of fiber optic gyroscopes with different accuracies without changing the hardware circuit, improve the performance of the scale factor of the gyroscope, suppress the random drift and dead zone of the gyroscope, and improve the environmental adaptability of the fiber optic gyroscope. In particular, the control algorithm is fixed in the fiber optic gyroscope signal processing circuit FPGA chip for SIP packaging, which is beneficial to the miniaturization and generalization of the fiber optic gyroscope, and has great practical significance.

[0049] The above merely describes the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fiber-optic gyroscope universal digital closed-loop control system, characterized in that: The parameter configuration module, the control timing generation module, the modulation phase generation module, the demodulation module, the angular rate closed loop module, and the 2π voltage closed loop module are comprised. The parameter configuration module is used to determine the modulation mode of the fiber optic gyroscope, and to select the fixed square wave modulation, the random square wave modulation, the fixed four-state wave modulation, or the random four-state wave modulation according to the precision level and the application scenario. The control timing generation module is used to generate the modulation, demodulation, and error integration timing signal marks. The modulation phase generation module is used to generate different modulation phases according to the selected modulation mode, and to generate the angular rate closed loop and the 2π voltage closed loop demodulation marks related to the modulation. The demodulation module is used to demodulate the A / D collected data to obtain the angular velocity error and the 2π voltage error signals. The angular rate closed loop module is used to realize the angular velocity error integration, the step wave generation, the step wave amplitude adjustment, and the step wave data output functions. The 2π voltage closed loop module is used to generate the corrected real-time 2π voltage and the mark.

2. The universal digital closed-loop control system for fiber-optic gyroscope according to claim 1, wherein: The parameter configuration module selects the fixed square wave modulation, the random square wave modulation, the fixed four-state wave modulation, or the random four-state wave modulation according to the precision level and the application scenario by inputting the parameter "0" or "1".

3. The universal digital close-loop control system for fiber-optic gyroscope according to claim 1, wherein: The modulation phase generation module adopts the fixed phase value modulation in the fixed square wave modulation and the fixed four-state wave modulation, generates the random jump modulation phase value that meets the condition under the guidance of the random sequence in the random square wave modulation and the random four-state wave modulation, determines the angular rate closed loop demodulation symbol according to the random sequence value, and generates the angular rate closed loop and the 2π voltage closed loop demodulation marks by the modulation phase difference combination value judgment of the modulation phase generation module according to the modulation type difference.

4. The universal digital closed-loop control system for fiber-optic gyroscope according to claim 1, characterized in that: The demodulation module generates the input data of the angular rate closed loop and the 2π voltage closed loop, i.e., the angular velocity error and the 2π voltage error, according to the selected modulation mode and the demodulation mark. The angular rate closed loop is the main closed loop, and the 2π voltage closed loop is the second closed loop.

5. The universal digital close-loop control system for fiber-optic gyroscope according to claim 4, wherein: The main closed loop demodulation method is the median demodulation, and the second closed loop adopts different methods according to the modulation type, wherein the fixed square wave modulation adopts the reset detection demodulation, and the random square wave modulation and the four-state modulation both adopt the fixed phase demodulation.

6. A universal digital closed-loop control method for fiber-optic gyroscope, characterized in that: The method is implemented by using the fiber optic gyroscope general digital closed loop control system according to any one of claims 1 to 5, and the method comprises the following steps: Step 1: receiving the external interface input parameter by the parameter configuration module, and selecting one of the following four fiber optic gyroscope modulation modes by the parameter "0" or "1" combination: a, fixed square wave modulation; b, random square wave modulation; c, fixed four-state wave modulation; d, random four-state wave modulation; Step 2: generating the modulation, demodulation, and error integration timing signal marks by the control timing generation module; Step 3: generating different modulation phases according to the selected modulation mode in step 1 under the signal marks generated in step 2, and generating the main closed loop and the second closed loop demodulation marks related to the modulation as the input of the demodulation module. Step 4: According to the demodulation flag generated in step 3, the A / D acquisition data is demodulated, the main closed-loop demodulation method is median demodulation, and the main closed-loop demodulation value is obtained as the input of the angular rate closed-loop module; the second closed loop adopts different methods according to the modulation type, wherein the reset detection demodulation is adopted for the fixed square wave modulation, and the fixed phase demodulation is adopted for the random square wave and four-state modulation, and the second closed loop demodulation value and the demodulation flag are obtained as the input of the 2π voltage closed loop module; Step 5: Through the angular rate closed loop module, the angular velocity error signal in step 4 is integrated, a step wave is generated, a step wave amplitude is adjusted, and step wave data is output; Step 6: Through the 2π voltage closed loop module, the 2π voltage error in step 4 is integrated to obtain the corrected real-time 2π voltage and flag.

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