Resonant gyroscope force feedback and full-angle combined control system and method

Abstract

The invention relates to a resonant gyroscope force feedback and full-angle combined control system and method. The system comprises a harmonic oscillator, a detection electrode, a buffer amplifier, an ADC, a demodulation filtering module, a gyroscope control module, a DAC and an excitation electrode. The problem that the advantages of a force feedback mode and a full-angle mode of the resonant gyroscope cannot be perfectly combined can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial instrument control, and relates to a resonant gyroscope control system and method, in particular to a resonant gyroscope force feedback and full-angle combined control system and method. Background Art

[0002] The gyroscope is the core component of the inertial navigation system. The resonant gyroscope has the advantages of short startup time, low drift noise, and good long-term drift stability, and is widely used in the field of inertial navigation.

[0003] Resonant gyroscopes have two control modes: force feedback and full-angle. The force feedback mode relies on applying force to suppress the precession of standing waves. The magnitude of the applied force is the magnitude of the external angular velocity that the gyroscope is sensitive to, so a gyroscope operating in force feedback mode is also called a rate gyroscope. In the full-angle mode, the resonator standing wave precesses freely, and the magnitude of the external angle input is sensitive to the precession angle of the standing wave, so a gyroscope in the full-angle mode is also called a rate integrating gyroscope.

[0004] The characteristics of force feedback gyroscopes are low noise and high measurement accuracy, but the measurement range is small and limited by the size of the applied force. The characteristics of full-angle gyroscopes are large dynamic measurement range, high bandwidth, and stable scale factor, but the measurement accuracy is low.

[0005] How to combine the advantages of the two methods has become a technical problem in recent years. In some existing solutions, such as the two working modes proposed in patent CN202011288482 "A hemispherical resonant gyroscope working mode adaptive system and control method" and patent CN202110009141 "A hemispherical resonant gyroscope working mode switching control method and system", these working mode switching schemes will cause signal jumps during the switching process, which will affect the accuracy of the gyroscope in actual application.

[0006] Therefore, the present invention proposes a resonant gyroscope force feedback and full-angle combined control system and method. , which can overcome the above problems.

[0007] After searching, no public documents of the prior art that are identical or similar to the present invention were found. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a resonant gyroscope force feedback and full-angle combined control system and method, which can solve the problem that the advantages of the resonant gyroscope force feedback method and the full-angle method cannot be perfectly combined.

[0009] The present invention solves the practical problem by adopting the following technical solutions:

[0010] A resonant gyroscope force feedback and full-angle combined control system, comprising: a resonator, a detection electrode, a buffer amplifier, an ADC, a demodulation filter module, a gyroscope control module, a DAC and an excitation electrode;

[0011] The resonator and the vibration sensitive unit form an electrode, which is divided into a detection electrode and an excitation electrode according to the functional area; the output end of the resonator is connected to the detection electrode, the buffer amplifier and the ADC in sequence, and the detection electrode obtains the vibration signal of the resonator, which is amplified by the buffer amplifier and converted into a digital signal after entering the ADC;

[0012] The ADC is connected to the gyro control module through a demodulation and filtering module. After the digital signal passes through the demodulation and filtering module, the vibration amplitude information of the resonator is obtained and then output to the gyro control module. The gyro control module calculates using the amplitude information of the resonator to obtain the size of the excitation signal that should be applied to the resonator; after being converted into an analog voltage signal by a DAC, it is applied to the excitation electrode to maintain the normal operation of the gyroscope.

[0013] Moreover, the gyro control module includes: a force feedback control module, a full-angle control module, an integrator module, a normalized combination module and a force calculation module; the signal of the demodulation filter module is output to the force feedback control module and the full-angle control module respectively, the force feedback module outputs an angular velocity signal, which passes through an integrator module and is calculated in the normalized combination module with the angle output signal of the full-angle control module; the normalized combination module calculates the angle output and sends it to the host computer; at the same time, the force feedback control module and the full-angle control module will also calculate the size of the excitation signal to be applied, and after each is sent to the force calculation module, the force calculation module sends the signal of the excitation voltage to be applied to the DAC.

[0014] A resonant gyroscope force feedback and full-angle combined control method comprises the following steps:

[0015] Step 1, measuring the scale factor of the force feedback method and the Blaine coefficient of the full-angle method;

[0016] Step 2, integrating the angular rate output of the force feedback method to obtain an angle output;

[0017] Step 3, unify the scale of the angle output of the full-angle mode and the angle output of the force feedback mode;

[0018] Step 4: Combine the angle output of the full-angle mode with the angle output of the force feedback mode.

[0019] Moreover, the specific method of step 1 is:

[0020] Before the system works, it is necessary to measure the scale factor k of the force feedback method. FTRand the Blaine coefficient α for the full-angle method.

[0021] Moreover, the specific method of step 2 is:

[0022] After the system is working, the integrator of the gyro control module 6 is used to output the angular rate in the form of force feedback. Integrate to get the angle output

[0023] Moreover, the specific method of step 3 is:

[0024] The integrated force feedback angle output θ FTR Divide by the scaling factor k FTR Get the normalized force feedback angle output, and then output the full-angle angle θ WA Divide by the Blaine coefficient α to get the normalized full-angle angle output.

[0025] Moreover, the specific method of step 4 is:

[0026] The normalization combination module of the gyro control module 6 is used to realize the combination of angle outputs, and the final angle output is θ out =θ FTR / k FTR +θ WA / α.

[0027] Advantages and beneficial effects of the present invention:

[0028] 1. The present invention proposes a resonant gyroscope force feedback and full-angle combined control system and method, which is applied to the control of a hemispherical resonant gyroscope. It is a way to realize large dynamic range angle measurement of a hemispherical resonant gyroscope. The present invention can combine the advantages of the two working modes without switching the working mode. The output of the force feedback mode is an angular velocity, which can be converted into an angle output after integration. At the same time, the full-angle mode itself is an angle output. After the conversion of the scale factor, the angle output of the force feedback mode is superimposed on the angle output of the full-angle mode, so that the gyroscope output angle is proportional to the sensitive external angle, and the combined control of the two working modes is completed.

[0029] 2. A resonant gyroscope force feedback and full-angle combined control system and method of the present invention combines the advantages of the force feedback method and the full-angle method through a combined output of the force feedback method and the full-angle method. The output accuracy is high at low input rates, and the bandwidth is high and the scale factor is stable at high input rates.

[0030] 3. The resonant gyroscope force feedback and full-angle combined control system and method of the present invention do not need to switch between the two working modes, thus avoiding the signal jump phenomenon during the switching process. The two working modes always exist at the same time, and the two work in superposition without the switching process, so that the signal is continuously output without signal jump.

[0031] 4. A resonant gyroscope force feedback and full-angle combined control system and method of the present invention superimposes the forces required to be applied to electrodes in the force feedback mode and the full-angle mode through digital signal control, does not require the addition of additional control systems or calculation modules, and has a simple structure.

[0032] 5. The resonant gyroscope force feedback and full-angle combined control system and method of the present invention are suitable for more application scenarios compared with force feedback gyroscopes or full-angle gyroscopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a system connection block diagram of the present invention;

[0034] Figure 2 is a functional block diagram of a gyro control module of the present invention;

[0035] Figure 3 The present invention is a flowchart of a method for implementing the present invention.

[0036] Description of reference numerals:

[0037] 1- resonator, 2- detection electrode, 3- buffer amplifier, 4- ADC, 5- demodulation filter module, 6- gyro control module, 7- DAC, 8- excitation electrode. DETAILED DESCRIPTION

[0038] The following further describes the embodiments of the present invention:

[0039] A resonant gyroscope force feedback and full angle combined control system, such as Figure 1 As shown, it includes: a resonator, a detection electrode, a buffer amplifier, an ADC, a demodulation filter module, a gyro control module, a DAC and an excitation electrode;

[0040] The resonator and the vibration sensitive unit form an electrode, which is divided into a detection electrode and an excitation electrode according to the functional area; the output end of the resonator is connected to the detection electrode, the buffer amplifier and the ADC in sequence, and the detection electrode obtains the vibration signal of the resonator, which is amplified by the buffer amplifier and converted into a digital signal after entering the ADC;

[0041] In this embodiment, the resonator and the vibration sensitive unit form an electrode, which may be a non-contact structure, forming a capacitor with the metallized resonator, or formed of a piezoelectric ceramic material.

[0042] The ADC is connected to the gyro control module through a demodulation and filtering module. After the digital signal passes through the demodulation and filtering module, the vibration amplitude information of the resonator is obtained and then output to the gyro control module. The gyro control module calculates using the amplitude information of the resonator to obtain the size of the excitation signal that should be applied to the resonator; after being converted into an analog voltage signal by a DAC, it is applied to the excitation electrode to maintain the normal operation of the gyroscope.

[0043] In this embodiment, the gyro control module includes: a force feedback control module, a full-angle control module, an integrator module, a normalization combination module and a force calculation module;

[0044] The signal of the demodulation and filtering module is output to the force feedback control module and the full-angle control module respectively. The force feedback module outputs an angular velocity signal, which passes through an integrator module and is calculated with the angle output signal of the full-angle control module in a normalized combination module. The normalized combination module calculates the angle output and sends it to the host computer. At the same time, the force feedback control module and the full-angle control module will also calculate the size of the excitation signal to be applied, and after each is sent to the force calculation module, the force calculation module sends the signal of the excitation voltage to be applied to the DAC.

[0045] In this embodiment, the resonator 1 is the core sensitive unit of the gyroscope, and its material can be metallized quartz, cup-shaped metal resonator, etc. The detection electrode 2 is used to detect the vibration of the resonator, and can be a non-contact structure, forming a capacitor with the metallized resonator, or composed of piezoelectric ceramic material. The buffer amplifier 3 is used to collect and convert the obtained voltage signal containing the vibration information of the gyroscope into a digital quantity through ADC4. The demodulation filter module 5 demodulates the digital signal of the ADC to obtain the vibration signal of the gyroscope and sends it to the gyroscope control module 6. The gyroscope control module calculates the amplitude of the control force based on the gyroscope vibration signal, and applies it to the excitation electrode 8 through DAC7.

[0046] Figure 2 It is a functional block diagram of the gyro control module 6.

[0047] In this embodiment, the information of the demodulation and filtering module is respectively used for force feedback control solution and full-angle control solution, and the solved signal is sent to the force calculation module. The force calculation module superimposes the force required by the two methods and sends the force control signal to the DAC. At the same time, the angular velocity output of the force feedback method is integrated to obtain the angle output, which is normalized and combined with the angle output of the full-angle method to obtain the final angle output.

[0048] A resonant gyroscope force feedback and full-angle combined control method, such as Figure 3 As shown, the following steps are included:

[0049] Step 1, measuring the scale factor of the force feedback method and the Blaine coefficient of the full-angle method;

[0050] The specific method of step 1 is:

[0051] Before the system works, it is necessary to measure the scale factor k of the force feedback method. FTR and the Blaine coefficient α for the full-angle method.

[0052] Step 2, integrating the angular rate output of the force feedback method to obtain an angle output;

[0053] The specific method of step 2 is:

[0054] After the system is working, the integrator of the gyro control module 6 is used to output the angular rate in the form of force feedback. Integrate to get the angle output

[0055] Step 3, unify the scale of the angle output of the full-angle mode and the angle output of the force feedback mode;

[0056] The specific method of step 3 is:

[0057] The integrated force feedback angle output θ FTR Divide by the scaling factor k FTR Get the normalized force feedback angle output, and then output the full-angle angle θ WA Divide by the Blaine coefficient α to get the normalized full-angle angle output.

[0058] Step 4: Combine the angle output of the full-angle method with the angle output of the force feedback method.

[0059] The specific method of step 4 is:

[0060] The normalization combination module of the gyro control module 6 is used to realize the combination of angle outputs, and the final angle output is θ out =θ FTR / k FTR +θ WA / α.

[0061] There is no need to disconnect the force feedback mode Cp control force during the control process, thus achieving combined control of force feedback and full-angle.

[0062] The working process and working principle of the present invention are:

[0063] 1. Apply an excitation signal after power-on to start the gyro and put it into force feedback mode. The gyro control module calculates the control signal size and angular rate output;

[0064] 2. Perform factory calibration on the scale factor of the force feedback mode, and place the obtained scale factor as a control parameter into the normalization combination module in the gyro control module for standby use.

[0065] 3. Apply the excitation signal after power-on to start the gyro and enter the full-angle mode. The gyro control module obtains the control signal size and angle output through calculation;

[0066] 4. Perform factory calibration on the Blaine coefficients of the full-angle mode, and place the obtained Blaine coefficients as control parameters into the normalization combination module in the gyro control module for standby use.

[0067] 5. Apply an excitation signal after power-on to start the gyro, and enter the force feedback and full-angle combined control mode. The gyro control module obtains the control signal size and the combined angle output through calculation.

[0068] It should be emphasized that the embodiments of the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation modes. Any other implementation modes derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A resonant gyroscope force feedback and full-angle combined control system, characterized in that: include: Resonator, detection electrode, buffer amplifier, ADC, demodulation filter module, gyro control module, DAC and excitation electrode; The resonator and the vibration sensitive unit form an electrode, which is divided into a detection electrode and an excitation electrode according to the functional area; the output end of the resonator is connected to the detection electrode, the buffer amplifier and the ADC in sequence, and the detection electrode obtains the vibration signal of the resonator, which is amplified by the buffer amplifier and converted into a digital signal after entering the ADC; The ADC is connected to the gyro control module through a demodulation and filtering module. After the digital signal passes through the demodulation and filtering module, the vibration amplitude information of the resonator is obtained and then output to the gyro control module. The gyro control module calculates using the amplitude information of the resonator to obtain the size of the excitation signal that should be applied to the resonator; after being converted into an analog voltage signal by a DAC, it is applied to the excitation electrode to maintain the normal operation of the gyroscope.

2. A resonant gyroscope force feedback and full-angle combined control system according to claim 1, characterized in that: The gyro control module includes: a force feedback control module, a full-angle control module, an integrator module, a normalization combination module and a force calculation module; the signals of the demodulation filter module are respectively output to the force feedback control module and the full-angle control module, the force feedback module outputs an angular velocity signal, which passes through an integrator module and is calculated in the normalization combination module with the angle output signal of the full-angle control module; the normalization combination module calculates the angle output and sends it to the host computer; at the same time, the force feedback control module and the full-angle control module will also calculate the size of the excitation signal to be applied, and after each is sent to the force calculation module, the force calculation module sends the signal of the excitation voltage to be applied to the DAC.

3. A resonant gyroscope force feedback and full-angle combined control method, characterized in that: The following steps are involved: Step 1, measuring the scale factor of the force feedback method and the Blaine coefficient of the full-angle method; Step 2, integrating the angular rate output of the force feedback method to obtain an angle output; Step 3, unify the scale of the angle output of the full-angle mode and the angle output of the force feedback mode; Step 4: Combine the angle output of the full-angle method with the angle output of the force feedback method.

4. A resonant gyroscope force feedback and full-angle combined control method according to claim 3, characterized in that: The specific method of step 1 is: Before the system works, it is necessary to measure the scale factor k of the force feedback method. FTR and the Blaine coefficient α for the full-angle method.

5. The method for combined force feedback and full-angle control of a resonant gyroscope according to claim 3, characterized in that: The specific method of step 2 is: After the system is working, the integrator of the gyro control module 6 is used to output the angular rate in the form of force feedback. Integrate to get the angle output 6. A resonant gyroscope force feedback and full-angle combined control method according to claim 3, characterized in that: The specific method of step 3 is: The integrated force feedback angle output θ FTR Divide by the scaling factor k FTR Get the normalized force feedback angle output, and then output the full-angle angle θ WA Divide by the Blaine coefficient α to get the normalized full-angle angle output.

7. A resonant gyroscope force feedback and full-angle combined control method according to claim 3, characterized in that: The specific method of step 4 is: The normalization combination module of the gyro control module 6 is used to realize the combination of angle outputs, and the final angle output is θ out =θ FTR / k FTR +θ WA / α.

Images