A method for reducing vibration coupling of a hemispherical resonator gyroscope

Abstract

The present invention relates to the technical field of hemispherical resonant gyroscopes, and particularly to a method for reducing vibration coupling of a hemispherical resonant gyroscope, aiming to solve the problem that it is often difficult for an HRG to achieve precise vibration suppression in the face of a complex and multi-frequency mixed vibration environment. It includes: Step 1, evaluating the frequency range, amplitude and directionality of the external vibration environment; Step 2, installing a vibration isolation module to reduce the transmission of external vibration; Step 2, analyzing the vibration characteristics outside 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, debugging and optimizing the vibration isolation and compensation system. By using the methods of vibration isolation and active compensation, the external vibration and the coupled vibration of the internal structure are controlled, the interference of vibration coupling to the hemispherical resonant gyroscope is reduced, the performance of the hemispherical resonant gyroscope is improved, and the use requirements in high-precision navigation and complex environments are met.

Description

Technical Field

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

[0002] A hemispherical resonant gyroscope (abbreviated as HRG) is a high-precision inertial sensor based on a flexible resonator, which is widely used in the fields of aerospace, navigation, and high-end industries. The HRG senses the angular velocity by detecting changes in the vibration mode of the resonator, so its performance highly depends on the stability of the resonator. However, external vibrations and environmental disturbances will have a significant impact on the accuracy and stability of the HRG, resulting in deviations in the output signal, thereby affecting its measurement performance.

[0003] During the operation of the HRG, the main sources of vibration coupling include external vibration interference and internal structure coupling. External mechanical vibrations are transmitted to the inside of the HRG through the housing and the base, causing abnormal changes in the vibration mode of the resonator. The vibration of the resonator may be coupled to the housing through the connecting column and the base, so that the vibration signal interferes with the angular velocity signal. Traditional vibration isolation and compensation methods mainly focus on passive vibration isolation design, such as reducing the propagation of vibrations through elastic support materials. However, vibration isolation technology is often difficult to achieve precise vibration suppression in the face of complex and multi-frequency mixed vibration environments. In addition, most traditional active compensation methods are optimized for a single frequency or a simple vibration mode and lack adaptability, making it 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 vulnerable to interference and affects the measurement accuracy in a complex vibration environment. The purpose is to provide a method for reducing vibration coupling of a hemispherical resonant gyroscope, reducing the interference of vibration coupling on the hemispherical resonant gyroscope, and improving the performance of the hemispherical resonant gyroscope.

[0005] The present invention is achieved by the following technical solutions:

[0006] A method for reducing vibration coupling of a hemispherical resonant gyroscope, comprising:

[0007] Step 1, installing a vibration isolation module between the object to be measured and the hemispherical resonant gyroscope;

[0008] Step 2, collecting and analyzing the external vibration characteristics of the hemispherical resonant gyroscope;

[0009] 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;

[0010] Step 4, debugging and optimizing the compensation system;

[0011] Among them, the hemispherical resonant gyroscope includes a housing, a resonator, a connecting column and a base. The vibration isolation module includes a plurality of support frames and a plurality of vibration isolators. The plurality of vibration isolators are arranged in an annular array on the bottom surface of the support frame. The support frame is located on the bottom surface of the base. The vibration isolators and the support frame 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 further arranged on the base. The compensation system is used to reduce the transmission of external vibration and compensate for internal vibration coupling.

[0012] In the above technical solution, the methods of vibration isolation and active compensation are adopted to effectively control external vibration and internal structure coupling vibration, greatly reduce 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 use requirements in high-precision navigation and complex environments.

[0013] In some alternative technical solutions, in step 2, the vibration isolation module includes a plurality of support frames and a plurality of vibration isolators. A through hole penetrates downward from the top surface of the base. A bracket is connected to the support frame located on the bottom surface of the base. The bracket passes through the through hole and is located inside the housing. One end of the bracket away from the base is connected to a support ring. The connecting column is located inside the support ring. An annular elastic support body is arranged on the support ring. The elastic support body is sleeved on the outer peripheral wall of the connecting column.

[0014] In the above technical solution, the support frame is located between the base and the installation device. Vibration isolators are arranged on the bottom surface of the support frame for vibration reduction. An elastic support body is arranged inside the housing. The elastic support body has flexibility and will not affect the normal operation of the connecting column, and can also play a role in vibration reduction.

[0015] In some alternative technical solutions, the vibration isolator 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 surrounds the elastic support body. Magnetic particles are arranged inside the elastic support body.

[0016] In the above technical solution, the electromagnetic coil surrounds the elastic support body. Magnetic particles are arranged inside 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 to enable it to adapt to various vibration frequencies.

[0017] In some alternative technical solutions, step 2 includes:

[0018] Step 21, vibration characteristic acquisition;

[0019] Step 22, signal processing and spectrum analysis;

[0020] Step 23, Feature extraction;

[0021] Among them, the said Step 21 includes:

[0022] Using the piezoelectric ceramic sheet as a vibration sensor to collect the vibration signal a(t) of the external environment of the hemispherical resonator gyroscope. The vibration signal acquisition range includes the vibration frequency f ( t ) and the vibration amplitude A(t). The vibration signal is transmitted to the data processing unit module through the signal acquisition module;

[0023] The said Step 22 includes:

[0024] Performing frequency domain analysis on the vibration signal by using the fast Fourier transform according to the said Step 21,

[0025] ,

[0026] wherein, X(f) is the frequency domain signal, representing the vibration energy corresponding to the frequency f , a(t) is the vibration signal, that is, the charge signal from the piezoelectric ceramic sheet.

[0027] In the above technical solution, the vibration signal of the hemispherical resonator gyro is collected, and the intensity change characteristics of the vibration are obtained by statistically analyzing the peak value, mean value and standard deviation of the vibration signal.

[0028] In some alternative technical solutions, the said Step 23 includes:

[0029] Extracting the main vibration features according to the operation result of Step 22, including the main vibration frequency f peak , the frequency band width Δf and the vibration amplitude A peak ; wherein, the main vibration frequency is the frequency component with the largest energy in the frequency spectrum, the frequency band width is the frequency range where 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 a harmonic wave as:

[0030] ,

[0031] wherein, φ is the initial phase of the vibration signal.

[0032] In the above technical solution, the parameters of the vibration main 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 subsequent generation of compensation signals and execution of control.

[0033] In some alternative technical solutions, the said Step 3 includes:

[0034] Step 31, Matching analysis with the compensation system characteristics and generating a compensation signal;

[0035] Step 311: Compare the vibration frequency extracted in Step 23 with the natural frequency of the compensation system:

[0036] When the absolute value of the difference between f peak and f HRG is less than the preset threshold, increase the intensity of the generated compensation signal;

[0037] When the absolute value of the difference between f peak and f HRG is greater than the preset threshold, decrease the intensity of the generated compensation signal;

[0038] Step 312: Confirm the compensation target, actively control the vibration inside the housing by controlling the piezoelectric ceramic sheet and the elastic support, and reduce the transmission of external vibration to the housing;

[0039] Step 313: For the external vibration compensation signal, generate a reverse compensation signal using the negative feedback control principle to drive the piezoelectric ceramic sheet for active compensation. The formula for the compensation signal is:

[0040] ,

[0041] where u(t) is the compensation signal, a(t) is the vibration signal, and K is the feedback gain;

[0042] Step 314: For the internal vibration compensation signal, control the magnetic field intensity of the electromagnetic coil, apply a dynamic adjustment signal to the elastic support to change the stiffness and damping. The control signal for the magnetic field intensity is:

[0043] ,

[0044] where H(t) is the magnetic field intensity signal, H 0 is the magnetic field base value, and ∆H is the dynamic magnetic field adjustment amount;

[0045] Step 315: Compensation control algorithm, optimize the compensation signal based on the PID control algorithm:

[0046] ,

[0047] where e(t) is the error signal, representing the error between the current vibration signal and the compensation target, and K p , K i , K d are the proportional, integral, and differential gain parameters respectively.

[0048] In the above technical solution, based on the analyzed vibration characteristics, a model is built based on the influence of vibration on the hemispherical resonator gyroscope, and a control signal is generated to offset the influence of vibration.

[0049] In some alternative technical solutions, Step 3 further includes:

[0050] Step 32: Execute the compensation signal;

[0051] Step 321: Compensation execution of the piezoelectric ceramic sheet. Convert the compensation signal u(t) into a driving voltage, and apply it to the piezoelectric ceramic sheet through a driving circuit. After being driven, the piezoelectric ceramic sheet generates a reverse stress, forming a cancellation effect with the vibrations of the housing and the base;

[0052] Step 322: Compensation execution of the elastic support. The compensation signal u(t) controls the current magnitude 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;

[0053] Step 33: The piezoelectric ceramic sheet and the elastic support work together. The piezoelectric ceramic sheet actively compensates for external vibrations, and the elastic support dynamically adjusts the vibrations of the internal connecting column. The piezoelectric ceramic sheet and the elastic support complement each other and jointly suppress vibration coupling.

[0054] In the above technical solution, after the compensation signal is generated, through the piezoelectric ceramic sheet and the elastic support, the compensation signal is used to drive the connecting column to move or change the characteristics of the vibration isolator and the elastic support, so as to achieve the cancellation of vibrations.

[0055] In some alternative technical solutions, the said Step 4 includes:

[0056] Step 41: Closed-loop control;

[0057] Step 411: Real-time signal acquisition. Use a vibration sensor or a piezoelectric sensor to continue to acquire the residual vibration signal while the compensation signal is being executed. The acquired data includes the frequency components of the residual vibration, the vibration amplitude, and the error signal inside the compensation system;

[0058] Step 412: Error calculation. Compare the compensated residual vibration signal with the target signal and calculate the error:

[0059] ,

[0060] where x ref (t) is the target vibration signal, and x measured (t) is the measured vibration signal;

[0061] Step 413: Controller design. Process the error signal through a PID controller to generate a corrected compensation signal u(t);

[0062] Step 414: Compensation signal update. Dynamically adjust the responses of the piezoelectric ceramic sheet and the elastic support according to the corrected compensation signal u(t);

[0063] Modify the voltage of the piezoelectric ceramic sheet and adjust the force of the active compensation system;

[0064] Modify the current of the electromagnetic coil and dynamically adjust the stiffness and damping coefficients of the elastic support.

[0065] In the above technical solutions, 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.

[0066] In some alternative technical solutions, step 4 further includes:

[0067] Step 42: Closed-loop debugging;

[0068] Step 421: Initial parameter setting. Set the initial parameters according to the theoretical parameters determined in the design stage of the compensation system.

[0069] Step 422: Running test. Start the external environment simulation device and conduct vibration disturbance tests on the hemispherical resonant gyroscope with various frequencies and amplitudes.

[0070] Step 423: Frequency-domain and time-domain response analysis:

[0071] 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.

[0072] Time-domain analysis. Analyze the change of the vibration signal over time to check for high-frequency vibration and overshoot phenomena.

[0073] 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 and the output force range of the piezoelectric ceramic sheet.

[0074] Step 425: Repeat the test 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.

[0075] In the above technical solutions, the piezoelectric ceramic sheet and the elastic support are optimized and debugged separately to optimize the convergence speed of the compensation system error signal and the response stability.

[0076] In some alternative technical solutions, step 4 further includes:

[0077] Step 43: Optimization of the compensation system operation stability. Evaluate the deviation between the compensation system response and the theoretical value through known vibration inputs or internal test signals, and automatically adjust the control parameters. Use neural networks to train models based on the long-term operation data of the compensation system to predict vibration characteristics and generate compensation signals in advance, and optimize the control parameters through reinforcement learning algorithms.

[0078] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0079] 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, keep the measurement signal of the hemispherical resonant gyroscope stable, and combined with the dynamic compensation function of the piezoelectric ceramic sheet, further weaken the interference of low-frequency and non-linear vibration;

[0080] 2. In the present invention, through real-time vibration signal analysis, the frequency, amplitude and phase of environmental vibration are captured, and targeted compensation signals are generated to ensure that the compensation control compensation system can respond quickly, significantly improve the response ability of the spherical resonant gyroscope in a complex dynamic environment, and maintain its high-efficiency isolation and compensation in a multi-vibration frequency range. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0082] Figure 1 is a flowchart of the method for reducing vibration coupling of the present invention;

[0083] Figure 2 is a flowchart of step 3 in the present invention;

[0084] Figure 3 is a cross-sectional view of the hemispherical resonant gyroscope and the vibration isolation module in the present invention;

[0085] Figure 4 is a schematic structural diagram of the vibration isolation module in the present invention.

[0086] The reference numerals represent:

[0087] 11. Housing; 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 OF THE EMBODIMENTS

[0088] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the embodiments and the drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and do not limit the present invention. It should be noted that the present invention has been in the actual R & D and use stage.

[0089] Embodiment 1

[0090] As Figures 1 to 4 shown, this embodiment provides a method for reducing the vibration coupling of a hemispherical resonant gyroscope, including:

[0091] Step 1: Install a vibration isolation module between the object to be measured and the hemispherical resonant gyroscope;

[0092] Step 2: Collect and analyze the external vibration characteristics of the hemispherical resonant gyroscope;

[0093] Step 3: Generate a compensation signal based on the vibration characteristics of the hemispherical resonant gyroscope, and compensate the vibration signal of the hemispherical resonant gyroscope in real time through a compensation system;

[0094] Step 4: Debug and optimize the compensation system;

[0095] Wherein, the hemispherical resonant gyroscope includes a housing 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 member 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 the transmission of external vibration and compensate for internal vibration coupling.

[0096] As Figure 3 and Figure 4 shown, in Step 2, the vibration isolation module includes a plurality of support frames 2 and a plurality of vibration isolation members 3. A through hole penetrates downward from the top surface of the base 13. A support is connected to the support frame 2 located on the bottom surface of the base 13. The support passes through the through hole and is located inside the housing 11. One end of the support away from the base 13 is connected to a support ring 5. The connecting column 12 is located inside the support ring 5. A ring-shaped elastic support 6 is arranged on the support ring 5. The elastic support 6 is sleeved on the outer peripheral wall of the connecting column 12.

[0097] As Figure 3 and Figure 4 shown, the vibration isolation member 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. The electromagnetic coil is arranged around the elastic support 6. Magnetic particles are arranged inside the elastic support 6.

[0098] Specifically, the support frame 2 is located between the base 13, the hemispherical resonant gyroscope and the installation equipment. The bottom surface of the support frame 2 is provided with a vibration isolation member 3 for damping. The piezoelectric ceramic sheet 4 is covered in the center of the vibration isolation member 3. A support is connected to the support frame 2. The support passes through the through hole of the base 13 and is located inside the housing 11. The top end of the support is connected to a support ring 5. An elastic support 6 is arranged inside the support ring 5. The elastic support 6 is used to cover the connecting column 12. The elastic support 6 has flexibility and will not affect the normal operation of the connecting column 12. Magnetic particles are arranged inside the elastic support 6. An electromagnetic coil is also arranged around the elastic support 6.

[0099] The function of the elastic support 6 is to reduce the transmission of vibration to the resonator. At the same time, it can also dynamically adjust the damping coefficient and stiffness of the elastic support 6 by adjusting the magnetic field strength of the electromagnetic coil, so that it can adapt to a variety of vibration frequencies.

[0100] Step 2 includes:

[0101] Step 21: Vibration characteristic acquisition;

[0102] Step 22: Signal processing and spectrum analysis;

[0103] Step 23: Feature extraction;

[0104] Among them, Step 21 includes:

[0105] Taking the piezoelectric ceramic sheet 4 as a vibration sensor, collect the vibration signal a(t) of the external environment of the hemispherical resonator gyroscope. The vibration signal acquisition range includes the vibration frequency f ( t ) and the vibration amplitude A(t). The vibration signal is transmitted to the data processing unit module through the signal acquisition module;

[0106] Step 22 includes:

[0107] According to Step 21, perform frequency-domain analysis on the vibration signal using the fast Fourier transform,

[0108] ,

[0109] Among them, X(f) is the frequency-domain signal, representing the vibration energy corresponding to the frequency f , a(t) is the vibration signal, that is, the charge signal from the piezoelectric ceramic sheet 4.

[0110] Step 23 includes:

[0111] According to the operation result of Step 22, extract the main vibration characteristics, including the main vibration frequency f peak , the frequency band width Δf and the vibration amplitude A peak ; Among them, the main vibration frequency is the frequency component with the largest energy in the spectrum, the frequency band width is the frequency range where 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 a harmonic wave as:

[0112] ,

[0113] Among them, φ is the initial phase of the vibration signal.

[0114] Specifically, when collecting vibration signals, acceleration sensors and angular velocity sensors installed on the housing 11 and the base 13 can be used to collect external vibration signals. The collected signals include vibration frequency f(t) and vibration amplitude A(t). By statistically analyzing the peak value, mean value, and standard deviation of the vibration signals, the intensity change characteristics of the vibration are obtained. Among them, the peak value reflects the maximum influence range of the vibration, and the standard deviation is used to quantify the randomness of the vibration signals.

[0115] Then, through fast Fourier transform, frequency-domain analysis is performed on the collected vibration signals to extract the main frequency components of the vibration signals. A band-pass filter is used to extract the vibration signals within a specific frequency range, filtering out irrelevant noise. Parameters such as 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 signals is established, providing a basis for subsequent generation of compensation signals and execution of control.

[0116] As Figure 1 and Figure 2 shown, step 3 includes:

[0117] Step 31: Perform matching analysis with the characteristics of the compensation system and generate a compensation signal;

[0118] Step 311: Compare the vibration frequency extracted in step 23 with the natural frequency of the compensation system:

[0119] When the absolute value of the difference between f peak and f HRG is less than the preset threshold, increase the intensity of the generated compensation signal;

[0120] When the absolute value of the difference between f peak and f HRG is greater than the preset threshold, reduce the intensity of the generated compensation signal;

[0121] f HRG represents the resonance frequency of the hemispherical resonator gyro;

[0122] Step 312: Confirm the compensation target, actively control the vibration inside the housing 11 by controlling the piezoelectric ceramic sheet 4 and the elastic support 6, and reduce the transmission of external vibration to the housing 11;

[0123] Step 313: Generate an external vibration compensation signal, generate a reverse compensation signal using the negative feedback control principle, and drive the piezoelectric ceramic sheet 4 for active compensation. The formula for the compensation signal is:

[0124] ,

[0125] where u(t) is the compensation signal, a(t) is the vibration signal, and K is the feedback gain;

[0126] Step 314. The internal vibration compensation signal controls the magnetic field intensity of the electromagnetic coil, applies a dynamic adjustment signal to the elastic support 6, and changes the stiffness and damping. The control signal for the magnetic field intensity is:

[0127] ,

[0128] where H(t) is the magnetic field intensity signal, H 0 is the magnetic field base value, and ∆H is the dynamic magnetic field adjustment amount;

[0129] Step 315. The compensation control algorithm optimizes the compensation signal based on the PID control algorithm:

[0130] ,

[0131] where e(t) is the error between the current vibration signal and the compensation target, and K p , K i , K d are the proportional, integral, and differential gain parameters respectively.

[0132] As Figure 1 and Figure 2 shown, Step 3 further includes:

[0133] Step 32. Execute the compensation signal;

[0134] Step 321. The compensation execution of the piezoelectric ceramic sheet 4 converts the compensation signal u(t) into a driving voltage, applies it to the piezoelectric ceramic sheet 4 through a driving circuit, and the piezoelectric ceramic sheet 4 generates a reverse stress after being driven, forming a cancellation effect with the vibrations of the housing 11 and the base 13;

[0135] Step 322. The compensation execution of the elastic support 6. The compensation signal u(t) controls the magnitude of 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;

[0136] Step 33. The piezoelectric ceramic sheet 4 and the elastic support 6 work together. The piezoelectric ceramic sheet 4 actively compensates for external vibrations, and the elastic support 6 dynamically adjusts the vibrations of the internal connecting column 12. The piezoelectric ceramic sheet 4 and the elastic support 6 complement each other and jointly suppress the vibration coupling.

[0137] Specifically, based on the analysis of Steps 2 and 3, the vibration characteristics are obtained, a model is built based on the influence of the vibration on the hemispherical resonator gyroscope, a control signal for canceling the vibration influence is generated, 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, and the phase matching algorithm is used to ensure that the compensation signal is in phase with the vibration signal.

[0138] After the compensation signal is generated, through the piezoelectric ceramic sheet 4 and the elastic support 6, the compensation signal is used to drive the connecting column 12 to move or change the characteristics of the vibration isolation member 3 and the elastic support 6, so as to achieve the cancellation of vibration; the piezoelectric ceramic sheet 4 deforms in response to the compensation signal, and the amount of deformation drives the micro-movement of the housing 11 and the base 13, so as to form a displacement in the opposite direction to the external vibration, reducing the vibration of the housing 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 6, adjusts the vibration characteristics of the connecting column 12, and suppresses the vibration transmitted internally.

[0139] Step 4 includes:

[0140] Step 41, closed-loop control;

[0141] Step 411, real-time signal acquisition. Using a vibration sensor or a piezoelectric sensor, while the compensation signal is being executed, continue to acquire the residual vibration signal. The data acquired includes the frequency components of the residual vibration, the vibration amplitude, and the error signal inside the compensation system.

[0142] Step 412, error calculation. Compare the compensated residual vibration signal with the target signal and calculate the error:

[0143] ,

[0144] where, x ref (t) is the target vibration signal, and x measured (t) is the measured vibration signal;

[0145] Step 413, controller design. Process the error signal through a PID controller to generate a corrected compensation signal u(t);

[0146] Step 414, compensation signal update. Dynamically adjust the responses of the piezoelectric ceramic sheet 4 and the elastic support 6 according to the corrected compensation signal u(t):

[0147] Modify the voltage of the piezoelectric ceramic sheet 4 to adjust the force of the active compensation system;

[0148] Modify the electromagnetic coil current to dynamically adjust the stiffness and damping coefficients of the elastic support 6.

[0149] Step 4 also includes:

[0150] Step 42, closed-loop debugging;

[0151] Step 421, initial parameter setting. Set the initial parameters according to the theoretical parameters determined in the design stage of the compensation system.

[0152] Step 422: Run tests, start the external environment simulation device, and conduct vibration disturbance tests on the hemispherical resonant gyroscope with various frequencies and amplitudes.

[0153] Step 423: Frequency-domain and time-domain response analysis:

[0154] 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.

[0155] Time-domain analysis: Analyze the variation of the vibration signal over time to check for high-frequency vibration and overshoot phenomena.

[0156] 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 6 and the output force range of the piezoelectric ceramic sheet 4.

[0157] Step 425: Repeat the test and optimization steps until the amplitude of the residual vibration drops to the designed target range and the compensation system can operate stably under various vibration disturbances.

[0158] Step 43: Optimize the operation stability of the compensation system. Through known vibration inputs or internal test signals, evaluate the deviation between the response of the compensation system and the theoretical value, and automatically adjust the control parameters. Use a neural network to train a model based on the long-term operation data of the compensation system to predict vibration characteristics and generate compensation signals in advance, and optimize the control parameters through a reinforcement learning algorithm.

[0159] Specifically, 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 with different frequencies and amplitudes through an external excitation device, 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.

[0160] Debugging of the piezoelectric ceramic sheet 4: Adjust the voltage range applied to the piezoelectric ceramic sheet 4 to ensure that the piezoelectric deformation is consistent with the vibration amplitude, and the response time of the piezoelectric ceramic sheet 4 is less than the vibration period.

[0161] Optimization of the elastic support 6: Adjust the variation range of the magnetic field intensity of the electromagnetic coil to make it adapt to the stiffness requirements under different vibration frequencies. Optimize the installation position and structure of the magnetorheological elastomer according to the experimental results to reduce the internal vibration transmission path.

[0162] 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, test the response ability of the compensation system within different frequency ranges, evaluate the effective compensation range, conduct a long-term operation test on the compensation system, record the stability and control accuracy of the compensation signal, and ensure the reliability of the compensation system under continuous vibration conditions.

[0163] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope 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, using a piezoelectric ceramic piece (4) to collect the vibration signal of the external environment, and extracting the main vibration frequency fpeak, which is the frequency component with the largest energy in the spectrum; 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 resonant 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 resonant 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 vibration and compensate for internal vibration coupling; The top surface of the base (13) is penetrated downwardly by a through hole, a bracket is connected to the support frame (2) located on the bottom surface of the base (13), the bracket having the through hole is located in the shell (11), an end of the bracket away from the base (13) is connected to a support ring (5), the connecting column (12) is located in the support ring (5), an annular elastic support body (6) is provided on the support ring (5), and the elastic support body (6) is sleeved on the outer peripheral wall of the connecting column (12); The vibration isolator (3) comprises an elastic outer layer and an elastic inner layer, the 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); The step 3 comprises: Step 31, matching and analyzing with the compensation system characteristics, and generating a compensation signal; Step 311: Compare the main vibration frequency f extracted in step 2 peak and the natural frequency f of the compensation system HRG : 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; 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.

2. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 1, 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) from the external environment of the hemispherical resonant gyroscope, wherein the vibration signal collection range includes the vibration frequency f(t) and the vibration amplitude A(t), and the vibration signal is transmitted to the data processing unit module through the signal collection module; The step 22 comprises: According to step 21, the vibration signal is analyzed in the frequency domain by using fast Fourier transform. ， Wherein, X(f) is the frequency domain signal, which represents the vibration energy corresponding to the frequency f, and a(t) is the vibration signal, i.e., the charge signal from the piezoelectric ceramic piece (4).

3. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 2, 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.

4. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 2, 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).

5. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 4, 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.

6. A method for reducing vibration coupling of a hemispherical resonant gyroscope according to claim 4, 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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