Balance control circuit and method for fluid rotation inertia angular displacement sensor

Abstract

The invention provides a balance control circuit and method for a fluid rotation inertia angular displacement sensor, which can be applied to the technical field of sensor control. The balance control circuit is characterized in that a position detector detects the angular displacement between a pendulous reed and a shell to obtain a detection voltage under the condition that the pendulous reed and the shell are deflected when a fluid rotation inertia angular displacement sensor is stimulated by an angular vibration signal with a preset frequency; the amplification circuit amplifies the detection voltage to obtain an amplified voltage; the zeroing circuit carries out subtraction operation on the amplified voltage and the reference voltage to obtain angular displacement error voltage; the control circuit performs proportional-integral adjustment on the angular displacement error voltage to obtain a control voltage; and the driving circuit converts the control voltage to obtain driving current, so that the torque coil generates electromagnetic torque under the control of the driving current, the pendulous reed rotates under the action of the electromagnetic torque, and the angular displacement between the pendulous reed and the shell is adjusted to the initial angular displacement.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor control, and more particularly, to a balance control circuit and method for a fluid rotary inertial angular displacement sensor. Background Art

[0002] When an external angular vibration signal acts on the sensor housing of a fluid rotary inertial angular displacement sensor, the sensor housing follows the external angular vibration to generate a small angular displacement. The fluid ring and the pendulum inside the sensor remain inertially stationary. At this time, by detecting the relative angular displacement between the pendulum and the sensor housing, the external angular displacement input is obtained.

[0003] However, when an external low-frequency angular vibration signal is input, the pendulum inside the fluid rotary inertial angular displacement sensor will swing with the fluid and cannot remain inertially stationary, resulting in the relative angular displacement between the pendulum and the sensor housing not being able to accurately reflect the actual external angular displacement input. Furthermore, it affects the accuracy of the measurement signal corresponding to the angular displacement and reduces the measurement accuracy of the angular displacement calculated based on the measurement signal. Summary of the Invention

[0004] In view of this, the present invention provides a balance control circuit and method for a fluid rotary inertial angular displacement sensor.

[0005] According to one aspect of the present invention, there is provided a balance control circuit for a fluid rotary inertial angular displacement sensor, including: a position detector for detecting the angular displacement between the pendulum and the housing when the fluid rotary inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, so that both the pendulum and the housing in the fluid rotary inertial angular displacement sensor are deflected, and obtaining a detection voltage corresponding to the angular displacement; an amplification circuit for amplifying the detection voltage to obtain an amplified voltage; a zero adjustment circuit for performing a subtraction operation on the amplified voltage and a reference voltage to obtain an angular displacement error voltage; a control circuit for performing proportional-integral adjustment on the angular displacement error voltage to obtain a control voltage; and a drive circuit for converting the control voltage to obtain a drive current, so that a torque coil included in the fluid rotary inertial angular displacement sensor generates an electromagnetic torque under the control of the drive current, and the pendulum rotates in a direction to reduce the deviation between the angular displacement and the initial angular displacement under the action of the electromagnetic torque, and adjusts the angular displacement between the pendulum and the housing to the initial angular displacement.

[0006] According to an embodiment of the present invention, the amplification circuit includes: a first operational amplifier, a second operational amplifier, a third operational amplifier, a fourth operational amplifier, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a gain adjustment resistor, and a first capacitor;

[0007] The non-inverting input terminal of the first operational amplifier is electrically connected to the first end of the first resistor. The inverting input terminal of the first operational amplifier is electrically connected to the first end of the gain adjustment resistor and the first end of the third resistor. The output terminal of the first operational amplifier is electrically connected to the second end of the third resistor and the first end of the fifth resistor. The second end of the first resistor is grounded;

[0008] The non-inverting input terminal of the second operational amplifier is electrically connected to the first end of the second resistor. The inverting input terminal of the second operational amplifier is electrically connected to the second end of the gain adjustment resistor and the first end of the fourth resistor. The output terminal of the second operational amplifier is electrically connected to the second end of the fourth resistor and the first end of the sixth resistor. The second end of the second resistor is electrically connected to the output terminal of the position detector;

[0009] The non-inverting input terminal of the third operational amplifier is electrically connected to the second end of the sixth resistor and the first end of the eighth resistor. The inverting input terminal of the third operational amplifier is electrically connected to the second end of the fifth resistor and the first end of the seventh resistor. The output terminal of the third operational amplifier, the second end of the seventh resistor, and the first end of the ninth resistor are electrically connected to the output terminal of the amplifier circuit;

[0010] The non-inverting input terminal of the fourth operational amplifier is grounded. The inverting input terminal of the fourth operational amplifier is electrically connected to the second end of the ninth resistor and the first end of the first capacitor. The output terminal of the fourth operational amplifier is electrically connected to the second end of the first capacitor and the second end of the eighth resistor.

[0011] According to an embodiment of the present invention, the zero adjustment circuit includes: a fifth operational amplifier, a sixth operational amplifier, a second capacitor, a third capacitor, a field effect transistor, a first power supply, a second power supply, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, and a fifteenth resistor;

[0012] The non-inverting input terminal of the fifth operational amplifier is electrically connected to the first end of the tenth resistor and the first end of the eleventh resistor. The inverting input terminal of the fifth operational amplifier is electrically connected to the output terminal of the first power supply. The output terminal of the fifth operational amplifier is electrically connected to the gate of the field effect transistor;

[0013] The source electrode of the field effect transistor is electrically connected to the output terminal of the second power supply and the first end of the second capacitor. The drain electrode of the field effect transistor is electrically connected to the second end of the tenth resistor, the first end of the third capacitor, and the first end of the twelfth resistor;

[0014] The non-inverting input terminal of the sixth operational amplifier is electrically connected to the first terminal of the thirteenth resistor and the first terminal of the fifteenth resistor. The inverting input terminal of the sixth operational amplifier is electrically connected to the second terminal of the twelfth resistor and the first terminal of the fourteenth resistor. The output terminal of the sixth operational amplifier is electrically connected to the second terminal of the fourteenth resistor and the output terminal of the zero-adjusting circuit.

[0015] The second terminal of the thirteenth resistor is electrically connected to the output terminal of the amplifier circuit. The second terminals of the second capacitor, the third capacitor, and the fifteenth resistor are grounded.

[0016] According to an embodiment of the present invention, the control circuit includes: a seventh operational amplifier, a fourth capacitor, a fifth capacitor, a sixth capacitor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a nineteenth resistor, and a twentieth resistor.

[0017] The non-inverting input terminal of the seventh operational amplifier is electrically connected to the first terminal of the seventeenth resistor. The inverting input terminal of the seventh operational amplifier is electrically connected to the first terminal of the sixteenth resistor, the first terminal of the nineteenth resistor, the first terminal of the fourth capacitor, and the first terminal of the eighteenth resistor.

[0018] The output terminal of the seventh operational amplifier is electrically connected to the second terminal of the fourth capacitor, the first terminal of the fifth capacitor, the second terminal of the eighteenth resistor, and the first terminal of the twentieth resistor.

[0019] The second terminal of the sixteenth resistor is electrically connected to the output terminal of the zero-adjusting circuit. The second terminal of the nineteenth resistor is electrically connected to the second terminal of the fifth capacitor. The second terminal of the twentieth resistor is electrically connected to the first terminal of the sixth capacitor and the output terminal of the control circuit. The second terminal of the seventeenth resistor and the second terminal of the sixth capacitor are grounded.

[0020] According to an embodiment of the present invention, the drive circuit includes: an eighth operational amplifier, a ninth operational amplifier, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a twenty-sixth resistor, and a transient suppression diode.

[0021] The non-inverting input terminal of the eighth operational amplifier is electrically connected to the first terminal of the twenty-second resistor and the first terminal of the twenty-third resistor. The inverting input terminal of the eighth operational amplifier is electrically connected to the first terminal of the twenty-first resistor and the first terminal of the twenty-fourth resistor. The output terminal of the eighth operational amplifier is electrically connected to the second terminal of the twenty-fourth resistor and the first terminal of the twenty-fifth resistor.

[0022] The non-inverting input terminal of the above-mentioned ninth operational amplifier is electrically connected to the second terminal of the above-mentioned twenty-fifth resistor and the first terminal of the above-mentioned twenty-sixth resistor. The inverting input terminal of the above-mentioned ninth operational amplifier is electrically connected to the output terminal of the above-mentioned ninth operational amplifier. The output terminal of the above-mentioned ninth operational amplifier is electrically connected to the second terminal of the above-mentioned twenty-third resistor;

[0023] The second terminal of the above-mentioned twenty-sixth resistor, the first terminal of the above-mentioned transient suppression diode, and the output terminal of the above-mentioned drive circuit are electrically connected. The second terminal of the above-mentioned twenty-second resistor is electrically connected to the output terminal of the above-mentioned control circuit. The second terminal of the above-mentioned twenty-first resistor and the second terminal of the above-mentioned transient suppression diode are grounded.

[0024] According to an embodiment of the present invention, the resistance value range of the above-mentioned twenty-sixth resistor is 0.5Ω to 5Ω, and the resistance value of the above-mentioned twenty-sixth resistor and the resistance value of the equivalent resistance of the above-mentioned torque coil satisfy a ratio relationship of 1:10.

[0025] According to an embodiment of the present invention, the above-mentioned predetermined frequency is greater than 0 Hz and less than 20 Hz.

[0026] According to an embodiment of the present invention, the target transfer function of the above-mentioned balance control circuit is obtained according to the following operations:

[0027] Multiply the transfer function of the above-mentioned position detector, the transfer function of the above-mentioned amplifier circuit, and the transfer function of the above-mentioned zero-adjusting circuit to obtain the first term of the above-mentioned target transfer function;

[0028] Multiply the transfer function of the above-mentioned position detector, the transfer function of the above-mentioned amplifier circuit, the transfer function of the above-mentioned zero-adjusting circuit, the transfer function of the above-mentioned control circuit, the transfer function of the above-mentioned drive circuit, and the transfer function of the above-mentioned torque coil to obtain the second term of the above-mentioned target transfer function;

[0029] According to the moment of inertia of the above-mentioned pendulum piece mass distribution reduced to the shaft of the shaft system, the friction damping coefficient of the above-mentioned shaft system, and the elastic torque coefficient of the above-mentioned shaft system, obtain the transfer function corresponding to the dynamic model of the above-mentioned shaft system;

[0030] According to the above-mentioned first term, the above-mentioned second term, and the transfer function corresponding to the dynamic model of the above-mentioned shaft system, obtain the above-mentioned target transfer function.

[0031] According to an embodiment of the present invention, the above-mentioned zero-adjusting circuit is further configured to: output the above-mentioned reference voltage at the connection end of the second terminal of the above-mentioned tenth resistor and the first terminal of the above-mentioned third capacitor.

[0032] According to another aspect of the present invention, there is provided a balance control method for a fluid rotation inertia angular displacement sensor, which is applied to the above-mentioned balance control circuit for a fluid rotation inertia angular displacement sensor, and includes:

[0033] When the position detector is stimulated by an angular vibration signal of a predetermined frequency in the fluid rotation inertial angular displacement sensor, causing both the pendulum piece and the housing in the fluid rotation inertial angular displacement sensor to deflect, the angular displacement between the pendulum piece and the housing is detected to obtain a detection voltage corresponding to the angular displacement;

[0034] The amplifier circuit amplifies the detection voltage to obtain an amplified voltage;

[0035] The zero adjustment circuit performs a subtraction operation on the amplified voltage and a reference voltage to obtain an angular displacement error voltage;

[0036] The control circuit performs proportional-integral regulation on the angular displacement error voltage to obtain a control voltage;

[0037] The drive circuit converts the control voltage to obtain a drive current, so that the torque coil included in the fluid rotation inertial angular displacement sensor generates an electromagnetic torque under the control of the drive current, causing the pendulum piece to rotate in a direction to reduce the deviation between the angular displacement and the initial angular displacement under the action of the electromagnetic torque, and adjusting the angular displacement between the pendulum piece and the housing to the initial angular displacement.

[0038] According to the balance control circuit for a fluid rotation inertial angular displacement sensor provided by an embodiment of the present invention, by using the position detector to detect the angular displacement between the pendulum piece and the housing when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, causing both the pendulum piece and the housing in the fluid rotation inertial angular displacement sensor to deflect, to obtain a detection voltage corresponding to the angular displacement, using the amplifier circuit to amplify the detection voltage to obtain an amplified voltage, using the zero adjustment circuit to perform a subtraction operation on the amplified voltage and a reference voltage to obtain an angular displacement error voltage, using the control circuit to perform proportional-integral regulation on the angular displacement error voltage to obtain a control voltage, using the drive circuit to convert the control voltage to obtain a drive current, so that the torque coil included in the fluid rotation inertial angular displacement sensor generates an electromagnetic torque under the control of the drive current, causing the pendulum piece to rotate in a direction to reduce the deviation between the angular displacement and the initial angular displacement, and adjusting the angular displacement between the pendulum piece and the housing to the initial angular displacement. Furthermore, the angular displacement between the pendulum piece and the housing is maintained at the initial angular displacement, completing the real-time tracking compensation of the dynamic response of the pendulum piece. When subsequently using the fluid rotation inertial angular displacement sensor to measure an externally input angular vibration signal, the influence of the deflection of the pendulum piece on the measurement accuracy can be eliminated, and the measurement accuracy of the fluid rotation inertial angular displacement sensor is improved. Description of the Drawings

[0039] Through the following description of the embodiments of the present invention with reference to the drawings, the above and other objects, features, and advantages of the present invention will become clearer.

[0040] Figure 1 Shows a schematic structural diagram of a balance control circuit for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention;

[0041] Figure 2 Shows a schematic diagram of the data processing process of a balance control circuit for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention;

[0042] Figure 3 Shows a schematic structural diagram of an amplifier circuit according to an embodiment of the present invention;

[0043] Figure 4 Shows a schematic structural diagram of a zero-adjusting circuit according to an embodiment of the present invention;

[0044] Figure 5 Shows a schematic structural diagram of a control circuit according to an embodiment of the present invention;

[0045] Figure 6 Shows a schematic structural diagram of a drive circuit according to an embodiment of the present invention;

[0046] Figure 7 Shows a flowchart of a balance control method for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention. Detailed implementation manners

[0047] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a thorough understanding of the embodiments of the present invention. However, obviously, one or more embodiments can be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0048] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0049] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0050] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning that those skilled in the art usually understand this expression (for example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0051] When a low-frequency angular vibration signal is input from the outside, the pendulum plate inside the fluid rotation inertial angular displacement sensor will swing along with the fluid and cannot maintain inertial rest, resulting in the relative angular displacement between the pendulum plate and the sensor housing not accurately reflecting the actual angular displacement input from the outside. Furthermore, it affects the accuracy of the measurement signal corresponding to the angular displacement and reduces the precision of the angular displacement calculated based on the measurement signal.

[0052] In view of this, embodiments of the present invention provide a balance control circuit and method for a fluid rotation inertial angular displacement sensor, which can be applied to the technical field of sensor control.

[0053] Figure 1 A schematic structural diagram of a balance control circuit for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention is shown.

[0054] As Figure 1 shown, the balance control circuit 100 for a fluid rotation inertial angular displacement sensor may include a position detector 110, an amplifier circuit 120, a zero adjustment circuit 130, a control circuit 140, and a drive circuit 150.

[0055] The position detector 110 can be used to detect the angular displacement between the pendulum plate 1011 and the housing 1012 to obtain a detection voltage corresponding to the angular displacement when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, causing both the pendulum plate 1011 and the housing 1012 in the fluid rotation inertial angular displacement sensor to deflect.

[0056] The fluid rotation inertial angular displacement sensor may include a pendulum plate 1011, a housing 1012, a fluid ring 1013, and a torque coil 1014, wherein the fluid ring 1013 is filled with fluid. When an external angular vibration signal generated by the angular vibration table 102 acts on the housing 1012 and the frequency of the external angular vibration signal is not within the predetermined frequency range, the housing 1012 generates a small angular displacement. The pendulum plate 1011 is suspended in the fluid ring 1013, using fluid inertia to block external vibration interference and maintaining an inertial rest state, thereby forming a relative angular displacement between the housing 1012 and the pendulum plate 1011 when the housing 1012 moves. The structure for generating the angular vibration signal is not limited to the angular vibration table 102, and any vibrating structure can be used. Here, only the angular vibration table 102 is used for illustrative purposes.

[0057] When the external angular vibration signal generated by the angular vibration table 102 acts on the housing 1012, and when the frequency of the external angular vibration signal is within the predetermined frequency range, the fluid rotation inertia angular displacement sensor is stimulated by the angular vibration signal, causing the pendulum piece 1011 in the fluid rotation inertia angular displacement sensor to be affected by the disturbing torque. At this time, the pendulum piece 1011 inside the fluid rotation inertia angular displacement sensor will swing with the fluid and cannot maintain inertial rest. The angular displacement between the pendulum piece 1011 and the housing 1012 can be detected by the position detector 110 to obtain a detection voltage corresponding to the angular displacement.

[0058] The position detector 110 may include a position detection probe 111. The position detection probe 111 can be fixed on the housing 1012. The detection principle of the position detection probe 111 can be eddy current type or capacitive type. The position detection probe 111 fixed to the housing 1012 can detect the relative angular displacement between the pendulum piece 1011 and the housing 1012 in real time and output an electrical signal proportional to the angular displacement. The position detection probe 111 can be of a symmetric differential structure to improve the common-mode noise suppression ability.

[0059] The original signal output by the position detection probe 111, that is, the detection voltage, is sequentially input to the amplifier circuit 120, zero adjustment circuit 130, control circuit 140, and drive circuit 150 for processing.

[0060] The amplifier circuit 120 can be used to amplify the detection voltage to obtain an amplified voltage.

[0061] The amplifier circuit 120 can adopt an instrumentation amplifier with a high common-mode rejection ratio to perform low-noise amplification on the microvolt-level detection voltage to obtain an amplified voltage.

[0062] The zero adjustment circuit 130 can be used to perform a subtraction operation on the amplified voltage and the reference voltage to obtain an angular displacement error voltage.

[0063] The zero adjustment circuit 130 can generate an adjustable reference voltage through a low-dropout linear voltage regulator and a voltage-dividing resistor structure, and determine the zero-point offset based on the adjustable reference voltage, that is, determine the offset amount of the angular displacement between the pendulum piece 1011 and the housing 1012 deviating from the initial angular displacement, and judge the swinging direction of the pendulum piece 1011 to generate an angular displacement error voltage, where the angular displacement error voltage is the voltage corresponding to the offset amount of the angular displacement between the pendulum piece 1011 and the housing 1012 deviating from the initial angular displacement.

[0064] The control circuit 140 can be used to perform proportional-integral regulation on the angular displacement error voltage to obtain a control voltage.

[0065] The control circuit 140 can remove the deviation of the angular displacement error voltage and high-frequency noise through a proportional-integral (PI) control algorithm combined with low-pass filtering, and generate a control voltage.

[0066] The driving circuit 150 is used to convert the control voltage to obtain a driving current, so that the torque coil 1014 included in the fluid rotation inertial angular displacement sensor generates an electromagnetic torque under the control of the driving current, causing the pendulum piece 1011 to rotate in the direction of reducing the deviation between the angular displacement and the initial angular displacement, and adjusting the angular displacement between the pendulum piece 1011 and the housing 1012 to the initial angular displacement.

[0067] According to an embodiment of the present invention, the detection voltage output by the position detector 110, the amplified voltage output by the amplification circuit 120, the reference voltage used by the zero-adjustment circuit 130 and the output angular displacement error voltage, and the control voltage output by the control circuit 140 are all analog voltages. The driving current output by the driving circuit 150 is an analog current.

[0068] According to an embodiment of the present invention, the initial angular displacement represents the angular displacement between the pendulum piece 1011 and the housing 1012 when the fluid rotation inertial angular displacement sensor is not stimulated by an angular vibration signal. The reference voltage is the voltage corresponding to the initial angular displacement.

[0069] The driving circuit 150 can convert the control voltage into a high-precision bipolar driving current based on an improved Howland Current Pump architecture and output the driving current.

[0070] According to an embodiment of the present invention, the balance control circuit 100 for the fluid rotation inertial angular displacement sensor can be used to continuously adjust the electromagnetic torque to stabilize the pendulum piece 1011 in the linear working region of the position detector 110.

[0071] According to an embodiment of the present invention, the detection voltage output by the position detector 110, the angular displacement error voltage output by the zero-adjustment circuit 130, the control voltage output by the control circuit 140, and the driving current output by the driving circuit 150 can also be digitally processed subsequently and transmitted to the host computer through a communication interface. The host computer is used to display in real time the detected information reflecting the angular displacement change and the parameters reflecting the system state. Among them, the information reflecting the angular displacement change includes the detection voltage, and the parameters reflecting the system state include the angular displacement error voltage, the control voltage, and the driving current.

[0072] For example, an electromagnetic torque can act on the sensor shaft system 103. Under the action of the electromagnetic torque, the sensor shaft system 103 can cause the pendulum piece 1011 to rotate in a direction to reduce the deviation between the angular displacement and the initial angular displacement, and adjust the angular displacement between the pendulum piece 1011 and the housing 1012 to the initial angular displacement. Among them, the sensor shaft system 103 includes the pendulum piece 1011 suspended in the fluid ring 1013, and a dynamic model related to the pendulum piece 1011 can be constructed for the sensor shaft system 103. The movement of the sensor shaft system 103 can be determined by the moment of inertia of the pendulum mass distribution reduced to the axis of the shaft system , the friction damping coefficient of the shaft system and the elastic torque coefficient of the shaft system that make up the dynamic model. The elastic torque coefficient is related to the material and structure of the hairspring of the shaft system. The axis of the shaft system can be the sensitive axis of the fluid rotary inertia angular displacement sensor.

[0073] According to an embodiment of the present invention, after adjusting the angular displacement between the pendulum piece 1011 and the housing 1012 to the initial angular displacement, the fluid rotary inertia angular displacement sensor is used to measure the externally input angular vibration signal, which can eliminate the influence of the deflection of the pendulum piece 1011 on the measurement accuracy and improve the measurement accuracy of the fluid rotary inertia angular displacement sensor.

[0074] According to an embodiment of the present invention, the components included in the balance control circuit 100 for the fluid rotary inertia angular displacement sensor can be used to cooperate to achieve the dynamic rebalancing of the pendulum piece 1011 and the accurate measurement of the angular displacement.

[0075] According to the balance control circuit 100 for a fluid rotation inertial angular displacement sensor provided by an embodiment of the present invention, when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal with a predetermined frequency using the position detector 110, causing both the pendulum piece 1011 and the housing 1012 in the fluid rotation inertial angular displacement sensor to deflect, the angular displacement between the pendulum piece 1011 and the housing 1012 is detected to obtain a detection voltage corresponding to the angular displacement. The detection voltage is amplified by the amplifier circuit 120 to obtain an amplified voltage. The amplified voltage and the reference voltage are subjected to a subtraction operation by the zero adjustment circuit 130 to obtain an angular displacement error voltage. The angular displacement error voltage is subjected to proportional-integral regulation by the control circuit 140 to obtain a control voltage. The control voltage is converted by the drive circuit 150 to obtain a drive current, so that the torque coil 1014 included in the fluid rotation inertial angular displacement sensor generates an electromagnetic torque under the control of the drive current, causing the pendulum piece 1011 to rotate in the direction of reducing the deviation between the angular displacement and the initial angular displacement under the action of the electromagnetic torque, and adjusting the angular displacement between the pendulum piece 1011 and the housing 1012 to the initial angular displacement. Furthermore, the angular displacement between the pendulum piece 1011 and the housing 1012 is maintained at the initial angular displacement, completing the real-time tracking compensation of the dynamic response of the pendulum piece 1011. When the fluid rotation inertial angular displacement sensor subsequently measures an externally input angular vibration signal, the influence of the deflection of the pendulum piece 1011 on the measurement accuracy can be eliminated, and the measurement accuracy of the fluid rotation inertial angular displacement sensor is improved.

[0076] In the related art, when the input low-frequency angular vibration signal is a large-amplitude angular vibration signal, the pendulum piece 1011 will also deviate from the linear working range. The angular vibration signal with too large an amplitude may also cause the pendulum piece 1011 to collide with the position detection probe 111, resulting in a phenomenon of hitting the housing. Working in such an environment for a long time will seriously damage the pendulum piece 1011 and the position detection probe 111.

[0077] However, the balance control circuit 100 for a fluid rotation inertial angular displacement sensor provided by an embodiment of the present invention can keep the angular displacement between the pendulum piece 1011 and the housing 1012 at the initial angular displacement, complete the real-time tracking compensation of the dynamic response of the pendulum piece 1011, and further make the relative positions of the pendulum piece 1011 and the housing 1012 basically fixed, so that the pendulum piece 1011 is stably in the linear working region in real time, avoiding the collision between the pendulum piece 1011 and the position detection probe 111, and greatly reducing the damage probability of the pendulum piece 1011 and the position detection probe 111.

[0078] In related technologies, in order to ensure that the measurement accuracy of a fluid rotary inertial angular displacement sensor is not affected by an externally input low-frequency angular vibration signal, a relatively complex balance control circuit is designed to control and adjust the fluid rotary inertial angular displacement sensor. For example, the balance control circuit in related technologies involves modulation and demodulation circuits, analog-to-digital conversion circuits, digital-to-analog conversion circuits, etc., which increases the complexity of the circuit and may cause relatively large measurement lags and errors in some cases.

[0079] The balance control circuit 100 for a fluid rotary inertial angular displacement sensor provided by an embodiment of the present invention includes a position detector 110, an amplifier circuit 120, a zero-adjusting circuit 130, a control circuit 140, and a drive circuit 150, all of which are analog circuits. The detection voltage, amplified voltage, reference voltage, angular displacement error voltage, control voltage, and drive current output respectively are all analog signals, and the use of traditional modulation and demodulation and digital circuits is abandoned. It can directly implement signal closed-loop control through an analog circuit with low delay and high linearity, complete real-time tracking compensation of the dynamic response of the pendulum piece 1011, and achieve a miniaturized circuit design and low-delay measurement of high-precision and wide-dynamic angular displacement signals.

[0080] The balance control circuit 100 for a fluid rotary inertial angular displacement sensor provided by an embodiment of the present invention can make the pendulum piece 1011 work in the linear region of the position detector 110, avoid the pendulum piece 1011 colliding with the two-side housings 1012 due to corner limitations and causing the phenomenon of pendulum swinging, protect the internal devices of the sensor, and greatly weaken the influence brought by non-linear measurement. In addition, in the signal processing circuit and control loop design of the rebalancing loop, the circuit structure is simple, the occupied volume is small, which is conducive to the miniaturized design requirements of the sensor.

[0081] According to an embodiment of the present invention, the predetermined frequency is greater than 0 Hz and less than 20 Hz. For example, the predetermined frequency can be 5 Hz, 10 Hz, 12 Hz, 15 Hz, 20 Hz, etc.

[0082] According to an embodiment of the present invention, when the frequency of the angular vibration signal received by the fluid rotary inertial angular displacement sensor is greater than 0 Hz and less than 20 Hz, the pendulum piece 1011 in the fluid rotary inertial angular displacement sensor is affected by an interference torque and cannot maintain inertial rest. Among them, the interference torque is the torque brought by the fluid sloshing under the stimulation of the angular vibration signal to the pendulum piece 1011. At this time, according to Figure 1 the balance control circuit 100 for a fluid rotary inertial angular displacement sensor shown can perform real-time regulation on the position of the pendulum piece 1011, so that the angular displacement between the pendulum piece 1011 and the housing 1012 remains the initial angular displacement, complete real-time tracking compensation of the dynamic response of the pendulum piece 1011, and improve the measurement accuracy of the fluid rotary inertial angular displacement sensor.

[0083] Figure 2 Shows a schematic diagram of the data processing process of the balance control circuit for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention.

[0084] As Figure 2 shown, the transfer function of the position detector 110 is , the transfer function of the amplifier circuit 120 is , the transfer function of the zero adjustment circuit 130 is , the transfer function of the control circuit 140 is and the transfer function of the drive circuit 150 is , the transfer function of the torque coil 1014 is , the transfer function of the dynamic model of the shafting is , where s is a complex variable.

[0085] When the position detector 110 is fixedly connected to the sensor housing 1012, the position detector 110 can detect the relative angular displacement between the sensor sensitive input angular displacement and the actual output angular displacement of the pendulum piece 1011. The position detector 110 processes the angular displacement based on the transfer function and outputs a detection voltage proportional to the angular displacement . Among them, the sensor sensitive input angular displacement can be the angular displacement of the housing 1012.

[0086] The amplifier circuit 120 and the zero adjustment circuit 130 cascaded can form a signal processing circuit. The signal processing circuit amplifies the signal and calibrates the zero point of the detection voltage output by the position detector 110 based on the transfer function of the amplifier circuit 120 and the transfer function of the zero adjustment circuit 130 to generate a standardized output, that is, the angular displacement error voltage .

[0087] The control loop includes the control circuit 140 and the drive circuit 150. The control circuit 140 adjusts the PI control algorithm and performs low-pass filtering processing on the angular displacement error voltage to generate a control voltage that suppresses high-frequency noise. The drive circuit 150 converts the control voltage into a drive current based on the transfer function to utilize the drive current ​The driving torque coil 1014, and the torque coil 1014 generates an electromagnetic torque based on the transfer function to generate an electromagnetic torque .

[0088] The disturbing torque includes the acting torque of the fluid on the pendulum piece 1011. The sensor shafting 103, based on the transfer function of the shafting dynamic model , couples the electromagnetic torque and the disturbing torque to the angular displacement actually output by the pendulum piece 1011 , causing the pendulum piece 1011 to rotate in the direction of reducing the deviation between the angular displacement and the disturbing torque , and adjust the angular displacement between the pendulum piece 1011 and the housing 1012 to the initial angular displacement.

[0089] Figure 3 shows a schematic structural diagram of an amplifier circuit according to an embodiment of the present invention.

[0090] As Figure 3 shown, the amplifier circuit 120 may include: a first operational amplifier U1, a second operational amplifier U2, a third operational amplifier U3, a fourth operational amplifier U4, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a gain adjustment resistor Rg, and a first capacitor C1.

[0091] The non-inverting input terminal of the first operational amplifier U1 is electrically connected to the first end of the first resistor R1. The inverting input terminal of the first operational amplifier U1 is electrically connected to the first end of the gain adjustment resistor Rg and the first end of the third resistor R3. The output terminal of the first operational amplifier U1 is electrically connected to the second end of the third resistor R3 and the first end of the fifth resistor R5. The second end of the first resistor R1 is grounded.

[0092] The non-inverting input terminal of the second operational amplifier U2 is electrically connected to the first end of the second resistor R2. The inverting input terminal of the second operational amplifier U2 is electrically connected to the second end of the gain adjustment resistor Rg and the first end of the fourth resistor R4. The output terminal of the second operational amplifier U2 is electrically connected to the second end of the fourth resistor R4 and the first end of the sixth resistor R6. The second end of the second resistor R2 is electrically connected to the output terminal Vout1 of the position detector 110.

[0093] The non-inverting input terminal of the third operational amplifier U3 is electrically connected to the second terminal of the sixth resistor R6 and the first terminal of the eighth resistor R8. The inverting input terminal of the third operational amplifier U3 is electrically connected to the second terminal of the fifth resistor R5 and the first terminal of the seventh resistor R7. The output terminal of the third operational amplifier U3 is electrically connected to the second terminal of the seventh resistor R7 and the first terminal of the ninth resistor R9.

[0094] The non-inverting input terminal of the fourth operational amplifier U4 is grounded. The inverting input terminal of the fourth operational amplifier U4 is electrically connected to the second terminal of the ninth resistor R9 and the first terminal of the first capacitor C1. The output terminal of the fourth operational amplifier U4 is electrically connected to the second terminal of the first capacitor C1 and the second terminal of the eighth resistor R8.

[0095] The output terminal of the third operational amplifier U3, the second terminal of the seventh resistor R7, and the first terminal of the ninth resistor R9 are all electrically connected to the output terminal Vout2 of the amplifier circuit 120.

[0096] As Figure 3 shown, the amplifier circuit 120 includes an instrumentation amplifier circuit with a high common-mode rejection ratio composed of three operational amplifiers, namely the first operational amplifier U1, the second operational amplifier U2, and the third operational amplifier U3. The input terminal of the amplifier circuit 120 is connected to the output terminal Vout1 of the position detector 110 through a symmetric differential structure. A second resistor R2 is connected in series between the non-inverting input terminal of the amplifier circuit 120 and the output terminal Vout1 of the position detector 110, and a first resistor R1 is connected in series between the inverting input terminal of the amplifier circuit 120 and the reference ground. An adjustable gain resistor, namely the gain adjustment resistor Rg, is arranged between the non-inverting input terminal and the inverting input terminal of the amplifier circuit 120. The output terminal Vout2 of the amplifier circuit 120 and the feedback loop are connected to an AC coupling circuit. The AC coupling circuit includes a fourth operational amplifier U4, a DC blocking capacitor, namely the first capacitor C1, and a pull-down resistor, namely the ninth resistor, connected in parallel to the output terminal Vout2 of the amplifier circuit 120. .

[0097] In Figure 3 , the amplifier circuit 120 adopts a three-stage operational amplifier architecture, including an input stage, an intermediate stage, and an output feedback stage operational amplifier. The input stage operational amplifier is a pre-differential amplification structure composed of the first operational amplifier U1, the second operational amplifier U2, the first resistor R1, the second resistor R2, the third resistor R3, the fourth resistor R4, and the gain adjustment resistor Rg. The detected voltage of the input amplifier circuit 120 is input to the non-inverting input terminal of the second operational amplifier U2 through the second resistor R2. The inverting input terminals of the first operational amplifier U1 and the second operational amplifier U2 are connected through the gain adjustment resistor Rg. The gain corresponding to the input stage operational amplifier is .

[0098] The intermediate-stage operational amplifier is a differential amplification structure composed of the third operational amplifier U3, the fifth resistor R5, the sixth resistor R6, the seventh resistor R7, and the eighth resistor R8. Let the resistance values of the resistors in the intermediate-stage operational amplifier satisfy . The gain corresponding to the intermediate-stage operational amplifier is .

[0099] The output feedback-stage operational amplifier is an AC coupling circuit, which can isolate the DC component in the amplified signal, avoid the transmission of DC bias or DC noise in the subsequent stage circuit, and ensure that the operating point of the subsequent stage circuit is not affected by the DC bias. The output feedback-stage operational amplifier includes the fourth operational amplifier U4, the ninth resistor R9, and the first capacitor C1. The cut-off frequency corresponding to the output feedback-stage operational amplifier is .

[0100] Figure 4 FIG. shows a schematic structural diagram of a zero-adjustment circuit according to an embodiment of the present invention.

[0101] As Figure 4 shown, the zero-adjustment circuit 130 may include: a fifth operational amplifier U5, a sixth operational amplifier U6, a second capacitor C2, a third capacitor C3, a field-effect transistor P-MOS, a first power supply V1, a second power supply V2, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and a fifteenth resistor R15.

[0102] The non-inverting input terminal of the fifth operational amplifier U5 is electrically connected to the first ends of the tenth resistor R10 and the eleventh resistor R11. The inverting input terminal of the fifth operational amplifier U5 is electrically connected to the output terminal of the first power supply V1. The output terminal of the fifth operational amplifier U5 is electrically connected to the gate of the field-effect transistor P-MOS.

[0103] The source of the field-effect transistor P-MOS is electrically connected to the output terminal of the second power supply V2 and the first end of the second capacitor C2. The drain of the field-effect transistor P-MOS is electrically connected to the second end of the tenth resistor P-MOS, the first end of the third capacitor C3, and the first end of the twelfth resistor R12. Among them, the field-effect transistor P-MOS may be a P-type field-effect transistor. The voltage output by the second power supply V2 may be +15V. The input terminals of the first power supply V1 and the second power supply V2 are both grounded.

[0104] The non-inverting input terminal of the sixth operational amplifier U6 is electrically connected to the first ends of the thirteenth resistor R13 and the fifteenth resistor R15. The inverting input terminal of the sixth operational amplifier U6 is electrically connected to the second end of the twelfth resistor R12 and the first end of the fourteenth resistor R14. The output terminal of the sixth operational amplifier U6 is electrically connected to the second end of the fourteenth resistor R14.

[0105] The output terminal of the sixth operational amplifier U6, the second terminal of the fourteenth resistor R14, and the output terminal Vout3 of the zero adjustment circuit 130 are electrically connected.

[0106] The second terminal of the thirteenth resistor R13 is electrically connected to the output terminal Vout2 of the amplification circuit 120. The second terminals of the second capacitor C2, the third capacitor C3, and the fifteenth resistor R15 are grounded.

[0107] The zero adjustment circuit 130 is further configured to: output a reference voltage at the connection terminal of the second terminal of the tenth resistor R10 and the first terminal of the third capacitor C3 . The first terminal of the twelfth resistor R12 is used to receive the reference voltage .

[0108] As Figure 4 shown, the zero adjustment circuit 130 includes a voltage stabilization sub-circuit and a subtraction operation sub-circuit. The voltage stabilization sub-circuit includes a low dropout linear regulator and a voltage dividing resistor structure. The low dropout linear regulator includes a fifth operational amplifier U5, a second capacitor C2, a third capacitor C3, a field effect transistor P-MOS, a first power supply V1, and a second power supply V2. The voltage dividing resistor structure includes a tenth resistor R10 and an eleventh resistor R11. The voltage stabilization sub-circuit is used to generate an adjustable reference voltage , eliminate the zero offset of the sensor and determine the swinging direction of the pendulum piece 1011. Decoupling capacitors, namely the second capacitor C2 and the third capacitor C3, are connected in parallel at both the input and output ends of the voltage stabilization sub-circuit, which are used to filter high-frequency noise at both ends, smooth the power supply voltage, and prevent power supply signal fluctuations or noise from interfering with the normal operation of the subsequent circuit.

[0109] The subtraction operation sub-circuit includes a sixth operational amplifier U6, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and a fifteenth resistor R15. The subtraction operation sub-circuit uses the sixth operational amplifier U6, whose non-inverting input terminal receives the output voltage of the amplification circuit 120, and the inverting input terminal is connected to the reference voltage , and the output terminal Vout3 outputs the angular displacement error voltage . The subtraction operation sub-circuit uses a single-gain differential amplification circuit, that is, let , then , where Uout2 represents the voltage output by the output terminal Vout2 of the amplification circuit 120. Among them, the gain of the zero adjustment circuit 130 is set to single amplification.

[0110] The zero position of the pendulum piece 1011 can be determined by adjusting the reference voltage , that is, the voltage at the position of the pendulum piece 1011 when the angular displacement between the pendulum piece 1011 and the housing 1012 is the initial angular displacement, so as to realize the dynamic adjustment of the reference voltage corresponding to the initial angular displacement . When changing the reference voltage In this case, it is possible to change the zero position of the pendulum piece 1011 and simultaneously change the initial angular displacement between the pendulum piece 1011 and the housing 1012.

[0111] According to an embodiment of the present invention, when the pendulum piece 1011 deviates from the zero position, the positive or negative of the angular displacement error voltage output at the output terminal of the zero adjustment circuit 130 indicates the change in the swinging direction of the pendulum piece 1011. For example, when the angular displacement error voltage output at the output terminal of the zero adjustment circuit 130 is greater than 0, it indicates that the pendulum piece 1011 is moving away from the position detection probe 111, that is, the angular displacement between the pendulum piece 1011 and the housing 1012 is greater than the initial angular displacement. When the angular displacement error voltage output at the output terminal of the zero adjustment circuit 130 is less than 0, it indicates that the pendulum piece 1011 is approaching the detection probe, that is, the angular displacement between the pendulum piece 1011 and the housing 1012 is less than the initial angular displacement. When the angular displacement error voltage output at the output terminal of the zero adjustment circuit 130 is equal to 0, it indicates that the angular displacement between the pendulum piece 1011 and the housing 1012 is the initial angular displacement, and at this time, there is no need to adjust the position of the pendulum piece 1011.

[0112] Figure 5 Fig. shows a schematic structural diagram of a control circuit according to an embodiment of the present invention.

[0113] As Figure 5 shown, the control circuit 140 includes: a seventh operational amplifier U7, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, and a twentieth resistor R20.

[0114] The non-inverting input terminal of the seventh operational amplifier U7 is electrically connected to the first end of the seventeenth resistor R17. The inverting input terminal of the seventh operational amplifier U7 is electrically connected to the first end of the sixteenth resistor R16, the first end of the nineteenth resistor R19, the first end of the fourth capacitor C4, and the first end of the eighteenth resistor R18.

[0115] The output terminal of the seventh operational amplifier U7 is electrically connected to the second end of the fourth capacitor C4, the first end of the fifth capacitor C5, the second end of the eighteenth resistor R18, and the first end of the twentieth resistor R20.

[0116] The second end of the sixteenth resistor R16 is electrically connected to the output terminal Vout3 of the zero adjustment circuit 130. The second end of the nineteenth resistor R19 and the second end of the fifth capacitor C5 are electrically connected. The second end of the twentieth resistor R20 is electrically connected to the first end of the sixth capacitor C6. The second end of the seventeenth resistor R17 and the second end of the sixth capacitor C6 are grounded.

[0117] The second end of the twentieth resistor R20 and the first end of the sixth capacitor C6 are both electrically connected to the output terminal Vout4 of the control circuit 140.

[0118] As Figure 5 shown, the PI control circuit in the control circuit 140 is connected in series with a low-pass filter circuit. The PI control circuit includes a seventh operational amplifier U7, a fourth capacitor C4, a fifth capacitor C5, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, and a nineteenth resistor R19. The PI control circuit connects the eighteenth resistor R18 and the fourth capacitor C4 in parallel in the feedback loop to prevent the amplification factors of low-frequency and high-frequency components from saturating, that is, to prevent the DC gain and AC gain from being too large and causing output saturation. The transfer function corresponding to the PI control circuit is . Among them is the proportional gain of the PI control circuit. is the integral time constant of the PI control circuit.

[0119] The low-pass filter circuit includes a sixth capacitor C6 and a twentieth resistor R20. The low-pass filter circuit is a passive filter network with a cut-off frequency of , to filter out the interference of high-frequency noise on the angular displacement error voltage output at the output terminal Vout4 of the control circuit 140.

[0120] Figure 6 shows a schematic structural diagram of a drive circuit according to an embodiment of the present invention.

[0121] As Figure 6 shown, the drive circuit 150 may include: an eighth operational amplifier U8, a ninth operational amplifier U9, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a twenty-fourth resistor R24, a twenty-fifth resistor R25, a twenty-sixth resistor R26, and a transient suppression diode D1.

[0122] The non-inverting input terminal of the eighth operational amplifier U8 is electrically connected to the first ends of the twenty-second resistor R22 and the twenty-third resistor R23. The inverting input terminal of the eighth operational amplifier U8 is electrically connected to the first ends of the twenty-first resistor R21 and the twenty-fourth resistor R24. The output terminal of the eighth operational amplifier U8 is electrically connected to the second end of the twenty-fourth resistor R24 and the first end of the twenty-fifth resistor R25.

[0123] The non-inverting input terminal of the ninth operational amplifier U9 is electrically connected to the second end of the twenty-fifth resistor R25 and the first end of the twenty-sixth resistor R26. The inverting input terminal of the ninth operational amplifier U9 is electrically connected to the output terminal of the ninth operational amplifier U9. The output terminal of the ninth operational amplifier U9 is electrically connected to the second end of the twenty-third resistor R23.

[0124] The second end of the twenty-sixth resistor R26 is electrically connected to the first end of the transient suppression diode D1. The second end of the twenty-second resistor R22 is electrically connected to the output terminal Vout4 of the control circuit 140. The second ends of the twenty-first resistor R21 and the transient suppression diode D1 are grounded.

[0125] The second terminal of the twenty-sixth resistor R26, the first terminal of the transient suppression diode D1, and the output terminal Vout5 of the drive circuit 150 are electrically connected. The output terminal Vout5 of the drive circuit 150 forms a closed loop with the excitation terminal of the torque coil 1014 through the current-limiting resistor configured in series, that is, the twenty-sixth resistor R26.

[0126] As Figure 6 shown, the drive circuit 150 is based on an improved Howland current pump architecture. Through the differential amplifier and the feedback loop in the improved Howland current pump architecture, it collaboratively realizes the conversion of the control voltage into a high-precision bipolar drive current and outputs the drive current.

[0127] The differential amplifier includes the eighth operational amplifier U8, the twenty-first resistor R21, the twenty-second resistor R22, the twenty-third resistor R23, and the twenty-fourth resistor R24. Let , the gain coefficient of the Howland current pump can be set to . The feedback loop is a non-inverting follower amplifier circuit built by the ninth operational amplifier U9 to suppress the positive feedback loop current. The shunt resistor, that is, the twenty-fifth resistor R25, uses a precision resistor with a tolerance of to control the output current accuracy.

[0128] At the same time, the output terminal Vout5 of the drive circuit 150 is connected in parallel with the transient suppression diode D1 to suppress the back electromotive force spikes generated by the inductive characteristics of the torque coil 1014 during the power-on and power-off processes. Among them, the transient suppression diode D1 is a bidirectional breakdown diode.

[0129] The drive circuit 150 uses a differential amplifier to construct a current pump, and sets a non-inverting follower amplifier circuit in the feedback loop to eliminate the positive feedback loop current and ensure that the negative feedback dominates to maintain the circuit stability. The drive circuit 150 controls the output current range from ±10 mA to ±100 mA through the voltage drop across the shunt resistor, that is, the twenty-fifth resistor R25. The transfer function of the drive circuit 150 is expressed as .

[0130] The resistance value range of the twenty-sixth resistor R26 is 0.5 Ω to 5 Ω, and the resistance value of the twenty-sixth resistor R26 and the equivalent resistance value of the torque coil 1014 satisfy a ratio relationship of 1:10.

[0131] The current signal output by the drive circuit 150 is loaded onto the torque coil 1014 through the current-limiting resistor, that is, the twenty-sixth resistor R26, so that the torque coil 1014 generates an electromagnetic torque, forcing the swing piece 1011 to move towards the zero position under the action of the electromagnetic torque.

[0132] The resistance value range of the twenty-sixth resistor R26 is 0.5 Ω to 5 Ω, and the resistance value of the twenty-sixth resistor R26 and the equivalent resistance of the torque coil 1014 satisfy a ratio of 1:10, realizing the use of a current limiting resistor, that is, the twenty-sixth resistor R26 and the equivalent resistance of the torque coil 1014 distribute power in a ratio of 1:10, avoiding overcurrent damage and optimizing the energy utilization rate.

[0133] According to an embodiment of the present invention, Figure 1 the shafting for the fluid rotary inertia angular displacement sensor in satisfies the shafting torque balance equation shown in formula (1). The transfer function of the dynamic model of the shafting is shown in formula (2).

[0134] (1).

[0135] Wherein, is the actual output angular displacement of the pendulum piece 1011 at time t, M(t) is the electromagnetic torque generated by the torque coil 1014 at time t, is the disturbance torque at time t.

[0136] (2).

[0137] According to Figure 2 it can be known that the transfer function corresponding to the sensor sensitive input angular displacement and the actual output angular displacement of the pendulum piece 1011 is shown in formula (3).

[0138] (3).

[0139] According to Figure 2 it can be known that Figure 1 the target transfer function of the balance control circuit 100 for the fluid rotary inertia angular displacement sensor in can be obtained according to the following operations:

[0140] Multiply the transfer function of the position detector 110, the transfer function of the amplifier circuit 120, and the transfer function of the zero adjustment circuit 130 to obtain the first term of the target transfer function;

[0141] Multiply the transfer function of the position detector 110, the transfer function of the amplifier circuit 120, the transfer function of the zero adjustment circuit 130, the transfer function of the control circuit 140, the transfer function of the drive circuit 150, and the transfer function Multiply to obtain the second term of the target transfer function;

[0142] The moment of inertia reduced to the shaft of the shafting according to the mass distribution of the pendulum piece , the friction damping coefficient of the shafting and the elastic torque coefficient of the shafting to obtain the transfer function corresponding to the dynamic model of the shafting;

[0143] According to the first term, the second term and the transfer function corresponding to the dynamic model of the shafting, obtain the target transfer function.

[0144] According to Figure 2 it can be known that Figure 1 the target transfer function of the balance control circuit 100 for the fluid rotary inertia angular displacement sensor in is the target transfer function corresponding to the angular displacement error voltage and the sensor sensitive input angular displacement. The target transfer function is shown in formula (4).

[0145] (4).

[0146] Let , then the target transfer function can be sorted out as: , where K1 is the first coefficient and K2 is the second coefficient.

[0147] According to the embodiment of the present invention, through the balance control circuit 100 provided by the embodiment of the present invention, the relative angular displacement between the housing 1012 and the pendulum piece 1011 can be detected, and then the drive circuit 150 is used to apply an electromagnetic torque to the torque coil 1014 to balance the external torque received by the pendulum piece 1011, so that the pendulum piece 1011 returns to the zero position, and then the angular displacement detected and output by the position detector 110 corresponds to the true external input angular displacement signal, improving the output dynamic range while realizing the measurement of low-frequency angular vibration signals.

[0148] According to the above-mentioned balance control circuit 100 for the fluid rotary inertia angular displacement sensor, the embodiment of the present invention also provides a balance control method for the fluid rotary inertia angular displacement sensor.

[0149] Figure 7 shows a flowchart of the balance control method for the fluid rotary inertia angular displacement sensor according to the embodiment of the present invention. It can be applied to the above-mentioned balance control circuit 100 for the fluid rotary inertia angular displacement sensor.

[0150] As Figure 7 shown, the balance control method for the fluid rotary inertia angular displacement sensor includes operations S710 to S750.

[0151] In operation S710, when the position detector stimulates the fluid rotation inertial angular displacement sensor with an angular vibration signal of a predetermined frequency, causing both the pendulum piece and the housing in the fluid rotation inertial angular displacement sensor to deflect, the angular displacement between the pendulum piece and the housing is detected to obtain a detection voltage corresponding to the angular displacement.

[0152] In operation S720, the amplifier circuit amplifies the detection voltage to obtain an amplified voltage.

[0153] In operation S730, the zero-adjustment circuit performs a subtraction operation on the amplified voltage and the reference voltage to obtain an angular displacement error voltage.

[0154] In operation S740, the control circuit performs proportional-integral regulation on the angular displacement error voltage to obtain a control voltage.

[0155] In operation S750, the drive circuit converts the control voltage to obtain a drive current so that the torque coil included in the fluid rotation inertial angular displacement sensor generates an electromagnetic torque under the control of the drive current, causing the pendulum piece to rotate in the direction of reducing the deviation between the angular displacement and the initial angular displacement, and adjusting the angular displacement between the pendulum piece and the housing to the initial angular displacement.

[0156] It should be noted that the part of the balance control method for the fluid rotation inertial angular displacement sensor in the embodiments of the present invention corresponds to the part of the balance control circuit for the fluid rotation inertial angular displacement sensor in the embodiments of the present invention. For the description of the part of the balance control method for the fluid rotation inertial angular displacement sensor, specifically refer to the part of the balance control circuit for the fluid rotation inertial angular displacement sensor, and will not be elaborated here.

[0157] Those skilled in the art can understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0158] The above describes the embodiments of the present invention. However, these embodiments are only for illustrative purposes and not for limiting the scope of the present invention. Although the above embodiments are described separately, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended various embodiments and their equivalents. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A balance control circuit for a fluid rotation inertial angular displacement sensor, characterized in that: include: A position detector is used to detect the angular displacement between the pendulum piece and the shell when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency so that both the pendulum piece and the shell in the fluid rotation inertial angular displacement sensor are deflected, and obtain a detection voltage corresponding to the angular displacement; an amplifier circuit, used for amplifying the detection voltage to obtain an amplified voltage; A zero adjustment circuit, used for performing a subtraction operation on the amplified voltage and a reference voltage to obtain an angular displacement error voltage; A control circuit, used for performing proportional-integral regulation on the angular displacement error voltage to obtain a control voltage; The driving circuit is used to convert the control voltage to obtain a driving current so that the torque coil included in the fluid rotation inertia angular displacement sensor generates an electromagnetic torque under the control of the driving current, so that the pendulum piece rotates in a direction to reduce the deviation between the angular displacement and the initial angular displacement under the action of the electromagnetic torque, thereby adjusting the angular displacement between the pendulum piece and the shell to the initial angular displacement.

2. The balance control circuit according to claim 1, characterized in that: The amplifying circuit comprises: a first op amp, a second op amp, a third op amp, a fourth op amp, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a gain adjustment resistor and a first capacitor; The positive phase input terminal of the first operational amplifier is electrically connected to the first end of the first resistor, the negative phase input terminal of the first operational amplifier is electrically connected to the first end of the gain adjustment resistor and the first end of the third resistor, the output terminal of the first operational amplifier is electrically connected to the second end of the third resistor and the first end of the fifth resistor, and the second end of the first resistor is grounded; The positive phase input terminal of the second operational amplifier is electrically connected to the first end of the second resistor, the negative phase input terminal of the second operational amplifier is electrically connected to the second end of the gain adjustment resistor and the first end of the fourth resistor, the output terminal of the second operational amplifier is electrically connected to the second end of the fourth resistor and the first end of the sixth resistor, and the second end of the second resistor is electrically connected to the output terminal of the position detector; The positive phase input terminal of the third operational amplifier is electrically connected to the second end of the sixth resistor and the first end of the eighth resistor, the negative phase input terminal of the third operational amplifier is electrically connected to the second end of the fifth resistor and the first end of the seventh resistor, and the output terminal of the third operational amplifier, the second end of the seventh resistor and the first end of the ninth resistor are electrically connected to the output terminal of the amplifier circuit; The positive phase input terminal of the fourth operational amplifier is grounded, the negative phase input terminal of the fourth operational amplifier is electrically connected to the second end of the ninth resistor and the first end of the first capacitor, and the output terminal of the fourth operational amplifier is electrically connected to the second end of the first capacitor and the second end of the eighth resistor.

3. The balance control circuit according to claim 1, characterized in that: The zero adjustment circuit comprises: a fifth operational amplifier, a sixth operational amplifier, a second capacitor, a third capacitor, a field effect transistor, a first power supply, a second power supply, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor and a fifteenth resistor; The positive phase input terminal of the fifth operational amplifier is electrically connected to the first end of the tenth resistor and the first end of the eleventh resistor, the negative phase input terminal of the fifth operational amplifier is electrically connected to the output terminal of the first power supply, and the output terminal of the fifth operational amplifier is electrically connected to the gate of the field effect transistor; The source of the field effect tube is electrically connected to the output end of the second power supply and the first end of the second capacitor, and the drain of the field effect tube is electrically connected to the second end of the tenth resistor, the first end of the third capacitor and the first end of the twelfth resistor; The non-phase input terminal of the sixth operational amplifier is electrically connected to the first end of the thirteenth resistor and the first end of the fifteenth resistor, the negative phase input terminal of the sixth operational amplifier is electrically connected to the second end of the twelfth resistor and the first end of the fourteenth resistor, and the output terminal of the sixth operational amplifier is electrically connected to the second end of the fourteenth resistor and the output terminal of the zero adjustment circuit; The second end of the thirteenth resistor is electrically connected to the output end of the amplifier circuit, and the second end of the second capacitor, the second end of the third capacitor and the second end of the fifteenth resistor are grounded.

4. The balance control circuit according to claim 1, characterized in that: The control circuit comprises: a seventh operational amplifier, a fourth capacitor, a fifth capacitor, a sixth capacitor, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a nineteenth resistor and a twentieth resistor; The non-inverting input terminal of the seventh operational amplifier is electrically connected to the first end of the seventeenth resistor, and the negative input terminal of the seventh operational amplifier is electrically connected to the first end of the sixteenth resistor, the first end of the nineteenth resistor, the first end of the fourth capacitor and the first end of the eighteenth resistor; The output end of the seventh operational amplifier is electrically connected to the second end of the fourth capacitor, the first end of the fifth capacitor, the second end of the eighteenth resistor and the first end of the twentieth resistor; The second end of the sixteenth resistor is electrically connected to the output end of the zero adjustment circuit, the second end of the nineteenth resistor is electrically connected to the second end of the fifth capacitor, the second end of the twentieth resistor and the first end of the sixth capacitor are electrically connected to the output end of the control circuit, and the second end of the seventeenth resistor and the second end of the sixth capacitor are grounded.

5. The balance control circuit according to claim 1, characterized in that: The driving circuit comprises: an eighth operational amplifier, a ninth operational amplifier, a twenty-first resistor, a twenty-second resistor, a twenty-third resistor, a twenty-fourth resistor, a twenty-fifth resistor, a twenty-sixth resistor and a transient suppression diode; a positive phase input terminal of the eighth operational amplifier electrically connected to a first end of the twenty-second resistor and a first end of the twenty-third resistor, a negative phase input terminal of the eighth operational amplifier electrically connected to a first end of the twenty-first resistor and a first end of the twenty-fourth resistor, and an output terminal of the eighth operational amplifier electrically connected to a second end of the twenty-fourth resistor and a first end of the twenty-fifth resistor; The positive phase input terminal of the ninth operational amplifier is electrically connected to the second end of the twenty-fifth resistor and the first end of the twenty-sixth resistor, the negative phase input terminal of the ninth operational amplifier is electrically connected to the output terminal of the ninth operational amplifier, and the output terminal of the ninth operational amplifier is electrically connected to the second end of the twenty-third resistor; The second end of the twenty-sixth resistor and the first end of the transient suppression diode are electrically connected to the output end of the drive circuit, the second end of the twenty-second resistor is electrically connected to the output end of the control circuit, and the second end of the twenty-first resistor and the second end of the transient suppression diode are grounded.

6. The balance control circuit according to claim 5, characterized in that: The resistance value of the twenty-sixth resistor ranges from 0.5Ω to 5Ω, and the resistance value of the twenty-sixth resistor and the resistance value of the equivalent resistance of the torque coil satisfy a ratio relationship of 1:

10.

7. The balance control circuit according to claim 1, characterized in that: The predetermined frequency is greater than 0 Hz and less than 20 Hz.

8. The balance control circuit according to claim 4, characterized in that: The target transfer function of the balance control circuit is obtained according to the following operation: multiplying the transfer function of the position detector, the transfer function of the amplifier circuit and the transfer function of the zero adjustment circuit to obtain a first term of the target transfer function; multiplying the transfer function of the position detector, the transfer function of the amplifier circuit, the transfer function of the zero adjustment circuit, the transfer function of the control circuit, the transfer function of the drive circuit and the transfer function of the torque coil to obtain a second term of the target transfer function; According to the moment of inertia of the mass distribution of the pendulum piece converted to the axis of the shaft system, the friction damping coefficient of the shaft system and the elastic torque coefficient of the shaft system, a transfer function corresponding to the dynamic model of the shaft system is obtained; The target transfer function is obtained according to the first item, the second item and the transfer function corresponding to the dynamic model of the shaft system.

9. The balance control circuit according to claim 3, characterized in that: The zero adjustment circuit is further configured to output the reference voltage at a connection end between the second end of the tenth resistor and the first end of the third capacitor.

10. A balance control method for a fluid rotation inertial angular displacement sensor, applied to a balance control circuit for a fluid rotation inertial angular displacement sensor according to any one of claims 1 to 9, characterized in that: include: The position detector detects the angular displacement between the pendulum and the shell when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency so that both the pendulum and the shell in the fluid rotation inertial angular displacement sensor are deflected, and obtains a detection voltage corresponding to the angular displacement; The amplifier circuit amplifies the detection voltage to obtain an amplified voltage; The zero adjustment circuit performs a subtraction operation on the amplified voltage and the reference voltage to obtain an angular displacement error voltage; The control circuit performs proportional-integral regulation on the angular displacement error voltage to obtain a control voltage; The driving circuit converts the control voltage to obtain a driving current so that the torque coil included in the fluid rotation inertia angular displacement sensor generates an electromagnetic torque under the control of the driving current, so that the pendulum piece rotates in a direction to reduce the deviation between the angular displacement and the initial angular displacement under the action of the electromagnetic torque, thereby adjusting the angular displacement between the pendulum piece and the shell to the initial angular displacement.

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