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

Abstract

A method for iteratively compensating for detection, drive, and phase errors in a dual-channel measurement and control system for a hemispherical resonant gyroscope belongs to the field of inertial technology. The present invention solves the problem that detection channel errors, drive channel errors, and signal phase delay errors can cause undesirable drift in the standing wave angular rate output by the gyroscope. The present invention effectively suppresses individual errors by performing iterative compensation through a compensation matrix, effectively reduces coupling interference between errors through the design of a compensation scheme, and ultimately achieves optimal compensation for the three errors. By iteratively compensating for 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, effectively solving the problem of undesirable drift in the standing wave angular rate caused by gain, deflection error, and phase delay error generated in the detection channel and drive channel of the measurement and control system. The method of the present invention can be applied to error compensation in a dual-channel measurement and control system for a hemispherical resonant gyroscope.

Description

Technical Field

[0001] The present invention belongs to the field of inertial technology, and in particular relates to a method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonant gyroscopes (HRGs) offer advantages such as high precision, low power consumption, good reliability, long life, and radiation resistance. They are internationally recognized as the next generation of gyroscopes and are widely used in a variety of fields, including marine, land, air, space, and submarine applications. Based on their operating mode, they are divided into rate gyroscopes and rate-integrating gyroscopes. Compared with rate gyroscopes, rate-integrating gyroscopes have a larger dynamic measurement range and are better suited for highly maneuverable vehicles and more complex operating environments. Based on their circuit implementation, they are divided into dual-channel mode and single-channel mode. Compared with the single-channel mode, the dual-channel mode inherently ensures the synchronization of the two signals. However, the two independent channels inevitably have problems such as unbalanced electrical characteristics of electronic components, signal coupling during signal transmission, and signal delays. These problems lead to detection channel errors during the detection phase, drive channel errors during the drive phase, and signal phase delay errors throughout the entire signal processing process. These errors cause undesirable drift in the standing wave angular velocity output by the gyroscope, affecting the gyroscope's performance. Therefore, compensating for these errors is extremely important. Summary of the Invention

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

[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's sensitive axis coincides with the turntable's rotation axis;

[0006] Step 2: Initialize the detection error compensation iteration number l = 0, 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 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 to 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 deflection 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 the 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 rate 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. The drive gain error δ is obtained according to the positive and reverse differential curves. ek and drive angle error δ eθ ;

[0014] Step 8: Determine the drive gain error δ ek and drive angle error δ eθ Does the identification result meet 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 then the process continues with step nine;

[0016] If not satisfied, then according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 Output signal of 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 steps 6 and 7 to calculate the drive gain error and drive angle error after adding the phase compensation value obtained in the last iteration, 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 Output signal of signal modulation module and Perform compensation and set l′=l′+1, then return to step 6.

[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 angle, represents the detection phase channel gain of the x channel, represents the detection phase channel gain of the y channel, a is the main standing wave amplitude of the resonator, δ dθ 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 detection gain error δ dk 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 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 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:

[0039] Establish compensation matrix M l+1 :

[0040]

[0041] Using 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:

[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 rotation 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 acting 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 driving 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 conditions that need to be met for the identification result are:

[0052]

[0053] Furthermore, the ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 Output signal of 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 for the phase error, and the orthogonal reference signal after compensating for the phase error, the amplitude stored in the RAM, and the orthogonal loop control signal are input into the signal modulation module, and the drive 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: Judgment 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 dichotomy method, and the new phase compensation value phi is obtained by the dichotomy method. l″+1 , let l″=l″+1, and return to execute step 93.

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

[0068] Determine whether qpi is satisfied:

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

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

[0071] This invention effectively suppresses individual errors through iterative compensation using a compensation matrix. The compensation scheme design effectively reduces coupling interference between errors, ultimately achieving optimal compensation for all three errors. By iteratively compensating for detection, drive, and phase errors, the signal detection and excitation application accuracy of a rate-integrating hemispherical resonant gyroscope dual-channel measurement and control system are improved. This effectively addresses the problem of undesired standing wave angular rate drift caused by gain, deflection, and phase delay errors in the detection and drive channels of the measurement and control system, 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 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, the unit is s; 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 Compensate the front angular rate curve for 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] Figure 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] Figure 10 is the differential angular rate curve before driving 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] Figure 11 is the differential angular rate curve after driving 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] Figure 12 is the 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] Figure 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 This embodiment describes a method for detecting, driving, and iteratively compensating for phase errors in a dual-channel measurement and control system of a hemispherical resonant gyroscope, the method specifically comprising the following steps:

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

[0097] Step 2: Initialize the detection error compensation iteration number l = 0, 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 the control of the hemispherical resonant gyroscope, and then the host computer collects the x-channel attenuation identification signal obtained by square filtering the initial detection signal. And the y channel attenuation identification signal

[0099] Step 4: Identify the signal based on attenuation and Detection of deflection error δ dθ and 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 to 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 then continues to step 5;

[0101] If it is not satisfied, 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 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 rate 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. The drive gain error δ is obtained according to the positive and reverse differential curves. ek and drive angle error δ eθ ;

[0105] Step 8: Determine the drive gain error δ ek and drive angle error δ eθ Does the identification result meet 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 then the process continues with step nine;

[0107] If not satisfied, then according to δ ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 Output signal of 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 steps 6 and 7 to calculate the drive gain error and drive angle error after adding the phase compensation value obtained in the last iteration, 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 Output signal of signal modulation module and Perform compensation and set l′=l′+1, then return to step 6.

[0112] Specific embodiment 2: This embodiment differs from specific embodiment 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 electrical characteristics of 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 angle, represents the detection phase channel gain of the x channel, represents the detection phase channel gain of the y channel, a is the main standing wave amplitude of the resonator, δ dθ 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] Other steps and parameters are the same as those in the first embodiment.

[0122] Specific embodiment three: This embodiment differs from specific embodiment one or two in that, in step four, the attenuation identification signal and Detection of deflection error δ dθ and detection gain error δ dk 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 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] Other steps and parameters are the same as those in the first or second embodiment.

[0131] Specific embodiment 4: This embodiment differs from any one of the specific embodiments 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, and the compensation matrix M is established. l+1 :

[0133]

[0134] Using 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 the first to third embodiments.

[0138] Specific embodiment 5: This embodiment differs from any one of specific embodiments 1 to 4 in that the angular rate-angular position fitting curves under the forward and reverse conditions are:

[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 rotation 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 (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 acting 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 driving 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 the figure, the identification results of the standing wave reversal curve are as follows: Figure 6 As shown, the difference curve is Figure 7 shown.

[0145] The other steps and parameters are the same as those in the first to fourth embodiments.

[0146] Introducing drive gain error δ caused by inconsistencies in electronic components ek The coupling error caused by 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 variables 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 included in is recorded as U v , for U v Perform vector distribution to obtain two control signals: 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 rate and angular position under forward and reverse conditions is obtained.

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

[0158]

[0159] The other steps and parameters are the same as those in the first to fifth embodiments.

[0160] Specific embodiment seven: This embodiment differs from any one of the specific embodiments one to six in that the ek and δ eθ Calculate the compensation matrix N l′+1 , using the compensation matrix N l′+1 Output signal of 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 the first to sixth embodiments.

[0166] Specific embodiment eight: This embodiment differs from any one of specific embodiments 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 for the phase error. The orthogonal reference signal after compensating for the phase error, the amplitude stored in the RAM, and the orthogonal loop control signal are input into the signal modulation module, and the drive signal is generated through the signal modulation module;

[0170] Step 94: Actively drive the forward and reverse standing waves (rotation speed is 1° / s, i.e., 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: Judgment Whether the requirements are met:

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

[0174] like If the requirements are not met, [phi l″ -1,phi l″ +1] as the initial interval of the dichotomy (in degrees), and the new phase compensation value phi is obtained by the dichotomy method. l″+1 , let l″=l″+1, and return to execute step 93.

[0175] The other steps and parameters are the same as those in the first to seventh embodiments.

[0176] Specific embodiment 9: This embodiment differs from any one of the specific embodiments 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] Phase error is caused by the transimpedance amplifier, low-pass filter, A / D converter, and D / A converter during the detection and drive phases. The phase delay introduced by the transimpedance amplifier is the primary factor, so the error can be estimated by calculating the phase delay introduced by the transimpedance amplifier.

[0181] According to 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.), without considering the phase error, the change in the secondary demodulation value 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 quantity 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 quantity mean value is To judge the phase error compensation effect, the phase compensation indicators are as follows:

[0186]

[0187] Experimental part

[0188] The gyro is rotated at a speed of 500° / s using a turntable to obtain the angular position-angular rate curves before and after detection error compensation. Figure 8 and Figure 9 As shown in Figure 2, 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 forward and reverse standing waves at a speed of 1° / s. The forward and reverse standing waves are identified by the least square method. The differential curves before and after the drive error compensation are obtained as shown below. Figure 10 and Figure 11 As shown in Figure 2, 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: Figure 12 and Figure 13 As shown in Figure 2, it can be seen that the amplitude of angular rate fluctuation is significantly reduced before and after compensation.

[0191] The above examples are merely illustrative of the calculation model and process of the present invention and are not intended to limit the embodiments of the present invention. Persons skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. This list of embodiments is not exhaustive; however, any obvious variations or modifications derived from the technical solution of the present invention remain within the scope of protection of the present invention.

Claims

1. A method for detecting, driving, and iteratively compensating for phase errors in 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's sensitive axis coincides with the turntable's rotation axis; Step 2: Initialize the number of iterations for detection error compensation , 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 and detect gain error Perform identification and determine whether the error identification result satisfies and ; If satisfied, the detection channel error compensation is completed, and the initial detection signal is passed through the detection compensation matrix 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 is ​​obtained according to the identified detection deflection error and detection gain error. , using the compensation matrix Compensate for the detection channel error and make , return to step 3; Compensation Matrix for: (6) Step 5: Initialize the number of iterations for drive error compensation , 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 rate 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 curve under the positive and reverse conditions respectively. Then, differentiate the angular rate-angular position fitting curve under the positive and reverse conditions to obtain the positive and reverse differential curves. According to the positive and reverse differential curves, the drive gain error is obtained. and drive angle error ; Step 8: Determine the drive gain error and drive angle error 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 The driving signal generated after processing is the actual output signal of the digital control circuit, and then the process continues with step nine; If not satisfied, then according to and Calculate the compensation matrix , using the compensation matrix Output signal of signal modulation module and Compensate and , then return to step 6; Step nine, iteratively compensating for the phase delay error; Repeat steps 6 and 7 to calculate the drive gain error and drive angle error after adding the phase compensation value obtained in the last iteration, 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 and Calculate the compensation matrix , using the compensation matrix Output signal of signal modulation module and Compensate and , then return to step 6; Compensation Matrix for: (16)。 2. The method for detecting, driving and iteratively compensating for 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: (1) in, is the resonant frequency, is the initial phase of the oscillator vibration, is the standing wave azimuth, represents the detection phase channel gain of the x channel, represents the detection phase channel gain of the y channel, is the main standing wave amplitude of the resonator, Indicates the detection angle error, is the base of natural logarithms, is the oscillation time constant of the oscillator, For 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: (2) 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, is the actual rotation angular rate of the gyro base, is the initial angular position of the gyro standing wave, (3) in, Indicates the detection gain error.

3. The method for detecting, driving and iteratively compensating for 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, the attenuation identification signal and Detection of deflection error and detect gain error Identify, specifically: right and Perform discretization processing to obtain the signal after discretization processing and : (4) in, is the sampling period, is the sampling point number; The objective function is constructed based on the principle of minimizing the sum of squared deviations: (5) in, and are the objective functions of the x-channel and y-channel respectively, is the number of sampling points; When the objective function and When the minimum value is obtained, 、 and The optimal estimation result of and Calculate .

4. The method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 3, characterized in that: The use of compensation matrix Compensate for detection channel errors; specifically: Using compensation matrix Initial detection signal for channel x and the initial detection signal of the y channel To make compensation: (7) in, for The corresponding compensated signal is for The corresponding compensated signal.

5. The method for detecting, driving and iteratively compensating for 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 and reverse speed The corresponding angular rate-angular position relationships are: (8) in, is the forward speed, is the reverse speed, k is the conversion coefficient between active drive speed and applied force, 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, is the gain coefficient of the driving force of the excitation voltage signal acting on the resonator, is the active drive control quantity contained in the control signal; By differential elimination and The same direction error in the differential rate is obtained : (9) The least square method is used to calculate the driving gain error in equation (9). and drive angle error To identify.

6. The method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 5, characterized in that: The driver gain error and drive angle error The conditions that need to be met for the identification result are: (15)。 7. The method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 6, characterized in that: The use of compensation matrix Output signal of signal modulation module and Compensation; specifically: The driving error compensation model is as follows: (17) in, Express The signal after compensation is Express The signal after compensation.

8. The method for detecting, driving and iteratively compensating for 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 9. Calculate the phase delay caused by the transimpedance amplifier and use the calculated phase delay as the phase compensation value. Initial value of ; Step 92: Initialization ; Step 93: The frequency control amount and phase compensation amount stored in RAM The input modulation NCO generates an orthogonal reference signal after compensating for the phase error, and the orthogonal reference signal after compensating for the phase error, the amplitude stored in the RAM, and the orthogonal loop control signal are input into the signal modulation module, and the drive 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, stop the iteration; like If the requirements are not met, As the initial interval of the dichotomy, the new phase compensation value is obtained by the dichotomy method. ,make , return to step 93.

9. The method for detecting, driving and iteratively compensating for phase errors of a dual-channel measurement and control system of a hemispherical resonant gyroscope according to claim 8, characterized in that: In step 96, it is determined Whether the requirements are met, specifically: judge Whether it meets: (18)。

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