Adaptive error compensation circuit and method based on multi-loop resonator gyroscope

Abstract

The application discloses a kind of adaptive error compensation circuit and method based on multi-ring resonator gyroscopes. Including multi-ring resonator gyroscopes, detection electrode, feedback control electrode, improved T-type resistance-capacitance charge amplification filter circuit, ADC analog-digital conversion circuit, field programmable logic gate array, digital signal processing circuit, DAC digital-analog conversion circuit, signal feedback control circuit;Improved T-type resistance-capacitance charge amplification filter circuit is used instead of traditional annular diode amplification filter circuit, improved proportional-integral resonant controller is used instead of traditional proportional-integral controller, more reasonable control error is inhibited, and system control precision is improved.The circuit structure has the characteristics of strong adaptability, good stability, high accuracy, high precision, small size, easy integration, etc., and can be widely applied.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of micro electro mechanical system and inertial navigation technology, in particular to a kind of adaptive error compensation circuit and method based on multi-ring resonator gyroscopes.It belongs to the technical field of inertial instrument control. BACKGROUND

[0002] In recent years, resonator gyroscopes represented by multi-ring resonator gyroscopes are considered as a disruptive technological breakthrough with their outstanding precision and performance.Multi-ring resonator gyroscopes have the advantages of long service life, high precision, small random error, high stability in harsh environments, small size, light weight and low power consumption, and are one of the most ideal inertial gyroscopes that can be widely applied, with very broad application prospects.

[0003] Due to factors such as material error, residual stress and geometric parameter error in the manufacturing process of multi-ring resonator gyroscopes, the structure manufactured will have quality defects, which are manifested as stiffness asymmetry, mass unevenness and damping unevenness of the resonator structure, among which stiffness and damping asymmetry are the two main error sources of multi-ring resonator gyroscopes. Due to the existence of the two main errors, the multi-ring resonator gyroscopes will have a large error when measuring, which affects the measurement precision, so an adaptive error compensation circuit and method based on multi-ring resonator gyroscopes are proposed. SUMMARY

[0004] TECHNICAL PROBLEM

[0005] The purpose of the present application is to provide an adaptive error compensation circuit based on multi-ring resonator gyroscopes, which is characterized by the combination of digital circuit and analog circuit, with digital circuit as the main and analog circuit as the auxiliary. Combined with field programmable gate array and algorithm control circuit, it not only realizes the processing of high-speed signals, but also realizes the processing of slowly varying signals, improves the original control circuit, improves the measurement precision of multi-ring resonator gyroscopes, and enhances the robustness of multi-ring resonator gyroscopes control system.

[0006] Another purpose of the present application is to provide an adaptive error compensation method based on multi-ring resonator gyroscopes. The traditional compensation method is to obtain results through a large number of experimental data, which makes the compensation process very time-consuming. Compared with the traditional method of first calibration and then compensation, the method proposed in the present application has the characteristics of strong adaptability, good stability and high precision, and can be applied to the force balance mode and full angle mode of multi-ring resonator gyroscopes.

[0007] TECHNICAL SCHEME

[0008] The application discloses a self-adaptive error compensation circuit based on a multi-loop resonant gyroscope.

[0009] The multi-loop resonant gyroscope is uniformly provided with detection electrodes and feedback control electrodes around the multi-loop resonant gyroscope, the detection electrodes are connected with the improved T-shaped resistance-capacitance charge amplification filter circuit, the improved T-shaped resistance-capacitance charge amplification filter circuit is connected with the ADC analog-digital conversion circuit, the ADC analog-digital conversion circuit is connected with the field programmable logic gate array and the digital signal processing circuit, the digital signal processing circuit is connected with the DAC digital-analog conversion circuit, the DAC digital-analog conversion circuit is connected with the signal feedback control circuit, and the signal feedback control circuit is connected with the feedback control electrodes.

[0010] The improved T-shaped resistance-capacitance charge amplification filter circuit is used for converting the capacitance change amount output by the detection electrodes into a voltage change amount; the ADC analog-digital conversion circuit is used for converting the analog voltage signal output by the improved T-shaped resistance-capacitance charge amplification filter circuit into a digital signal; the DAC digital-analog conversion circuit is used for converting the digital signal output by the field programmable logic gate array into an analog signal; and the signal feedback control circuit is used for applying the analog signal output by the DAC digital-analog conversion circuit to the feedback control electrodes, so as to form a closed-loop control loop.

[0011] Further, the detection electrodes include two X-axis detection electrodes and two Y-axis detection electrodes, the feedback control electrodes are uniformly distributed between every two detection electrodes, and a total of eight electrodes are distributed in the directions of 0°, 45°, 90°, 135°, 180°, 225°, 270° and 315° of the multi-loop resonant gyroscope, and are respectively an X-axis detection electrode Vdc+ in the direction of 0°, an X-axis detection electrode Vdc- in the direction of 90°, an X-axis feedback control electrode Vd+ in the direction of 180°, an X-axis feedback control electrode Vd- in the direction of 270°, a Y-axis detection electrode Vsc+ in the direction of 45°, a Y-axis detection electrode Vsc- in the direction of 315°, a Y-axis feedback control electrode Vs+ in the direction of 135° and a Y-axis feedback control electrode Vs- in the direction of 225°.

[0012] Further, the improved T-type resistance-capacitance charge amplification filter circuit adopts double-way differential signal input at the input end, and the circuit comprises a chip U1, a chip U2, a chip U3, a chip U4, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9 and a tenth capacitor C10. A positive detection electrode is connected to the reverse input end of the chip U1 through the first capacitor C1, the positive input end of the chip U1 is grounded, the reverse input end of the chip U1 is connected to the first resistor R1 and the third capacitor C3, the other ends of the first resistor R1 and the third capacitor C3 are connected together, and the second resistor R2, the fifth capacitor C5 and the ground capacitor C4 connected to the output end of the chip U1 are also connected; a reverse detection electrode is connected to the reverse input end of the chip U2 through the second capacitor C2, the positive input end of the chip U2 is grounded, the reverse input end of the chip U2 is connected to the fourth resistor R4 and the sixth capacitor C6, the other ends of the fourth resistor R4 and the sixth capacitor C6 are connected together, and the fifth resistor R5, the eighth capacitor C8 and the ground capacitor C7 connected to the output end of the chip U2 are also connected. The output end of the chip U1 and the output end of the chip U2 are respectively connected to the positive input end and the reverse input end of the differential input port of the chip U3, the third resistor R3 is connected across the gain adjustment port of the chip U3, the output port of the chip U3 is connected to one end of the sixth resistor R6, the other end of the sixth resistor R6 is connected to one end of the seventh resistor R7 and the ninth capacitor C9, the other end of the seventh resistor R7 is connected to the reverse input end of the chip U4 and the ground capacitor C10, the other end of the ninth capacitor C9 is connected to the output end of the chip U4, and the positive input end of the chip U4 is connected to the output end of the chip U4.

[0013] The improved T-type resistance-capacitance charge amplification filter circuit has two ways, wherein the differential signal composed of the X-axis detection electrode Vdc+ and the X-axis detection electrode Vdc- is output as a voltage signal Vx through the improved T-type resistance-capacitance charge amplification filter circuit, and the differential signal composed of the Y-axis detection electrode Vsc+ and the Y-axis detection electrode Vsc- is output as a voltage signal Vy through the improved T-type resistance-capacitance charge amplification filter circuit.

[0014] Further, the ADC analog-digital conversion circuit and the DAC digital-analog conversion circuit each have two paths, wherein the first path DAC digital-analog conversion circuit and the second path DAC digital-analog conversion circuit are connected to the multi-loop resonant gyroscope feedback electrodes Vd+, Vd-, Vs+ and Vs- through the multi-loop resonant gyroscope X-axis signal feedback control circuit and the Y-axis signal feedback control circuit respectively, forming a closed loop control circuit, wherein the voltage signal Vx is input to the first ADC analog-digital conversion circuit, and after sampling, holding, quantization and coding, a digital signal Dx is obtained; the voltage signal Vy is input to the second ADC analog-digital conversion circuit, and after sampling, holding, quantization and coding, a digital signal Dy is obtained.

[0015] Further, the field programmable logic gate array is used to demodulate the signals Dx and Dy output by the first path ADC digital-analog conversion circuit and the second path ADC digital-analog conversion circuit respectively with two standard orthogonal reference signals, and four signals, i.e. x , c y , s x , s y , are obtained after digital signal filtering, and are sent to the digital signal processing circuit; the digital signal processing circuit comprises a signal data conversion module, a combination operation module, a proportional integral resonance control module, a rotation modulation module and an adaptive error compensation algorithm module.

[0016] The application further provides a multi-loop resonant gyroscope adaptive error compensation method using the above multi-loop resonant gyroscope adaptive error compensation circuit, wherein the combination operation module is used to obtain four loop control variables of the multi-loop resonant gyroscope vibration amplitude control loop, the orthogonal control loop, the phase control loop and the rate control loop, as shown below:

[0017]

[0018] Q=2(c x s y -c y s x )

[0019]

[0020] S=2(c x c y +s x s y )

[0021]

[0022]

[0023] Wherein, E represents the total energy value of the multi-ring gyroscope vibration, c x represents the x-axis signal in-phase component, c y represents the y-axis signal in-phase component, s x represents the x-axis signal quadrature component, s y represents the y-axis signal quadrature component, Q represents the motion of the multi-ring resonator gyroscope mode in the quadrature direction, R and S represent the parameters of the precession angle calculation, L represents the phase difference of the phase control loop, i represents the virtual variable, and θ represents the precession angle of the multi-ring resonator gyroscope mode.

[0024] When the multi-ring resonator gyroscope works in the force balance mode, the multi-ring resonator gyroscope vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop four loop control variables are sent to the proportional integral resonant control module, and the proportional integral resonant control module is adjusted to make the multi-ring resonator gyroscope constant amplitude constant frequency vibration, and the quadrature error is effectively suppressed.

[0025] When the multi-ring resonator gyroscope works in the full angle mode, the control variable of the rate control loop is not adjusted and controlled by the proportional integral resonant control module, and the rotary modulation module is used to eliminate the detection threshold and dead zone problem caused by the damping asymmetry of the multi-ring resonator gyroscope.

[0026] The adaptive error compensation algorithm module is applied to the control error compensation of the multi-ring resonator gyroscope vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop four loops.

[0027] Further, the proportional integral resonant control module is expressed as

[0028]

[0029] Wherein, K p is the proportional gain, K i is the integral gain, K r is the resonant gain, ω K is the controller cutoff frequency, ω0 is the resonant frequency, and s is the frequency domain.

[0030] Further, the adaptive error compensation algorithm module is applied to the control error compensation of the multi-ring resonator gyroscope vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop four loops. Specifically, for the vibration amplitude control loop, the quadrature control loop, and the phase control loop, the adaptive error compensator includes an estimator for estimating the effective mismatch using the recursive least squares algorithm and a compensator for compensating the mismatch in real time. The core algorithm of the adaptive error compensator is:

[0031]

[0032]

[0033]

[0034]

[0035] where ε 0 (t+1) is the a priori error output of the multi-loop resonator gyroscope control system at t+1, y(t+1) is the system output matrix vector at t+1, is the a priori error output based on the parameter estimation value at t, is the transpose of the parameter estimation matrix vector at t, is the system measurement matrix vector, the superscript T represents the transpose of the matrix, ε(t+1) is the a posteriori error output of the system at t+1, λ1(t), λ2(t) are weighting coefficients, F(t) is the system gain matrix vector at t, is the parameter estimation matrix vector at t+1, F(t+1) is the system gain matrix vector at t+1.

[0036] Further, when the multi-loop resonator gyroscope works in the full angle mode, for the rate control loop, the adaptive error compensator comprises an estimator for estimating the effective mismatch using the least mean square error algorithm and a compensator for compensating the mismatch in real time, and the core algorithm of the adaptive error compensator is:

[0037]

[0038]

[0039]

[0040] P(k+1)=[I-K(k+1)α T (k+1)]P(k)

[0041] where θ(k), θ(k-1) are the current time sampling value and the last time sampling value of the rate output value of the multi-loop resonator gyroscope control system respectively, t s is the sampling time of the control system, e(k) is the error between the system output and the estimator output, is the estimation output of the adaptive error compensator, K(k+1) is the gain matrix of the adaptive error compensation algorithm, P(k+1) is the weight vector of the adaptive error compensation algorithm, α T is the transpose of the system measurement matrix vector, is the estimated output of the adaptive error compensator at the last time, K(k) is the system gain matrix vector at the current time, P(k) is the weight vector of the adaptive error compensation algorithm at the last time, and a(k+1) is the system measurement matrix vector at the current time.

[0042] Further, the rotation modulation module is used to eliminate the detection threshold and dead zone problem caused by the damping asymmetry of the multi-ring resonant gyroscope, and is expressed as

[0043]

[0044] wherein k is the angular gain coefficient of the multi-ring resonant gyroscope, and omega is the resonant frequency of the multi-ring resonant gyroscope, is the energy value set for the system, Omega is the external input angular velocity information, and Omega r is the rotation modulation angular velocity information, is the damping asymmetry information of the multi-ring resonant gyroscope, and theta τ is the azimuth angle of the damping main shaft of the multi-ring resonant gyroscope, t + is the positive period of the rotation modulation, t - is the negative period of the rotation modulation, and f is the force applied on the multi-ring resonant gyroscope for eliminating the detection threshold and dead zone problem caused by the damping asymmetry.

[0045] Advantages

[0046] Compared with the prior art, the adaptive error compensation circuit and method based on the multi-ring resonant gyroscope have the characteristics of strong adaptability, good stability, high precision, etc. compared with the traditional multi-ring resonant gyroscope control system. The control of the multi-ring resonant gyroscope is realized by using fewer control electrodes, smaller hardware requirements and more complex control algorithms, the electrode requirements of the multi-ring resonant gyroscope are reduced, and the hardware complexity and cost are effectively reduced. The improved T-type resistance-capacitance charge amplification filter circuit is used to replace the traditional ring diode amplification filter circuit, and the improved proportional-integral resonant controller is used to replace the traditional proportional-integral controller, so that the control error is more reasonably suppressed, and the system control precision is improved. The adaptive error compensator based on the least square method and the least mean square error algorithm can compensate the error of the multi-ring resonant gyroscope caused by the stiffness and damping asymmetry in real time, and improve the robustness and control precision of the system. The rotation modulation method is used to overcome the detection threshold and dead zone problem caused by the damping asymmetry of the multi-ring resonant gyroscope, and has good applicability and can be widely used. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is the overall circuit structure diagram of the application;

[0048] Figure 2 is the multi-ring resonant gyroscope structure diagram of the application;

[0049] Figure 3 A multi-loop resonator gyroscope electrode distribution diagram of the present application;

[0050] Figure 4 An improved T-type resistance-capacitance charge amplification filter circuit diagram of the present application, wherein (a) is a multi-loop resonator gyroscope x-axis signal detection analog front-end T-type resistance-capacitance charge amplification filter circuit diagram, and (b) is a multi-loop resonator gyroscope y-axis signal detection analog front-end T-type resistance-capacitance charge amplification filter circuit diagram;

[0051] Figure 5 A digital signal processing block diagram of the present application, wherein (a) is a multi-loop resonator gyroscope digital signal processing block diagram working in a force balance mode, and (b) is a multi-loop resonator gyroscope digital signal processing block diagram working in a full angle mode;

[0052] Figure 6 An adaptive controller block diagram based on a least square method of the present application, wherein (a) is a multi-loop resonator gyroscope vibration amplitude control loop adaptive compensation block diagram, (b) is a multi-loop resonator gyroscope quadrature control loop adaptive compensation block diagram, and (c) is a multi-loop resonator gyroscope phase control loop adaptive compensation block diagram;

[0053] Figure 7 An adaptive controller block diagram based on a least mean square error algorithm and a rotation modulation of the present application; DETAILED DESCRIPTION

[0054] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0055] The adaptive error compensation circuit based on a multi-loop resonator gyroscope of the present application comprises a multi-loop resonator gyroscope 1, peripheral electrodes 2 comprising detection electrodes and feedback control electrodes, an improved T-type resistance-capacitance charge amplification filter circuit, an ADC analog-digital conversion circuit, a field programmable logic gate array 13, a digital signal processing circuit 16, a DAC digital-analog conversion circuit, and a signal feedback control circuit.

[0056] The multi-loop resonator gyroscope 1 is uniformly distributed with detection electrodes and feedback control electrodes around the periphery, the detection electrodes are connected to the improved T-type resistance-capacitance charge amplification filter circuit, the improved T-type resistance-capacitance charge amplification filter circuit is connected to the ADC analog-digital conversion circuit, the ADC analog-digital conversion circuit is connected to the field programmable logic gate array 13 and the digital signal processing circuit 16, the digital signal processing circuit 16 is connected to the DAC digital-analog conversion circuit, the DAC digital-analog conversion circuit is connected to the signal feedback control circuit, and the signal feedback control circuit is connected to the feedback control electrodes.

[0057] The improved T-type resistance-capacitance charge amplification filter circuit is used for converting the capacitance change amount output by the detection electrode into a voltage change amount; the ADC analog-digital conversion circuit is used for converting the analog voltage signal output by the improved T-type resistance-capacitance charge amplification filter circuit into a digital signal; the DAC digital-analog conversion circuit is used for converting the digital signal output by the field programmable logic gate array 13 into an analog signal; and the signal feedback control circuit is used for applying the analog signal output by the DAC digital-analog conversion circuit to the feedback control electrode to form a closed-loop control loop.

[0058] In the embodiment, the detection electrode includes two X-axis detection electrodes and two Y-axis detection electrodes, the feedback control electrodes are uniformly distributed between each two detection electrodes, and there are eight electrodes distributed at 0°, 45°, 90°, 135°, 180°, 225°, 270° and 315° directions of the multi-ring resonant gyroscope, respectively, which are the X-axis detection electrode Vdc+3 at the 0° direction, the X-axis detection electrode Vdc-5 at the 90° direction, the X-axis feedback control electrode Vd+7 at the 180° direction, the X-axis feedback control electrode Vd-9 at the 270° direction, the Y-axis detection electrode Vsc+4 at the 45° direction, the Y-axis detection electrode Vsc-10 at the 315° direction, the Y-axis feedback control electrode Vs+6 at the 135° direction, and the Y-axis feedback control electrode Vs-8 at the 225° direction.

[0059] In this embodiment, the input end of the improved T-type resistance-capacitance charge amplification filter circuit adopts double-channel differential signal input, and the circuit comprises a chip U1, a chip U2, a chip U3, a chip U4, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9 and a tenth capacitor C10. The positive detection electrode is connected to the reverse input end of the chip U1 through the first capacitor C1, the positive input end of the chip U1 is grounded, the reverse input end of the chip U1 is connected to the first resistor R1 and the third capacitor C3, the other ends of the first resistor R1 and the third capacitor C3 are connected together, and the second resistor R2, the fifth capacitor C5 connected to the output end of the chip U1 and the grounded capacitor C4 are connected; the reverse detection electrode is connected to the reverse input end of the chip U2 through the second capacitor C2, the positive input end of the chip U2 is grounded, the reverse input end of the chip U2 is connected to the fourth resistor R4 and the sixth capacitor C6, the other ends of the fourth resistor R4 and the sixth capacitor C6 are connected together, and the fifth resistor R5, the eighth capacitor C8 connected to the output end of the chip U2 and the grounded capacitor C7 are connected. The output end of the chip U1 and the output end of the chip U2 are respectively connected to the positive input end and the reverse input end of the differential input port of the chip U3, the third resistor R3 is connected to the gain adjustment port of the chip U3, the output port of the chip U3 is connected to one end of the sixth resistor R6, the other end of the sixth resistor R6 is connected to one end of the seventh resistor R7 and the ninth capacitor C9, the other end of the seventh resistor R7 is connected to the reverse input end of the chip U4 and the grounded capacitor C10, the other end of the ninth capacitor C9 is connected to the output end of the chip U4, and the positive input end of the chip U4 is connected to the output end of the chip U4.

[0060] The improved T-type resistance-capacitance charge amplification filter circuit has two channels, wherein the differential signal composed of the X-axis detection electrode Vdc+3 and the X-axis detection electrode Vdc-5 is output as a voltage signal Vx through the improved T-type resistance-capacitance charge amplification filter circuit 11, and the differential signal composed of the Y-axis detection electrode Vsc+4 and the Y-axis detection electrode Vsc-10 is output as a voltage signal Vy through the improved T-type resistance-capacitance charge amplification filter circuit 14.

[0061] In this embodiment, the improved T-type resistance-capacitance charge amplification filter circuit can effectively eliminate low-frequency interference signals and DC bias and improve the signal-to-noise ratio of the detected signal while achieving high gain, compared with the traditional C / V conversion circuit.

[0062] In this embodiment, the ADC analog-digital conversion circuit and the DAC digital-analog conversion circuit each have two paths, wherein the first path DAC digital-analog conversion circuit 17 and the second path DAC digital-analog conversion circuit 19 are connected to the multi-loop resonant gyroscope feedback electrodes Vd+7, Vd-9, Vs+6, Vs-8 through the X-axis signal feedback control circuit 18 and the Y-axis signal feedback control circuit 20 respectively, forming a closed loop control circuit, wherein the voltage signal Vx is input to the first ADC analog-digital conversion circuit 12, and after four processes of sampling, holding, quantization and encoding, a digital signal Dx is finally obtained; the voltage signal Vy is input to the second ADC analog-digital conversion circuit 15, and after four processes of sampling, holding, quantization and encoding, a digital signal Dy is finally obtained.

[0063] In this embodiment, the field programmable logic gate array 13 is used to demodulate the signals Dx and Dy output after conversion of the first path ADC digital-analog conversion circuit 12 and the second path ADC digital-analog conversion circuit 15 respectively with two paths of standard orthogonal reference signals, and four paths of signals, i.e. c x , c y , s x , s y , are obtained by digital signal filtering, and are sent to the digital signal processing circuit 16; the digital signal processing circuit 16 includes a signal data conversion module 21, a combination operation module 22, a proportional integral resonance control module 23, a rotation modulation module 25, and an adaptive error compensation algorithm module 24.

[0064] The adaptive error compensation method of the multi-loop resonant gyroscope using the adaptive error compensation circuit based on the multi-loop resonant gyroscope described above is as follows: the combination operation module 22 obtains four loop control variables of the multi-loop resonant gyroscope vibration amplitude control loop, the orthogonal control loop, the phase control loop and the rate control loop, as shown below:

[0065]

[0066] Q = 2 (c x s y -c y s x )

[0067]

[0068] S = 2 (c x c y +s x s y )

[0069]

[0070]

[0071] wherein E represents the total energy value of the multi-ring gyroscope vibration, c x represents the x-axis signal in-phase component, c y represents the y-axis signal in-phase component, s x represents the x-axis signal quadrature component, s y represents the y-axis signal quadrature component, Q represents the motion of the multi-ring resonator gyroscope mode in the quadrature direction, R and S represent parameters for precession angle calculation, L represents the phase difference of the phase control loop, i represents an imaginary variable, and θ represents the precession angle of the multi-ring resonator gyroscope mode;

[0072] In the embodiment, the dynamics expression of the multi-ring resonator gyroscope can be approximated as:

[0073]

[0074]

[0075]

[0076]

[0077] wherein, are the dynamics equations of the vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop, respectively, and θ τ , θ ω are the azimuth angles of the damping principal axis and the stiffness principal axis, respectively, f as , f qc , f ac , f qs are the control forces applied by the vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop, respectively.

[0078] It can be seen that the vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop of the multi-ring resonator gyroscope all have error interference terms, wherein the error interference term of the vibration amplitude control loop is the error interference term of the quadrature control loop is Δωsin2(θ-θ ω ), the error interference term of the phase control loop is and the error interference term of the rate control loop is

[0079] The traditional proportional-integral controller is difficult to eliminate the above-mentioned 2θ harmonic time-varying disturbance error in each control loop, and the proportional-integral-resonant controller 23 can realize gain control in the full frequency band, and the proportional-integral-resonant controller 23 is more conducive to rapid tracking control of the direct current component and the 2θ harmonic alternating current component.

[0080] When the multi-loop resonant gyroscope works in the force balance mode, the vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop of the multi-loop resonant gyroscope are sent to the proportional-integral-resonant control module 23, and the multi-loop resonant gyroscope is vibrated at a constant amplitude and a constant frequency through the adjustment of the proportional-integral-resonant control module 23, and the quadrature error is effectively suppressed;

[0081] When the multi-loop resonant gyroscope works in the full-angle mode, the control variable of the rate control loop is not adjusted and controlled through the proportional-integral-resonant control module 23, and the rotary modulation module 25 is used to eliminate the detection threshold and dead zone problem caused by the damping asymmetry of the multi-loop resonant gyroscope;

[0082] In the embodiment, the proportional-integral-resonant control module 23 is expressed as

[0083]

[0084] Wherein, K p is a proportional gain, K i is an integral gain, K r is a resonant gain, ω c is a controller cutoff frequency, ω0 is a resonant frequency, and s is a frequency domain.

[0085] In the embodiment, in order to adapt to error compensation of different multi-loop resonant gyroscopes, an adaptive error compensation method is used, which is different from the traditional method of first calibrating and then compensating through a large amount of experimental data. The adaptive error compensation method can real-time distinguish the stiffness asymmetry and damping asymmetry information of the multi-loop resonant gyroscope, and complete adaptive error compensation.

[0086] In the embodiment, the adaptive error compensation algorithm module 24 is applied to control error compensation of the vibration amplitude control loop, the quadrature control loop, the phase control loop, and the rate control loop of the multi-loop resonant gyroscope. Specifically, for the vibration amplitude control loop, the quadrature control loop, and the phase control loop, the adaptive error compensator includes an estimator for estimating effective mismatch using a recursive least squares algorithm and a compensator for real-time compensating mismatch, and the core algorithm of the adaptive error compensator is:

[0087]

[0088]

[0089]

[0090]

[0091] where ε 0 (t+1) is the priori error output of the multi-loop resonator gyroscope control system at t+1, y(t+1) is the system output matrix vector at t+1, is the priori error output based on the parameter estimation value at t, is the transpose of the parameter estimation matrix vector at t, is the system measurement matrix vector, the superscript T represents the transpose of the matrix, ε(t+1) is the posteriori error output of the system at t+1, λ1(t), λ2(t) are the weighting coefficients, F(t) is the system gain matrix vector at t, is the parameter estimation matrix vector at t+1, F(t+1) is the system gain matrix vector at t+1.

[0092] In this embodiment, when the multi-loop resonator gyroscope works in the full angle mode, for the rate control loop, the adaptive error compensator comprises an estimator for estimating the effective mismatch using the least mean square error algorithm and a compensator for compensating the mismatch in real time, and the core algorithm of the adaptive error compensator is:

[0093]

[0094]

[0095]

[0096] P(k+1) = [I - K(k+1) α T (k+1)]P(k)

[0097] where θ(k), θ(k-1) are the current time sampling value and the last time sampling value of the rate output value of the multi-loop resonator gyroscope control system respectively, t s is the sampling time of the control system, e(k) is the error between the system output and the estimator output, is the estimation output of the adaptive error compensator, K(k+1) is the gain matrix of the adaptive error compensation algorithm, P(k+1) is the weight vector of the adaptive error compensation algorithm, α T is the transpose of the system measurement matrix vector, is the estimation output of the adaptive error compensator at the last time, K(k) is the system gain matrix vector at the current time, P(k) is the weight vector of the adaptive error compensation algorithm at the last time, α(k+1) is the system measurement matrix vector at the current time.

[0098] In the embodiment, the rotation modulation module is used to eliminate the detection threshold and dead zone caused by the damping asymmetry of the multi-ring resonator gyroscope, which is expressed as

[0099]

[0100] where k is the angular gain coefficient of the multi-ring resonator gyroscope, ω is the resonant frequency of the multi-ring resonator gyroscope, is the energy value set for the system, Ω is the external input angular velocity information, Ω r is the rotation modulation angular velocity information, is the damping asymmetry information of the multi-ring resonator gyroscope, θ τ is the azimuth angle of the damping main axis of the multi-ring resonator gyroscope, t + is the positive period of the rotation modulation, t - is the negative period of the rotation modulation, and f is the force applied to the multi-ring resonator gyroscope to eliminate the detection threshold and dead zone caused by the damping asymmetry.

[0101] In the embodiment, the adaptive error compensator can estimate the stiffness asymmetry and the damping asymmetry according to the output of the multi-ring resonator gyroscope, and compensate without any prior information of the stiffness distribution and the damping distribution. Meanwhile, the rotation modulation method is added on the basis of the adaptive error compensator, which can overcome the detection threshold and dead zone of the multi-ring resonator gyroscope and speed up the compensation process.

[0102] The above description of the embodiments is to facilitate the understanding and application of the present application by those skilled in the art. Those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described herein to other embodiments without creative labor. Therefore, the present application is not limited to the embodiments herein, and the improvements and modifications made by those skilled in the art based on the disclosure of the present application without departing from the scope of the present application should be within the scope of protection of the present application.

Claims

1. An adaptive error compensation circuit based on a multi-ring resonant gyroscope, characterized in that: It includes a multi-ring resonant gyroscope (1), peripheral electrodes (2) including detection electrodes and feedback control electrodes, an improved T-type RC charge amplification and filtering circuit, an ADC analog-to-digital conversion circuit, a field-programmable gate array (13), a digital signal processing circuit (16), a DAC digital-to-analog conversion circuit, and a signal feedback control circuit. The multi-ring resonant gyroscope (1) has detection electrodes and feedback control electrodes evenly distributed around its perimeter. The detection electrodes are connected to an improved T-type RC charge amplification and filtering circuit. The improved T-type RC charge amplification and filtering circuit is connected to an ADC analog-to-digital converter circuit. The ADC analog-to-digital converter circuit is connected to a field-programmable gate array (13) and a digital signal processing circuit (16). The digital signal processing circuit (16) is connected to a DAC digital-to-analog converter circuit. The DAC digital-to-analog converter circuit is connected to a signal feedback control circuit. The signal feedback control circuit is connected to the feedback control electrodes. The improved T-type RC charge amplification and filtering circuit is used to convert the capacitance change output by the detection electrode into a voltage change; the ADC analog-to-digital converter circuit is used to convert the analog voltage signal output by the improved T-type RC charge amplification and filtering circuit into a digital signal; the DAC digital-to-analog converter circuit is used to convert the digital signal output by the field programmable gate array (13) into an analog signal; the signal feedback control circuit is used to apply the analog signal output by the DAC digital-to-analog converter circuit to the feedback control electrode to form a closed-loop control circuit. The detection electrodes include two X-axis detection electrodes and two Y-axis detection electrodes. The feedback control electrodes are evenly distributed between every two detection electrodes, for a total of eight electrodes. These electrodes are distributed in the 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315° directions of the multi-ring resonant gyroscope. They are respectively the X-axis detection electrode Vdc+ (3) in the 0° direction, the X-axis detection electrode Vdc- (5) in the 90° direction, the X-axis feedback control electrode Vd+ (7) in the 180° direction, and the X-axis feedback control electrode Vd- (9) in the 270° direction; and the Y-axis detection electrode Vsc+ (4) in the 45° direction, the Y-axis detection electrode Vsc- (10) in the 315° direction, the Y-axis feedback control electrode Vs+ (6) in the 135° direction, and the Y-axis feedback control electrode Vs- (8) in the 225° direction. The improved T-type RC charge amplification and filtering circuit adopts dual differential signal input at its input terminal. The circuit includes chips U1, U2, U3, U4, first resistor R1, second resistor R2, third resistor R3, fourth resistor R4, fifth resistor R5, sixth resistor R6, seventh resistor R7, first capacitor C1, second capacitor C2, third capacitor C3, ground capacitor C4, fifth capacitor C5, sixth capacitor C6, ground capacitor C7, eighth capacitor C8, ninth capacitor C9, and ground capacitor C10. The forward detection electrode is connected to the inverting input of chip U1 via the first capacitor C1. The forward input of chip U1 is grounded. The inverting input of chip U1 is connected to the first resistor R1 and the third capacitor C3. The other ends of the first resistor R1 and the third capacitor C3 are connected together and connected to the second resistor R2, the fifth capacitor C5, and the ground capacitor C4, which are connected to the output of chip U1. The reverse detection electrode is connected to the inverting input of chip U2 via the second capacitor C2. The forward input of chip U2 is grounded. The inverting input of chip U2 is connected to the fourth resistor R4 and the sixth capacitor C6. The other ends of the fourth resistor R4 and the sixth capacitor C6 are connected together and connected to the chip. The fifth resistor R5, the eighth capacitor C8, and the grounding capacitor C7 are connected to the output terminals of U2; the output terminals of chip U1 and chip U2 are respectively connected to the positive input terminal and the inverting input terminal of the differential input port of chip U3; the two ends of the third resistor R3 are connected to the gain adjustment port of chip U3; the output port of chip U3 is connected to one end of the sixth resistor R6; the other end of the sixth resistor R6 is connected to the seventh resistor R7 and one end of the ninth capacitor C9; the other end of the seventh resistor R7 is connected to the inverting input terminal of chip U4 and the grounding capacitor C10; the other end of the ninth capacitor C9 is connected to the output terminal of chip U4; and the positive input terminal of chip U4 is connected to the output terminal of chip U4. The improved T-type RC charge amplification and filtering circuit has two paths. The differential signal formed by the X-axis detection electrode Vdc+ (3) and the X-axis detection electrode Vdc- (5) is output as a voltage signal Vx through the first improved T-type RC charge amplification and filtering circuit (11). The differential signal formed by the Y-axis detection electrode Vsc+ (4) and the Y-axis detection electrode Vsc- (10) is output as a voltage signal Vy through the second improved T-type RC charge amplification and filtering circuit (14).

2. The adaptive error compensation circuit based on a multi-ring resonant gyroscope according to claim 1, characterized in that: The ADC analog-to-digital converter circuit and the DAC digital-to-analog converter circuit each have two paths. The first DAC digital-to-analog converter circuit (17) and the second DAC digital-to-analog converter circuit (19) are connected to the feedback electrodes Vd+ (7), Vd- (9), Vs+ (6), and Vs- (8) of the multi-ring resonant gyroscope through the X-axis signal feedback control circuit (18) and the Y-axis signal feedback control circuit (20) of the multi-ring resonant gyroscope, respectively, forming a closed-loop control loop. The voltage signal Vx is input to the first ADC analog-to-digital converter circuit (12), and after four processes of sampling, holding, quantization, and encoding, the digital signal Dx is finally obtained. The voltage signal Vy is input to the second ADC analog-to-digital converter circuit (15), and after four processes of sampling, holding, quantization, and encoding, the digital signal Dy is finally obtained.

3. The adaptive error compensation circuit based on a multi-ring resonant gyroscope according to claim 1, characterized in that: The field-programmable gate array (13) is used to demodulate the signals Dx and Dy output from the first ADC analog-to-digital converter circuit (12) and the second ADC analog-to-digital converter circuit (15) with two standard quadrature reference signals, respectively. The demodulated signals are then filtered by digital signal filtering to obtain four signals, namely... , , , The signal is fed into the digital signal processing circuit (16); the digital signal processing circuit (16) includes a signal data conversion module (21), a combination operation module (22), a proportional-integral-resonance control module (23), a rotation modulation module (25), and an adaptive error compensation algorithm module (24).

4. A method for adaptive error compensation of a multi-ring resonant gyroscope using the adaptive error compensation circuit based on a multi-ring resonant gyroscope as described in claim 1, characterized in that: First, the combined calculation module (22) obtains the four loop control variables of the multi-loop resonant gyroscope: vibration amplitude control loop, orthogonal control loop, phase control loop, and rate control loop, as shown below: ； ； ； ； ； ； in, This represents the total vibrational energy of a multi-ring gyroscope. This represents the in-phase component of the x-axis signal. This represents the in-phase component of the y-axis signal. Represents the orthogonal components of the x-axis signal. This represents the orthogonal components of the y-axis signal. This represents the motion of the mode shape of a multi-ring resonant gyroscope in orthogonal directions. and The parameters representing the precession angle calculation. This indicates the phase difference in the phase control loop. Represents a dummy variable. This indicates the precession angle of the mode shape of a multi-ring resonant gyroscope; When the multi-ring resonant gyroscope is working in force balance mode, the four loop control variables of the multi-ring resonant gyroscope vibration amplitude control loop, orthogonal control loop, phase control loop and rate control loop are sent to the proportional-integral resonant control module (23). Through the adjustment of the proportional-integral resonant control module (23), the multi-ring resonant gyroscope vibrates with constant amplitude and frequency, and the orthogonal error is effectively suppressed. When the multi-ring resonant gyroscope is working in full-angle mode, the control variable of the rate control loop is not adjusted and controlled by the proportional-integral resonant control module (23), and the rotation modulation module (25) is used to eliminate the detection threshold and dead zone problems caused by the damping asymmetry of the multi-ring resonant gyroscope. The adaptive error compensation algorithm module (24) is applied to the control error compensation of the four loops of the multi-loop resonant gyroscope: vibration amplitude control loop, orthogonal control loop, phase control loop, and rate control loop.

5. The adaptive error compensation method for a multi-ring resonant gyroscope according to claim 4, characterized in that: The proportional-integral-resonant control module (23) is described as follows: ； in, For proportional gain, For integral gain, For resonant gain, This is the controller cutoff frequency. The resonant frequency, This is in the frequency domain.

6. The adaptive error compensation method for a multi-ring resonant gyroscope according to claim 4, characterized in that: The adaptive error compensation algorithm module (24) is applied to the control error compensation of four loops of the multi-loop resonant gyroscope: vibration amplitude control loop, orthogonal control loop, phase control loop, and rate control loop. Specifically, for the vibration amplitude control loop, orthogonal control loop, and phase control loop, the adaptive error compensation algorithm module (24) includes an estimator that uses a recursive least squares algorithm to estimate the effective mismatch and a compensator that compensates for the mismatch in real time. The core algorithm of the adaptive error compensation algorithm module (24) is: ； ； ； ； in This represents the prior error output of the multi-ring resonant gyroscope control system at time t+1. The system output matrix vector at time t+1 The output is the prior error based on the parameter estimates at time t. The transpose of the parameter estimation matrix vector at time t. The system measurement matrix vector, with the superscript T denoteing the transpose of the matrix. The output is the system posterior error at time t+1. , These are weighting coefficients. Let be the system gain matrix vector at time t. The parameter estimation matrix vector at time t+1, Let be the system gain matrix vector at time t+1.

7. The adaptive error compensation method for a multi-ring resonant gyroscope according to claim 4, characterized in that: When the multi-loop resonant gyroscope is operating in full-angle mode, for the rate control loop, the adaptive error compensation algorithm module (24) includes an estimator that uses the minimum mean square error algorithm to estimate the effective mismatch and a compensator that compensates for the mismatch in real time. The core algorithm of the adaptive error compensation algorithm module (24) is: ； ； ； ； in , These are the current and previous sampled values ​​of the rate output value of the multi-ring resonant gyroscope control system, respectively. To control the sampling time of the system, The error between the system output and the estimator output. The estimated output of the compensator. This is the gain matrix of the adaptive error compensation algorithm. This is the weight vector for the adaptive error compensation algorithm. Transpose the system measurement matrix vector. This is the estimated output of the compensator at the previous time step. The system gain matrix vector at the current moment. This is the weight vector of the adaptive error compensation algorithm at the previous time step. This is the system measurement matrix vector at the current moment.

8. The adaptive error compensation method for a multi-ring resonant gyroscope according to claim 4, characterized in that: The rotation modulation module is used to eliminate the detection threshold and dead zone problems caused by damping asymmetry in multi-ring resonant gyroscopes, described as follows: ； in This refers to the angular gain coefficient of a multi-ring resonant gyroscope. This is the resonant frequency of the multi-ring resonant gyroscope. The energy value set for the system, Input angular velocity information from the outside world. For rotational modulation angular velocity information, This is information about the damping asymmetry of a multi-ring resonant gyroscope. The azimuth angle of the damping principal axis of the multi-ring resonant gyroscope. For rotation modulation positive period, For the negative period of rotational modulation, The force applied to the multi-ring resonant gyroscope is used to eliminate the detection threshold and dead zone caused by damping asymmetry.

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