A two-frequency machine dithering laser gyroscope dithering control system and a phase accurate adjustment method thereof

Abstract

The application discloses a two-frequency machine dithering laser gyroscope dithering control system and a phase accurate adjustment method thereof, and relates to the technical field of laser gyroscope dithering control systems. The system comprises a microcontroller, a drive amplification module, a signal amplification module, an amplitude extraction module and a zero-crossing comparison module. The microcontroller generates a drive signal Q1. The drive amplification module receives the drive signal Q1, amplifies the drive signal Q1 to obtain a drive signal Q2, and drives the dither wheel of the laser gyroscope to move. The laser gyroscope generates a signal D1. The signal amplification module receives the signal D1, amplifies the signal D1 to obtain a feedback signal S1, and transmits the feedback signal S1 to the amplitude extraction module and the zero-crossing comparison module. The amplitude extraction module extracts an amplitude signal A1 of the feedback signal S1 and sends the amplitude signal A1 to the microcontroller. The zero-crossing comparison module extracts a zero-crossing comparison signal Z1 of the feedback signal S1 and sends the zero-crossing comparison signal Z1 to the microcontroller. The application solves the cumulative phase problem of the dithering control system, improves the driving efficiency and the gyroscope precision.

Description

Technical Field

[0001] This invention belongs to the field of inertial sensor technology, and particularly relates to a jitter control system for a dual-frequency laser gyroscope and a method for precise phase adjustment thereof. Background Technology

[0002] Dual-frequency mechanically dithered laser gyroscopes are the core sensors of laser inertial measurement systems, boasting advantages such as small size, high precision, fast start-up, high reliability, and digital output. They are widely used in various fields including sea, land, air, and space. For laser gyroscopes, lock-in is a crucial factor affecting their accuracy. Dual-frequency mechanically dithered gyroscopes employ alternating mechanical dithering frequency offset to eliminate lock-in.

[0003] Traditional jitter control systems, during system initialization, generate a linearly frequency-converted drive signal to excite the jitter wheel of a two-frequency jitter gyroscope. Simultaneously, the amplitude of the jitter feedback signal is extracted to obtain its resonant frequency, which is then used to continuously excite the jitter wheel. However, in jitter systems, there are phase differences between the drive signal and the jitter wheel feedback, as well as between the jitter wheel feedback signal processing circuit and the zero-crossing comparator. These accumulated phase differences cause a mismatch between the drive signal and the actual motion of the gyroscope, leading to reduced system drive efficiency and affecting the gyroscope's accuracy. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a two-frequency laser gyroscope jitter control system and its precise phase adjustment method, which solves the cumulative phase problem of the jitter control system and improves the driving efficiency and gyroscope accuracy.

[0005] The objective of this invention is achieved through the following technical solution: a two-frequency laser gyroscope jitter control system, comprising: a microcontroller, a drive amplification module, a signal amplification module, an amplitude extraction module, and a zero-crossing comparison module; wherein, the microcontroller generates a drive signal Q1 and transmits the drive signal Q1 to the drive amplification module; the drive amplification module receives the drive signal Q1, amplifies the drive signal Q1 to obtain a drive signal Q2, and the drive signal Q2 causes the jitter wheel of the laser gyroscope to move; the laser gyroscope generates a signal D1 and transmits the signal D1 to the signal amplification module; the signal amplification module receives the signal D1, amplifies the signal D1 to obtain a feedback signal S1, and transmits the feedback signal S1 to both the amplitude extraction module and the zero-crossing comparison module; the amplitude extraction module extracts the amplitude signal A1 of the feedback signal S1 and sends it to the microcontroller; the zero-crossing comparison module extracts the zero-crossing comparison signal Z1 of the feedback signal S1 and sends it to the microcontroller.

[0006] In the aforementioned dual-frequency laser gyroscope jitter control system, the microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1. Then, it changes the time parameter of the zero-crossing comparison signal Z1 between the drive signal Q1 and the feedback signal S1 by a preset step size to obtain the second time parameter of the zero-crossing comparison signal Z1 of the feedback signal S1 corresponding to the drive signal Q1. The jitter closed-loop control is then performed using the second time parameter.

[0007] In the above-mentioned dual-frequency laser gyroscope jitter control system, the microcontroller receives the amplitude signal A1 of the feedback signal S1.

[0008] In the above-mentioned dual-frequency laser gyroscope jitter control system, the microcontroller receives the zero-crossing comparison signal Z1 of the feedback signal S1.

[0009] A method for precise phase adjustment of jitter control in a dual-frequency laser gyroscope includes: the microcontroller finding the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1; then changing the time parameter of the zero-crossing comparison signal Z1 between the drive signal Q1 and the feedback signal S1 by a preset step size to obtain a second time parameter of the zero-crossing comparison signal Z1 of the drive signal Q1 and the feedback signal S1; and performing jitter closed-loop control using the second time parameter.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] (1) The present invention can achieve precise phase adjustment through the amplitude extraction module and the zero-crossing comparison module of the feedback circuit, without the need to add new circuits;

[0012] (2) The present invention achieves automatic adjustment after power-on through a microcontroller;

[0013] (3) The present invention can achieve cumulative phase compensation of the entire closed-loop system by adjusting one time parameter by comparing the output of the zero-crossing comparison module, and the compensation is accurate.

[0014] (4) The jitter drive system of the present invention after phase compensation can improve its drive efficiency and gyroscope accuracy. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0016] Figure 1This is a block diagram of the dual-frequency laser gyroscope jitter control system provided in an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram illustrating the relationship between the frequency of the driving signal Q1 and the amplitude of the feedback signal A1 provided in an embodiment of the present invention;

[0018] Figure 3 This is a time parameter relationship diagram between the driving signal Q1 and the zero-crossing signal Z1 provided in an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram showing the relationship between the time parameter T and the feedback signal amplitude A1 provided in an embodiment of the present invention. Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a block diagram of the dual-frequency laser gyroscope jitter control system provided in an embodiment of the present invention. Figure 1 As shown, the dual-frequency laser gyroscope jitter control system includes: a microcontroller, a drive amplification module, a signal amplification module, an amplitude extraction module, and a zero-crossing comparison module; among which,

[0022] The microcontroller generates a drive signal Q1 and transmits it to the drive amplification module. The drive amplification module receives the drive signal Q1, amplifies it to obtain a drive signal Q2, and the drive signal Q2 causes the jiggle wheel of the laser gyroscope to move. The laser gyroscope generates a signal D1 and transmits it to the signal amplification module. The signal amplification module receives the signal D1, amplifies it to obtain a feedback signal S1, and transmits the feedback signal S1 to the amplitude extraction module and the zero-crossing comparison module. The amplitude extraction module extracts the amplitude signal A1 of the feedback signal S1 and sends it to the microcontroller. The zero-crossing comparison module extracts the zero-crossing comparison signal Z1 of the feedback signal S1 and sends it to the microcontroller.

[0023] The microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1. Then, it changes the time parameter of the zero-crossing comparison signal Z1 of the drive signal Q1 and the feedback signal S1 by a preset step size to obtain the second time parameter of the zero-crossing comparison signal Z1 of the feedback signal S1 corresponding to the drive signal Q1. The microcontroller then uses the second time parameter to perform jitter closed-loop control.

[0024] like Figure 2 As shown, when the drive signal Q1 generates a frequency change, due to the characteristics of the laser gyroscope dithering system, the amplitude signal A1 and the frequency have the following relationship: Figure 2 The curve describes the relationship. The microcontroller obtains the frequency F1 corresponding to the maximum value of A1 by changing the frequency of Q1 and sampling A1. After finding the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the jitter feedback signal S1, the microcontroller continuously excites it with F1.

[0025] like Figure 3 As shown, there will be a time parameter T between the drive signal Q1 and the zero-crossing signal Z1 of the jitter feedback signal S1.

[0026] like Figure 4 As shown, the microcontroller changes the time parameter T of the zero-crossing signal Z1 of Q1 and the jitter feedback signal S1 in steps t. A1 will change with the change of T. The microcontroller finds the time parameter T1 that maximizes A1. At this point, the time T1 of the zero-crossing signal Z1 of the jitter feedback signal S1 corresponding to the drive signal Q1 is obtained, and this parameter is used for jitter closed-loop control. It should be noted that the parameter T can be positive or negative.

[0027] This embodiment also provides a method for precise phase adjustment of a two-frequency laser gyroscope jitter control, the method comprising:

[0028] The microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1. Then, it changes the time parameter of the zero-crossing comparison signal Z1 of the drive signal Q1 and the feedback signal S1 by a preset step size to obtain the second time parameter of the zero-crossing comparison signal Z1 of the feedback signal S1 corresponding to the drive signal Q1. The microcontroller then uses the second time parameter to perform jitter closed-loop control.

[0029] After the jitter control system is powered on, the microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the jitter feedback signal S1, and then continuously excites it with F1. At this time, the time parameter T of the zero-crossing signal Z1 of Q1 and the jitter feedback signal S1 is changed with a step size t. The time parameter T1 that maximizes A1 is found. At this time, the time T1 of the zero-crossing signal Z1 of the jitter feedback signal S1 corresponding to the drive signal Q1 is obtained, and the jitter closed-loop control is performed using this parameter.

[0030] This invention achieves precise phase adjustment through the amplitude extraction module and zero-crossing comparison module of the feedback circuit without adding new circuits; this invention achieves automatic adjustment after power-on through a microcontroller; this invention achieves cumulative phase compensation of the entire closed-loop system by adjusting one parameter of the time parameter with the output of the zero-crossing comparison module, and the compensation is accurate; the jitter drive system of this invention after phase compensation can improve its drive efficiency and gyroscope accuracy.

[0031] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A two-frequency laser gyroscope jitter control system, characterized in that... include: The microcontroller comprises a drive amplification module, a signal amplification module, an amplitude extraction module, and a zero-crossing comparison module; among which, The microcontroller generates a drive signal Q1 and transmits the drive signal Q1 to the drive amplification module; The drive amplification module receives drive signal Q1, amplifies drive signal Q1 to obtain drive signal Q2, and drive signal Q2 causes the dither wheel of the laser gyroscope to move. The laser gyroscope generates signal D1 and transmits signal D1 to the signal amplification module; The signal amplification module receives signal D1, amplifies signal D1 to obtain feedback signal S1, and transmits feedback signal S1 to the amplitude extraction module and the zero-crossing comparison module respectively. The amplitude extraction module extracts the amplitude signal A1 of the feedback signal S1 and sends it to the microcontroller; The zero-crossing comparison module extracts the zero-crossing comparison signal Z1 from the feedback signal S1 and sends it to the microcontroller; The microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1. Then, it changes the time parameter of the zero-crossing comparison signal Z1 of the drive signal Q1 and the feedback signal S1 by a preset step size to obtain the second time parameter of the zero-crossing comparison signal Z1 of the feedback signal S1 corresponding to the drive signal Q1. The microcontroller then uses the second time parameter to perform jitter closed-loop control.

2. A method for precise phase adjustment of a two-frequency laser gyroscope jitter control system based on the jitter control system of claim 1, characterized in that... include: The microcontroller finds the frequency F1 of the drive signal Q1 that maximizes the amplitude signal A1 of the feedback signal S1 by changing the frequency of the drive signal Q1. Then, it changes the time parameter of the zero-crossing comparison signal Z1 of the drive signal Q1 and the feedback signal S1 by a preset step size to obtain the second time parameter of the zero-crossing comparison signal Z1 of the feedback signal S1 corresponding to the drive signal Q1. The microcontroller then uses the second time parameter to perform jitter closed-loop control.

3. An electronic device, characterized in that, include: Memory: Used to store computer-readable instructions; and Processor: for executing the computer-readable instructions to perform the method as described in claim 2.

4. A computer-readable storage medium, characterized in that, It stores a computer program, which is executed by a processor to implement the method of claim 2.

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