Portable gyroscopic machine shake driving measurement system and method

Abstract

The application discloses a portable gyro mechanical dither drive measurement system, which comprises a master control module, a mechanical dither drive control module, a voltage boosting module and a communication module. The system realizes dither amplitude closed-loop control and dither frequency control through the master control module and the mechanical dither drive control module, and outputs mechanical dither drive values through the communication module. The system is convenient to carry, can be installed near a laser gyroscope to be measured, can be used in various mechanical environments or temperature environments, and test results are output as digital values, which is convenient for visual judgment. The system has good anti-interference performance. The application further provides a portable gyro mechanical dither drive measurement method.

Description

TECHNICAL FIELD

[0001] The present application relates to a portable gyro mechanical dither drive measurement system and method, belonging to the field of laser gyro dither control. BACKGROUND

[0002] Due to the locking effect of the laser gyro, in actual application, the two-frequency laser gyro is used to overcome the influence of the locking area by applying an alternating mechanical dither (referred to as: mechanical dither) on the dither wheel. The alternating mechanical dither signal is a sinusoidal analog drive signal applied to the dither wheel piezoelectric ceramic piece, and the actual dithering of the gyro can be measured by monitoring the feedback signal generated on the dither wheel piezoelectric ceramic piece. During the assembly of the laser gyro in the IMU (Inertial Measurement Unit, Inertial Measurement Unit) component or the design stage, in order to ensure that the laser gyro can obtain sufficient dithering in different environments, it is necessary to test the dithering efficiency of the laser gyro in different environments: in the case of obtaining the same dithering intensity, the lower the feedback signal voltage amplitude output by the laser gyro, the higher the dithering efficiency.

[0003] At present, the mechanical dither drive test is often carried out by using a laser gyro comprehensive test system, or in the form of measuring by using a function generator and an oscilloscope. When the signal generator applies a fixed amplitude sinusoidal analog drive signal to the dither wheel, due to the characteristics of the laser gyro itself, the amplitude of the dither feedback signal output by the laser gyro is different. When the signal generator adjusts the frequency of the sinusoidal analog drive signal to the inherent resonance frequency of the laser gyro, the amplitude of the dither feedback signal generated by the laser gyro is the largest; and in different mechanical environments or temperature environments, the amplitude of the dither feedback signal corresponding to the resonance frequency point is different; therefore, by measuring the amplitude of the dither feedback signal corresponding to the resonance frequency point, the dithering efficiency of the laser gyro in a specific environment can be measured. The laser gyro comprehensive test system is large in size, like the signal generator measurement method, it is not convenient to carry, and it is not convenient to use in special mechanical environments such as a centrifuge. When testing the feedback signal of the dither wheel, the signal to be tested is often tested after being extended through a slip ring, which introduces a lot of noise to the signal to be tested, affecting the test result. Therefore, a portable gyro mechanical dither drive measurement system is urgently needed to effectively solve the above problems. SUMMARY

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

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is: a portable gyro mechanical dither drive measurement system, the system comprising a main control module, a mechanical dither drive control module, a voltage boosting module and a communication module.

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

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

[0008] The laser gyroscope outputs a feedback signal to the jitter drive control module, which divides the feedback signal into a DC signal and a square wave signal, and inputs them to the main control module to detect the voltage amplitude and calculate the jitter frequency of the laser gyroscope; the voltage amplitude is the voltage amplitude of the DC signal converted from the feedback signal.

[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 vibration 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.

[0013] Through the main control module and the jitter drive control module, the system achieves closed-loop control of jitter amplitude and jitter frequency, and outputs the jitter drive value via the communication module. The jitter amplitude closed-loop control is based on the detection of the voltage amplitude of the DC signal converted from the feedback signal by voltage division, and the real-time adjustment of the output pulse width of the pulse width modulation signal, thereby adjusting the jitter drive value.

[0014] According to embodiments of the present invention, the present invention can be further optimized, and the optimized technical solution is as follows:

[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 divider 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 drive signal, and output it to the drive amplification module;

[0017] The drive amplification module is used to amplify the received sinusoidal analog drive signal and output it to the laser gyroscope through the mechanical dithering drive interface;

[0018] The laser gyro outputs the feedback signal to the voltage division module through a mechanical dither feedback interface;

[0019] The voltage division module is used for protecting the signal conversion module and outputting the feedback signal after voltage division to the signal conversion module and the zero-crossing comparison module;

[0020] The signal conversion module is used for converting the received feedback signal after voltage division into the direct current signal and outputting to the master control module for detecting the voltage amplitude;

[0021] The zero-crossing comparison module is used for converting the received feedback signal after voltage division into the square wave signal and outputting to the master control module for calculating the dither frequency.

[0022] In one preferred embodiment, the master control module adopts an embedded microcontroller.

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

[0024] The first active filter module is used for converting the received pulse frequency modulation signal and pulse width modulation signal into a level signal;

[0025] The analog switch module is used for switching the level signal into a high-low level signal;

[0026] The second active filter module is used for generating the sinusoidal analog driving signal from the high-low level signal.

[0027] In one preferred embodiment, the boost module is used for outputting positive and negative voltage to the driving amplifier module.

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

[0029] In one preferred embodiment, 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 for preventing introduction and external power supply interference;

[0031] The power management unit controls the charging period and charging time of the energy storage inductor unit through the on-off control of the load on-off unit; the load on-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, and outputs a stable and smooth positive and negative voltage to the output filter unit and feeds back to the voltage feedback sampling unit;

[0034] The voltage feedback sampling unit samples the positive and negative voltage and outputs a voltage sampling value to the power management unit;

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

[0036] The impedance matching unit is used to avoid the output change of the positive and negative voltage caused by the load fluctuation;

[0037] The load is the laser gyroscope.

[0038] In one preferred embodiment, the power management unit uses a UC1843 control chip, and / or the load switch unit uses a MOS transistor, and / or the voltage conversion unit uses a charge pump boost circuit, and / or the input filter unit uses a π-type filter, and / or the output filter unit uses a capacitor filter, and / or the positive and negative voltage is ±50V.

[0039] Based on the same concept, the application also provides a portable gyroscopic shake drive measurement method, which is based on the portable gyroscopic shake drive measurement system described above to measure the shake drive of a laser gyroscope, comprising:

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

[0041] Within the range of the shake frequency, the main control module adjusts the frequency of the pulse frequency modulation signal from low to high sweep frequency; at the same time, the pulse width of the pulse width modulation signal is fixed, and the voltage amplitude is kept unchanged;

[0042] Through sweep frequency, the main control module obtains the shake frequency corresponding to the resonance frequency point of the laser gyroscope as a 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 shake 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 shake amplitude target value;

[0044] When the voltage amplitude equals 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 can be output as a digital quantity via a serial port for easy visualization and judgment.

[0045] The machine jitter efficiency is determined by 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, by frequency sweeping, the main control module obtains the jitter frequency corresponding to the resonant frequency point of the laser gyroscope as the control frequency, specifically including:

[0047] S1, the main control module outputs frequency f i The pulse frequency modulation signal, the main control module detects f i The voltage amplitude U of the DC signal corresponding to the voltage division and conversion of the feedback signal. i , if i <N,f i+1 =f i +△f, proceed to step S2;

[0048] S2, the main control module outputs frequency f i+1 The pulse frequency modulation signal, the main control module detects f i+1 The voltage amplitude U of the DC signal corresponding to the voltage division and conversion of the feedback signal. i+1 ,

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

[0050] When U i+1 i When, if m i =M, then the main control module stores 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 gyroscope, the main control module will 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, and f i For the i-th scan frequency, f i+1 ​is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m i-M is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m i is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m i is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m i+1 is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m i+1 is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-th frequency sweep, m

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

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

[0054] Compared with the prior art, the portable gyro machine dither drive measurement system disclosed by the present application has the advantages that: the portable gyro machine dither drive measurement system disclosed by the present application has small volume, light weight and is convenient to carry, can be installed near a laser gyroscope to be measured, can be used in various mechanical environments or temperature environments, the system outputs test results as digital quantities, which is convenient for visual judgment, and the system has good anti-interference performance compared with the existing laser gyroscope comprehensive test system and signal generator measurement mode. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a principle block diagram of the portable gyro machine dither drive measurement system of an embodiment of the present application;

[0056] Figure 2 is a principle block diagram of the charge pump voltage boosting circuit of an embodiment of the present application;

[0057] Figure 3 is a control flow chart of the portable gyro machine dither drive measurement method of another embodiment of the present application. DETAILED DESCRIPTION

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

[0059] Embodiment 1

[0060] The present embodiment 1 provides a portable gyro machine dither drive measurement system, which comprises a master control module, a machine dither drive control module, a voltage boosting module and a communication module.

[0061] The main control module is used for outputting a pulse frequency modulation signal and a pulse width modulation signal to the mechanical dither drive control module; the mechanical dither drive control module generates a sinusoidal analog drive signal from the received pulse frequency modulation signal and pulse width modulation signal, and outputs the sinusoidal analog drive signal to a laser gyroscope; the laser gyroscope outputs a feedback signal to the mechanical dither drive control module; the mechanical dither drive control module converts the feedback signal into a direct current signal and a square wave signal through voltage division, and inputs the direct current signal and the square wave signal to the main control module to detect a voltage amplitude and calculate a dither frequency of the laser gyroscope; the voltage amplitude is a voltage amplitude of the direct current signal converted through voltage division; the main control module adjusts the pulse frequency modulation signal or the pulse width modulation signal according to the voltage amplitude and the dither frequency; the voltage boosting module is used for providing a voltage required by the mechanical dither drive control module; the main control module is also used for outputting a duty cycle of the pulse width modulation signal to the communication module; and the communication module is used for outputting the duty cycle of the pulse width modulation signal to the outside.

[0062] Further, the mechanical dither drive control module comprises a frequency modulation and amplitude modulation circuit 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 for receiving the pulse frequency modulation signal and the pulse width modulation signal, generating the sinusoidal analog drive signal, and outputting the sinusoidal analog drive signal to the drive amplification module; the drive amplification module is used for amplifying the received sinusoidal analog drive signal, and outputting the amplified sinusoidal analog drive signal to the laser gyroscope through a mechanical dither drive interface; the laser gyroscope outputs the feedback signal to the voltage division module through a mechanical dither feedback interface; the voltage division module is used for protecting the signal conversion module, and outputs the voltage-divided feedback signal to the signal conversion module and the zero-crossing comparison module; the signal conversion module is used for converting the received voltage-divided feedback signal into the direct current signal, and outputting the direct current signal to the main control module to detect the voltage amplitude; and the zero-crossing comparison module is used for converting the received voltage-divided feedback signal into the square wave signal, and outputting the square wave signal to the main control module to calculate the dither frequency.

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

[0064] Further, the frequency modulation and amplitude modulation circuit comprises a first active filter module, an analog switch module and a second active filter module; the first active filter module is used for converting the received pulse frequency modulation signal and pulse width modulation signal into a level signal; the analog switch module is used for commutating the level signal into a high-low level signal; and the second active filter module is used for generating the sinusoidal analog drive signal from the high-low level signal.

[0065] Further, the voltage boosting module is used for outputting positive and negative voltages to the drive amplification module.

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

[0067] Further, 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 power supply interference; the power management unit controls the charging period and charging time of the energy storage inductor unit through the on-off control of 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 for voltage boosting of the input voltage, and outputs to the output filter unit to generate stable and smooth positive and negative voltage outputs, and feeds back to the voltage feedback sampling unit; the voltage feedback sampling unit samples the positive and negative voltages and outputs voltage sampling values to the power management unit; the power management unit adjusts the conduction time of the load on-off unit according to the voltage sampling values; the impedance matching unit is used to avoid the output change of the positive and negative voltages caused by load fluctuation; and the load is the laser gyroscope.

[0068] Further, 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.

[0069] The embodiment 1 also provides a portable gyro shake drive measurement method, which is based on the portable gyro shake drive measurement system as described above to measure the machine shake drive of the laser gyroscope, and includes the following steps:

[0070] The main control module simultaneously outputs the pulse frequency modulation signal and the pulse width modulation signal to the jitter drive control module. Within the jitter frequency range, the main control module adjusts the frequency of the pulse frequency modulation signal, sweeping the frequency from low to high. Simultaneously, it fixes the pulse width of the pulse width modulation signal, keeping the voltage amplitude constant. 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 using an adjustment algorithm. When the voltage amplitude corresponding to the adjusted pulse width modulation signal is not equal to the 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 equals the jitter target value. When the voltage amplitude equals 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. The jitter efficiency is determined based on 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 jitter efficiency.

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

[0072] S1, the main control module outputs frequency f i The pulse frequency modulation signal, after closed-loop control, is detected by the main control module. i The voltage amplitude U of the DC signal corresponding to the voltage division and conversion of the feedback signal. i , if i <N,f i+1 =f i +△f, proceed to step S2;

[0073] S2, the main control module outputs a frequency of f. i+1 The pulse frequency modulation signal, after closed-loop control, is detected by the main control module. i+1 The voltage amplitude U of the DC signal corresponding to the voltage division and conversion of the feedback signal. i+1 ,

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

[0075] When U i+1 i When, if m i =M, then the main control module stores U i-M The corresponding scanning frequency f i-M f​i-M i.e. the dithering frequency corresponding to the resonant frequency point of the laser gyroscope, the master module will f i-M as the control frequency; if m i < M, m i+1 = m i + 1, repeat steps S1, S2, until i = N;

[0076] wherein i is the number of frequency sweep times, 1≤i≤N, N is the total number of frequency sweep times, N is a positive integer, f i is the i-th frequency sweep, f i+1 is the i+1-th frequency sweep, and △f is the increment of the frequency sweep each time, U i-M is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-M-th frequency sweep, m i is the f i corresponding to the continuous detection times, m i+1 is the f i+1 corresponding to the continuous detection times, and M is the threshold of the continuous detection times.

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

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

[0079] Embodiment 2

[0080] In order to simplify the process of testing the machine dithering drive, avoid using more valuable test equipment, and obtain accurate and reliable test results, this embodiment 2 provides a portable gyro machine dithering drive measurement system, as shown in Figure 1 .

[0081] Figure 1 is a principle block diagram of the machine dithering drive measurement system. The external interface of the measurement system includes the machine dithering drive interface of the laser gyroscope, the machine dithering feedback interface, the external power supply interface of the measurement system, and the external communication interface. The machine dithering drive interface is connected with the drive signal bundle of the dithering wheel of the laser gyroscope body, and the machine dithering feedback interface is connected with the feedback signal bundle of the dithering wheel of the laser gyroscope body. The external power supply interface is the power input end of the measurement system. The external communication interface adopts serial communication and outputs the drive test results. The internal circuit of the measurement system is composed of the frequency modulation and amplitude modulation circuit, the drive amplification circuit, the machine dithering feedback voltage division circuit, the machine dithering feedback signal conversion circuit and the zero-crossing comparison circuit, the voltage boosting circuit, the communication circuit, and the minimum system circuit (i.e. the master control circuit). In this embodiment 2, the machine dithering feedback signal conversion circuit adopts the RMS (Root Mean Square, root mean square value) effective value conversion. The master control circuit adopts the TMS320F28035 embedded microcontroller (MCU).

[0082] The machine dither driving control circuit comprises the frequency and amplitude modulation circuit, the driving amplification circuit, the machine dither feedback voltage division circuit and the machine dither feedback signal conversion circuit. The machine dither driving control circuit is used for generating a frequency and amplitude adjustable sinusoidal analog driving signal. The master control circuit generates a frequency control PFM signal and an amplitude control PWM signal, which are output to the driving amplification circuit for amplification through the frequency and amplitude modulation circuit, and are used for controlling the dither frequency and the dither amplitude of the laser gyroscope. The machine dither feedback signal conversion circuit adopts an effective value conversion chip AD536 to convert the feedback sinusoidal analog driving signal into a direct current signal, and then the master control circuit performs AD sampling detection on the voltage amplitude of the direct current signal.

[0083] In order to prevent the feedback signal amplitude of the machine dither feedback interface from being too high, the machine dither feedback voltage division circuit is used to protect the machine dither feedback signal conversion circuit, so as to avoid the voltage from being too high.

[0084] The zero-crossing comparison circuit is used for converting the voltage division feedback signal output by the machine dither feedback voltage division circuit into a square wave signal, and the master control circuit calculates the square wave signal to obtain the dither frequency of the laser gyroscope.

[0085] The frequency and amplitude modulation circuit comprises a first active filter module, an analog switch module and a second active filter module. The first active filter module is used for converting the received frequency control PFM signal and amplitude control PWM signal into a level signal. The analog switch module is used for converting the level signal into a high-low level signal. The second active filter module is used for generating a sinusoidal analog driving signal from the high-low level signal.

[0086] The boost circuit provides ±50V secondary power supply for the machine dither driving circuit. Figure 2 The principle block diagram of the charge pump boost circuit is shown. The input power supply is filtered by a π-type filter to prevent the introduction of power supply interference and the generation of external power supply interference. The UC1843 control chip controls the charging period and charging time of the energy storage inductor by controlling the on-off of the MOS tube. After the energy storage inductor stores energy, the energy is released to the charge pump circuit to provide an input voltage, so as to enhance the load capacity of the measurement system. The charge pump boost circuit uses the characteristic that the voltage of the capacitor cannot be suddenly changed to realize the boost of the input voltage. After the boost, the capacitor output filter is used to obtain stable and smooth ±50V two-way voltage output. The voltage feedback sampling circuit samples the output voltage, and the UC1843 adjusts the conduction time of the MOS tube according to the sampling value, so that the output voltage size is closed-loop controlled. The impedance matching network is used to avoid the output change caused by the load fluctuation.

[0087] Embodiment 3

[0088] According to the portable gyroscope machine dither driving measurement system provided in Embodiment 2, the measurement method of Embodiment 3 is provided, which specifically comprises:

[0089] First, the PFM signal frequency is adjusted, and frequency scanning is adopted to sweep from low to high in the known laser gyroscope dither frequency range. Frequency scanning in the laser gyroscope dither frequency range can understand the dithering characteristics of the laser gyroscope at different frequencies. Sweeping from low to high, that is, starting from a lower frequency and gradually increasing the frequency until the entire laser gyroscope dither frequency range is covered, can ensure that the dithering behavior of the laser gyroscope at all possible frequencies is captured.

[0090] The PWM signal pulse width is fixed, and the dithering amplitude is kept unchanged. The voltage amplitude of the machine dither feedback signal is AD sampled during the frequency sweeping process. Since the resonance frequency point of the laser gyroscope will be swept during frequency sweeping, the AD sampling of the voltage amplitude of the feedback signal will have a maximum value point at the resonance frequency point. After frequency sweeping is completed, the main control circuit saves the dithering frequency corresponding to the maximum value point, and outputs the frequency control PFM signal corresponding to the resonance 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 amplification circuit.

[0091] In order to achieve the pre-set dither amplitude 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, so as to adjust the amplitude of the input sinusoidal analog drive signal of the drive amplification circuit, so that the voltage amplitude AD sampling of the feedback signal reaches the dither amplitude target value, and the corresponding PWM duty cycle is output in real time through the serial port. The dither amplitude target value can be determined according to the actual application requirement, and the value can be taken within the effective value range of the feedback signal.

[0092] Specifically, the main control circuit outputs the PWM signal, and the PWM duty cycle is obtained through PI regulation calculation, with a value range of 0%-100%. Through PI regulation of the PWM duty cycle, the voltage amplitude of the machine dither feedback signal is equal to the dither amplitude target value. For example, the pre-set dither amplitude target value is 2048, and the corresponding PWM duty cycle is 40% after PI regulation calculation. After drive amplification, if the voltage amplitude of the collected feedback signal is 2048, the PWM duty cycle output through the serial port is 40%. If the voltage amplitude of the feedback signal does not reach the dither amplitude target value, the PWM duty cycle is continuously increased through PI regulation until the voltage amplitude of the feedback signal reaches the dither amplitude target value.

[0093] When a signal generator is used to apply a fixed-amplitude sinusoidal analog driving signal to the dither wheel, the output dither feedback signal amplitude of the laser gyroscope is different due to the characteristics of the laser gyroscope itself. When the signal generator adjusts the frequency of the sinusoidal analog driving signal to the natural resonant frequency of the laser gyroscope, the dither feedback signal amplitude generated by the laser gyroscope is the largest; and in different mechanical or temperature environments, the dither feedback signal amplitude corresponding to the resonant frequency point is different; therefore, by measuring the dither feedback signal amplitude corresponding to the resonant frequency point, the dither efficiency of the laser gyroscope in a specific environment can be measured. Therefore, when the dither amplitude target value is unchanged, the pulse width of the PWM signal is adjusted so that the voltage amplitude AD sampling of the feedback signal reaches the dither amplitude target value, and the corresponding PWM duty cycle is sent out, and the measurement result output in the form of digital quantity can be used to measure the dither efficiency of the laser gyroscope.

[0094] The control flow chart of the measurement method provided in Embodiment 3 is shown in Figure 3 When the flow starts, a frequency point much lower than the resonant frequency of the laser gyroscope is used as the starting value, and the frequency is gradually increased (i.e. sweep frequency), and after the resonant frequency point is found according to the sweep frequency mode in Figure 3 , the dither amplitude closed-loop control is performed, and the machine dither driving value is sent out in real time through the serial port during the process to achieve the purpose of machine dither driving measurement. In this embodiment, the machine dither driving value is the PWM duty cycle.

[0095] The content illustrated in the above embodiments should be understood as that the embodiments are only used to more clearly illustrate the present application, and are not used to limit the scope of the present application. After reading the present application, various equivalent modifications of the embodiments made by those skilled in the art all fall within the scope defined by the appended claims of the present application.

Claims

1. A portable gyroscopic shake-detection measurement system, characterized by, The system comprises: a main control module, a machine dither drive control module, a voltage boosting module and a communication module; the main control module is used for outputting a pulse frequency modulation signal and a pulse width modulation signal to the machine dither drive control module; the machine dither drive control module generates a sinusoidal analog drive signal from the received pulse frequency modulation signal and pulse width modulation signal and outputs the signal to a laser gyroscope; the laser gyroscope outputs a feedback signal to the machine dither drive control module, which converts the feedback signal into a direct current signal and a square wave signal by voltage division and inputs the signals to the main control module to detect a voltage amplitude and calculate a dither frequency of the laser gyroscope; the voltage amplitude is the voltage amplitude of the direct current signal converted by voltage division of 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 dither frequency; the voltage boosting module is used for providing a voltage required by the machine dither drive control module; the main control module is also used for outputting a duty cycle of the pulse width modulation signal to the communication module; the communication module is used for outputting the duty cycle of the pulse width modulation signal to the outside; the machine dither drive control module comprises a frequency and amplitude modulation module, a drive amplification module, a voltage division module, a signal conversion module and a zero-crossing comparison module; the frequency and amplitude modulation module is used for receiving the pulse frequency modulation signal and the pulse width modulation signal, generating the sinusoidal analog drive signal and outputting the signal to the drive amplification module; the drive amplification module is used for amplifying the received sinusoidal analog drive signal and outputting the signal to the laser gyroscope through a machine dither drive interface; the laser gyroscope outputs the feedback signal to the voltage division module through a machine dither feedback interface; the voltage division module is used for protecting the signal conversion module and outputting the voltage-divided feedback signal to the signal conversion module and the zero-crossing comparison module; the signal conversion module is used for converting the received voltage-divided feedback signal into the direct current signal and outputting the signal to the main control module to detect the voltage amplitude; the zero-crossing comparison module is used for converting the received voltage-divided feedback signal into the square wave signal and outputting the signal to the main control module to calculate the dither frequency; the frequency and amplitude modulation module comprises a first active filter module, an analog switch module and a second active filter module; the first active filter module is used for converting the received pulse frequency modulation signal and pulse width modulation signal into a level signal; the analog switch module is used for commutating the level signal into a high-low level signal; the second active filter module is used for generating the sinusoidal analog drive signal from the high-low level signal.

2. The portable gyropilot shake drive measurement system according to claim 1, characterized in that The main control module adopts an embedded microcontroller.

3. The portable gyropilot shake drive measurement system of claim 1, wherein, The voltage boosting module is used for outputting positive and negative voltages to the drive amplification module.

4. The portable gyroscope shake-driven measurement system according to claim 1, wherein The signal conversion module adopts a root mean square effective value conversion circuit and / or the voltage amplitude is detected by AD sampling.

5. The portable gyroscope shake-driven measurement system according to claim 3, wherein The voltage boosting module comprises 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 period and charging time of the energy storage inductor unit through the on-off control of 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 to the output filter unit to generate stable and smooth positive and negative voltage outputs, and feedback to the voltage feedback sampling unit; The voltage feedback sampling unit samples the positive and negative voltages and outputs 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 values; The impedance matching unit is used to avoid the output change of the positive and negative voltages caused by load fluctuation; The load is the laser gyroscope.

6. The portable gyroscope shake-driven measurement system according to claim 5, wherein The power management unit uses a UC1843 control chip, and / or the load on-off unit uses a MOS transistor, and / or the voltage conversion unit uses a charge pump boost circuit, and / or the input filter unit uses a π-type filter, and / or the output filter unit uses a capacitor filter, and / or the positive and negative voltages are ±50V.

7. A method of measuring the drive of a portable gyroscopic machine, characterized in that The measurement method is based on the portable gyroscopic drive measurement system according to any one of claims 1-6, and the measurement method comprises: The main control module simultaneously outputs the pulse frequency modulation signal and the pulse width modulation signal to the mechanical dither drive control module; Within the range of the dither frequency, the main control module adjusts the frequency of the pulse frequency modulation signal from low to high sweep frequency; at the same time, the pulse width of the pulse width modulation signal is fixed, and the voltage amplitude is kept unchanged; Through sweep frequency, the main control module obtains the dither frequency corresponding to the resonance 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 of the pulse width modulation signal through the adjustment algorithm; when the voltage amplitude corresponding to the adjusted pulse width modulation signal is not equal to the dither 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 dither amplitude target value; When the voltage amplitude is equal to the dither amplitude target value, the main control module outputs the duty cycle of the pulse width modulation signal to the communication module, and then outputs through the external communication interface; According to the duty cycle of the output pulse width modulation signal, the mechanical dither efficiency is determined, that is, the lower the duty cycle of the pulse width modulation signal, the higher the mechanical dither efficiency.

8. The portable gyroscopic dither drive measurement method of claim 7, wherein, Through sweep frequency, the main control module obtains the dither frequency corresponding to the resonance frequency point of the laser gyroscope as the control frequency, specifically including: S1, the master module outputs the pulse frequency modulation signal with frequency f i , the master module detects the voltage amplitude U i of the direct current signal corresponding to the feedback signal voltage division conversion i , if i i+1 = f i + Δf, and enters step S2; S2, the master module outputs the frequency f i+1 of the pulse frequency modulation signal, the master module detects f i+1 The voltage amplitude U of the DC signal corresponding to the feedback signal voltage division conversion i+1 When U i+1 ≥ U i , m i = 1, repeat steps S1, S2, until i = N; When U i+1 < U i , if m i = M, the master module saves the corresponding scanning frequency f i-M of U i-M , f i-M is the dithering frequency corresponding to the resonance frequency point of the laser gyroscope, and the master module takes f i-M as the control frequency; if m i < M, m i+1 = m i + 1, and steps S1 and S2 are repeated until i = N. wherein i is the number of the sweep frequency, 1≤i≤N, N is the total number of sweep frequencies, f i is the i-th sweep frequency, f i+1 is the i+1-th sweep frequency, Δf is the increment of the sweep frequency each time, U i-M is the voltage amplitude of the direct current signal converted by the feedback signal corresponding to the i-M-th sweep frequency, m i is the f i is the corresponding continuous detection number, m i+1 is the f i+1 is the corresponding continuous detection number, M is the threshold of the continuous detection number; M=10 and / or Δf=0.01Hz; The adjustment algorithm is a PI adjustment algorithm.

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