Detection, driving and phase error iterative compensation method for two-channel measurement and control system of hemispherical resonator gyroscope

Abstract

The invention discloses a hemispherical resonator gyroscope two-channel measurement and control system detection, driving and phase error iterative compensation method, and belongs to the technical field of inertia. According to the invention, the problem of unexpected drift of the standing wave angular rate output by the gyroscope due to detection channel errors, driving channel errors and signal phase delay errors is solved. According to the method, iterative compensation is carried out through the compensation matrix to achieve effective suppression of a single error, coupling interference between errors is effectively reduced through compensation scheme design, and finally the optimal compensation effect on the three errors is achieved. Through iterative compensation of detection, driving and phase errors, the signal detection precision and excitation application precision of the double-channel measurement and control system of the rate integration hemispherical resonator gyroscope are improved, and the problem of unexpected drift of the standing wave angular rate caused by gain and drift angle errors and phase delay errors generated by a detection channel and a driving channel of the measurement and control system is effectively solved. The method provided by the invention can be applied to error compensation of a hemispherical resonator gyroscope double-channel measurement and control system.

Description

Technical Field

[0001] The invention belongs to the field of inertial technology, and in particular relates to a detection, driving and phase error iterative compensation method for a hemispherical resonant gyroscope dual-channel measurement and control system. Background Art

[0002] Hemispherical resonant gyroscope (HRG) has the advantages of high precision, low power consumption, good reliability, long life, and radiation resistance. It is internationally recognized as the next generation of gyroscopes and is widely used in various fields such as sea, land, air, space, and submarine. According to the working mode, it is divided into rate gyroscopes and rate integrating gyroscopes. Compared with rate gyroscopes, rate integrating gyroscopes have a larger dynamic measurement range and can be better applied to high-mobility carriers and more complex working environments. According to the circuit implementation method, it is divided into dual-channel mode and single-channel mode. Compared with the single-channel mode, the dual-channel mode naturally guarantees the synchronization of the two signals, but the two independent channels inevitably have problems such as unbalanced electrical characteristics of electronic components, signal coupling during signal transmission, and signal delay, which leads to detection channel errors in the detection stage, drive channel errors in the drive stage, and signal phase delay errors in the entire signal processing process. These errors cause the standing wave angular rate output by the gyroscope to have undesired drift, affecting the performance of the gyroscope. Therefore, it is very important to compensate for the above errors. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the detection channel error, the drive channel error and the signal phase delay error may cause the standing wave angular velocity output by the gyroscope to have an unexpected drift, and a detection, driving and phase error iterative compensation method for a hemispherical resonant gyroscope dual-channel measurement and control system is proposed.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: a method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope, the method specifically comprising the following steps:

[0005] Step 1: Place the hemispherical resonant gyroscope and the control circuit on the turntable so that the gyroscope sensitive axis coincides with the turntable rotation axis;

[0006] Step 2: Initialize the number of iterations of detection error compensation l = 0, and initialize the detection compensation matrix

[0007] Step 3: The turntable drives the hemispherical resonant gyroscope to rotate. When the control state of the hemispherical resonant gyroscope is stable, the control circuit of the hemispherical resonant gyroscope is cut off, and then the x-channel attenuation identification signal obtained by the square filtering of the initial detection signal is collected by the host computer. And the y channel attenuation identification signal

[0008] Step 4: Identify the signal based on attenuation and Detection of deflection error δ dθ and the detection gain error δ dk Perform identification and determine whether the error identification result satisfies δ dk <10 -4 And δ dθ <10 -4 ;

[0009] If satisfied, the detection channel error compensation is completed, and the initial detection signal is converted into the detection compensation matrix M l The compensated detection signal obtained by the compensation process is used as the input of the primary demodulation module, and step five is continued;

[0010] If it is not satisfied, the compensation matrix M is obtained according to the identified detection angle error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for the detection channel error, set l=l+1, and return to step 3;

[0011] Step 5: Initialize the number of iterations of drive error compensation l′=0 and initialize the drive compensation matrix

[0012] Step 6: Actively drive the forward and reverse standing waves, and use the host computer to collect the angular position data and angular velocity data output by the hemispherical resonant gyroscope under forward and reverse conditions;

[0013] Step 7: Fit the angular position and angular rate data collected by the host computer to obtain the angular rate-angular position fitting curves under the positive and reverse conditions, respectively. Then, the angular rate-angular position fitting curves under the positive and reverse conditions are differentiated to obtain the positive and reverse differential curves. According to the positive and reverse differential curves, the drive gain error δ is obtained. ek and drive angle error δ eθ ;

[0014] Step 8: Determine the drive gain error δ ek and drive angle error δ eθ Whether the identification result meets the conditions:

[0015] If satisfied, the drive error compensation is completed, and the output signal of the signal modulation module passes through the drive compensation matrix N l′ The driving signal generated after processing is the actual output signal of the digital control circuit, and step nine is continued;

[0016] If it is not satisfied, then according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Perform compensation and set l′=l′+1, then return to step 6;

[0017] Step nine, iteratively compensating for the phase delay error;

[0018] Repeat the process of steps 6 and 7 to calculate the drive gain error and drive angle error when the phase compensation value obtained in the last iteration is added, and determine whether the drive gain error and drive angle error meet the requirements:

[0019] If satisfied, the entire compensation method ends;

[0020] If not satisfied, according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensate and set l′=l′+1, then return to step six.

[0021] Furthermore, the specific process of step three is:

[0022] Under the cut-off control condition, the initial detection signal of channel x and the initial detection signal of the y channel They are:

[0023]

[0024] Where ω0 is the resonant frequency, is the initial phase of the oscillator vibration, θ is the standing wave azimuth, represents the detection phase channel gain of channel x, represents the channel gain of the detection stage of channel y, a is the main standing wave amplitude of the resonator, δ dθ It represents the detection angle error, e is the base of the natural logarithm, τ is the time constant of the oscillator, and t is the time;

[0025] After the initial detection signal is squared and filtered, the x-channel attenuation identification signal and the y-channel attenuation identification signal collected by the host computer are:

[0026]

[0027] in, is the attenuation identification signal of the x channel after square filtering, is the attenuation identification signal of the y channel after square filtering, k0 is the gyro precession coefficient, Ω is the actual rotation angular rate of the gyro base, θ0 is the initial angular position of the gyro standing wave,

[0028]

[0029] Among them, δ dk Indicates the detection gain error.

[0030] Furthermore, in step 4, according to the attenuation identification signal and Detection of deflection error δ dθ and the detection gain error δ dk To identify, specifically:

[0031] right and Perform discretization processing to obtain the signal after discretization processing and

[0032]

[0033] Where T is the sampling period, k N is the sampling point number;

[0034] The objective function is constructed based on the principle of minimizing the sum of squared deviations:

[0035]

[0036] Among them, J x and J y are the objective functions of the x channel and the y channel respectively, and N is the number of sampling points;

[0037] When the objective function J x and J y When the minimum value is obtained, and δ dθ The optimal estimation result of and Calculate δ dk .

[0038] Furthermore, the compensation matrix M is obtained according to the identified detection deflection error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for detection channel errors; specifically:

[0039] Establish the compensation matrix M l+1 :

[0040]

[0041] Using the compensation matrix M l+1 Initial detection signal for channel x and the initial detection signal of the y channel To make compensation:

[0042]

[0043] Among them, U dx_c for The corresponding compensated signal, U dy_c for The corresponding compensated signal.

[0044] Furthermore, the angular rate-angular position fitting curves under the forward and reverse conditions are respectively:

[0045] Under the condition of standing wave active drive, the forward speed ω p and reverse speed ω n The corresponding angular rate-angular position relationships are:

[0046]

[0047] Among them, ω p is the forward speed, ω n is the reverse speed, k is the active drive speed and force conversion coefficient, ω c is the angular rate drift error in the same direction, the intermediate variable is the channel gain of the x-channel signal in the driving stage, G f is the gain coefficient of the driving force of the excitation voltage signal on the resonator, U v is the active drive control quantity contained in the control signal;

[0048] Eliminate ω by differential p and ω n The same direction error in the differential rate ω is obtained dif :

[0049] ω dif =kG f G c U v [δ ek cos(4θ)-2δ eθ sin(4θ)+2+δ ek ] (9)

[0050] The least square method is used to calculate the drive gain error δ in equation (9). ek and drive angle error δ eθ To identify.

[0051] Furthermore, the driving gain error δ ek and drive angle error δ eθ The identification results need to meet the following conditions:

[0052]

[0053] Further, according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensation; specifically:

[0054]

[0055] The driving error compensation model is as follows:

[0056]

[0057] Among them, U ex_c Express The signal after compensation, U ey_c Express The signal after compensation.

[0058] Furthermore, in step nine, the specific process of iteratively compensating the phase delay error is as follows:

[0059] Step 91, calculate the phase delay caused by the transimpedance amplifier, and use the calculated phase delay as the initial value phi0 of the phase compensation amount phi;

[0060] Step 92, initialize l″=0;

[0061] Step 93: The frequency control value and phase compensation value phi stored in RAM l″ The input modulation NCO generates an orthogonal reference signal after compensating the phase error, and the orthogonal reference signal after compensating the phase error, the amplitude stored in the RAM, and the orthogonal loop control signal are input into the signal modulation module, and the driving signal is generated through the signal modulation module;

[0062] Step 94: Actively drive the forward and reverse standing waves, and then use the host computer to collect the orthogonal loop control quantity data under the rotation condition;

[0063] Step 95: Perform Fourier fitting on the collected orthogonal loop control quantity data to obtain the DC component of the fitting curve, that is, to obtain the average value of the orthogonal loop control quantity data.

[0064] Step 96: Judgement Whether the requirements are met:

[0065] like If the requirements are met, the iteration stops;

[0066] If qpi does not meet the requirements, [phi l″ -1,phi l″ +1] as the initial interval of the binary method, and the new phase compensation value phi is obtained by the binary method. l″+1 , let l″=l″+1, and return to execute step nine-three.

[0067] Furthermore, in step 96, determining whether the qpi meets the requirements is specifically as follows:

[0068] Determine whether qpi meets the following requirements:

[0069] QPI<10 -4 (18).

[0070] The beneficial effects of the present invention are:

[0071] The present invention realizes effective suppression of a single error by iterative compensation through a compensation matrix, effectively reduces coupling interference between errors through compensation scheme design, and finally realizes the best compensation effect of three errors. By iteratively compensating detection, drive and phase errors, the signal detection accuracy and excitation application accuracy of the rate-integrating hemispherical resonant gyroscope dual-channel measurement and control system are improved, and the problem of undesired drift of standing wave angular rate caused by gain, deflection error and phase delay error generated by the detection channel and drive channel of the measurement and control system is effectively solved, further improving the performance of the hemispherical resonant gyroscope dual-channel measurement and control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 is an error compensation flow chart of the present invention;

[0073] Figure 2 It is a schematic diagram of the dual-channel measurement and control system of the hemispherical resonant gyroscope;

[0074] Figure 3 is a schematic diagram of a digital control circuit;

[0075] Figure 4 is the x-channel attenuation signal identification curve;

[0076] In the figure, the horizontal axis is time, in seconds; the vertical axis is the amplitude of the identification signal;

[0077] Figure 5 is the standing wave forward rotation curve and its fitting curve;

[0078] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0079] Figure 6 is the standing wave reversal curve and its fitting curve;

[0080] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0081] Figure 7 is the difference curve;

[0082] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0083] Figure 8 The front angular rate curve is used to compensate for the detection error;

[0084] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0085] Fig. 9 Angular rate curve after detection error compensation;

[0086] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0087] Fig.10 is the differential angular rate curve before drive error compensation;

[0088] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0089] Fig.11 is the differential angular rate curve after drive error compensation;

[0090] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0091] Fig.12 Angular rate curve before phase error compensation;

[0092] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s;

[0093] Fig.13 is the angular rate curve after phase error compensation;

[0094] In the figure, the horizontal axis is the standing wave angular position, in degrees; the vertical axis is the standing wave angular velocity, in degrees / s; DETAILED DESCRIPTION

[0095] Specific implementation method 1: Combination Figure 1 , Figure 2 and Figure 3 The present embodiment describes a method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope, and the method specifically comprises the following steps:

[0096] Step 1: Place the hemispherical resonant gyroscope and the control circuit on the turntable so that the gyroscope sensitive axis coincides with the turntable rotation axis (place the hemispherical resonant gyroscope and the control circuit at the appropriate position on the high-precision turntable and fix them with screws and pressure strips to ensure the stability of the gyroscope and the circuit during high-speed rotation);

[0097] Step 2: Initialize the number of iterations of detection error compensation l = 0, and initialize the detection compensation matrix

[0098] Step 3: The turntable drives the hemispherical resonant gyroscope to rotate (the rotation speed can be 500° / s). When the control state of the hemispherical resonant gyroscope is stable, the control circuit is cut off from controlling the hemispherical resonant gyroscope, and then the x-channel attenuation identification signal obtained by the square filtering of the initial detection signal is collected by the host computer. And the y channel attenuation identification signal

[0099] Step 4: Identify the signal based on attenuation and Detection of deflection error δ dθ and the detection gain error δ dk Perform identification and determine whether the error identification result satisfies δ dk <10 -4 And δ dθ <10 -4 ;

[0100] If satisfied, the detection channel error compensation is completed, and the initial detection signal is converted into the detection compensation matrix M l The compensated detection signal obtained by the compensation process is used as the input of the primary demodulation module. At the same time, the demodulation NCO obtains the frequency control amount from the RAM as the input of the primary demodulation module for subsequent primary demodulation and control links, and continues to execute step five;

[0101] If it is not satisfied, the compensation matrix M is obtained according to the identified detection angle error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for the detection channel error, set l=l+1, and return to step 3;

[0102] Step 5: Under the initial phase compensation value, initialize the number of iterations of the drive error compensation l′=0, and initialize the drive compensation matrix

[0103] Step 6: Actively drive the forward and reverse standing waves (rotation speed is 1° / s), and use the host computer to collect the angular position data and angular velocity data output by the hemispherical resonant gyroscope under forward and reverse conditions;

[0104] Step 7: Fit the angular position and angular rate data collected by the host computer by the least squares method to obtain the angular rate-angular position fitting curves under the positive and reverse conditions, respectively. Then, the angular rate-angular position fitting curves under the positive and reverse conditions are differentiated to obtain the positive and reverse differential curves. According to the positive and reverse differential curves, the drive gain error δ is obtained. ek and drive angle error δ eθ ;

[0105] Step 8: Determine the drive gain error δ ek and drive angle error δ eθ Whether the identification result meets the conditions:

[0106] If satisfied, the drive error compensation is completed, and the output signal of the signal modulation module passes through the drive compensation matrix N l′ The driving signal generated after processing is the actual output signal of the digital control circuit, and step nine is continued;

[0107] If it is not satisfied, then according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Perform compensation and set l′=l′+1, then return to step 6;

[0108] Step nine, iteratively compensating for the phase delay error;

[0109] Repeat the process of steps 6 and 7 to calculate the drive gain error and drive angle error when the phase compensation value obtained in the last iteration is added, and determine whether the drive gain error and drive angle error meet the requirements:

[0110] If satisfied, the entire compensation method ends;

[0111] If not satisfied, according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensate and set l′=l′+1, then return to step six.

[0112] Specific implementation method 2: This implementation method is different from the specific implementation method 1 in that the specific process of step 3 is as follows:

[0113] The detection channel error includes the detection gain error δ caused by the mismatch of the electrical characteristics of the electronic components between the two channels during the detection phase. dkThe detection angle error δ caused by the signal coupling between channels dθ Under the cut-off control condition, the interference of the driving error can be eliminated, and the high-speed rotation ensures that the orthogonal loop is still under normal control in a short time. The attenuation identification signal of the x channel and the attenuation identification signal of the y channel are output by the analog-to-digital conversion module. Under the cut-off control condition, the initial detection signal of the x channel and the initial detection signal of the y channel They are:

[0114]

[0115] Where ω0 is the resonant frequency, is the initial phase of the oscillator vibration, θ is the standing wave azimuth, represents the detection phase channel gain of channel x, represents the channel gain of the detection stage of channel y, a is the main standing wave amplitude of the resonator, δ dθ It represents the detection angle error, e is the base of the natural logarithm, τ is the time constant of the oscillator, and t is the time;

[0116] After the initial detection signal is squared and filtered, the x-channel attenuation identification signal and the y-channel attenuation identification signal collected by the host computer are:

[0117]

[0118] in, is the attenuation identification signal of the x channel after square filtering, is the attenuation identification signal of the y channel after square filtering, k0 is the gyro precession coefficient, Ω is the actual rotation angular rate of the gyro base, θ0 is the initial angular position of the gyro standing wave,

[0119]

[0120] Among them, δ dk Indicates the detection gain error.

[0121] The other steps and parameters are the same as those in the first embodiment.

[0122] Specific implementation method three: This implementation method is different from specific implementation methods one or two in that, in step four, according to the attenuation identification signal and Detection of deflection error δ dθ and the detection gain error δ dk To identify, specifically:

[0123] right and Perform discretization processing to obtain the signal after discretization processing and

[0124]

[0125] Where T is the sampling period, k N is the sampling point number;

[0126] The objective function is constructed based on the principle of minimizing the sum of squared deviations:

[0127]

[0128] Among them, J x and J y are the objective functions of the x channel and the y channel respectively, and N is the number of sampling points;

[0129] The objective function is solved by the downhill simplex method. When the objective function J x and J y When the minimum value is obtained, and δ dθ The optimal estimation result of and Calculate δ dk Taking the x-channel attenuation signal as an example, the recognition effect of the x-channel attenuation signal is as follows: Figure 4 As shown, the blue curve is the actual curve of the attenuation identification signal, and the green curve is the estimated curve. It can be seen that the two curves almost overlap, and the fitting effect is good.

[0130] The other steps and parameters are the same as those in the first or second embodiment.

[0131] Specific implementation method 4: This implementation method is different from any one of the specific implementation methods 1 to 3 in that the compensation matrix M is obtained based on the identified detection deflection error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for detection channel errors; specifically:

[0132] Compensation is performed based on the identified error parameters and feedforward control to establish the compensation matrix M l+1 :

[0133]

[0134] Using the compensation matrix M l+1 Initial detection signal for channel x and the initial detection signal of the y channel To make compensation:

[0135]

[0136] Among them, U dx_c for The corresponding compensated signal, U dy_c for The corresponding compensated signal.

[0137] The other steps and parameters are the same as those in Specific Embodiments 1 to 3.

[0138] Specific implementation mode 5: This implementation mode is different from any one of the specific implementation modes 1 to 4 in that the angular rate-angular position fitting curves under the forward and reverse conditions are respectively:

[0139] Under the condition of standing wave active drive, the forward speed ω p and reverse speed ω n The corresponding angular rate-angular position relationships are:

[0140]

[0141] Among them, ω p is the forward speed, ω n is the reverse speed, k is the active drive speed and force conversion coefficient, ω c is the angular velocity drift error (caused by uneven damping and other errors), the intermediate variable is the channel gain of the x-channel signal in the driving stage, G f is the gain coefficient of the driving force of the excitation voltage signal on the resonator, U v is the active drive control quantity contained in the control signal;

[0142] Eliminate ω by differential p and ω n The same direction error in the differential rate ω is obtained dif :

[0143] ω dif =kG f G c U v [δ ek cos(4θ)-2δ eθ sin(4θ)+2+δ ek ] (9)

[0144] The least square method is used to calculate the drive gain error δ in equation (9). ek and drive angle error δ eθ The identification result of the standing wave forward curve is as follows: Figure 5 As shown in Figure 2, the identification results of the standing wave reversal curve are as follows: Figure 6 The difference curve is shown as Figure 7 shown.

[0145] The other steps and parameters are the same as those in Specific Embodiments 1 to 4.

[0146] Introducing drive gain error δ caused by inconsistency of electronic components ek The coupling error caused by the incomplete shielding of the long-distance transmission cable is η, and the actual voltage signal acting on the gyroscope is obtained. and They are:

[0147]

[0148] in, and are the channel gains of the two signals in the driving stage, and η is the coupling coefficient;

[0149]

[0150] Let coupling coefficient η = tanδ eθ , intermediate variable δ eθ is the driving angle error, then formula (10) is simplified to:

[0151]

[0152] The control signal U ex and U ey The active drive control quantity contained in is denoted as U v , for U v The two control signals obtained by vector allocation are U vx and U vy :

[0153]

[0154] Will U vx and U vy Substitute U into formula (12) as the control signal, vx As U ex Substitute U vy As U ey Substitute and calculate the vertical force, and obtain the standing wave azimuth orthogonal driving force f according to the vertical force calculation result ⊥ :

[0155]

[0156] Then according to the standing wave azimuth orthogonal driving force f ⊥ The expression of the relationship between angular velocity and angular position under positive and reverse conditions is obtained.

[0157] Specific implementation method 6: This implementation method is different from any one of the specific implementation methods 1 to 5 in that the driving gain error δ ek and drive angle error δ eθ The identification results need to meet the following conditions:

[0158]

[0159] The other steps and parameters are the same as those in Specific Implementation Methods 1 to 5.

[0160] Specific implementation method 7: This implementation method is different from the specific implementation methods 1 to 6 in that the ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensation; specifically:

[0161]

[0162] The driving error compensation model is as follows:

[0163]

[0164] Among them, U ex_c Express The signal after compensation, U ey_c Express The signal after compensation.

[0165] The other steps and parameters are the same as those in Specific Embodiments 1 to 6.

[0166] Specific implementation eight: This implementation differs from any one of specific implementations one to seven in that, in step nine, the specific process of iteratively compensating the phase delay error is as follows:

[0167] Step 91, calculate the phase delay caused by the transimpedance amplifier, and use the calculated phase delay as the initial value phi0 of the phase compensation amount phi;

[0168] Step 92, initialize l″=0;

[0169] Step 93: The frequency control value and phase compensation value phi stored in RAM l″ The input modulation NCO (numerically controlled oscillator) generates an orthogonal reference signal after compensating the phase error, and the orthogonal reference signal after compensating the phase error, the amplitude stored in the RAM and the orthogonal loop control signal are input into the signal modulation module, and the driving signal is generated through the signal modulation module;

[0170] Step 94: Actively drive the forward and reverse standing waves (the rotation speed is 1° / s, that is, apply an active drive signal to the drive signal generated by the signal modulation module), and then use the host computer to collect the orthogonal loop control quantity data (qpi) under the rotation condition;

[0171] Step 95: Perform Fourier fitting on the collected orthogonal loop control quantity data to obtain the DC component of the fitting curve, that is, to obtain the average value of the orthogonal loop control quantity data.

[0172] Step 96: Judgement Whether the requirements are met:

[0173] like If the requirements are met, the iteration stops;

[0174] like If the requirements are not met, [phi l″ -1,phi l″ +1] as the initial interval of the binary method (in degrees), and the new phase compensation value phi is obtained by the binary method. l″+1 , let l″=l″+1, and return to execute step nine-three.

[0175] The other steps and parameters are the same as those in Specific Embodiments 1 to 7.

[0176] Specific implementation method 9: This implementation method is different from the specific implementation methods 1 to 8 in that the step 96 determines Whether the requirements are met, specifically:

[0177] judge Whether it meets:

[0178]

[0179] The other steps and parameters are the same as those in Specific Embodiments 1 to 8.

[0180] The phase error is caused by the transimpedance amplifier, low-pass filter, A / D, D / A and other links in the detection and driving stages. Among them, the phase delay caused by the transimpedance amplifier is the main factor, so the error can be estimated by calculating the phase delay caused by the transimpedance amplifier.

[0181] It can be seen from the literature (Lynch D D.Vibratory gyro analysis by the method of averaging [C] / / 2nd Saint Petersburg International Conference on Integrated Navigation Systems. 1995: 18-26.) that, without considering the phase error, the change in the secondary demodulation amount Q is as follows:

[0182]

[0183] Under ideal control conditions, it is believed that Get F q as follows:

[0184]

[0185] From formula (9), we can see that when the phase error is ignored, the orthogonal control amount is the fourth harmonic with a mean value of 0 relative to the angular position. The introduction of the phase error causes the bias of the orthogonal control force. Therefore, the orthogonal control amount mean value is To judge the phase error compensation effect, the phase compensation indicators are as follows:

[0186]

[0187] Experimental Section

[0188] The gyro is rotated at a speed of 500° / s using a turntable to obtain the angular position-angular velocity curves before and after detection error compensation. Figure 8 and Fig. 9 As shown, it can be seen that the amplitude of angular rate fluctuation is significantly reduced before and after compensation.

[0189] Active driving is used to generate positive and negative standing waves at a speed of 1° / s. The positive and negative standing waves are identified by the least square method. The difference curves before and after the drive error compensation are obtained by differential analysis. Fig.10 and Fig.11 As shown, it can be seen that the amplitude of angular rate fluctuation is significantly reduced before and after compensation.

[0190] The standing wave is rotated at a speed of 2° / s by active driving, and the angular position-angular velocity curves before and after phase error compensation are obtained as follows: Fig.12 and Fig.13 As shown, it can be seen that the amplitude of angular rate fluctuation is significantly reduced before and after compensation.

[0191] The above calculation examples of the present invention are only used to explain the calculation model and calculation process of the present invention in detail, and are not intended to limit the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope, characterized in that: The method specifically comprises the following steps: Step 1: Place the hemispherical resonant gyroscope and the control circuit on the turntable so that the gyroscope sensitive axis coincides with the turntable rotation axis; Step 2: Initialize the number of iterations of detection error compensation l = 0, and initialize the detection compensation matrix Step 3: The turntable drives the hemispherical resonant gyroscope to rotate. When the control state of the hemispherical resonant gyroscope is stable, the control circuit of the hemispherical resonant gyroscope is cut off, and then the x-channel attenuation identification signal obtained by the square filtering of the initial detection signal is collected by the host computer. And the y channel attenuation identification signal Step 4: Identify the signal based on attenuation and Detection of deflection error δ dθ and the detection gain error δ dk Perform identification and determine whether the error identification result satisfies δ dk <10 -4 And δ dθ <10 -4 ; If satisfied, the detection channel error compensation is completed, and the initial detection signal is converted into the detection compensation matrix M l The compensated detection signal obtained by the compensation process is used as the input of the primary demodulation module, and step five is continued; If it is not satisfied, the compensation matrix M is obtained according to the identified detection angle error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for the detection channel error, set l=l+1, and return to step 3; Step 5: Initialize the number of iterations of drive error compensation l′=0 and initialize the drive compensation matrix Step 6: Actively drive the forward and reverse standing waves, and use the host computer to collect the angular position data and angular velocity data output by the hemispherical resonant gyroscope under forward and reverse conditions; Step 7: Fit the angular position and angular rate data collected by the host computer to obtain the angular rate-angular position fitting curves under the positive and reverse conditions, respectively. Then, the angular rate-angular position fitting curves under the positive and reverse conditions are differentiated to obtain the positive and reverse differential curves. According to the positive and reverse differential curves, the drive gain error δ is obtained. ek and drive angle error δ eθ ; Step 8: Determine the drive gain error δ ek and drive angle error δ eθ Whether the identification result meets the conditions: If satisfied, the drive error compensation is completed, and the output signal of the signal modulation module passes through the drive compensation matrix N l′ The driving signal generated after processing is the actual output signal of the digital control circuit, and step nine is continued; If it is not satisfied, then according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Perform compensation and set l′=l′+1, then return to step 6; Step nine, iteratively compensating for the phase delay error; Repeat the process of steps 6 and 7 to calculate the drive gain error and drive angle error when the phase compensation value obtained in the last iteration is added, and determine whether the drive gain error and drive angle error meet the requirements: If satisfied, the entire compensation method ends; If not satisfied, according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensate and set l′=l′+1, then return to step six.

2. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 1, characterized in that: The specific process of step three is: Under the cut-off control condition, the initial detection signal of channel x and the initial detection signal of the y channel They are: Where ω0 is the resonant frequency, is the initial phase of the oscillator vibration, θ is the azimuth angle of the standing wave, represents the detection phase channel gain of channel x, represents the channel gain of the detection stage of channel y, a is the main standing wave amplitude of the resonator, δ dθ It represents the detection angle error, e is the base of the natural logarithm, τ is the time constant of the oscillator, and t is the time; After the initial detection signal is squared and filtered, the x-channel attenuation identification signal and the y-channel attenuation identification signal collected by the host computer are: in, is the attenuation identification signal of the x channel after square filtering, is the attenuation identification signal of the y channel after square filtering, k0 is the gyro precession coefficient, Ω is the actual rotation angular rate of the gyro base, θ0 is the initial angular position of the gyro standing wave, Among them, δ dk Indicates the detection gain error.

3. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 2, characterized in that: In the step 4, according to the attenuation identification signal and Detection of deflection error δ dθ and the detection gain error δ dk To identify, specifically: right and Perform discretization processing to obtain the signal after discretization processing and Where T is the sampling period, k N is the sampling point number; The objective function is constructed based on the principle of minimizing the sum of squared deviations: Among them, J x and J y are the objective functions of the x channel and the y channel respectively, and N is the number of sampling points; When the objective function J x and J y When the minimum value is obtained, and δ dθ The optimal estimation result of and Calculate δ dk .

4. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 3 is characterized in that: The compensation matrix M is obtained according to the identified detection deflection error and detection gain error. l+1 , using the compensation matrix M l+1 Compensate for detection channel errors; specifically: Establish the compensation matrix M l+1 : Using the compensation matrix M l+1 Initial detection signal for channel x and the initial detection signal of the y channel To make compensation: Among them, U dx_c for The corresponding compensated signal, U dy_c for The corresponding compensated signal.

5. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 4, characterized in that: The angular rate-angular position fitting curves under the forward and reverse conditions are: Under the condition of standing wave active drive, the forward speed ω p and reverse speed ω n The corresponding angular rate-angular position relationships are: Among them, ω p is the forward speed, ω n is the reverse speed, k is the active drive speed and force conversion coefficient, ω c is the angular rate drift error in the same direction, the intermediate variable is the channel gain of the x-channel signal in the driving stage, G f is the gain coefficient of the driving force of the excitation voltage signal on the resonator, U v is the active drive control quantity contained in the control signal; Eliminate ω by differential p and ω n The same direction error in the differential rate ω is obtained dif : oh dif =kG f G c U v [d ek cos(4θ)-2δ eθ sin(4θ)+2+δ ek ] (9) The least square method is used to calculate the drive gain error δ in equation (9). ek and drive angle error δ eθ To identify.

6. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 5, characterized in that: The driving gain error δ ek and drive angle error δ eθ The identification results need to meet the following conditions:

7. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 6, characterized in that: According to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 The output signal of the signal modulation module and Compensation; specifically: The driving error compensation model is as follows: Among them, U ex_c Express The signal after compensation, U ey_c Express The signal after compensation.

8. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 7, characterized in that: In step nine, the specific process of iteratively compensating the phase delay error is as follows: Step 91, calculate the phase delay caused by the transimpedance amplifier, and use the calculated phase delay as the initial value phi0 of the phase compensation amount phi; Step 92, initialize l″=0; Step 93: The frequency control value and phase compensation value phi stored in RAM l″ The input modulation NCO generates an orthogonal reference signal after compensating the phase error, and the orthogonal reference signal after compensating the phase error, the amplitude stored in the RAM, and the orthogonal loop control signal are input into the signal modulation module, and the driving signal is generated through the signal modulation module; Step 94: Actively drive the forward and reverse standing waves, and then use the host computer to collect the orthogonal loop control quantity data under the rotation condition; Step 95: Perform Fourier fitting on the collected orthogonal loop control quantity data to obtain the DC component of the fitting curve, that is, to obtain the average value of the orthogonal loop control quantity data. Step 96: Judgment Whether the requirements are met: like If the requirements are met, the iteration stops; like If the requirements are not met, [phi l″ -1,phi l″ +1] as the initial interval of the binary method, and the new phase compensation value phi is obtained by the binary method. l″+1 , let l″=l″+1, and return to execute step nine-three.

9. The method for detecting, driving and iteratively compensating phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 8, characterized in that: In step ninety-six, it is determined Whether the requirements are met, specifically: judge Whether it meets:

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