A method and device for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk

Abstract

The present invention discloses a method and device for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk, the method comprising: conducting four rounds of experiments according to the resonant frequency and the preset amplitude range, wherein each round increases the amplitude within the preset amplitude range, for each amplitude, calculating the drive signal in real time within the set time range and transmitting it to the drive electrode, and simultaneously collecting the detection signal of the detection electrode; and decomposing the detection signal according to the simplified model of the detection signal, constructing a crosstalk parameter identification model according to all the drive signals and their corresponding detection signals, solving the parameter identification model, and substituting the crosstalk identification parameters into the crosstalk compensation model to realize crosstalk compensation of the detection signal when the hemispherical resonant gyroscope works normally. The present invention can effectively improve the accuracy of the hemispherical gyroscope drive crosstalk compensation, thereby improving the control accuracy and zero bias stability of the gyroscope.

Description

Technical Field

[0001] The present invention relates to the field of inertial technology, and in particular to a method and device for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk. Background Art

[0002] The hemispherical resonator gyroscope is an inertial sensitive device with the advantages of small size, light weight, simple structure and long life. The hemispherical resonator gyroscope consists of a meter and a control circuit. The meter mainly includes a hemispherical resonator and an excitation readout electrode. The main control circuit calculates the excitation signal frequency, amplitude and reference phase through the control chip, and outputs it to the gyroscope electrode through the DAC through the amplifier circuit to achieve the maintenance control of the resonator vibration mode. The vibration of the resonator will change the capacitance between it and the readout electrode, generating a weak current signal. The detection circuit captures the current signal and amplifies it to the control chip for demodulation calculation for the next round of control signal generation.

[0003] The resonance amplitude of the hemispherical gyroscope is only about 10um, and the capacitance change caused by vibration is very weak. The current input to the detection circuit is only about a few microamperes, which is greatly affected by external interference. The driving signal is an AC voltage of several volts, which will have a certain radiation to the outside world, especially strong interference to the weak signal output by the gyroscope.

[0004] The interference of the driving signal will cause a constant deviation in the demodulated value, thus having a great influence on the azimuth angle of the demodulated vibration mode. The azimuth angle is a key parameter for gyro signal control. The demodulation error will directly cause the control error of the entire loop, resulting in reduced gyro signal detection accuracy. Summary of the invention

[0005] In view of the problems in the background technology, the present invention proposes a method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk, which can effectively improve the accuracy of hemispherical gyroscope drive crosstalk compensation, thereby improving the control accuracy and zero bias stability of the gyroscope.

[0006] The present invention adopts the following technical solutions:

[0007] A method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk, comprising the following steps:

[0008] S1: Four rounds of experiments are conducted according to the resonant frequency f and the preset amplitude range, wherein each round increases the amplitude within the preset amplitude range, and for each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode, and the detection signal of the detection electrode is collected at the same time; and the detection signal is decomposed according to the simplified model of the detection signal to obtain the corresponding coefficient set ;

[0009] The real-time calculation of the driving signal and transmission to the driving electrode specifically includes: the first round is based on Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode;

[0010] in, For time, , B is a constant, and B is set so that the frequency The calculated driving signal will not cause the hemispherical resonant gyroscope to vibrate;

[0011] The simplified model of the detection signal is as follows:

[0012] ;

[0013] S2: Constructed based on all driving signals and their corresponding detection signals about The crosstalk parameter identification model is solved to obtain the crosstalk identification parameters ,

[0014] S3: Set the crosstalk identification parameters Substitute it into the crosstalk compensation model to achieve crosstalk compensation for the detection signal when the hemispherical resonant gyroscope works normally.

[0015] Preferably, the about The crosstalk parameter identification model is as follows:

[0016] ,

[0017] Among them, the crosstalk identification parameters .

[0018] Preferably, the crosstalk compensation model is specifically:

[0019] ,

[0020] in, , , , , is the amplitude control force, To balance the control force, is the orthogonal restraining force, is the azimuth angle of the oscillator vibration mode.

[0021] Preferably, the set time range of each amplitude A is determined according to the interruption frequency.

[0022] Preferably, the value range of B is 1 / 3 -2 / 3 .

[0023] Preferably, the preset amplitude range is 0-(3 / 5-2 / 3) times the maximum value of the driving electrode voltage range.

[0024] Preferably, before step S1, the method further includes: identifying the resonant frequency of the hemispherical resonant gyroscope .

[0025] As a general inventive concept, the present invention also provides a device for implementing the above-mentioned hemispherical gyroscope drive crosstalk rapid self-identification and compensation method, including: a crosstalk parameter identification module, a control module and a collection module,

[0026] The crosstalk parameter identification module performs four rounds of experiments according to the resonant frequency f and the preset amplitude range, wherein each round increases the amplitude within the preset amplitude range, and for each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode, and at the same time, the acquisition module acquires the detection signal of the detection electrode; the crosstalk parameter identification module decomposes the detection signal according to the simplified model of the detection signal to obtain the corresponding coefficient set ;

[0027] The real-time calculation of the driving signal and transmission to the driving electrode specifically includes: the first round is based on Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode;

[0028] in, For time, , B is a constant, and B is set so that the frequency The calculated driving signal will not cause the hemispherical resonant gyroscope to vibrate;

[0029] The simplified model of the detection signal is as follows:

[0030] ;

[0031] The crosstalk parameter identification module is constructed according to all driving signals and their corresponding detection signals. about The crosstalk parameter identification model is obtained by solving the parameter identification model to obtain the crosstalk identification parameters , and transmitted to the control module,

[0032] The control module sets the crosstalk identification parameters Substitute it into the crosstalk compensation model to achieve crosstalk compensation for the detection signal when the hemispherical resonant gyroscope works normally.

[0033] Preferably, it also includes a frequency scanning module, which is used to identify the resonant frequency of the hemispherical resonant gyroscope. , and transmitted to the crosstalk parameter identification module.

[0034] Preferably, it further comprises an interface module, wherein the interface module is used to receive a preset amplitude range and an incremental value input by a user.

[0035] Compared with the prior art, the advantages of the present invention are:

[0036] The invention discloses a method for rapid self-identification and compensation of drive crosstalk of a hemispherical gyroscope. After locating the resonant frequency, a control chip generates a sinusoidal signal of (resonant frequency+B) Hz as a drive signal. The signal does not cause the vibration of the resonator, but radiates the drive signal to a detection circuit. By collecting the signal of the detection circuit, a crosstalk parameter identification model of the detection signal with respect to the drive signal is established. The crosstalk identification parameters can be obtained by solving the crosstalk identification parameters. The crosstalk identification parameters are applied to the crosstalk compensation of the detection signal when the hemispherical gyroscope is working normally, so that the influence of the drive crosstalk on the detection can be eliminated, and the signal detection accuracy can be greatly improved, thereby improving the control accuracy and zero-bias stability of the gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the present invention more easily understood, the present invention will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. These drawings only depict typical embodiments of the present invention and should not be considered as limiting the scope of protection of the present invention.

[0038] Figure 1 Schematic diagram of the impact of drive crosstalk on signal detection.

[0039] Figure 2 This is a flowchart of the algorithm execution for self-identification of driving crosstalk parameters of the present invention.

[0040] Figure 3 This is a flow chart of the method for rapid self-identification and compensation of drive crosstalk of the present invention.

[0041] Figure 4 1 is a block diagram of a system for implementing fast self-identification and compensation of drive crosstalk in an embodiment of the present invention.

[0042] Figure 5 1 and 2 are diagrams of the crosstalk parameter identification and fitting results in a specific example of the present invention, wherein (a) is the result of fitting the parameters in the detection signal, (b) is the result of fitting the parameters in the detection signal, (c) is the result of fitting the parameters in the detection signal, and (d) is the result of fitting the parameters in the detection signal. DETAILED DESCRIPTION

[0043] The following describes the implementation modes of the present invention with reference to the accompanying drawings so that those skilled in the art can better understand the present invention and implement it. However, the enumerated embodiments are not intended to limit the present invention. In the absence of conflict, the following embodiments and the technical features in the embodiments may be combined with each other, wherein the same components are represented by the same figure marks.

[0044] The present invention provides a method for rapid self-identification and compensation of hemispherical gyroscope circuit drive crosstalk. The drive signal often crosstalks to the detection circuit in the form of radiation, and the magnitude of the crosstalk is highly correlated with the magnitude of the control drive signal. However, the phase and amplitude of the signal past the crosstalk often change with the changes of circuit components and gyroscopes, such as Figure 1 shown.

[0045] When the output frequency is the same as the natural frequency of the resonator, the resonator will resonate, and the vibration angle of the vibration mode produced by the four-antinode vibration is the required sensitive angle. Before each resonance control, the gyro needs to be swept. The amplitude of the drive signal is fixed, and the frequency is stepped step by step to quickly locate the resonant frequency of the resonator. Figure 2 shown.

[0046] The drive crosstalk self-identification and compensation method proposed in the present invention can be selectively performed after the first round of frequency sweeping is completed. Figure 3 As shown in the figure, after locating the resonant frequency, the control chip will generate a sinusoidal signal of (resonant frequency + 500) Hz, which will not cause the vibration of the resonator, but will radiate the drive signal to the detection circuit. By collecting the signal of the detection circuit, the drive crosstalk can be identified.

[0047] Due to the limitations of the resonator processing technology and processing conditions, the accuracy of the resonant gyroscope is relatively low, and the circuit is greatly affected by the ambient temperature, etc. Self-identification of the crosstalk parameters before closed-loop control can effectively improve the compensation accuracy. Therefore, the present invention adds the crosstalk parameter self-identification module after the first round of frequency scanning to achieve its flexibility in use.

[0048] Assume that the resonant frequency of the resonator obtained by the first round of frequency sweep is , in actual control, the output form of the drive signal is:

[0049] in, is the X electrode driving signal, is the Y electrode driving signal, is the amplitude control force, To balance the control force, is the orthogonal restraining force, is the azimuth angle of the resonator vibration mode. Simplify the output model and assume:

[0050] ,

[0051] Thus the above control signal is simplified to:

[0052] .

[0053] For both the driving electrode and the detection electrode, the output signal is generated by synthesizing the cosine term and the sine term. For the detection signal, the acquisition signal model is:

[0054] ,

[0055] in, is the main standing wave amplitude, is the standing wave orthogonal wave amplitude. Simplify the detection signal model and assume:

[0056] ,

[0057] Thus, the above control signal model is simplified to:

[0058] .

[0059] For the driving signal and the detection signal, when the hemispherical gyroscope is working normally, the two signal frequencies are the same, which is the resonant frequency. , driving crosstalk often directly affects the amplitude of the detection signal, that is, In order to conduct the crosstalk identification experiment, the signal given to the driving electrode must avoid causing the resonator to vibrate. Therefore, in this experiment, the output signal frequency of the driving crosstalk identification is set to (resonance frequency +B) Hz, and four rounds of experiments were performed, such as Figure 3 and Figure 4 As shown, specifically including:

[0060] Each round increments the amplitude within the preset amplitude range. For each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode, and the detection signal of the detection electrode is collected at the same time; and the detection signal is decomposed according to the simplified model of the detection signal as follows:

[0061] ,

[0062] The first round of Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode;

[0063] in, ; The value range of B is (1 / 3-2 / 3) ; The set value of each amplitude value A is determined according to the interruption frequency, that is, the incremental time step is calculated according to the interruption frequency, and then the set value of each amplitude value A is determined according to the incremental time step.

[0064] That is, first set up independently , other output signal items , and Set to 0; then set them separately , and , the other three items are set to 0. Each time a certain amplitude is set independently, it is gradually increased from 0 to the maximum amplitude, and the detection signal is demodulated and stored. After four rounds of test signal output acquisition, a set of test data sets can be obtained. Since the test output signal has a very strong positive correlation with the collected detection signal, and the linearity is good, a multivariate linear regression method is used for model identification:

[0065] ,

[0066] is the crosstalk identification parameter to be identified,

[0067] .

[0068] After solving the crosstalk parameter K to be identified, when the hemispherical gyro works normally, in terms of crosstalk compensation, the , together with the crosstalk identification parameters, are substituted into the following crosstalk compensation model, that is, the estimated crosstalk error value is directly subtracted from the acquired signal to achieve crosstalk compensation for the acquired signal:

[0069] .

[0070] The control module of a conventional hemispherical resonant gyroscope calculates the driving signal according to the resonant frequency, and obtains the X-electrode driving signal according to the driving signal output model. and Y electrode drive signal , and then transmitted to the X driving electrode and Y driving electrode of the hemispherical resonator gyroscope respectively, so that the resonator vibrates, so that the hemispherical resonator gyroscope starts to work normally and sensitively measures the angular velocity of the object.

[0071] Therefore, when the hemispherical resonant gyroscope works normally, the present invention extracts the output model of the driving signal in real time through the control module. , , , , and substituted into the crosstalk compensation model, so that the compensated detection signal can be obtained in real time to achieve crosstalk compensation for the collected signal.

[0072] The following is a specific process of a hemispherical resonant gyroscope using the present invention to achieve detection signal crosstalk compensation:

[0073] S01. Turn on the hemispherical resonant gyroscope and locate the approximate resonant frequency of the resonator after the first round of frequency sweep. It is 5164Hz.

[0074] S02, turn on and enter the drive crosstalk identification module, set the signal output frequency , and set the preset amplitude range to 0-2 / 3 of the maximum value of the driving electrode voltage range. In this example, the maximum value of the driving electrode voltage range of the hemispherical resonant gyroscope is 10V;

[0075] The driver crosstalk identification module outputs the frequency according to the signal Four rounds of experiments were conducted with the preset amplitude range:

[0076] In the first round of experiments, the amplitude value is increased within the preset amplitude range, and the increment value is 0.1V; the setting time range of each amplitude value A is determined according to the interruption frequency, that is, the increment time step is calculated by the interruption frequency, and then the setting time range of each amplitude value A is determined according to the increment time step. For each amplitude value A, within its setting time range, according to Real-time calculation of drive signals And transmit to the X driving electrode, and at the same time collect the detection signal of the detection electrode (including the detection signal X of the X detection electrode and the detection signal Y of the Y detection electrode); and decompose the detection signal as follows:

[0077] ,

[0078] in, .

[0079] The second round of experiments was basically the same as the first round, with the only difference being: Calculate the driving signal And transmitted to the X driving electrode;

[0080] The third round of experiments was basically the same as the first round, with the only difference being: Calculate the driving signal And transmitted to the Y driving electrode;

[0081] The fourth round of experiments was basically the same as the first round, with the only difference being: Calculate the driving signal And transmitted to the Y driving electrode.

[0082] After four rounds of experiments, the drive crosstalk identification module constructs the following based on all drive signals and their corresponding detection signals: about Crosstalk parameter identification model:

[0083] ,

[0084] The parameter identification model is solved by using the multivariate linear regression method, such as Figure 5 As shown, the crosstalk identification parameters are obtained:

[0085] .

[0086] The driving crosstalk identification module transmits the crosstalk identification parameters to the control module of the hemispherical resonant gyroscope, and the control module substitutes the crosstalk identification parameters into the following crosstalk compensation model to realize crosstalk compensation of the detection signal when the hemispherical resonant gyroscope works normally.

[0087] .

[0088] in, , , , .

[0089] The present invention also provides a device for realizing the above-mentioned hemispherical gyroscope driving crosstalk fast self-identification and compensation method, comprising: a frequency sweep module, an interface module, a crosstalk parameter identification module, a control module and a collection module.

[0090] The frequency sweep module identifies the resonant frequency of the hemispherical resonant gyroscope , and transmitted to the crosstalk parameter identification module, the interface module is used to receive parameters such as the preset amplitude range and the incremental value input by the user.

[0091] The crosstalk parameter identification module conducts four rounds of experiments based on the resonant frequency f and the preset amplitude range. In each round, the amplitude is increased within the preset amplitude range. For each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode. At the same time, the acquisition module collects the detection signal of the detection electrode. The crosstalk parameter identification module decomposes the detection signal according to the simplified model of the detection signal to obtain the corresponding coefficient set. ;

[0092] The driving signal is calculated in real time and transmitted to the driving electrode, specifically including: the first round is based on Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode;

[0093] The simplified model of the detection signal is as follows:

[0094] ,

[0095] in, , B is a constant, given by the frequency The calculated driving signal will not cause the hemispherical resonant gyroscope to vibrate;

[0096] The crosstalk parameter identification module is constructed based on all driving signals and their corresponding detection signals. about The crosstalk parameter identification model is obtained by solving the parameter identification model and obtaining the crosstalk identification parameters , and transmitted to the control module,

[0097] The control module will identify the crosstalk parameters Substitute it into the crosstalk compensation model to achieve crosstalk compensation for the detection signal when the hemispherical resonant gyroscope works normally.

[0098] The embodiments described above are only preferred specific implementations of the present invention. This specification uses the phrases "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" to refer to one or more of the same or different embodiments according to the present disclosure. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk, characterized in that: The following steps are involved: S1: Four rounds of experiments are conducted according to the resonant frequency f and the preset amplitude range, wherein each round increases the amplitude within the preset amplitude range, and for each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode, and the detection signal of the detection electrode is collected at the same time; and the detection signal is decomposed according to the simplified model of the detection signal to obtain the corresponding coefficient set ; The real-time calculation of the driving signal and transmission to the driving electrode specifically includes: the first round is based on Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode; in, For time, , B is a constant, and B is set so that the frequency The calculated driving signal will not cause the hemispherical resonant gyroscope to vibrate; the simplified model of the detection signal is as follows: ； S2: Constructed based on all driving signals and their corresponding detection signals about The crosstalk parameter identification model is solved to obtain the crosstalk identification parameters , S3: Set the crosstalk identification parameters Substitute it into the crosstalk compensation model to achieve crosstalk compensation for the detection signal when the hemispherical resonant gyroscope works normally.

2. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to claim 1, characterized in that: Said about The crosstalk parameter identification model is as follows: ， Among them, the crosstalk identification parameters .

3. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to claim 2, characterized in that: The crosstalk compensation model is specifically: , in, , , , , is the amplitude control force, To balance the control force, is the orthogonal restraining force, is the azimuth angle of the oscillator vibration mode.

4. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to any one of claims 1 to 3, characterized in that: The setting time range of each amplitude A is determined according to the interruption frequency.

5. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to any one of claims 1 to 3, characterized in that: The value range of B is 1 / 3 -2 / 3 .

6. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to any one of claims 1 to 3, characterized in that: The preset amplitude range is 0-(3 / 5-2 / 3) times the maximum value of the driving electrode voltage range.

7. The method for rapid self-identification and compensation of hemispherical gyroscope drive crosstalk according to any one of claims 1 to 3, characterized in that: Before step S1, the step further includes: identifying the resonant frequency of the hemispherical resonant gyroscope .

8. A device for fast self-identification and compensation of hemispherical gyroscope drive crosstalk for implementing the method according to any one of claims 1 to 7, characterized in that: include: Crosstalk parameter identification module, control module and acquisition module, The crosstalk parameter identification module performs four rounds of experiments according to the resonant frequency f and the preset amplitude range, wherein each round increases the amplitude within the preset amplitude range, and for each amplitude A, the driving signal is calculated in real time within the set time range and transmitted to the driving electrode, and at the same time, the acquisition module acquires the detection signal of the detection electrode; the crosstalk parameter identification module decomposes the detection signal according to the simplified model of the detection signal to obtain the corresponding coefficient set ; The real-time calculation of the driving signal and transmission to the driving electrode specifically includes: the first round is based on Calculate the driving signal And transmitted to the X driving electrode, the second round is based on Calculate the driving signal And transmitted to the X driving electrode, the third round according to Calculate the driving signal And transmitted to the Y driving electrode, the fourth round according to Calculate the driving signal And transmitted to the Y driving electrode; in, For time, , B is a constant, and B is set so that the frequency The calculated driving signal will not cause the hemispherical resonant gyroscope to vibrate; the simplified model of the detection signal is as follows: ； The crosstalk parameter identification module is constructed according to all driving signals and their corresponding detection signals. about The crosstalk parameter identification model is obtained by solving the parameter identification model to obtain the crosstalk identification parameters , and transmitted to the control module, The control module sets the crosstalk identification parameters Substitute it into the crosstalk compensation model to achieve crosstalk compensation for the detection signal when the hemispherical resonant gyroscope works normally.

9. The hemispherical gyroscope drive crosstalk fast self-identification and compensation device according to claim 8, characterized in that: The invention also includes a frequency sweeping module, which is used to identify the resonant frequency of the hemispherical resonant gyroscope. , and transmitted to the crosstalk parameter identification module.

10. The hemispherical gyroscope drive crosstalk fast self-identification and compensation device according to claim 8, characterized in that: It also includes an interface module, which is used to receive a preset amplitude range and an incremental value input by a user.

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