Portable gyro machine shake driving measurement system and method

Abstract

The invention discloses a portable gyroscope mechanical dithering driving measurement system. The system comprises a main control module, a mechanical dithering driving control module, a boosting module and a communication module, through the main control module and the machine shake driving control module, the system realizes shake amplitude closed-loop control and shake frequency control, and outputs a machine shake driving value through the communication module. The system is convenient to carry, can be installed nearby along with the to-be-tested laser gyroscope, can be used in various mechanical environments or temperature environments, can output a test result as a digital quantity, is convenient for visual judgment, and has relatively good anti-interference performance. The invention also provides a portable gyroscope machine shake driving measurement method.

Description

Technical Field

[0001] The invention relates to a portable gyroscope jitter drive measurement system and method, belonging to the field of laser gyroscope jitter control. Background Art

[0002] Due to the locking effect of the laser gyro, in actual applications, the dual-frequency laser gyro overcomes the influence of the lock zone by applying alternating mechanical jitter (abbreviated as: machine jitter) on the jitter wheel. Applying an alternating mechanical jitter signal means applying a sinusoidal analog drive signal to the jitter wheel piezoelectric ceramic sheet, and then measuring the actual jitter of the gyro by monitoring the feedback signal generated on the jitter wheel piezoelectric ceramic sheet. During the assembly of the laser gyro by the inertial measurement unit (IMU) component or in the design stage, in order to ensure that the laser gyro can obtain jitter of sufficient intensity in different environments, it is necessary to test the jitter efficiency of the laser gyro in different environments: when the same jitter intensity is obtained, the lower the voltage amplitude of the feedback signal output by the laser gyro, the higher the jitter efficiency.

[0003] At present, the laser gyro integrated test system is often used to perform the machine jitter drive test, or the test is performed in the form of function generator and oscilloscope measurement. When the latter uses a signal generator to apply a fixed amplitude sinusoidal analog drive signal to the jitter wheel, due to the characteristics of the laser gyro itself, the amplitude of the jitter feedback signal output is different. When the signal generator adjusts the frequency of the sinusoidal analog drive signal to the inherent resonant frequency of the laser gyro, the amplitude of the jitter feedback signal generated by the laser gyro is the largest; and under different mechanical environments or temperature environments, the amplitude of the jitter feedback signal corresponding to the resonant frequency point is different; therefore, by measuring the amplitude of the jitter feedback signal corresponding to the resonant frequency point, the jitter efficiency of the laser gyro under a specific environment can be measured. However, the laser gyro integrated test system is large in size, and like the signal generator measurement method, it is not easy to carry and is not easy to use in special mechanical environments such as centrifuges. When testing the feedback signal of the jitter wheel, an extended wire is often used to pass through the slip ring for testing, resulting in a large amount of noise introduced into the signal to be tested, affecting the test results. Therefore, a portable gyro machine jitter drive measurement system is urgently needed to effectively solve the above problems. Summary of the invention

[0004] The present invention aims to provide a portable gyro jitter drive measurement system, which is easy to carry and can be installed near a laser gyro to be tested, and can be used for jitter efficiency testing of laser gyros in different mechanical environments or temperature environments.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a portable gyro machine shake drive measurement system, the system includes a main control module, a machine shake drive control module, a boost module and a communication module;

[0006] The main control module is used to output a pulse frequency modulation signal and a pulse width modulation signal to the machine jitter drive control module;

[0007] The machine jitter driving control module generates a sinusoidal analog driving signal from the received pulse frequency modulation signal and the pulse width modulation signal, and outputs the signal to the laser gyro;

[0008] The laser gyro outputs a feedback signal to the machine jitter drive control module, and the machine jitter drive control module divides the feedback signal into a DC signal and a square wave signal, and inputs the signal into the main control module to detect the voltage amplitude and calculate the jitter frequency of the laser gyro; the voltage amplitude is the voltage amplitude of the DC signal converted by the feedback signal divider;

[0009] The main control module adjusts the pulse frequency modulation signal or the pulse width modulation signal according to the voltage amplitude and the jitter frequency;

[0010] The boost module is used to provide the voltage required by the machine jitter drive control module;

[0011] The main control module is also used to output the duty cycle of the pulse width modulation signal to the communication module;

[0012] The communication module is used to output the duty cycle of the pulse width modulation signal to the outside.

[0013] Through the main control module and the machine jitter drive control module, the system implements jitter amplitude closed-loop control and jitter frequency control, and outputs the machine jitter drive value through the communication module. The jitter amplitude closed-loop control is to detect the voltage amplitude of the DC signal converted by the voltage division of the feedback signal, and adjust the output pulse width of the pulse width modulation signal in real time, thereby adjusting the machine jitter drive value.

[0014] According to the embodiments of the present invention, the present invention can be further optimized. The following is the technical solution formed after optimization:

[0015] In one preferred embodiment, the machine jitter drive control module includes a frequency modulation and amplitude modulation module, a drive amplification module, a voltage division module, a signal conversion module and a zero-crossing comparison module;

[0016] The frequency modulation and amplitude modulation circuit module is used to receive the pulse frequency modulation signal and the pulse width modulation signal, generate the sinusoidal analog driving signal, and output it to the driving amplifier module;

[0017] The driving amplifier module is used to amplify the received sinusoidal analog driving signal and output it to the laser gyro through the machine shaking driving interface;

[0018] The laser gyro outputs the feedback signal to the voltage divider module through a machine jitter feedback interface;

[0019] The voltage division module is used to protect the signal conversion module, and output the divided feedback signal to the signal conversion module and the zero-crossing comparison module;

[0020] The signal conversion module is used to convert the received divided feedback signal into the DC signal, and output it to the main control module to detect the voltage amplitude;

[0021] The zero-crossing comparison module is used to convert the received divided feedback signal into the square wave signal, and output it to the main control module to calculate the jitter frequency.

[0022] In one of the preferred embodiments, the main control module adopts an embedded microcontroller.

[0023] In one of the preferred embodiments, the frequency modulation and amplitude modulation circuit includes a first active filtering module, an analog switch module and a second active filtering module;

[0024] The first active filtering module is used to convert the received pulse frequency modulation signal and the pulse width modulation signal into a level signal;

[0025] The analog switch module is used to switch the level signal into high and low level signals;

[0026] The second active filtering module is used to generate the sinusoidal analog driving signal from the high and low level signals.

[0027] In one of the preferred embodiments, the boost module is used to output positive and negative voltages to the drive amplifier module.

[0028] In one of the preferred embodiments, the signal conversion module adopts a root mean square value to effective value conversion circuit, and / or the voltage amplitude is detected by AD sampling.

[0029] In one of the preferred embodiments, the boost module includes an input filter unit, a power management unit, a load on / off unit, an energy storage inductor unit, a voltage conversion unit, an output filter unit, a voltage feedback sampling unit, and an impedance matching unit;

[0030] The input filter unit is used to prevent the introduction and external generation of power supply interference;

[0031] The power management unit controls the charging cycle and charging time of the energy storage inductor unit by turning on and off the load on and off unit; the load on and off unit is also connected to the voltage conversion unit;

[0032] The energy storage inductor unit is used to provide an input voltage to the voltage conversion unit;

[0033] The voltage conversion unit is used to boost the input voltage, output it to the output filter unit to generate the stable and smooth positive and negative voltage outputs, and feed it back to the voltage feedback sampling unit;

[0034] The voltage feedback sampling unit samples the positive and negative voltages and outputs the voltage sampling values ​​to the power management unit;

[0035] The power management unit adjusts the on-time of the load on-off unit according to the voltage sampling value;

[0036] The impedance matching unit is used to avoid output changes of the positive and negative voltages caused by load fluctuations;

[0037] The load is the laser gyroscope.

[0038] In one of the preferred embodiments, the power management unit adopts a UC1843 control chip, and / or the load on-off unit adopts a MOS transistor, and / or the voltage conversion unit adopts a charge pump boost circuit, and / or the input filter unit adopts a π-type filter, and / or the output filter unit adopts a capacitor filter, and / or the positive and negative voltages are ±50V.

[0039] Based on the same concept, the present invention also provides a portable gyro machine shake driving measurement method, the measurement method performs machine shake driving measurement of the laser gyro based on the portable gyro machine shake driving measurement system as described above, comprising:

[0040] The main control module simultaneously outputs the pulse frequency modulation signal and the pulse width modulation signal to the machine jitter drive control module;

[0041] Within the range of the jitter frequency, the main control module adjusts the frequency of the pulse frequency modulation signal, sweeping the frequency from low to high; and at the same time fixes the pulse width of the pulse width modulation signal, keeping the voltage amplitude unchanged;

[0042] By frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyro as the control frequency, and outputs the pulse frequency modulation signal corresponding to the control frequency;

[0043] The main control module adjusts the pulse width of the pulse width modulation signal through an adjustment algorithm, and when the voltage amplitude corresponding to the adjusted pulse width modulation signal is not equal to the amplitude jitter target value, the main control module continues to adjust the pulse width of the pulse width modulation signal through the adjustment algorithm until the voltage amplitude is equal to the amplitude jitter target value;

[0044] When the voltage amplitude is equal to the jitter target value, the main control module outputs the duty cycle of the pulse width modulation signal to the communication module, and then outputs it through the external communication interface. For example, the measurement result is output as a digital quantity through the serial port, which is convenient for visual judgment;

[0045] The machine jitter efficiency is determined according to the duty cycle of the output pulse width modulation signal, that is, the lower the duty cycle of the pulse width modulation signal, the higher the machine jitter efficiency.

[0046] In one preferred embodiment, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyro as the control frequency through frequency sweeping, which specifically includes:

[0047] S1, the output frequency of the main control module is f i The pulse frequency modulation signal, the main control module detects f i The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i , if i <N,f i+1 =f i +△f, go to step S2;

[0048] S2, the output frequency of the main control module is f i+1 The pulse frequency modulation signal, the main control module detects f i+1 The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i+1 ,

[0049] When U i+1 ≥U i When, m i =1, repeat steps S1 and S2 until i=N;

[0050] When U i+1 i When m i =M, then the main control module saves U i-M The corresponding scanning frequency f i-M , f i-M That is, the jitter frequency corresponding to the resonant frequency point of the laser gyro, and the main control module sets f i-M As the control frequency; if m i <M,m i+1 =m i +1, repeat steps S1 and S2 until i=N;

[0051] Where i is the frequency sweep number, 1≤i≤N, N is the total number of frequency sweeps, f i is the i-th scanning frequency, f i+1 ​is the i+1th scanning frequency, △f is the increment of the scanning frequency at each frequency sweep, U i-M is the voltage amplitude of the DC signal converted from the feedback signal corresponding to the iMth frequency sweep, m i f i The corresponding number of consecutive detections, m i+1 f i+1 The corresponding number of consecutive detections, M is the threshold of consecutive detections;

[0052] Preferably, M=10 and / or Δf=0.01 Hz.

[0053] Preferably, the regulation algorithm is a PI regulation algorithm.

[0054] Compared with the prior art, the beneficial effects of the present invention are as follows: the portable gyro jitter drive measurement system disclosed in the present invention is small in size, light in weight, and easy to carry. It can be installed near the laser gyro to be tested and can be used in a variety of mechanical environments or temperature environments. The system outputs the test results as digital quantities, which is convenient for visual judgment. Compared with the existing laser gyro comprehensive test system and signal generator measurement method, this system has better anti-interference performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a principle block diagram of a portable gyro jitter drive measurement system according to an embodiment of the present invention;

[0056] Figure 2 is a principle block diagram of a charge pump boost circuit according to an embodiment of the present invention;

[0057] Figure 3 It is a control flow chart of a portable gyroscope jitter drive measurement method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0058] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0059] Example 1

[0060] This embodiment 1 provides a portable gyro machine shake drive measurement system, the system includes a main control module, a machine shake drive control module, a boost module and a communication module;

[0061] The main control module is used to output a pulse frequency modulation signal and a pulse width modulation signal to the machine jitter drive control module; the machine jitter drive control module generates a sinusoidal analog drive signal from the received pulse frequency modulation signal and the pulse width modulation signal, and outputs it to the laser gyro; the laser gyro outputs a feedback signal to the machine jitter drive control module, and the machine jitter drive control module divides the feedback signal into a DC signal and a square wave signal, which are input to the main control module to detect the voltage amplitude and calculate the jitter frequency of the laser gyro; the voltage amplitude is the voltage amplitude of the DC signal converted by the feedback signal; the main control module adjusts the pulse frequency modulation signal or the pulse width modulation signal according to the voltage amplitude and the jitter frequency; the boost module is used to provide the voltage required by the machine jitter drive control module; the main control module is also used to output the duty cycle of the pulse width modulation signal to the communication module; the communication module is used to output the duty cycle of the pulse width modulation signal to the outside.

[0062] Furthermore, the machine jitter drive control module includes an FM / AM module, a drive amplifier module, a voltage divider module, a signal conversion module and a zero-crossing comparison module; the FM / AM circuit module is used to receive the pulse frequency modulation signal and the pulse width modulation signal, generate the sinusoidal analog drive signal, and output it to the drive amplifier module; the drive amplifier module is used to amplify the received sinusoidal analog drive signal, and output it to the laser gyro through the machine jitter drive interface; the laser gyro outputs the feedback signal to the voltage divider module through the machine jitter feedback interface; the voltage divider module is used to protect the signal conversion module, and output the divided feedback signal to the signal conversion module and the zero-crossing comparison module; the signal conversion module is used to convert the received divided feedback signal into the DC signal, and output it to the main control module to detect the voltage amplitude; the zero-crossing comparison module is used to convert the received divided feedback signal into the square wave signal, and output it to the main control module to calculate the jitter frequency.

[0063] Furthermore, the main control module adopts an embedded microcontroller.

[0064] Furthermore, the frequency modulation and amplitude modulation circuit includes a first active filtering module, an analog switch module and a second active filtering module; the first active filtering module is used to convert the received pulse frequency modulation signal and the pulse width modulation signal into a level signal; the analog switch module is used to switch the level signal into a high and low level signal; the second active filtering module is used to generate the sinusoidal analog drive signal from the high and low level signals.

[0065] Furthermore, the boost module is used to output positive and negative voltages to the drive amplifier module.

[0066] Furthermore, the signal conversion module adopts a root mean square effective value conversion circuit, and / or the voltage amplitude is detected by AD sampling.

[0067] Furthermore, the boost module includes an input filter unit, a power management unit, a load on-off unit, an energy storage inductor unit, a voltage conversion unit, an output filter unit, a voltage feedback sampling unit, and an impedance matching unit; the input filter unit is used to prevent the introduction and external generation of power supply interference; the power management unit controls the charging cycle and charging time of the energy storage inductor unit by turning on and off the load on-off unit; the load on-off unit is also connected to the voltage conversion unit; the energy storage inductor unit is used to provide an input voltage to the voltage conversion unit; the voltage conversion unit is used to boost the input voltage, output it to the output filter unit to generate a stable and smooth positive and negative voltage output, and feed it back to the voltage feedback sampling unit; the voltage feedback sampling unit samples the positive and negative voltages and outputs the voltage sampling value to the power management unit; the power management unit adjusts the on time of the load on-off unit according to the voltage sampling value; the impedance matching unit is used to avoid output changes of the positive and negative voltages caused by load fluctuations; the load is the laser gyroscope.

[0068] Furthermore, the power management unit adopts a UC1843 control chip, and / or the load on-off unit adopts a MOS transistor, and / or the voltage conversion unit adopts a charge pump boost circuit, and / or the input filter unit adopts π-type filtering, and / or the output filter unit adopts capacitor filtering, and / or the positive and negative voltages are ±50V.

[0069] This embodiment 1 also provides a portable gyro machine jitter driving measurement method, the measurement method performs machine jitter driving measurement of the laser gyro based on the portable gyro machine jitter driving measurement system as described above, and includes:

[0070] The main control module simultaneously outputs the pulse frequency modulation signal and the pulse width modulation signal to the machine jitter drive control module; within the range of the jitter frequency, the main control module adjusts the frequency of the pulse frequency modulation signal and sweeps the frequency from low to high; at the same time, the pulse width of the pulse width modulation signal is fixed to keep the voltage amplitude unchanged; through frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyroscope as the control frequency, and outputs the pulse frequency modulation signal corresponding to the control frequency; the main control module adjusts the pulse width modulation signal through an adjustment algorithm When the voltage amplitude corresponding to the adjusted pulse width modulation signal is not equal to the jitter amplitude target value, the main control module continues to adjust the pulse width of the pulse width modulation signal through the adjustment algorithm until the voltage amplitude is equal to the jitter amplitude target value; when the voltage amplitude is equal to the jitter amplitude target value, the main control module outputs the duty cycle of the pulse width modulation signal to the communication module, and then outputs it through the external communication interface; the machine jitter efficiency is judged according to the duty cycle of the output pulse width modulation signal, that is, the lower the duty cycle of the pulse width modulation signal, the higher the machine jitter efficiency.

[0071] Further, by frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyro as the control frequency, specifically including:

[0072] S1, the output frequency of the main control module is f i The pulse frequency modulation signal is controlled by a closed loop, and the main control module detects f i The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i , if i <N,f i+1 =f i +△f, go to step S2;

[0073] S2, the output frequency of the main control module is f i+1 The pulse frequency modulation signal is controlled by a closed loop, and the main control module detects f i+1 The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i+1 ,

[0074] When U i+1 ≥U i When, m i =1, repeat steps S1 and S2 until i=N;

[0075] When U i+1 i When m i =M, then the main control module saves U i-M The corresponding scanning frequency f i-M , f​i-M That is, the jitter frequency corresponding to the resonant frequency point of the laser gyro, and the main control module sets f i-M As the control frequency; if m i <M,m i+1 =m i +1, repeat steps S1 and S2 until i=N;

[0076] Where i is the frequency sweep number, 1≤i≤N, N is the total number of frequency sweeps, N is a positive integer, f i is the i-th scanning frequency, f i+1 is the i+1th scanning frequency, △f is the increment of the scanning frequency at each frequency sweep, U i-M is the voltage amplitude of the DC signal converted from the feedback signal corresponding to the iMth frequency sweep, m i f i The corresponding number of consecutive detections, m i+1 f i+1 The corresponding number of consecutive detections, M is the threshold of consecutive detections;

[0077] Preferably, M=10 and / or Δf=0.01 Hz.

[0078] Preferably, the regulation algorithm is a PI regulation algorithm.

[0079] Example 2

[0080] In order to simplify the machine jitter drive test process, avoid using more expensive test equipment, and obtain accurate and reliable test results, this embodiment 2 provides a portable gyroscope machine jitter drive measurement system, such as Figure 1 shown.

[0081] Figure 1 It is a principle block diagram of the machine jitter drive measurement system. The external interface of the measurement system includes the machine jitter drive interface of the laser gyroscope, the machine jitter feedback interface, the external power interface of the measurement system and the external communication interface. The machine jitter drive interface is connected to the drive signal harness of the laser gyroscope body jitter wheel, and the machine jitter feedback interface is connected to the feedback signal harness of the laser gyroscope body jitter wheel. The external power interface is the power input end of the measurement system. The external communication interface adopts serial communication and outputs the drive test results to the outside. The internal circuit of the measurement system is composed of a frequency modulation and amplitude modulation circuit, a drive amplifier circuit, a machine jitter feedback voltage divider circuit, a machine jitter feedback signal conversion circuit and a zero-crossing comparison circuit, a boost circuit, a communication circuit and a minimum system circuit (i.e., a main control circuit). In this embodiment 2, the machine jitter feedback signal conversion circuit adopts RMS (Root Mean Square) effective value conversion. The main control circuit adopts a TMS320F28035 embedded microcontroller (MCU).

[0082] The machine jitter drive control circuit includes the frequency modulation and amplitude modulation circuit, the drive amplifier circuit, the machine jitter feedback voltage divider circuit and the machine jitter feedback signal conversion circuit. The machine jitter drive control circuit is used to generate a sinusoidal analog drive signal with adjustable frequency and amplitude. The main control circuit generates a frequency control PFM signal and an amplitude control PWM signal, which are output to the drive amplifier circuit for amplification through the frequency modulation and amplitude modulation circuit to control the jitter frequency and jitter amplitude of the laser gyroscope. The machine jitter feedback signal conversion circuit adopts the effective value conversion chip AD536 to convert the feedback sinusoidal analog drive signal into a DC signal, and then the main control circuit performs AD sampling to detect the voltage amplitude of the DC signal.

[0083] In order to prevent the amplitude of the feedback signal of the machine jitter feedback interface from being too high, the machine jitter feedback voltage divider circuit is used to protect the machine jitter feedback signal conversion circuit to avoid excessive voltage.

[0084] The zero-crossing comparison circuit is used to convert the divided feedback signal output by the machine jitter feedback voltage divider circuit into a square wave signal, and the main control circuit calculates the square wave signal to obtain the jitter frequency of the laser gyroscope.

[0085] The frequency modulation and amplitude modulation circuit includes a first active filter module, an analog switch module and a second active filter module. The first active filter module is used to convert the received frequency control PFM signal and amplitude control PWM signal into a level signal. The analog switch module is used to switch the level signal into a high-level and low-level signal. The second active filter module is used to generate a sinusoidal analog drive signal from the high-level and low-level signal.

[0086] The boost circuit provides a ±50V secondary power supply to the machine jitter driving circuit. Figure 2 The following is a block diagram of the charge pump boost circuit. Pi-type filtering is used for the input power supply to prevent the introduction and external power supply interference. The UC1843 control chip controls the charging cycle and charging time of the energy storage inductor by controlling the on and off of the MOS tube. After the energy storage inductor stores energy, it releases energy to the charge pump circuit to provide input voltage to enhance the load capacity of the measurement system. The charge pump boost circuit uses the characteristic that the capacitor voltage cannot change suddenly to achieve input voltage boost. After boosting, capacitor output filtering is used to obtain stable and smooth ±50V two-way voltage output. The voltage feedback sampling circuit samples the output voltage, and UC1843 adjusts the MOS tube conduction time according to the sampled value, so that the output voltage size is closed-loop controlled. The impedance matching network is used to avoid output changes caused by load fluctuations.

[0087] Example 3

[0088] According to the portable gyroscope jitter drive measurement system provided in Example 2, this Example 3 provides a measurement method thereof, and the measurement method specifically includes:

[0089] First, adjust the PFM signal frequency and use frequency sweeping to sweep from low to high within the known laser gyro jitter frequency range. By performing a frequency sweep within the laser gyro jitter frequency range, you can understand the jitter characteristics of the laser gyro at different frequencies. Sweeping from low to high, that is, starting from a lower frequency and gradually increasing the frequency until the entire laser gyro jitter frequency range is covered, can ensure that the jitter behavior of the laser gyro at all possible frequencies is captured.

[0090] The pulse width of the PWM signal is fixed to keep the jitter amplitude unchanged. During the frequency sweep, the voltage amplitude of the machine jitter feedback signal is AD sampled. Because the resonant frequency point of the laser gyroscope will be swept during the frequency sweep, the voltage amplitude AD sampling of the feedback signal will have a maximum point at the resonant frequency point. After the frequency sweep is completed, the main control circuit saves the jitter frequency corresponding to the maximum point, and outputs the frequency control PFM signal corresponding to the resonant frequency point to the frequency modulation and amplitude modulation circuit, and the frequency modulation and amplitude modulation circuit outputs the corresponding sinusoidal analog drive signal to the drive amplifier circuit.

[0091] In order to achieve the preset amplitude jitter target value, the main control circuit adjusts the pulse width of the PWM signal through PI regulation (proportional integral regulation) to control the output of the frequency modulation and amplitude modulation circuit, and realizes the amplitude adjustment of the input sinusoidal analog drive signal of the drive amplifier circuit, so that the voltage amplitude AD sampling of the feedback signal reaches the amplitude jitter target value, and the corresponding PWM duty cycle is sent out in real time through the serial port. The amplitude jitter target value can be determined according to the actual application requirements, and can be taken within the effective value range of the feedback signal.

[0092] Specifically, the main control circuit outputs a PWM signal, and obtains a PWM duty cycle through PI adjustment calculation, with a value range of 0%-100%. The PWM duty cycle is adjusted by PI so that the voltage amplitude of the machine jitter feedback signal is equal to the jitter amplitude target value. For example, the preset jitter amplitude target value is 2048, and the corresponding PWM duty cycle is calculated to be 40% through PI adjustment. After drive amplification, if the voltage amplitude of the collected feedback signal is 2048, the serial port output PWM duty cycle is 40%. If the voltage amplitude of the feedback signal does not reach the jitter amplitude target value, the PWM duty cycle is continued to be increased through PI adjustment until the voltage amplitude of the feedback signal reaches the jitter amplitude target value.

[0093] When a signal generator is used to apply a fixed-amplitude sinusoidal analog driving signal to the shaking wheel, the amplitude of the jitter feedback signal output by the laser gyroscope is different due to its own characteristics. When the signal generator adjusts the frequency of the sinusoidal analog driving signal to the inherent resonant frequency of the laser gyroscope, the amplitude of the jitter feedback signal generated by the laser gyroscope is the largest; and under different mechanical environments or temperature environments, the amplitude of the jitter feedback signal corresponding to the resonant frequency point is different; therefore, by measuring the amplitude of the jitter feedback signal corresponding to the resonant frequency point, the jitter efficiency of the laser gyroscope in a specific environment can be measured. Therefore, when the jitter amplitude target value remains unchanged, the pulse width of the PWM signal is adjusted so that the voltage amplitude AD sampling of the feedback signal reaches the jitter amplitude target value, and the corresponding PWM duty cycle is issued. The jitter efficiency of the laser gyroscope can be measured by outputting the measurement results in the form of digital quantities.

[0094] The measurement method provided in this embodiment 3 has a control flow chart as shown in FIG. Figure 3 At the beginning of the process, the frequency point far below the laser gyro resonance frequency is used as the starting value, and the frequency is gradually increased (i.e., swept frequency). Figure 3 After finding the resonant frequency point by the frequency sweeping method in the embodiment, the amplitude jitter closed-loop control is performed, and the machine jitter driving value is sent out in real time through the serial port during the process, so as to achieve the purpose of machine jitter driving measurement. In this embodiment, the machine jitter driving value is the PWM duty cycle.

[0095] The contents explained in the above embodiments should be understood as these embodiments are only used to more clearly illustrate the present invention, and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the embodiments made by those skilled in the art fall within the scope defined by the claims attached to the present invention.

Claims

1. A portable gyro jitter drive measurement system, characterized in that: The system comprises: Main control module, machine shaking drive control module, boost module and communication module; The main control module is used to output a pulse frequency modulation signal and a pulse width modulation signal to the machine jitter drive control module; The machine jitter driving control module generates a sinusoidal analog driving signal from the received pulse frequency modulation signal and the pulse width modulation signal, and outputs the signal to the laser gyro; The laser gyro outputs a feedback signal to the machine jitter drive control module, and the machine jitter drive control module divides the feedback signal into a DC signal and a square wave signal, and inputs the signal into the main control module to detect the voltage amplitude and calculate the jitter frequency of the laser gyro; the voltage amplitude is the voltage amplitude of the DC signal converted by the feedback signal divider; The main control module adjusts the pulse frequency modulation signal or the pulse width modulation signal according to the voltage amplitude and the jitter frequency; The boost module is used to provide the voltage required by the machine jitter drive control module; The main control module is also used to output the duty cycle of the pulse width modulation signal to the communication module; The communication module is used to output the duty cycle of the pulse width modulation signal to the outside.

2. The portable gyro jitter drive measurement system according to claim 1, characterized in that: The machine jitter drive control module includes a frequency modulation and amplitude modulation module, a drive amplification module, a voltage division module, a signal conversion module and a zero-crossing comparison module; The frequency modulation and amplitude modulation circuit module is used to receive the pulse frequency modulation signal and the pulse width modulation signal, generate the sinusoidal analog driving signal, and output it to the driving amplifier module; The driving amplifier module is used to amplify the received sinusoidal analog driving signal and output it to the laser gyro through the machine shaking driving interface; The laser gyro outputs the feedback signal to the voltage divider module through a machine jitter feedback interface; The voltage division module is used to protect the signal conversion module, and output the divided feedback signal to the signal conversion module and the zero-crossing comparison module; The signal conversion module is used to convert the received divided feedback signal into the DC signal, and output it to the main control module to detect the voltage amplitude; The zero-crossing comparison module is used to convert the received divided feedback signal into the square wave signal, and output it to the main control module to calculate the jitter frequency.

3. The portable gyro jitter drive measurement system according to claim 1, characterized in that: The main control module adopts an embedded microcontroller.

4. The portable gyro jitter drive measurement system according to claim 2, characterized in that: The frequency modulation and amplitude modulation circuit includes a first active filter module, an analog switch module and a second active filter module; the first active filter module is used to convert the received pulse frequency modulation signal and the pulse width modulation signal into a level signal; The analog switch module is used to switch the level signal into high and low level signals; The second active filtering module is used to generate the sinusoidal analog driving signal from the high and low level signals.

5. The portable gyro jitter drive measurement system according to claim 2, characterized in that: The boost module is used to output positive and negative voltages to the drive amplifier module.

6. The portable gyro jitter drive measurement system according to claim 2, characterized in that: The signal conversion module adopts a root mean square effective value conversion circuit, and / or the voltage amplitude is detected by AD sampling.

7. The portable gyro jitter drive measurement system according to claim 5, characterized in that: The boost module includes an input filter unit, a power management unit, a load on-off unit, an energy storage inductor unit, a voltage conversion unit, an output filter unit, a voltage feedback sampling unit, and an impedance matching unit; The input filter unit is used to prevent the introduction and external generation of power supply interference; The power management unit controls the charging cycle and charging time of the energy storage inductor unit by turning on and off the load on and off unit; the load on and off unit is also connected to the voltage conversion unit; The energy storage inductor unit is used to provide an input voltage to the voltage conversion unit; The voltage conversion unit is used to boost the input voltage, output it to the output filter unit to generate the stable and smooth positive and negative voltage outputs, and feed it back to the voltage feedback sampling unit; the voltage feedback sampling unit samples the positive and negative voltages, and outputs the voltage sampling values ​​to the power management unit; The power management unit adjusts the on-time of the load on-off unit according to the voltage sampling value; The impedance matching unit is used to avoid output changes of the positive and negative voltages caused by load fluctuations; The load is the laser gyroscope.

8. The portable gyro jitter drive measurement system according to claim 7, characterized in that: The power management unit adopts a UC1843 control chip, and / or the load on-off unit adopts a MOS transistor, and / or the voltage conversion unit adopts a charge pump boost circuit, and / or the input filter unit adopts a π-type filter, and / or the output filter unit adopts a capacitor filter, and / or the positive and negative voltages are ±50V.

9. A portable gyroscope drive jitter measurement method, characterized in that: The measuring method performs the laser gyro machine jitter drive measurement based on the portable gyro machine jitter drive measurement system according to any one of claims 1 to 8, comprising: The main control module simultaneously outputs the pulse frequency modulation signal and the pulse width modulation signal to the machine jitter drive control module; Within the range of the jitter frequency, the main control module adjusts the frequency of the pulse frequency modulation signal, sweeping the frequency from low to high; and at the same time fixes the pulse width of the pulse width modulation signal, keeping the voltage amplitude unchanged; By frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyro as the control frequency, and outputs the pulse frequency modulation signal corresponding to the control frequency; The main control module adjusts the pulse width of the pulse width modulation signal through an adjustment algorithm, and when the voltage amplitude corresponding to the adjusted pulse width modulation signal is not equal to the amplitude jitter target value, the main control module continues to adjust the pulse width of the pulse width modulation signal through the adjustment algorithm until the voltage amplitude is equal to the amplitude jitter target value; When the voltage amplitude is equal to the jitter amplitude target value, the main control module outputs the duty cycle of the pulse width modulation signal to the communication module, and then outputs it through the external communication interface; The machine jitter efficiency is determined according to the duty cycle of the output pulse width modulation signal, that is, the lower the duty cycle of the pulse width modulation signal, the higher the machine jitter efficiency.

10. The portable gyroscope drive jitter measurement method according to claim 9, characterized in that: By frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyro as the control frequency, which specifically includes: S1, the output frequency of the main control module is f i The pulse frequency modulation signal, the main control module detects f i The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i ,like i<N,f i+1 =f i +Δf, go to step S2; S2, the output frequency of the main control module is f i+1 The pulse frequency modulation signal, the main control module detects f i+1 The voltage amplitude U of the DC signal converted by the corresponding feedback signal voltage division i+1 , When U i+1 ≥U i When, m i =1, repeat steps S1 and S2 until i=N; When U i+1 <U i When m i =M, then the main control module saves U i-M The corresponding scanning frequency f i-M , f i-M That is, the jitter frequency corresponding to the resonant frequency point of the laser gyro, and the main control module sets f i-M As the control frequency; if m i <M,m i+1 =m i +1, repeat steps S1 and S2 until i=N; Where i is the frequency sweep number, 1≤i≤N, N is the total number of frequency sweeps, f i is the i-th scanning frequency, f i+1 is the i+1th scanning frequency, Δf is the increment of the scanning frequency at each frequency sweep, U i-M is the voltage amplitude of the DC signal converted from the feedback signal corresponding to the iMth frequency sweep, m i f i The corresponding number of consecutive detections, m i+1 f i+1 The corresponding number of consecutive detections, M is the threshold of consecutive detections; Preferably, M=10 and / or Δf=0.01 Hz; Preferably, the regulation algorithm is a PI regulation algorithm.

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