Method for reducing vibration coupling of hemispherical resonator gyroscope

Abstract

The invention relates to the technical field of hemispherical resonator gyroscopes, in particular to a method for reducing vibration coupling of a hemispherical resonator gyroscope, and aims to solve the problem that accurate vibration suppression is often difficult to realize when the HRG faces a complex and multi-frequency mixed vibration environment. Comprising the following steps: step 1, evaluating the frequency range, amplitude and directivity of an external vibration environment; 2, a vibration isolation module is installed to reduce transmission of external vibration; 2, analyzing external vibration characteristics of the hemispherical resonator gyroscope; 3, generating a compensation signal based on the vibration characteristics of the hemispherical resonator gyroscope, and compensating the vibration signal of the hemispherical resonator gyroscope in real time through a compensation system; and 4, debugging and optimizing a vibration isolation and compensation system. By adopting a vibration isolation and active compensation method, external vibration and internal structure coupling vibration are controlled, the interference of vibration coupling on the hemispherical resonator gyroscope is reduced, the performance of the hemispherical resonator gyroscope is improved, and the use requirements in high-precision navigation and complex environments are met.

Description

Technical Field

[0001] The invention relates to the technical field of hemispherical resonant gyroscopes, and in particular to a method for reducing vibration coupling of a hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonator gyroscope (HRG) is a high-precision inertial sensor based on a flexible resonator, which is widely used in aerospace, navigation and high-end industrial fields. HRG senses angular velocity by detecting the change of the vibration mode of the resonator, so its performance is highly dependent on the stability of the resonator. However, external vibration and environmental interference can significantly affect the accuracy and stability of HRG, causing deviations in the output signal, which in turn affects its measurement performance.

[0003] During the operation of the HRG, the main sources of vibration coupling include external vibration interference and internal structural coupling. External mechanical vibration is transmitted to the inside of the HRG through the casing and base, causing abnormal changes in the vibration mode of the resonator. The vibration of the resonator may be coupled to the casing through the connecting column and the base, causing the vibration signal and the angular velocity signal to interfere with each other. Traditional vibration isolation and compensation methods mainly focus on passive vibration isolation design, such as reducing the propagation of vibration through elastic support materials. However, vibration isolation technology often has difficulty in achieving accurate vibration suppression when faced with complex, multi-frequency mixed vibration environments. In addition, traditional active compensation methods are mostly optimized for a single frequency or simple vibration mode, lack adaptive capabilities, and are difficult to adapt to changing working conditions. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the hemispherical resonant gyroscope is susceptible to interference and affects the measurement accuracy in a complex vibration environment. The purpose is to provide a method for reducing the vibration coupling of the hemispherical resonant gyroscope, reduce the interference of vibration coupling on the hemispherical resonant gyroscope, and improve the performance of the hemispherical resonant gyroscope.

[0005] The present invention is achieved through the following technical solutions: A method for reducing vibration coupling of a hemispherical resonant gyroscope, comprising: Step 1: installing a vibration isolation module between the object to be measured and the hemispherical resonant gyroscope; Step 2, collecting and analyzing the external vibration characteristics of the hemispherical resonant gyroscope; Step 3: generating a compensation signal based on the vibration characteristics of the hemispherical resonant gyroscope, and compensating the vibration signal of the hemispherical resonant gyroscope in real time through a compensation system; Step 4: Debug and optimize the compensation system; The hemispherical resonator gyroscope includes a shell, a resonator, a connecting column and a base, the vibration isolation module includes a plurality of support frames and a plurality of vibration isolation members, a plurality of vibration isolation members are arranged in a circular array on the bottom surface of the support frame, the support frame is located on the bottom surface of the base, the vibration isolation members and the support frame can reduce the vibration transmitted from the object to be measured to the hemispherical resonator gyroscope, a signal acquisition module and a data processing unit module are also arranged on the base, and the compensation system is used to reduce external vibration transmission and compensate for internal vibration coupling.

[0006] In the above technical solution, vibration isolation and active compensation methods are used to achieve effective control of external vibration and internal structure coupled vibration, greatly reducing the interference of vibration coupling on the hemispherical resonant gyroscope, thereby improving the dynamic performance, measurement accuracy and adaptability of the hemispherical resonant gyroscope, and meeting the needs of high-precision navigation and use in complex environments.

[0007] In some optional technical solutions, the vibration isolation module in step 2 includes a plurality of support frames and a plurality of vibration isolation parts, a through hole is passed downward through the top surface of the base, a bracket is connected to the support frame located on the bottom surface of the base, the bracket is passed through the through hole and is located in the shell, a support ring is connected to the end of the bracket away from the base, the connecting column is located in the support ring, an annular elastic support body is arranged on the support ring, and the elastic support body is sleeved on the outer peripheral wall of the connecting column.

[0008] In the above technical solution, the support frame is located between the base and the installation equipment, and a vibration isolation part is provided on the bottom surface of the support frame for vibration reduction. An elastic support body is provided inside the shell. The elastic support body is flexible and will not affect the normal operation of the connecting column, while also having a vibration reduction effect.

[0009] In some optional technical solutions, the vibration isolation member includes an elastic outer layer and an elastic inner layer, a piezoelectric ceramic sheet is arranged between the elastic outer layer and the elastic inner layer, an electromagnetic coil is arranged on the support ring, the electromagnetic coil is arranged around the elastic support body, and magnetic particles are arranged in the elastic support body.

[0010] In the above technical solution, the electromagnetic coil is arranged around the elastic support body, and magnetic particles are arranged in the elastic support body. By adjusting the magnetic field strength of the electromagnetic coil, the damping coefficient and stiffness of the elastic support body are dynamically adjusted so that it can adapt to various vibration frequencies.

[0011] In some optional technical solutions, step 2 includes: Step 21, collecting vibration characteristics; Step 22: signal processing and spectrum analysis; Step 23: feature extraction; Wherein, the step 21 comprises: The piezoelectric ceramic piece is used as a vibration sensor to collect the vibration signal a(t) of the external environment of the hemispherical resonant gyroscope. The vibration signal collection range includes the vibration frequency f ( t ) and vibration amplitude A(t), the vibration signal is transmitted to the data processing unit module through the signal acquisition module; The step 22 comprises: According to step 21, the vibration signal is analyzed in the frequency domain by using fast Fourier transform. , Among them, X(f) is the frequency domain signal, which means the frequency f The corresponding vibration energy, a(t) is the vibration signal, that is, the charge signal from the piezoelectric ceramic.

[0012] In the above technical solution, the vibration signal of the hemispherical resonant gyroscope is collected, and the intensity variation characteristics of the vibration are obtained by statistically analyzing the peak value, mean value and standard deviation of the vibration signal.

[0013] In some optional technical solutions, step 23 includes: According to the calculation results of step 22, the main vibration characteristics are extracted, including the main vibration frequency f peak , bandwidth Δf and vibration amplitude A peak ; Among them, the main vibration frequency is the frequency component with the largest energy in the spectrum, the bandwidth is the frequency range in which the vibration energy accounts for the total energy, the vibration amplitude is the amplitude corresponding to the main vibration frequency, and the vibration signal is expressed in the form of harmonics as: , Where φ is the initial phase of the vibration signal.

[0014] In the above technical solution, the parameters of the main vibration frequency, vibration amplitude, and vibration phase are extracted from the time domain and frequency domain analysis results, and a mathematical model of the external vibration signal is established, providing a basis for the subsequent generation of compensation signals and execution control.

[0015] In some optional technical solutions, step 3 includes: Step 31, matching and analyzing with the compensation system characteristics, and generating a compensation signal; Step 311: Compare the vibration frequency extracted in step 23 with the natural frequency of the compensation system: In f peak and f HRG When the absolute value of the difference is less than a preset threshold, increasing the strength of the generated compensation signal; In f peak and f HRG When the absolute value of the difference is greater than a preset threshold, reducing the strength of the generated compensation signal; Step 312: confirm the compensation target, actively control the vibration in the shell by controlling the piezoelectric ceramic sheet and the elastic support body, and reduce the transmission of external vibration to the shell; Step 313: The external vibration compensation signal generates a reverse compensation signal by using the negative feedback control principle to drive the piezoelectric ceramic piece to perform active compensation. The formula of the compensation signal is: , Among them, u(t) is the compensation signal, a(t) is the vibration signal, and K is the feedback gain; Step 314: The internal vibration compensation signal controls the magnetic field strength of the electromagnetic coil, applies a dynamic adjustment signal to the elastic support body, changes the stiffness and damping, and the control signal of the magnetic field strength is: , Among them, H(t) is the magnetic field strength signal, H0 is the magnetic field base value, and ∆H is the dynamic magnetic field adjustment amount; Step 315: Compensation control algorithm, optimizing the compensation signal based on the PID control algorithm: , Where, e(t) is the error signal, which indicates the error between the current vibration signal and the compensation target, K p , K i , K d They are proportional, integral and differential gain parameters respectively.

[0016] In the above technical solution, the vibration characteristics are obtained according to the analysis, and the influence of the vibration on the hemispherical resonant gyroscope is modeled to generate a control signal to offset the influence of the vibration.

[0017] In some optional technical solutions, step 3 further includes: Step 32, executing compensation signal; Step 321, the compensation of the piezoelectric ceramic piece is performed, the compensation signal u(t) is converted into a driving voltage, and applied to the piezoelectric ceramic piece through the driving circuit. After being driven, the piezoelectric ceramic piece generates reverse stress, which forms a counteracting effect with the vibration of the housing and the base; Step 322, the compensation of the elastic support body is executed, the compensation signal u(t) controls the current of the electromagnetic coil, dynamically adjusts the stiffness and damping of the magnetorheological elastomer, changes the vibration frequency and amplitude of the internal connecting column, and reduces the transmission of vibration energy; Step 33, the piezoelectric ceramic sheet and the elastic support body work together, the piezoelectric ceramic sheet actively compensates for external vibrations, the elastic support body dynamically adjusts the vibrations of the internal connecting column, the piezoelectric ceramic sheet and the elastic support body complement each other and jointly suppress vibration coupling.

[0018] In the above technical solution, after the compensation signal is generated, the piezoelectric ceramic sheet and the elastic support body are used to drive the connecting column to move or change the characteristics of the vibration isolation member and the elastic support body to achieve vibration cancellation.

[0019] In some optional technical solutions, step 4 includes: Step 41: closed loop control; Step 411, real-time signal acquisition, using a vibration sensor or a piezoelectric sensor, while the compensation signal is executed, continues to acquire the residual vibration signal, the acquired data includes the frequency component of the residual vibration, the vibration amplitude, and the error signal inside the compensation system; Step 412: Error calculation: compare the compensated residual vibration signal and the target signal to calculate the error: , Among them, x ref (t) is the target vibration signal, x measured (t) is the measured vibration signal; Step 413, controller design, processing the error signal through a PID controller to generate a corrected compensation signal u(t); Step 414: update the compensation signal, and dynamically adjust the response of the piezoelectric ceramic piece and the elastic support body according to the corrected compensation signal u(t): Modify the voltage of the piezoelectric ceramic disc to adjust the force of the active compensation system; Modify the electromagnetic coil current and dynamically adjust the stiffness and damping coefficient of the elastic support.

[0020] In the above technical solution, in order to improve the adaptability, compensation accuracy and stability of the compensation system, it is necessary to further improve the compensation system and test the closed-loop feedback.

[0021] In some optional technical solutions, step 4 further includes: Step 42: Closed-loop debugging; Step 421, initial parameter setting, setting initial parameters according to the theoretical parameters determined in the compensation system design phase; Step 422, running the test, starting the external environment simulation device, and performing vibration disturbance tests of various frequencies and amplitudes on the hemispherical resonant gyroscope; Step 423, frequency domain and time domain response analysis: Frequency domain analysis: Perform frequency domain analysis on the residual vibration signal through the fast Fourier transform formula to check the attenuation effect of each frequency component; Time domain analysis: analyze the changes of vibration signals over time and check high-frequency vibration and overshoot phenomena; Step 424, according to the test results, optimize the controller parameters, adjust the PID gain in step 315, and adjust the stiffness range of the elastic support body and the output force range of the piezoelectric ceramic piece; Step 425 , repeat the testing and optimization steps until the amplitude of the residual vibration drops to the design target range and the compensation system can operate stably under various vibration disturbances.

[0022] In the above technical solution, the piezoelectric ceramic sheet and the elastic support body are optimized and debugged respectively to optimize the convergence speed and response stability of the error signal of the compensation system.

[0023] In some optional technical solutions, step 4 further includes: Step 43, the operating stability of the compensation system is optimized. Through known vibration input or internal test signal, the deviation of the compensation system response from the theoretical value is evaluated, and the control parameters are automatically adjusted. The neural network is used to train the model based on the long-term operation data of the compensation system to predict the vibration characteristics and generate compensation signals in advance. The control parameters are optimized through the reinforcement learning algorithm.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. In the present invention, the elastic support body and the support frame can effectively isolate the external vibration of the hemispherical resonant gyroscope, reduce the influence of high-frequency vibration on the resonator, and keep the measurement signal of the hemispherical resonant gyroscope stable. Combined with the dynamic compensation function of the piezoelectric ceramic sheet, the interference of low-frequency and nonlinear vibration is further weakened; 2. In the present invention, through real-time vibration signal analysis, the frequency, amplitude and phase of the environmental vibration are captured, and a targeted compensation signal is generated to ensure that the compensation control system can respond quickly, significantly improve the response capability of the spherical resonant gyroscope in a complex dynamic environment, and maintain its efficient isolation and compensation within a multi-vibration frequency range. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 A flow chart of the method for reducing vibration coupling of the present invention; Figure 2 This is a flow chart of step 3 in the present invention; Figure 3 is a cross-sectional view of the hemispherical resonant gyroscope and the vibration isolation module in the present invention; Figure 4 It is a structural schematic diagram of the vibration isolation module in the present invention.

[0026] The reference numerals represent: 11. Shell; 12. Connecting column; 13. Base; 2. Support frame; 3. Vibration isolation member; 4. Piezoelectric ceramic sheet; 5. Support ring; 6. Elastic support body. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.

[0028] Example 1 like Figures 1 to 4 As shown, this embodiment provides a method for reducing vibration coupling of a hemispherical resonant gyroscope, comprising: Step 1: Install a vibration isolation module between the object to be tested and the hemispherical resonant gyroscope; Step 2, collecting and analyzing the external vibration characteristics of the hemispherical resonant gyroscope; Step 3: generating a compensation signal based on the vibration characteristics of the hemispherical resonant gyroscope, and compensating the vibration signal of the hemispherical resonant gyroscope in real time through a compensation system; Step 4: Debug and optimize the compensation system; Among them, the hemispherical resonant gyroscope includes a shell 11, a resonator, a connecting column 12 and a base 13. The vibration isolation module includes a plurality of support frames 2 and a plurality of vibration isolation members 3. The plurality of vibration isolation members 3 are arranged in a circular array on the bottom surface of the support frame 2. The support frame 2 is located on the bottom surface of the base 13. The vibration isolation members 3 and the support frame 2 can reduce the vibration transmitted from the object to be measured to the hemispherical resonant gyroscope. A signal acquisition module and a data processing unit module are also arranged on the base 13. The compensation system is used to reduce external vibration transmission and compensate for internal vibration coupling.

[0029] like Figure 3 and Figure 4 As shown, the vibration isolation module in step 2 includes a plurality of support frames 2 and a plurality of vibration isolation members 3. A through hole is penetrated downward on the top surface of the base 13. A bracket is connected to the support frame 2 located on the bottom surface of the base 13. The bracket is provided with a through hole in the shell 11. A support ring 5 is connected to one end of the bracket away from the base 13. The connecting column 12 is located in the supporting ring 5. An annular elastic support body 6 is arranged on the supporting ring 5. The elastic support body 6 is sleeved on the outer peripheral wall of the connecting column 12.

[0030] like Figure 3 and Figure 4 As shown, the vibration isolator 3 includes an elastic outer layer and an elastic inner layer, a piezoelectric ceramic sheet 4 is arranged between the elastic outer layer and the elastic inner layer, an electromagnetic coil is arranged on the support ring 5, and the electromagnetic coil is arranged around the elastic support body 6, and magnetic particles are arranged in the elastic support body 6.

[0031] Specifically, the support frame 2 is located between the base 13 and the hemispherical resonant gyroscope and the installation equipment. The bottom surface of the support frame 2 is provided with a vibration isolator 3 for vibration reduction. The center of the vibration isolator 3 is coated with a piezoelectric ceramic sheet 4. A bracket is connected to the support frame 2. The through hole of the bracket passing through the base 13 is located in the shell 11. The top of the bracket is connected to a support ring 5. An elastic support body 6 is provided in the support ring 5. The elastic support body 6 is used to cover the connecting column 12. The elastic support body 6 is flexible and will not affect the normal operation of the connecting column 12. Magnetic particles are arranged in the elastic support body 6, and an electromagnetic coil is also surrounded by the elastic support body 6.

[0032] The function of the elastic support body 6 is to reduce the transmission of vibration to the resonator. At the same time, the damping coefficient and stiffness of the elastic support body 6 can be dynamically adjusted by adjusting the magnetic field strength of the electromagnetic coil so that it can adapt to various vibration frequencies.

[0033] Step 2 includes: Step 21, collecting vibration characteristics; Step 22: signal processing and spectrum analysis; Step 23: feature extraction; Wherein, step 21 comprises: The piezoelectric ceramic piece 4 is used as a vibration sensor to collect the vibration signal a(t) of the external environment of the hemispherical resonant gyroscope. The vibration signal collection range includes the vibration frequency f ( t ) and vibration amplitude A(t), the vibration signal is transmitted to the data processing unit module through the signal acquisition module; Step 22 includes: According to step 21, the vibration signal is analyzed in the frequency domain using fast Fourier transform. , Among them, X(f) is the frequency domain signal, which means the frequency f The corresponding vibration energy, a(t), is the vibration signal, that is, the charge signal from the piezoelectric ceramic piece 4.

[0034] Step 23 includes: According to the calculation results of step 22, the main vibration characteristics are extracted, including the main vibration frequency f peak , bandwidth Δf and vibration amplitude A peak ; Among them, the main vibration frequency is the frequency component with the largest energy in the spectrum, the bandwidth is the frequency range in which the vibration energy accounts for the total energy, the vibration amplitude is the amplitude corresponding to the main vibration frequency, and the vibration signal is expressed in the form of harmonics as: , Where φ is the initial phase of the vibration signal.

[0035] Specifically, when collecting vibration signals, the acceleration sensor and angular velocity sensor installed on the shell 11 and the base 13 can be used to collect external vibration signals. The collected signals include the vibration frequency f(t) and the vibration amplitude A(t). By counting the peak value, mean value and standard deviation of the vibration signal, the intensity variation characteristics of the vibration are obtained, where the peak value reflects the maximum influence range of the vibration, and the standard deviation is used to quantify the randomness of the vibration signal.

[0036] Then, the collected vibration signal is analyzed in the frequency domain through fast Fourier transform to extract the main frequency components of the vibration signal. A bandpass filter is used to extract the vibration signal within a specific frequency range and filter out irrelevant noise. The parameters of the main vibration frequency, vibration amplitude, and vibration phase are extracted from the time domain and frequency domain analysis results, and a mathematical model of the external vibration signal is established, which provides a basis for the subsequent generation of compensation signals and execution control.

[0037] like Figure 1 and Figure 2 As shown, step 3 includes: Step 31, matching and analyzing with the compensation system characteristics, and generating a compensation signal; Step 311: Compare the vibration frequency extracted in step 23 with the natural frequency of the compensation system: In f peak and f HRG When the absolute value of the difference is less than a preset threshold, increasing the strength of the generated compensation signal; In f peak and f HRG When the absolute value of the difference is greater than a preset threshold, reducing the strength of the generated compensation signal; f HRG represents the resonant frequency of the hemispherical resonant gyroscope; Step 312, confirming the compensation target, actively controlling the vibration inside the housing 11 by controlling the piezoelectric ceramic piece 4 and the elastic support body 6, and reducing the transmission of the external vibration to the housing 11; Step 313: The external vibration compensation signal generates a reverse compensation signal by using the negative feedback control principle to drive the piezoelectric ceramic piece 4 to perform active compensation. The formula of the compensation signal is: , Among them, u(t) is the compensation signal, a(t) is the vibration signal, and K is the feedback gain; Step 314: internal vibration compensation signal, controlling the magnetic field strength of the electromagnetic coil, applying a dynamic adjustment signal to the elastic support 6, changing the stiffness and damping, and the control signal of the magnetic field strength is: , Among them, H(t) is the magnetic field strength signal, H0 is the magnetic field base value, and ∆H is the dynamic magnetic field adjustment amount; Step 315: Compensation control algorithm, optimizing the compensation signal based on the PID control algorithm: , Where, e(t) is the error between the current vibration signal and the compensation target, K p , K i , K d They are proportional, integral and differential gain parameters respectively.

[0038] like Figure 1 and Figure 2 As shown, step 3 also includes: Step 32, executing compensation signal; Step 321, the compensation of the piezoelectric ceramic piece 4 is performed, the compensation signal u(t) is converted into a driving voltage, and applied to the piezoelectric ceramic piece 4 through the driving circuit. After being driven, the piezoelectric ceramic piece 4 generates a reverse stress, which forms a counteracting effect with the vibration of the housing 11 and the base 13; Step 322, the compensation of the elastic support body 6 is performed, the compensation signal u(t) controls the current of the electromagnetic coil, dynamically adjusts the stiffness and damping of the magnetorheological elastomer, changes the vibration frequency and amplitude of the internal connecting column 12, and reduces the transmission of vibration energy; Step 33, the piezoelectric ceramic sheet 4 and the elastic support body 6 work together, the piezoelectric ceramic sheet 4 actively compensates for external vibrations, and the elastic support body 6 dynamically adjusts the vibration of the internal connecting column 12. The piezoelectric ceramic sheet 4 and the elastic support body 6 complement each other and jointly suppress vibration coupling.

[0039] Specifically, the vibration characteristics are analyzed according to step 2 and step 3, and the influence of vibration on the hemispherical resonant gyroscope is modeled to generate a control signal to offset the influence of vibration. The amplitude of the compensation signal is adjusted in real time to ensure that the amplitude of the compensation signal matches the amplitude of the vibration signal. The phase matching algorithm is used to ensure that the phase of the compensation signal is consistent with that of the vibration signal.

[0040] After the compensation signal is generated, the piezoelectric ceramic piece 4 and the elastic support body 6 are used to drive the connecting column 12 to move or change the characteristics of the vibration isolation member 3 and the elastic support body 6 to achieve vibration offset; the piezoelectric ceramic piece 4 deforms in response to the compensation signal, and its deformation drives the shell 11 and the base 13 to move slightly, thereby forming a displacement in the opposite direction to the external vibration, reducing the vibration of the shell 11 and the base 13; the electromagnetic coil receives the compensation signal, adjusts the magnetic field strength, changes the damping and stiffness of the elastic support body 6, adjusts the vibration characteristics of the connecting column 12, and suppresses the vibration transmitted internally.

[0041] Step 4 includes: Step 41: closed loop control; Step 411, real-time signal acquisition, using a vibration sensor or a piezoelectric sensor, while the compensation signal is executed, continues to acquire the residual vibration signal, the acquired data includes the frequency component of the residual vibration, the vibration amplitude, and the error signal inside the compensation system; Step 412: Error calculation: compare the compensated residual vibration signal and the target signal to calculate the error: , Among them, x ref (t) is the target vibration signal, x measured (t) is the measured vibration signal; Step 413, controller design, processing the error signal through a PID controller to generate a corrected compensation signal u(t); Step 414: update the compensation signal, and dynamically adjust the response of the piezoelectric ceramic piece 4 and the elastic support body 6 according to the corrected compensation signal u(t): Modify the voltage of the piezoelectric ceramic plate 4 to adjust the force of the active compensation system; The electromagnetic coil current is modified to dynamically adjust the stiffness and damping coefficient of the elastic support body 6 .

[0042] Step 4 also includes: Step 42: Closed-loop debugging; Step 421, initial parameter setting, setting initial parameters according to the theoretical parameters determined in the compensation system design phase; Step 422, running the test, starting the external environment simulation device, and performing vibration disturbance tests of various frequencies and amplitudes on the hemispherical resonant gyroscope; Step 423, frequency domain and time domain response analysis: Frequency domain analysis: Perform frequency domain analysis on the residual vibration signal through the fast Fourier transform formula to check the attenuation effect of each frequency component; Time domain analysis: analyze the changes of vibration signals over time and check high-frequency vibration and overshoot phenomena; Step 424, according to the test results, optimize the controller parameters, adjust the PID gain in step 315, and adjust the stiffness range of the elastic support body 6 and the output force range of the piezoelectric ceramic piece 4; Step 425 , repeat the testing and optimization steps until the amplitude of the residual vibration drops to the design target range and the compensation system can operate stably under various vibration disturbances.

[0043] Step 43, the operating stability of the compensation system is optimized. Through known vibration input or internal test signal, the deviation of the compensation system response from the theoretical value is evaluated, and the control parameters are automatically adjusted. The neural network is used to train the model based on the long-term operation data of the compensation system to predict the vibration characteristics and generate compensation signals in advance. The control parameters are optimized through the reinforcement learning algorithm.

[0044] Specifically, in order to improve the adaptability, compensation accuracy and stability of the compensation system, it is necessary to further improve the compensation system, test the closed-loop feedback, simulate vibration signals of different frequencies and amplitudes through external excitation equipment, test the compensation ability of the compensation system, adjust the PID control parameters, and optimize the convergence speed and response stability of the compensation system error signal.

[0045] The piezoelectric ceramic piece 4 is debugged by adjusting the voltage range applied to the piezoelectric ceramic piece 4 to ensure that the piezoelectric deformation is consistent with the vibration amplitude and the response time of the piezoelectric ceramic piece 4 is less than the vibration period.

[0046] The elastic support body 6 is optimized, and the variation range of the magnetic field strength of the electromagnetic coil is adjusted to adapt it to the stiffness requirements under different vibration frequencies. The installation position and structure of the magnetorheological elastomer are optimized according to the experimental results to reduce the internal vibration transmission path.

[0047] Finally, the output signal of the vibration sensor is filtered twice to remove high-frequency noise, retain the main vibration characteristics, optimize the resolution and calculation speed of the fast Fourier transform formula, improve the accuracy of frequency domain analysis, and test the responsiveness of the compensation system in different frequency ranges. The effective compensation range is evaluated, the compensation system is tested for long-term operation, and the stability and control accuracy of the compensation signal are recorded to ensure the reliability of the compensation system under continuous vibration conditions.

[0048] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for reducing vibration coupling of a hemispherical resonant gyroscope, characterized in that: include: Step 1: installing a vibration isolation module between the object to be measured and the hemispherical resonant gyroscope; Step 2, collecting and analyzing the external vibration characteristics of the hemispherical resonant gyroscope; Step 3: generating a compensation signal based on the vibration characteristics of the hemispherical resonant gyroscope, and compensating the vibration signal of the hemispherical resonant gyroscope in real time through a compensation system; Step 4: Debug and optimize the compensation system; The hemispherical resonator gyroscope comprises a shell (11), a resonator, a connecting column (12) and a base (13); the vibration isolation module comprises a plurality of support frames (2) and a plurality of vibration isolation members (3); a plurality of vibration isolation members (3) are arranged in a circular array on the bottom surface of the support frame (2); the support frame (2) is located on the bottom surface of the base (13); the vibration isolation members (3) and the support frame (2) can reduce the vibration transmitted from the object to be measured to the hemispherical resonator gyroscope; a signal acquisition module and a data processing unit module are also arranged on the base (13); and the compensation system is used to reduce the transmission of external vibrations and compensate for internal vibration coupling.

2. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 1, characterized in that: In step 2, the vibration isolation module comprises a plurality of support frames (2) and a plurality of vibration isolation members (3); a through hole is passed through the top surface of the base (13) downwardly; a bracket is connected to the support frame (2) located on the bottom surface of the base (13); the bracket passes through the through hole and is located in the shell (11); a support ring (5) is connected to one end of the bracket away from the base (13); the connecting column (12) is located in the supporting ring (5); an annular elastic supporting body (6) is arranged on the supporting ring (5); and the elastic supporting body (6) is sleeved on the outer peripheral wall of the connecting column (12).

3. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 2, characterized in that: The vibration isolator (3) comprises an elastic outer layer and an elastic inner layer, a piezoelectric ceramic sheet (4) is arranged between the elastic outer layer and the elastic inner layer, an electromagnetic coil is arranged on the support ring (5), the electromagnetic coil is arranged around the elastic support body (6), and magnetic particles are arranged in the elastic support body (6).

4. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 3, characterized in that: The step 2 comprises: Step 21, collecting vibration characteristics; Step 22: signal processing and spectrum analysis; Step 23: feature extraction; Wherein, the step 21 comprises: The piezoelectric ceramic sheet (4) is used as a vibration sensor to collect a vibration signal a(t) of the external environment of the hemispherical resonant gyroscope, and the vibration signal collection range includes the vibration frequency f ( t ) and vibration amplitude A(t), the vibration signal is transmitted to the data processing unit module through the signal acquisition module; The step 22 comprises: According to step 21, the vibration signal is analyzed in the frequency domain by using fast Fourier transform. ， Among them, X(f) is the frequency domain signal, which means the frequency f The corresponding vibration energy, a(t) is the vibration signal, that is, the charge signal from the piezoelectric ceramic piece (4).

5. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 4, characterized in that: The step 23 comprises: According to the calculation results of step 22, the main vibration characteristics are extracted, including the main vibration frequency f peak , bandwidth Δf and vibration amplitude A peak ; Among them, the main vibration frequency is the frequency component with the largest energy in the spectrum, the bandwidth is the frequency range in which the vibration energy accounts for the total energy, the vibration amplitude is the amplitude corresponding to the main vibration frequency, and the vibration signal is expressed in the form of harmonics as: ， Where φ is the initial phase of the vibration signal.

6. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 5, characterized in that: The step 3 comprises: Step 31, matching and analyzing with the compensation system characteristics, and generating a compensation signal; Step 311: Compare the vibration frequency extracted in step 23 with the natural frequency of the compensation system: In f peak and f HRG When the absolute value of the difference is less than a preset threshold, increasing the strength of the generated compensation signal; In f peak and f HRG When the absolute value of the difference is greater than a preset threshold, reducing the strength of the generated compensation signal; Step 312: confirming the compensation target, actively controlling the vibration inside the housing (11) by controlling the piezoelectric ceramic sheet (4) and the elastic support body (6), and reducing the transmission of external vibration to the housing (11); Step 313: The external vibration compensation signal generates a reverse compensation signal by using the negative feedback control principle to drive the piezoelectric ceramic piece (4) to perform active compensation. The formula of the compensation signal is: ， Among them, u(t) is the compensation signal, a(t) is the vibration signal, and K is the feedback gain; Step 314: The internal vibration compensation signal controls the magnetic field strength of the electromagnetic coil, applies a dynamic adjustment signal to the elastic support (6), changes the stiffness and damping, and the control signal of the magnetic field strength is: ， Among them, H(t) is the magnetic field strength signal, H0 is the magnetic field base value, and ∆H is the dynamic magnetic field adjustment amount; Step 315: Compensation control algorithm, optimizing the compensation signal based on the PID control algorithm: ， Where, e(t) is the error signal, which indicates the error between the current vibration signal and the compensation target, K p , K i , K d They are proportional, integral and differential gain parameters respectively.

7. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 6, characterized in that: The step 3 also includes: Step 32, executing compensation signal; Step 321, the piezoelectric ceramic piece (4) is compensated, the compensation signal u(t) is converted into a driving voltage, and applied to the piezoelectric ceramic piece (4) through a driving circuit. After being driven, the piezoelectric ceramic piece (4) generates a reverse stress, which forms a counteracting effect with the vibration of the housing (11) and the base (13); Step 322, the elastic support body (6) is compensated, the compensation signal u(t) controls the current of the electromagnetic coil, dynamically adjusts the stiffness and damping of the magnetorheological elastic body, changes the vibration frequency and amplitude of the internal connecting column (12), and reduces the transmission of vibration energy; Step 33: The piezoelectric ceramic sheet (4) and the elastic support body (6) work together. The piezoelectric ceramic sheet (4) actively compensates for external vibrations, and the elastic support body (6) dynamically adjusts the vibrations of the internal connecting column (12). The piezoelectric ceramic sheet (4) and the elastic support body (6) complement each other and jointly suppress vibration coupling.

8. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 7, characterized in that: The step 4 comprises: Step 41: closed loop control; Step 411, real-time signal acquisition, using a vibration sensor or a piezoelectric sensor, while the compensation signal is executed, continues to acquire the residual vibration signal, the acquired data includes the frequency component of the residual vibration, the vibration amplitude, and the error signal inside the compensation system; Step 412: Error calculation: compare the compensated residual vibration signal and the target signal to calculate the error: ， Where x ref (t) is the target vibration signal, x measured (t) is the measured vibration signal; Step 413, controller design, processing the error signal through a PID controller to generate a corrected compensation signal u(t); Step 414: updating the compensation signal, dynamically adjusting the response of the piezoelectric ceramic piece (4) and the elastic support body (6) according to the corrected compensation signal u(t): Modifying the voltage of the piezoelectric ceramic piece (4) to adjust the force of the active compensation system; The electromagnetic coil current is modified to dynamically adjust the stiffness and damping coefficient of the elastic support body (6).

9. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 8, characterized in that: The step 4 also includes: Step 42: Closed-loop debugging; Step 421, initial parameter setting, setting initial parameters according to the theoretical parameters determined in the compensation system design phase; Step 422, running the test, starting the external environment simulation device, and performing vibration disturbance tests of various frequencies and amplitudes on the hemispherical resonant gyroscope; Step 423, frequency domain and time domain response analysis: Frequency domain analysis: Perform frequency domain analysis on the residual vibration signal through the fast Fourier transform formula to check the attenuation effect of each frequency component; Time domain analysis: analyze the changes of vibration signals over time and check high-frequency vibration and overshoot phenomena; Step 424: Optimize controller parameters according to the test results, adjust the PID gain in step 315, and adjust the stiffness range of the elastic support body (6) and the output force range of the piezoelectric ceramic piece (4); Step 425 , repeat the testing and optimization steps until the amplitude of the residual vibration drops to the design target range and the compensation system can operate stably under various vibration disturbances.

10. The method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 8, characterized in that: The step 4 also includes: Step 43, the operating stability of the compensation system is optimized. Through known vibration input or internal test signal, the deviation of the compensation system response from the theoretical value is evaluated, and the control parameters are automatically adjusted. The neural network is used to train the model based on the long-term operation data of the compensation system to predict the vibration characteristics and generate compensation signals in advance. The control parameters are optimized through the reinforcement learning algorithm.

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