A torque rebalancing circuit

Abstract

The present invention provides a torque rebalancing circuit, comprising a preamplifier circuit, a demodulator circuit, an amplification and correction circuit, a modulation circuit, a correction parameter control circuit, a single-chip microcomputer circuit, an adder circuit, a low-pass filter circuit, a control blocking circuit, a torquer power amplifier circuit, a window voltage comparator circuit, a window voltage control circuit, and an OR gate circuit. Based on the gyro rotor's rotational angular rate, the X-axis and Y-axis angle signals of the angle sensor are orthogonally modulated and vector-synthesized. The synthesized signal contains phase and amplitude information of the rotor angle. AC torque is applied based on the synthesized vector, completing the role of two torquers in traditional cross-torque application. This synthesized torque application can be viewed as a combined form of torque application along two virtual axes in space, enabling dual-axis torque control of the gyro by a single torquer.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic circuits, and in particular relates to a torque rebalancing circuit. Background Art

[0002] The dynamically tuned gyroscope used in strapdown systems must operate in a closed-loop state. Its sensor generates a voltage signal proportional to the gyroscope's precession angle, which is converted into a current signal. This current is fed into a torque generator, generating a torque around the output axis, forcing the gyroscope to precess about the input axis. When the angular velocity of this precession is equal in magnitude and direction to the input angular velocity, the gyroscope's main axis reaches a new equilibrium state, transitioning from the original static equilibrium state to a new dynamic equilibrium state. This balancing process is often referred to as rebalancing, and its force feedback loop is called the rebalancing circuit. The rebalancing circuit consists of an angle sensor, a torque rebalancing circuit, and a torque generator.

[0003] A typical dynamically tuned gyro (DTG) has a pair of angle sensors and a pair of torquers on each axis. The angle sensors in the DTG studied consist of two pairs of orthogonal sensors located on the X and Y axes, each operating in a differential state, similar to a typical DTG. The torquer, on the other hand, consists of a single torquer coil and a pair of sector-shaped permanent magnets, with the coil axis aligned with the motor shaft. However, existing two independent interleaved control loops are not suitable for a single torquer configuration. Summary of the Invention

[0004] The object of the present invention is to provide a torque rebalancing circuit to solve the problem that the traditional cross torque rebalancing circuit is not applicable to a single torquer structure.

[0005] A torque rebalancing circuit includes a preamplifier circuit, a demodulator circuit, an amplification correction circuit, a modulation circuit, a correction parameter control circuit, a single-chip microcomputer circuit, an adder circuit, a low-pass filter circuit, a control blocking circuit, a torquer power amplifier circuit, a window voltage comparator circuit, a window voltage control circuit, and an OR gate circuit;

[0006] There are two preamplifier circuits, the input end of each preamplifier circuit is connected to an angle sensor on the gyroscope, and the output end of each preamplifier circuit is connected to the input end of a demodulation circuit;

[0007] The demodulation circuit has two paths, and the output end of each demodulation circuit is connected to the input end of a window voltage comparator circuit and the input end of an amplification and correction circuit; the output end of each demodulation circuit is also connected to an angle sensor to provide an excitation signal;

[0008] Amplification and correction circuit, there are two amplification and correction circuits, the output end of each amplification and correction circuit is connected to the input end of one modulation circuit;

[0009] There are two modulation circuits in total, and the output ends of the two modulation circuits are both connected to the input end of the adder circuit;

[0010] A correction parameter control circuit, wherein the input end of the correction parameter control circuit is connected to the single-chip microcomputer circuit, and the output end is connected to the two-way amplification correction circuit, and is used to control the state switching of the two-way amplification correction circuit;

[0011] The single chip microcomputer circuit, the output end of the single chip microcomputer circuit is respectively connected to the input ends of the two modulation circuits, the control blocking circuit, and the window voltage control circuit;

[0012] an adder circuit, wherein an output terminal of the adder circuit is connected to an input terminal of the low-pass filter circuit;

[0013] A low-pass filter circuit, wherein an output terminal of the low-pass filter circuit is connected to an input terminal of the control blocking circuit;

[0014] A control blocking circuit, wherein an output end of the control blocking circuit is connected to an input end of a torquer power amplifier circuit;

[0015] Torquer power amplifier circuit, the output end of the torquer power amplifier circuit is connected to the torquer;

[0016] The window voltage comparator circuit has two paths, and the output ends of the two path window voltage comparator circuits are both connected to the input end of the OR gate circuit;

[0017] A window voltage control circuit, wherein an output terminal of the window voltage control circuit is connected to input terminals of two window voltage comparator circuits;

[0018] OR gate circuit, the output end of the OR gate circuit is connected to the input end of the single chip computer circuit.

[0019] The preamplifier circuit includes resistor R2, operational amplifier U2, resistor R1 and capacitor C5. After resistor R1 and capacitor C5 are connected in parallel, one end is connected to one end of resistor R2, and the other end is connected to the analog ground; the other end of resistor R2 is connected to operational amplifier U2; after resistor R3 and capacitor C6 are connected in parallel, both ends are connected to operational amplifier U2; operational amplifier U2 is connected to resistor R4, capacitor C7, capacitor C8, angle sensor differential output, and demodulation circuit.

[0020] The demodulation circuit includes a demodulation chip U3, a capacitor C11, a capacitor C12, a resistor R7, a capacitor C16, a capacitor C18 and a capacitor C17. The demodulation chip U3 is connected to a capacitor C9, a resistor R5, a capacitor C10, a resistor R6, a capacitor C13, a capacitor C14, a resistor R8 and a resistor R9. The other end of the capacitor C9 is connected to the preamplifier circuit. The resistor R5, the capacitor C10, the resistor R6, the capacitor C13, the capacitor C14 and both ends are connected to the demodulation chip U3. The capacitor C11 and the capacitor C12 are connected to the demodulation chip U3. After being connected in parallel, one end is connected to the demodulation chip U3. After being connected in parallel, both ends of the resistor R7 and the capacitor C16 are connected to the demodulation chip U3. The other end of the resistor R8 is connected to the potentiometer RV1, and the other end of the resistor R9 is connected to the other end of the potentiometer RV1. After being connected in parallel, one end of the capacitor C18 and the capacitor C17 is connected to the demodulation chip U3. The demodulation chip U3 is connected to the window voltage comparator circuit, the amplification and correction circuit and the angle sensor, providing input signals for the window voltage comparator circuit and the amplification and correction circuit, and providing excitation signals for the angle sensor.

[0021] The control blocking circuit includes a four-way single-pole single-throw analog switch U11, a resistor R36, a resistor R37, a capacitor C35, a capacitor C32, a capacitor C33 and a capacitor C34. One end of the resistor R36 and the resistor R37 are both connected to the low-pass filter circuit, the other end of the resistor R37 is connected to the four-way single-pole single-throw analog switch U11 and the capacitor C35, the other end of the capacitor C35 is connected to the torquer power amplifier circuit, the other end of the resistor R36 is connected to the four-way single-pole single-throw analog switch U11, one end of the capacitor C32, the capacitor C33 and the capacitor C34 are connected to the four-way single-pole single-throw analog switch U11, and the other end is grounded.

[0022] The single chip microcomputer circuit is a PSoC single chip microcomputer CY8C26443.

[0023] The correction parameter control circuit includes two analog switches U5A, which are connected to the single-chip microcomputer circuit and the two-way amplification correction circuit. The two analog switches U5A are also connected to capacitors C36, C37 and C38. The other ends of capacitors C36, C37 and C38 are all grounded.

[0024] The window voltage comparator circuit includes a resistor R15, a resistor R16, a resistor R17, a resistor R20, a resistor R22 and a resistor R23, the other end of the resistor R15 is connected to the resistor R19, the other end of the resistor R16 is connected to the resistor R21, one end of the resistor R17 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the window voltage control circuit, one end of the resistor R18 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the common end of the resistor R16 and the resistor R21, and the window The port voltage control circuit, the other end of the resistor R19 not connected to the resistor R15 is connected to the positive end of the diode D1 and the comparator U6, the other end of the resistor R21 not connected to the resistor R16 is connected to the negative end of the diode D2 and the comparator U6, the negative end of the diode D1, the positive end of the diode D2 and one end of the resistor R20 are connected, the other end of the resistor R20 is connected to the demodulation circuit, both ends of the resistor R22 are connected to the comparator U6, one end of the resistor R23 is connected to +5V, and the other end is connected to the comparator U6, and the comparator U6 is connected to the OR gate circuit.

[0025] The window voltage control circuit includes two analog switches U5B, and the two analog switches U5B are respectively connected to the single chip microcomputer circuit and the two window voltage comparator circuits.

[0026] The beneficial effects of the present invention are:

[0027] 1. The weak signal output by the differential angle sensor is filtered and amplified by the preamplifier circuit before output to filter out the error caused by the rotor end face runout, improve the signal-to-noise ratio, and facilitate impedance matching.

[0028] 2. Based on the angular rate of rotation of the gyro rotor, the X-axis and Y-axis angle signals of the angle sensor are orthogonally modulated and vector-synthesized. The synthesized signal contains the phase and amplitude information of the rotor angle. Based on the synthesized vector AC torque, the role of the two torquers in the traditional cross torque application is completed. This synthetic torque application can be regarded as a synthetic form of torque application along two virtual axes in space, realizing the dual-axis torque control of the gyro by a single torquer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the principle block diagram of the torque rebalancing circuit;

[0030] Figure 2 It is a single chip microcomputer circuit;

[0031] Figure 3 It is the preamplifier circuit;

[0032] Figure 4 It is a demodulation circuit;

[0033] Figure 5 It is an amplification and correction circuit;

[0034] Figure 6 It is a correction parameter control circuit;

[0035] Figure 7 It is a window voltage comparator circuit;

[0036] Figure 8 It is the window voltage control circuit;

[0037] Figure 9 It is an OR gate circuit;

[0038] Figure 10 It is a modulation circuit;

[0039] Figure 11 It is an adder circuit;

[0040] Figure 12 It is a quadrature modulation process;

[0041] Figure 13 It is a low-pass filter circuit;

[0042] Figure 14 It is to control the blocking circuit;

[0043] Figure 15 It is the torquer amplifier circuit.

[0044] In the figure, 1. Preamplifier circuit; 2. Demodulation circuit; 3. Amplification correction circuit; 4. Modulation circuit; 5. Correction parameter control circuit; 6. Single chip microcomputer circuit; 7. Adder circuit; 8. Low-pass filter circuit; 9. Control blocking circuit; 10. Torquer power amplifier circuit; 11. Window voltage comparator circuit; 12. Window voltage control circuit; 13. OR gate circuit.

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0046] [Example 1]

[0047] like Figures 1 to 15 As shown, a torque rebalancing circuit includes a preamplifier circuit 1, a demodulator circuit 2, an amplification correction circuit 3, a modulation circuit 4, a correction parameter control circuit 5, a single-chip computer circuit 6, an adder circuit 7, a low-pass filter circuit 8, a control blocking circuit 9, a torquer power amplifier circuit 10, a window voltage comparator circuit 11, a window voltage control circuit 12 and an OR gate circuit 13;

[0048] Preamplifier circuit 1, there are two preamplifier circuits 1, the input end of each preamplifier circuit 1 is connected to an angle sensor on the gyroscope, and the output end of each preamplifier circuit 1 is connected to the input end of a demodulation circuit 2;

[0049] Demodulation circuit 2, there are two demodulation circuits 2, each demodulation circuit 2 output end is connected to a window voltage comparator circuit 11 input end and an amplifier correction circuit 3 input end; each demodulation circuit 2 output end is also connected to an angle sensor to provide an excitation signal;

[0050] Amplifying and correcting circuit 3, there are two amplifying and correcting circuits 3, and the output end of each amplifying and correcting circuit 3 is connected to the input end of one modulation circuit 4;

[0051] Modulation circuit 4, there are two modulation circuits 4, and the output ends of the two modulation circuits 4 are connected to the input end of the adder circuit 7;

[0052] The correction parameter control circuit 5 has an input end connected to the single-chip computer circuit 6 and an output end connected to the two-way amplification correction circuit 3, and is used to control the state switching of the two-way amplification correction circuit 3;

[0053] The single chip microcomputer circuit 6, the output end of the single chip microcomputer circuit 6 is respectively connected to the input ends of the two modulation circuits 4, the control blocking circuit 9, and the window voltage control circuit 12;

[0054] an adder circuit 7, wherein an output end of the adder circuit 7 is connected to an input end of a low-pass filter circuit 8;

[0055] A low-pass filter circuit 8, wherein an output end of the low-pass filter circuit 8 is connected to an input end of a control blocking circuit 9;

[0056] Control blocking circuit 9, the output end of control blocking circuit 9 is connected to the input end of torquer power amplifier circuit 10;

[0057] The torquer power amplifier circuit 10, the output end of the torquer power amplifier circuit 10 is connected to the torquer;

[0058] The window voltage comparator circuit 11 has two paths, and the output ends of the two path window voltage comparator circuits 11 are both connected to the input end of the OR gate circuit 13;

[0059] The window voltage control circuit 12 has an output terminal connected to the input terminals of the two window voltage comparator circuits 11;

[0060] The OR gate circuit 13 has an output terminal connected to the input terminal of the single chip computer circuit 6 .

[0061] There are two circuits in total, such as two preamplifier circuits 1 and two demodulator circuits 2, and the circuits are divided into X-path and Y-path. For example, the X-path preamplifier circuit 1 and the Y-path preamplifier circuit 1 are respectively connected to the X-path angle sensor and the Y-path angle sensor on the gyroscope. Similar X-path circuits are interconnected, for example, the X-path preamplifier circuit 1 and the X-path demodulator circuit 2 are connected, and the X-path amplification and correction circuit 3, the X-path modulation circuit 4, and the X-path window voltage comparator circuit 11 are interconnected. Similarly, the various circuits in the Y-path are also interconnected.

[0062] The single chip microcomputer circuit 6 is a PSoC single chip microcomputer CY8C26443. Figure 2 As shown, the core component U1 of the single-chip microcomputer circuit 6 uses Cypress's PSoC microcontroller CY8C26443, 28-pin SOIC package, CPU clock is 3MHz, and an external 32768Hz crystal oscillator is selected. Pin 28 of U1 is connected to +5V, and pin 14 is connected to digital ground; one end of capacitor C1 is connected to pin 28, and the other end is connected to digital ground; one end of capacitor C2 is connected to pin 19 of U1, and the other end is connected to pin 14 of U1; one end of capacitor C3 is connected to +5V, and the other end is connected to one end of the crystal oscillator; one end of capacitor C4 is connected to +5V, and the other end is connected to the other end of the crystal oscillator; the end of the crystal oscillator connected to capacitor C3 is connected to pin 13 of U1, and the end of the crystal oscillator connected to capacitor C4 is connected to pin 15 of U1; CY8C26443 is internally configured with 6 digital outputs and inputs, SYS-COS occupies pin 5, SYS-SIN occupies pin 6, ENABLE1 occupies pin 20, ENABLE1* occupies pin 21, ENABLE2* occupies pin 23, and MV_TH occupies pin 4.

[0063] The CY8C26443's six internal digital output and input signals control corresponding circuits to implement different functions. The SYS-COS and SYS-SIN signals are a pair of square wave output signals with 5V amplitude, a 90° phase shift, and a frequency equal to the gyro rotor's rotational angular velocity (derived from the gyro motor). These signals control the quadrature modulation of two modulation circuits 4, ensuring that the vector-synthesized AC signal has the same frequency as the rotor. These modulation circuits 4 quadrature-modulate the two angle sensor signals, creating a 90° phase shift. These two quadrature-modulated signals are combined into a staircase signal by adder circuit 7. After filtering by low-pass filter circuit 8, the fundamental frequency is equal to the rotor frequency. This phase information reflects the phase of the sensor-sensed angular displacement, determining the torque converter's applied torque phase in space.

[0064] ENABLE1 is used to control the blocking circuit 9, that is, when the gyro is just powered on and the rotor has not yet had a gyro effect, a small signal is used to pre-close the single torquer rebalancing circuit. After a delay of 1 second, the single torquer torque rebalancing circuit is closed and works normally.

[0065] ENABLE1* is used for the window voltage control circuit 12 to control the window voltage of the two window voltage comparator circuits 11. When the output level of any demodulation circuit 2 exceeds the window voltage, the window voltage comparator circuit 11 outputs a high level, indicating that the gyro rotor is strongly deflected relative to the angle sensor. The rotor deflection logic protection signal MV_TH is input to the single-chip microcomputer circuit 6 for processing through the OR gate circuit 13;

[0066] ENABLE2* is used to correct the parameter control circuit 5. The correction parameter control circuit 5 controls the state switching of the two-way amplification correction circuit 3. The circuit is in proportional, integral, and differential state when it is powered on. After a delay of 0.5 seconds, it is in proportional and differential state. The parameters of the amplification correction circuit 3 are determined through experimental analysis. It is an auxiliary link added to improve system stability.

[0067] The preamplifier circuit 1 includes a resistor R2, an operational amplifier U2, a resistor R1 and a capacitor C5; the resistor R1 and the capacitor C5 are connected in parallel, and one end is connected to one end of the resistor R2, and the other end is connected to the analog ground; the other end of the resistor R2 is connected to the operational amplifier U2; the resistor R3 and the capacitor C6 are connected in parallel, and both ends are connected to the operational amplifier U2; the operational amplifier U2 is connected to the resistor R4, the capacitor C7, the capacitor C8, the angle sensor differential output, and the demodulation circuit.

[0068] The preamplifier circuits 1 are respectively an X-path preamplifier circuit 1 and a Y-path preamplifier circuit 1. Figure 3 As shown, in the X-path preamplifier circuit 1, the resistor R1 and the capacitor C5 are connected in parallel, and one end is connected to one end of the resistor R2, and the other end is connected to the analog ground; the other end of the resistor R2 is connected to the second pin of the operational amplifier U2; the resistor R3 and the capacitor C6 are connected in parallel, and one end is connected to the second pin of the operational amplifier U2, and the other end is connected to the sixth pin of the operational amplifier U2; one end of the resistor R4 is connected to the third pin of the operational amplifier U2, and the other end is connected to the analog ground; one end of the capacitor C7 is connected to the seventh pin of the operational amplifier U2, and the other end is connected to the analog ground; one end of the capacitor C8 is connected to the fourth pin of the operational amplifier U2, and the other end is connected to the analog ground; the seventh pin of the operational amplifier U2 is connected to +15V, and the fourth pin is connected to -15V; the third pin of the operational amplifier U2 is connected to the differential output of the X-path angle sensor, and the output signal of the sixth pin is sent to the X-path demodulation circuit 2.

[0069] The Y-channel preamplifier circuit 1 has the same structure, except that the third pin of the operational amplifier of the same model is connected to the differential output of the Y-channel angle sensor, and the output signal of the sixth pin is sent to the Y-channel demodulation circuit 2.

[0070] Both preamplifier circuits 1 are bandpass filters with wide passbands. They maintain normal operation even if the gyroscope's excitation frequency shifts or normal component aging causes the center frequency to deviate. Preamplifier circuit 1 filters and amplifies the weak signal from the differential angle sensor before outputting it. This eliminates errors caused by rotor end face runout, improves the signal-to-noise ratio, and facilitates impedance matching. Furthermore, the preamplifier output must not be saturated when the gyroscope rotor just contacts the stopper. The preamplifier's amplification factor should be limited, typically around 10x. The only difference between the two preamplifier circuits is the slightly different capacitance values of capacitors C5 and C6. The X-channel preamplifier circuit has a center frequency of approximately 18.2kHz and a transmission gain of approximately 10.29; the Y-channel preamplifier circuit has a center frequency of approximately 16.5kHz and a transmission gain of approximately 10.24.

[0071] The two-way preamplifier circuit is installed on the angle sensor end of the gyro body. The angle sensor is composed of two pairs of orthogonal sensors located on the X and Y axes, and each pair of sensors operates in a differential state.

[0072] The transfer function of the X-channel preamplifier circuit 1 is:

[0073]

[0074] Where:

[0075]

[0076] T2=R1·C5

[0077] T3=R3·C6

[0078] Among them, T1, T2, and T3 are time constants.

[0079] After deformation,

[0080]

[0081] because After calculation, it is very small, so the transfer function of the circuit should be:

[0082]

[0083] The transfer function characteristic indicates that the preamplifier is a bandpass filter with a wide passband. The center frequency calculation formula is:

[0084]

[0085] The transmission gain calculation formula is:

[0086]

[0087] like Figure 4 As shown, the demodulation circuit 2 includes a demodulation chip U3, a capacitor C11, a capacitor C12, a resistor R7, a capacitor C16, a capacitor C18 and a capacitor C17. The demodulation chip U3 is connected to a capacitor C9, a resistor R5, a capacitor C10, a resistor R6, a capacitor C13, a capacitor C14, a resistor R8 and a resistor R9; the other end of the capacitor C9 is connected to the preamplifier circuit 1, and the resistor R5, the capacitor C10, the resistor R6, the capacitor C13, the capacitor C14, and both ends are connected to the demodulation chip U3, and the capacitor C11 and the capacitor C12 are connected. One end of the resistor R7 and the capacitor C16 are connected in parallel and are both connected to the demodulation chip U3. The other end of the resistor R8 is connected to the potentiometer RV1, and the other end of the resistor R9 is connected to the other end of the potentiometer RV1. The capacitor C18 and the capacitor C17 are connected in parallel and one end is connected to the demodulation chip U3. The demodulation chip U3 is connected to the window voltage comparator circuit 11, the amplification and correction circuit 3 and the angle sensor, providing input signals for the window voltage comparator circuit 11 and the amplification and correction circuit 3, and providing excitation signals for the angle sensor.

[0088] The two demodulation circuits 2 are respectively an X-path demodulation circuit 2 and a Y-path demodulation circuit 2. Figure 4As shown, one end of capacitor C9 is connected to pin 6 of operational amplifier U2 of X-channel preamplifier circuit 1, and the other end is connected to pin 16 of U3; one end of resistor R5 is connected to pin 16 of U3, and the other end is connected to pin 15 of U3, and pin 15 of U3 is connected to analog ground; one end of capacitor C10 is connected to pin 7 of U3, and the other end is connected to pin 8 of U3; one end of resistor R6 is connected to pin 5 of U3, and the other end is connected to pin 6 of U3; one end of capacitors C11 and C12 are connected in parallel, and one end is connected to pin 1 of U3, and the other end is connected to analog ground; one end of capacitor C13 is connected to pin 10 of U3, and the other end is connected to pin 11 of U3; one end of capacitor C14 is connected to pin 19 of U3, and the other end is connected to pin 20 of U3; one end of capacitor C15 is connected to pin 21 of U3, and the other end is connected to pin 22 of U3; and one end of resistor R7 and capacitor C16 are connected in parallel, and one end is connected to pin 22 of U3 , the other end is connected to pin 23 of U3; one end of resistor R8 is connected to pin 27 of U3, and the other end is connected to one end of potentiometer RV1, one end of resistor R9 is connected to pin 26 of U3, and the other end is connected to the other end of potentiometer RV1, and the middle tap of potentiometer RV1 is connected to -15V; capacitors C18 and C17 are connected in parallel, and one end is connected to pin 28 of U3, and the other end is connected to analog ground; pin 28 of U3 is connected to +15V, pin 1 is connected to -15V, pin 24 is connected to analog ground, pin 2 is connected to pins 14 and 17, pin 3 is connected to pins 13 and 18, and the demodulated output signal of pin 23 is sent to the X-path amplification and correction circuit 3 and the X-path window voltage comparator circuit 11; pins 2 and 3 of U3 provide an excitation signal of approximately 18kHz to the X-path angle sensor, and similarly, the Y-path demodulation circuit provides an excitation signal of approximately 16kHz to the Y-path angle sensor.

[0089] The demodulation chip U3 is the AD698 differential transformer-based signal processing system, operating in half-bridge mode. The AD698 includes a low-distortion sine wave generator, a power amplifier, two synchronous demodulation channels A and B, a scaling circuit, a filter, and an output amplifier. The sine wave generated by the sine wave oscillator circuit directly provides an excitation signal to the sensor's primary coil. The frequency and amplitude of this excitation signal are adjusted by the corresponding external capacitors and resistors connected to the AD698 chip. The sine wave output from the sensor's secondary coil directly serves as the input to the AD698. The AD698 processes the input signal to generate a calibrated unipolar or bipolar DC voltage signal. The signal processing section's demodulation coefficients, measurement system bandwidth, and output polarity settings are all adjusted by external AD698 components. The sine wave generator and two demodulation channels A and B are integrated into the same chip, ensuring high measurement accuracy and circuit stability, immune to temperature drift.

[0090] The frequency of the AD698 excitation signal is adjusted by capacitor C10, and the amplitude is adjusted by resistor R6. Resistor R7 determines the gain coefficient of AD698. Capacitors C13, C14, and C15 set the system bandwidth. Capacitor C16 filters the output waveform. Resistors R8, R9, and potentiometer RV1 adjust the positive bias voltage and negative bias voltage as close to 0V as possible, and the output polarity is set to bipolar.

[0091] AD698 provides an excitation signal to the angle sensor. The output signal of the angle sensor is modulated on the high-frequency excitation signal, and after pre-amplification, it is sent to the AD698 circuit for demodulation. The size and polarity of the demodulated DC voltage signal reflect the size and direction of the gyro rotor deflection angle sensed by the angle sensor.

[0092] like Figure 5 As shown, the two-way amplification correction circuit 3 is the same, namely the X-way amplification correction circuit 3 and the Y-way amplification correction circuit 3, wherein the X-way amplification correction circuit 3 includes: dual operational amplifiers U4A and U4B, a resistor R10 and a capacitor C19 connected in parallel, one end of which is connected to the 23rd pin of the X-way demodulation circuit 2U3, and the other end is connected to the 2nd pin of U4A; one end of the resistor R11 is connected to the 2nd pin of U4A, and the other end is connected to the 1st pin of U4A; one end of the capacitor C20 is connected to the 8th pin of U4A, and the other end is connected to the analog ground; one end of the capacitor C21 is connected to the 3rd pin of U4A, and the other end is connected to the 4th pin of U4A; U4 Pin 8 of A is connected to +15V, pin 4 is connected to -15V, and pin 3 is connected to analog ground; one end of resistor R12 is connected to pin 1 of U4A, and the other end is connected to pin 6 of U4B; resistor R13 and capacitor C22 are connected in series, and one end is connected to pin 6 of U4B, and the other end is connected to pin 7 of U4B; one end of resistor R14 is connected to the non-common end of capacitor C22 and resistor R13, and the other end is connected to the common end of capacitor C22 and resistor R13 through pins 3 and 2 of U5A of correction parameter control circuit 5; pin 5 of U4B is connected to analog ground, and the output signal of pin 7 is sent to X-channel modulation circuit 4.

[0093] like Figure 6 As shown, the correction parameter control circuit 5 includes two analog switches U5A, which are connected to the single-chip computer circuit 6 and the two-way amplification correction circuit 3. The two analog switches U5A are also connected to capacitors C36, C37 and C38, and the other ends of capacitors C36, C37 and C38 are all grounded.

[0094] Two analog switches U5A, U5A is the 1st and 2nd channel of the four-way single-pole single-throw analog switch MAX313ESA, which respectively control the state switching of the X-channel and Y-channel amplification and correction circuits; U5A pins 1 and 16 are connected and then connected to pin 23 of U1 in the single-chip computer circuit 6, pin 12 is connected to +5V, pin 13 is connected to +15V, pin 4 is connected to -15V, pin 5 is connected to analog ground, and pin 2 is connected to capacitor C22 in the X-channel amplification and correction circuit 3. The end not connected to resistor R14, pin 3, is connected to the end of resistor R14 in the X-path amplification and correction circuit 3 that is not connected to capacitor C22; similarly, pins 14 and 15 of U5A are connected to the corresponding resistor and capacitor in the Y-path amplification and correction circuit; one end of capacitor C36 is connected to pin 12 of U5A, and the other end is connected to digital ground; one end of capacitor C37 is connected to pin 13 of U5A, and the other end is connected to analog ground; one end of capacitor C38 is connected to pin 4 of U5A, and the other end is connected to analog ground.

[0095] The two-way amplification and correction circuit is located before the corresponding orthogonal modulation link and after the demodulation circuit. The circuit parameters are determined through experimental analysis. It is an auxiliary link added to improve the stability of the system, used to improve the control loop characteristics and ensure the stability of the control system.

[0096] The correction parameter control circuit and the window voltage control circuit share a four-way single-pole single-throw analog switch MAX313ESA. The correction parameter control circuit uses the first and second channels, and the window voltage control circuit uses the third and fourth channels.

[0097] The analog switch in the calibration parameter control circuit closes and opens based on the microcontroller's switch output, ENABLE2*. When the circuit is powered on, ENABLE2* is low, disconnecting analog switch channels 1 and 2. After a 0.5-second delay, ENABLE2* is high, closing analog switch channels 1 and 2.

[0098] The X-channel amplification and correction circuit consists of two stages, with the dual operational amplifier U4A as the first stage and U4B as the second stage.

[0099] The first stage is the proportional and integral correction circuit, and its transfer function is:

[0100]

[0101]

[0102] T1=R11·C1

[0103] When the switch is off, the second stage is a proportional and differential correction circuit, and its transfer function is:

[0104] H(s)=-K p2(1+T2S)

[0105]

[0106] T2=R10·C22

[0107] When the switch is closed, R14 = 100Ω and C22 = 0.68uF in the second stage circuit. Because the resistance of R14 is very small, the circuit can be regarded as a proportional amplifier circuit, and its transfer function is:

[0108]

[0109] Therefore, the transfer functions of the amplifier correction circuit in the two states are:

[0110]

[0111]

[0112] That is, when the circuit is powered on, the instantaneous amplification correction circuit is in proportional, integral, and differential states; after a delay of 0.5 seconds, the amplification correction circuit is in proportional and differential states.

[0113] like Figure 7 As shown, the window voltage comparator circuit 11 includes a resistor R15, a resistor R16, a resistor R17, a resistor R20, a resistor R22 and a resistor R23, the other end of the resistor R15 is connected to the resistor R19, the other end of the resistor R16 is connected to the resistor R21, one end of the resistor R17 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the window voltage control circuit 12, one end of the resistor R18 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the common end of the resistor R16 and the resistor R21, and In the window voltage control circuit 12, the other end of the resistor R19 not connected to the resistor R15 is connected to the positive end of the diode D1 and the comparator U6, the other end of the resistor R21 not connected to the resistor R16 is connected to the negative end of the diode D2 and the comparator U6, the negative end of the diode D1, the positive end of the diode D2 and one end of the resistor R20 are connected, the other end of the resistor R20 is connected to the demodulation circuit 2, both ends of the resistor R22 are connected to the comparator U6, one end of the resistor R23 is connected to +5V, and the other end is connected to the comparator U6, and the comparator U6 is connected to the OR gate circuit 13.

[0114] The window voltage control circuit 12 includes two analog switches U5B, and the two analog switches U5B are connected to the single chip computer circuit 6 and the two window voltage comparator circuits 11 respectively.

[0115] The two window voltage comparator circuits 11 are the same, namely the X-way window voltage comparator circuit 11 and the Y-way window voltage comparator circuit 11, wherein the X-way window voltage comparator circuit 11 includes: one end of the resistor R15 is connected to the power supply +Vr, and the other end is connected to one end of R19; one end of the resistor R16 is connected to the power supply -Vr, and the other end is connected to one end of the resistor R21; one end of the resistor R17 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the 10th pin of U5B in the X-way window voltage control circuit 12; one end of the resistor R18 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the common end of the resistor R16 and the resistor R21, as well as the X-way window voltage control circuit 12. The other end of resistor R19 not connected to resistor R15 is connected to the positive end of diode D1 and the third pin of comparator U6; the other end of resistor R21 not connected to resistor R16 is connected to the negative end of diode D2 and the second pin of comparator U6; the negative end of diode D1, the positive end of diode D2 and one end of resistor R20 are connected, and the other end of resistor R20 is connected to the 23rd pin of U3 in X-path demodulation circuit 2; one end of resistor R22 is connected to the second pin of comparator U6, and the other end is connected to the 7th pin of comparator U6; one end of resistor R23 is connected to +5V, and the other end is connected to the 7th pin of comparator U6; the output signal of the 7th pin of comparator U6 is sent to the OR gate circuit 13.

[0116] like Figure 8 As shown, the window voltage control circuit 12 includes: two analog switches U5B, U5B is the 3rd and 4th channels of the four-channel single-pole single-throw analog switch MAX313ESA, which respectively control the window voltages in the X-channel and Y-channel window voltage comparator circuits; the 9th and 8th pins of U5B are connected and then connected to the 21st pin of U1 in the single-chip circuit 6, and the 10th and 11th pins are connected to the non-common ends of resistors R17 and R18 in the X-channel window voltage comparator circuit 11; similarly, the 7th and 6th pins are connected to the non-common ends of the corresponding resistors in the Y-channel window voltage comparator circuit.

[0117] like Figure 9 As shown, the OR gate circuit 13 includes: a resistor R24 and a resistor R25. One end of the resistor R24 is connected to the 7th pin of the X-channel window voltage comparator circuit 11U6. Similarly, one end of the resistor R25 is connected to the corresponding comparator pin in the Y-channel window voltage comparator circuit. The other ends of the resistors R24 and R25 are connected together and then connected to the 4th pin of the microcontroller circuit 6U1.

[0118] The window voltage control circuit's analog switch is closed and opened by the microcontroller's switch output, ENABLE1*. When the circuit is powered on, ENABLE1* goes high, closing analog switch channels 3 and 4. After a one-second delay, ENABLE2* goes low, opening analog switch channels 3 and 4.

[0119] The two-way window voltage comparator circuit uses a window voltage control circuit 12 to set the window voltage based on the gyro's extreme deflection. This circuit consists of two single-pole, single-throw analog switches, whose opening and closing are controlled by the microcontroller's switch output, ENABLE1*. When the circuit is powered on, ENABLE1* goes high, closing analog switch channels 3 and 4, and creating a window voltage of 2V. After a one-second delay, ENABLE1* goes low, opening analog switch channels 3 and 4, and creating a window voltage of 10V. If the output level of either demodulation circuit exceeds the window voltage, the window voltage comparator circuit 11 outputs a high level, indicating that the gyro's rotor is significantly deflected relative to the sensor. This rotor deflection logic protection signal MV_TH is then fed through an OR gate 13 and fed into the microcontroller circuit 6 for processing.

[0120] The two modulation circuits 4 are the same, including the X modulation circuit 4 and the Y modulation circuit 4. The two modulation circuits share a four-way single-pole double-throw analog switch U7, which is MAX333AEWP. Figure 10 As shown, the X-path modulation circuit 4 includes: the 1st and 3rd paths of the four-way single-pole double-throw analog switch U7, and the operational amplifier U8; the 1st pin of U7 is connected to the 11th pin of U7, and the 5th pin of U1 in the single-chip computer circuit 6; the 2nd pin of U7 is connected to the 12th pin of U7; the 3rd pin of U7 is connected to the 13th pin of U7, and the 7th pin of U4B in the X-path correction amplifier circuit 3; the 4th pin of U7 is connected to the 14th pin of U7; the 16th pin of U7 is connected to +15V, the 5th pin is connected to -15V, and the 6th pin is connected to the analog ground; one end of the capacitor C39 is connected to the 16th pin of U7, and the other end is connected to the analog ground; one end of the capacitor C40 is connected to the 5th pin of U7, and the other end is connected to the 6th pin of U7; one end of the resistor R26 is connected to U7 Pin 14, the other end is connected to pin 2 of U8; one end of resistor R27 is connected to pin 12 of U7, and the other end is connected to pin 3 of U8; one end of resistor R38 is connected to pin 2 of U8, and the other end is connected to analog ground; one end of resistor R28 is connected to pin 2 of U8, and the other end is connected to pin 1 of U8; one end of resistor R29 is connected to pin 3 of U8, and the other end is connected to analog ground; one end of capacitor C23 is connected to pin 8 of U8, and the other end is connected to analog ground; one end of capacitor C24 is connected to pin 4 of U8, and the other end is connected to analog ground; pin 8 of U8 is connected to +15V, pin 4 is connected to -15V, and pin 1 outputs the signal to adder circuit 7; similarly, the 2nd and 4th channels of the four-way single-pole double-throw analog switch U7 are used in the Y-channel modulation circuit.

[0121] like Figure 11As shown, the adder circuit 7 includes: one end of a resistor R30 is connected to the first pin of the operational amplifier U8 in the X-channel modulation circuit 4, and the other end is connected to the second pin of the operational amplifier U9; one end of a resistor R31 is connected to the corresponding pin of the operational amplifier in the Y-channel modulation circuit, and the other end is also connected to the second pin of the operational amplifier U9; the resistor R32 and the capacitor C25 are connected in parallel, and the after that one end is connected to the second pin of the operational amplifier U9, and the other end is connected to the sixth pin of the operational amplifier U9; one end of a capacitor C26 is connected to the seventh pin of the operational amplifier U9, and the other end is connected to the analog ground; one end of a capacitor C27 is connected to the fourth pin of the operational amplifier U9, and the other end is connected to the third pin of the operational amplifier U9; the seventh pin of the operational amplifier U9 is connected to +15V, the fourth pin is connected to -15V, the third pin is connected to the analog ground, and the sixth pin outputs a signal to the low-pass filter circuit 8.

[0122] Because the gyroscope only has one torquer, the X-axis and Y-axis angle signals from the angle sensor must be orthogonally modulated and vector-synthesized based on the gyro rotor's rotational angular rate. The synthesized signal contains phase and amplitude information about the rotor's rotational angle. AC torque is applied based on the synthesized vector, enabling dual-axis torque control of the gyroscope from a single torquer. Therefore, a two-way modulation circuit 4 quadrature-modulates the two angle sensor signals, resulting in a 90° phase difference between the modulated signals. To ensure that the synthesized AC signal has the same frequency as the rotor, the quadrature modulation control signals SYN-COS and SYN-SIN are output by a single-chip microcomputer. These quadrature-modulated signals are derived from the gyroscope's motor speed frequency and divided by two. This ensures that the vector-synthesized AC signal has the same frequency as the rotor. The two quadrature-modulated signals are combined into a staircase signal by an adder. After filtering through a low-pass filter, the fundamental frequency is equal to the rotor frequency. Its phase reflects the phase information of the sensor-sensed angular displacement, determining the torque phase of the torquer in space.

[0123] like Figure 12 As shown in Figure 1, the principle of quadrature modulation is as follows: Assume the gyro rotor has an offset. The correction network outputs a slowly varying AC signal, which can be viewed as a DC signal XD2 and YD2 for a short period of time. After quadrature modulation, it becomes XT and YT. The combined XT + YT is modulated into a step wave. After filtering with a low-pass filter, the fundamental frequency is the same as the rotor frequency, and its phase is the same as the gyro rotor deflection phase. According to circuit calculations, the transmission coefficient of the quadrature modulation circuit is 1, and the transmission coefficient of the combined circuit is 0.8.

[0124] like Figure 13As shown, the low-pass filter circuit 8 includes: after the resistor R33, the resistor R34, the resistor R35 and one end of the capacitor C28 are connected together, the other end of the resistor R33 is connected to the 6th pin of U9 in the adder circuit 7, the other end of the resistor R34 is connected to the 6th pin of the operational amplifier U10, the other end of the resistor R35 is connected to the 2nd pin of the operational amplifier U10, and the other end of the capacitor C28 is connected to the analog ground; one end of the capacitor C29 is connected to the 2nd pin of the operational amplifier U10, and the other end is connected to the 6th pin of the operational amplifier U10; one end of the capacitor C30 is connected to the 7th pin of the operational amplifier U10, and the other end is connected to the analog ground; one end of the capacitor C31 is connected to the 4th pin of the operational amplifier U10, and the other end is connected to the analog ground; the 7th pin of the operational amplifier U10 is connected to +15V, the 4th pin is connected to -15V, the 3rd pin is connected to the analog ground, and the 6th pin outputs the signal to the control blocking circuit 9.

[0125] like Figure 14 As shown, the control blocking circuit 9 includes a four-way single-pole single-throw analog switch U11, a resistor R36, a resistor R37, a capacitor C35, a capacitor C32, a capacitor C33 and a capacitor C34. One end of the resistor R36 and the resistor R37 are both connected to the low-pass filter circuit 8, the other end of the resistor R37 is connected to the four-way single-pole single-throw analog switch U11 and the capacitor C35, the other end of the capacitor C35 is connected to the torquer power amplifier circuit 10, the other end of the resistor R36 is connected to the four-way single-pole single-throw analog switch U11, one end of the capacitor C32, the capacitor C33 and the capacitor C34 are connected to the four-way single-pole single-throw analog switch U11, and the other end is grounded.

[0126] The control blocking circuit 9 includes: a four-way single-pole single-throw analog switch U11, U11 is MAX313ESA; one end of the resistor R36 and the resistor R37 are simultaneously connected to the 6th pin of U10 in the low-pass filter circuit 8, the other end of the resistor R37 is connected to the 14th pin and the 11th pin of U11 and one end of the capacitor C35, and the other end of the capacitor C35 outputs a signal to the torquer power amplifier circuit 10; the other end of the resistor R36 is connected to the 15th pin and the 10th pin of U11; the 16th pin of U11 is connected In the single-chip computer circuit 6, pin 20 of U1 and pin 16 of U11 are connected to pin 9 of U11; pin 12 of U11 is connected to +5V, pin 13 is connected to +15V, pin 4 is connected to -15V, and pin 5 is connected to the analog ground; one end of capacitor C32 is connected to pin 13 of U11, and the other end is connected to the analog ground; one end of capacitor C33 is connected to pin 4 of U11, and the other end is connected to the analog ground; one end of capacitor C34 is connected to pin 12 of U11, and the other end is connected to the digital ground.

[0127] The closing and opening of the analog switch in blocking circuit 9 is controlled by the microcontroller's switch output, ENABLE1. When the circuit is powered on, ENABLE1 is low, and analog switches 2 and 3 are open. This means that at the moment the gyro is first powered on and the rotor has not yet developed a gyroscopic effect, the synthetic torque signal passes through resistor R37 as a small signal, pre-closing the circuit. After a one-second delay, ENABLE1 is high, closing analog switches 2 and 3. Resistors R37 and R36 are connected in parallel, and the synthetic torque signal passes through the parallel resistors R37 and R36, then through capacitor C35 as a normal signal, closing the circuit for normal operation.

[0128] In order to make the rebalancing circuit meet the requirements of the dynamically tuned gyroscope to track the angular rate, a sufficiently large current must be provided to the torquer coil. For this purpose, there is a power amplifier circuit at the end of the torque rebalancing circuit.

[0129] like Figure 15As shown, the torquer power amplifier circuit 10 includes: one end of the resistor R39 is connected to the end of the capacitor C35 in the control blocking circuit 9 that is not connected to the four-way single-pole single-throw analog switch U11, and the other end is connected to the second pin of the operational amplifier U12; one end of the capacitor C42 is connected to the second pin of the operational amplifier U12, and the other end is connected to the sixth pin of the operational amplifier U12; one end of the capacitor C43 is connected to the seventh pin of the operational amplifier U12, and the other end is connected to the analog ground; one end of the capacitor C44 is connected to the third pin of the operational amplifier U12, and the other end is connected to the fourth pin of the operational amplifier U12; the seventh pin of the operational amplifier U12 is connected to +15V, the fourth pin is connected to -15V, and the third pin is connected to the analog ground; after the capacitor C45 and the capacitor C46 are connected in parallel, the capacitor C45 The positive end is connected to +27V and the negative end is connected to the analog ground; after capacitor C47 and capacitor C48 are connected in parallel, the negative end of capacitor C47 is connected to -27V and the positive end is connected to the analog ground; one end of resistor R39 is connected to pin 6 of operational amplifier U12, and the other end is connected to the base of transistor VT1; after resistor R41 and resistor R44 are connected in series, one end is connected to +27V and the other end is connected to the collector of transistor VT1; the positive end of diode D3 is connected to the emitter of transistor VT1, and the negative end is connected to the negative end of Zener diode D4, and the positive end of Zener diode D4 is connected to the collector of transistor VT3; one end of resistor R45 is connected to the emitter of transistor VT1, and the other end is connected to the collector of transistor VT3; after resistors R46, R47, and R48 are connected in series, one end is connected to the emitter of transistor VT3, and the other end is connected Connect to -27V; Resistor R42 and resistor R49 are connected in series with one end connected to +27V, and the other end is connected to the collector of transistor VT2; Resistor R50, R51, and R52 are connected in series with one end connected to the emitter of transistor VT2, and the other end is connected to the emitter of transistor VT4; The positive end of diode D5 is connected to the collector of transistor VT4, and the other end is connected to the negative end of Zener diode D6, and the positive end of Zener diode D6 is connected to -27V; One end of resistor R53 is connected to the collector of transistor VT4, and the other end is connected to -27V; The emitter of transistor VT1 is connected to the emitter of transistor VT2; The base of transistor VT3 is connected to the collector of transistor VT4; One end of resistor R43 is connected to +27V, and the other end is connected to the emitter of transistor VT5; The base of transistor is connected to resistor R42 and The common end of resistor R49; the resistors R54, R55, R56, and R57 are connected in series at one end to the collector of transistor VT5, and the other end to -27V; the resistors R58, R59, and R60 are connected in parallel at one end to +27V, and the other end to the source of field-effect transistor VT6; the gate of field-effect transistor VT6 is connected to the common end of resistor R41 and resistor R44; the resistors R61, R62, and R63 are connected in parallel at one end to -27V, and the other end to the source of field-effect transistor VT7; the gate of field-effect transistor VT7 is connected to the common end of resistor R54 and resistor R55; the drain of field-effect transistor VT6 is connected to the drain of field-effect transistor VT7; one end of resistor R64 is connected to the base of transistor VT2, and the other end to the drain of field-effect transistor VT6 and the drain of field-effect transistor VT7;One end of resistor R65 is connected to the base of transistor VT2, and the other end is connected to analog ground. One end of resistor R40 is connected to pin 2 of operational amplifier U12, and the other end is connected to one end of the torque converter and the common end of resistor R64, the drain of field effect transistor VT6, and the drain of field effect transistor VT7. The other end of the torque converter is connected to one end of the sampling resistor, and the other end of the sampling resistor is connected to digital ground.

[0130] The torquer power amplifier circuit 10 adopts the operational amplifier output current expansion technology and uses a CMOS field effect tube at the end. The internal voltage drop is very small to ensure that the gyroscope can track large angular rates.

[0131] During operation, the two demodulation circuits 2 provide excitation signals to the two differential angle sensors. The output signals of the two angle sensors are modulated on the high-frequency excitation signals, filtered and amplified by the two preamplifier circuits 1, and then sent to the corresponding demodulation circuit 2 for demodulation. The magnitude and polarity of the demodulated DC voltage signal reflect the magnitude and direction of the gyro rotor deflection angle sensed by the angle sensor.

[0132] The two-way modulation circuit 4 orthogonally modulates the two-way differential angle sensor slow-changing angle signals output by the two-way amplification and correction circuit 3. The modulated signals are two square waves with a phase difference of 90°. The adder circuit 7 vector-synthesizes the two square wave signals after orthogonal modulation into a step wave signal. The low-pass filter circuit 8 filters the step wave, so that the fundamental frequency is the same as the motor speed frequency, and its phase is the same as the gyro rotor deflection phase. This phase reflects the angular displacement information of the angle sensor and determines the torque phase of the torquer in space. The low-pass filtered signal enters the torquer power amplifier circuit 10 through the control blocking circuit and is then input to the torquer. The corresponding restoring torque generated by the torquer acts synchronously on the gyro rotor, causing it to precess and restore stability.

[0133] The control blocking circuit 9 is to pre-close the circuit with a small current when the gyro is just powered on and the rotor has not yet had a gyro effect. After a proper delay, the entire torquer rebalance circuit is closed and works normally.

[0134] The window voltage control circuit 12 controls the window voltage in the window voltage comparator circuit 11 according to the gyro rotor's limit deflection value. When the output level of any demodulation circuit 2 exceeds the window voltage, the window voltage comparator circuit outputs a high level, indicating that the gyro rotor is strongly deflected relative to the angle sensor of that path. The rotor deflection logic protection signal is input to the single-chip microcomputer circuit 6 for processing via the OR gate circuit 13;

[0135] The two-way amplification correction circuit 3 and the correction parameter control circuit 5 are located before the two-way orthogonal modulation circuit and after the two-way demodulation circuit 2. They are auxiliary links added to improve the stability of the system, and are used to improve the control loop characteristics and ensure the stability of the control system.

[0136] The single chip microcomputer circuit 6 controls the functions of orthogonal modulation and vector synthesis, blocking control, rotor deflection logic protection, correction amplification network, etc.

Claims

1. A torque rebalancing circuit, characterized in that: It includes a preamplifier circuit (1), a demodulator circuit (2), an amplification correction circuit (3), a modulation circuit (4), a correction parameter control circuit (5), a single chip computer circuit (6), an adder circuit (7), a low-pass filter circuit (8), a control blocking circuit (9), a torquer power amplifier circuit (10), a window voltage comparator circuit (11), a window voltage control circuit (12) and an OR gate circuit (13); The preamplifier circuit (1) has two paths, the input end of each path of the preamplifier circuit (1) is connected to an angle sensor on the gyroscope, and the output end of each path of the preamplifier circuit (1) is connected to the input end of a demodulation circuit (2); The demodulation circuit (2) has two paths, and the output end of each demodulation circuit (2) is connected to the input end of a window voltage comparator circuit (11) and the input end of an amplification correction circuit (3); the output end of each demodulation circuit (2) is also connected to an angle sensor to provide an excitation signal; The amplifying and correcting circuit (3) has two paths, and the output end of each amplifying and correcting circuit (3) is connected to the input end of a modulation circuit (4); A modulation circuit (4), the modulation circuit (4) has two paths, and the output ends of the two modulation circuits (4) are both connected to the input end of the adder circuit (7); A correction parameter control circuit (5), wherein the input end of the correction parameter control circuit (5) is connected to the single chip computer circuit (6), and the output end is connected to the two-way amplification correction circuit (3), and is used to control the state switching of the two-way amplification correction circuit (3); The single chip microcomputer circuit (6) has an output terminal connected to the input terminals of the two modulation circuits (4), the control blocking circuit (9), and the window voltage control circuit (12); An adder circuit (7), wherein an output end of the adder circuit (7) is connected to an input end of a low-pass filter circuit (8); A low-pass filter circuit (8), wherein an output end of the low-pass filter circuit (8) is connected to an input end of a control blocking circuit (9); A control blocking circuit (9), wherein an output end of the control blocking circuit (9) is connected to an input end of a torquer power amplifier circuit (10); A torquer power amplifier circuit (10), wherein an output end of the torquer power amplifier circuit (10) is connected to the torquer; A window voltage comparator circuit (11), wherein the window voltage comparator circuit (11) has two paths, and the output ends of the two path window voltage comparator circuits (11) are both connected to the input end of the OR gate circuit (13); A window voltage control circuit (12), wherein an output end of the window voltage control circuit (12) is connected to input ends of two window voltage comparator circuits (11); An OR gate circuit (13) has an output end connected to an input end of a single chip computer circuit (6).

2. The torque rebalancing circuit according to claim 1, characterized in that: The preamplifier circuit (1) includes a resistor R2, an operational amplifier U2, a resistor R1 and a capacitor C5. After the resistor R1 and the capacitor C5 are connected in parallel, one end is connected to one end of the resistor R2, and the other end is connected to the analog ground; the other end of the resistor R2 is connected to the operational amplifier U2; after the resistor R3 and the capacitor C6 are connected in parallel, both ends are connected to the operational amplifier U2; the operational amplifier U2 is connected to the resistor R4, the capacitor C7, the capacitor C8, the angle sensor differential output, and the demodulation circuit (2).

3. The torque rebalancing circuit according to claim 1, characterized in that: The demodulation circuit (2) includes a demodulation chip U3, a capacitor C11, a capacitor C12, a resistor R7, a capacitor C16, a capacitor C18 and a capacitor C17. The demodulation chip U3 is connected to a capacitor C9, a resistor R5, a capacitor C10, a resistor R6, a capacitor C13, a capacitor C14, a resistor R8 and a resistor R9. The other end of the capacitor C9 is connected to the preamplifier circuit (1). The resistor R5, the capacitor C10, the resistor R6, the capacitor C13, the capacitor C14 and both ends are connected to the demodulation chip U3. The capacitor C11 and the capacitor C12 are connected in parallel. The end is connected to the demodulation chip U3, the resistor R7 and the capacitor C16 are connected in parallel, and both ends are connected to the demodulation chip U3, the other end of the resistor R8 is connected to the potentiometer RV1, the other end of the resistor R9 is connected to the other end of the potentiometer RV1, the capacitor C18 and the capacitor C17 are connected in parallel, and one end is connected to the demodulation chip U3, and the demodulation chip U3 is connected to the window voltage comparator circuit (11), the amplification correction circuit (3) and the angle sensor, providing input signals for the window voltage comparator circuit (11) and the amplification correction circuit (3), and providing an excitation signal for the angle sensor.

4. The torque rebalancing circuit according to claim 1, characterized in that: The control blocking circuit (9) comprises a four-way single-pole single-throw analog switch U11, a resistor R36, a resistor R37, a capacitor C35, a capacitor C32, a capacitor C33 and a capacitor C34, one end of each of the resistor R36 and the resistor R37 is connected to the low-pass filter circuit (8), the other end of the resistor R37 is connected to the four-way single-pole single-throw analog switch U11 and the capacitor C35, the other end of the capacitor C35 is connected to the torquer power amplifier circuit (10), the other end of the resistor R36 is connected to the four-way single-pole single-throw analog switch U11, one end of the capacitor C32, the capacitor C33 and the capacitor C34 is connected to the four-way single-pole single-throw analog switch U11, and the other end thereof is grounded.

5. The torque rebalancing circuit according to claim 1, characterized in that: The single chip microcomputer circuit (6) is a PSoC single chip microcomputer CY8C26443.

6. The torque rebalancing circuit according to claim 1, characterized in that: The correction parameter control circuit (5) includes two analog switches U5A, which are connected to the single chip computer circuit (6) and the two amplification correction circuits (3). The two analog switches U5A are also connected to capacitors C36, C37 and C38, and the other ends of the capacitors C36, C37 and C38 are all grounded.

7. The torque rebalancing circuit according to claim 1, characterized in that: The window voltage comparator circuit (11) includes a resistor R15, a resistor R16, a resistor R17, a resistor R20, a resistor R22 and a resistor R23, the other end of the resistor R15 is connected to the resistor R19, the other end of the resistor R16 is connected to the resistor R21, one end of the resistor R17 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the window voltage control circuit (12), one end of the resistor R18 is connected to the common end of the resistor R15 and the resistor R19, and the other end is connected to the common end of the resistor R16 and the resistor R21, and the window voltage comparator circuit (11) is connected to the window voltage comparator circuit (12). The voltage control circuit (12) is provided, the other end of the resistor R19 not connected to the resistor R15 is connected to the positive end of the diode D1 and the comparator U6, the other end of the resistor R21 not connected to the resistor R16 is connected to the negative end of the diode D2 and the comparator U6, the negative end of the diode D1, the positive end of the diode D2 and one end of the resistor R20 are connected, the other end of the resistor R20 is connected to the demodulation circuit (2), both ends of the resistor R22 are connected to the comparator U6, one end of the resistor R23 is connected to +5V, and the other end is connected to the comparator U6, and the comparator U6 is connected to the OR gate circuit (13).

8. The torque rebalancing circuit according to claim 1, characterized in that: The window voltage control circuit (12) includes two analog switches U5B, and the two analog switches U5B are respectively connected to the single chip computer circuit (6) and the two window voltage comparator circuits (11).

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