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

Abstract

The present invention provides a balance control circuit and method for a fluid rotation inertial angular displacement sensor, which can be applied to the field of sensor control technology. The balance control circuit includes: a position detector that detects the angular displacement between the pendulum 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 and the housing to deflect, and obtains a detection voltage; an amplifier circuit that amplifies the detection voltage to obtain an amplified voltage; a zeroing circuit that subtracts the amplified voltage from a reference voltage to obtain an angular displacement error voltage; a control circuit that performs proportional-integral adjustment on the angular displacement error voltage to obtain a control voltage; and a drive circuit that converts the control voltage to obtain a drive current so that the torque coil generates an electromagnetic torque under the control of the drive current, causing the pendulum to rotate under the action of the electromagnetic torque, and adjusting the angular displacement between the pendulum and the housing to the initial angular displacement.

Description

Technical Field

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

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

[0003] However, when a low-frequency angular vibration signal is input from the outside, the pendulum inside the fluid rotation inertial angular displacement sensor will swing with the fluid and cannot maintain inertial stillness. As a result, the relative angular displacement between the pendulum and the sensor housing cannot accurately reflect the actual angular displacement input from the outside, thereby affecting the accuracy of the measurement signal corresponding to the angular displacement and reducing 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 rotation inertial angular displacement sensor.

[0005] According to one aspect of the present invention, a balance control circuit for a fluid rotation inertia angular displacement sensor is provided, comprising: a position detector for detecting the angular displacement between the pendulum and the shell when the fluid rotation inertia angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, causing both the pendulum and the shell in the fluid rotation inertia angular displacement sensor to deflect, and obtaining a detection voltage corresponding to the angular displacement; an amplification circuit for amplifying the detection voltage to obtain an amplified voltage; a zeroing circuit for subtracting the amplified voltage from 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 the torque coil included in the fluid rotation inertia angular displacement sensor generates an electromagnetic torque under the control of the drive current, so that the pendulum rotates in a direction of reducing 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 shell to the initial angular displacement.

[0006] According to an embodiment of the present invention, the amplifying circuit includes: 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;

[0007] a positive phase input terminal of the first operational amplifier electrically connected to the first end of the first resistor, a negative phase input terminal of the first operational amplifier electrically connected to the first end of the gain adjustment resistor and the first end of the third resistor, an output terminal of the first operational amplifier electrically connected to the second end of the third resistor and the first end of the fifth resistor, and a second end of the first resistor being grounded;

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

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

[0010] The positive input terminal of the fourth op amp is grounded, the negative input terminal of the fourth op amp 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 op amp 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 op amp, a sixth op amp, 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] a positive phase input terminal of the fifth operational amplifier electrically connected to the first end of the tenth resistor and the first end of the eleventh resistor, a negative phase input terminal of the fifth operational amplifier electrically connected to the output terminal of the first power supply, and an output terminal of the fifth operational amplifier electrically connected to the gate of the field effect transistor;

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

[0014] a non-inverting input terminal of the sixth operational amplifier electrically connected to the first end of the thirteenth resistor and the first end of the fifteenth resistor, a negative input terminal of the sixth operational amplifier electrically connected to the second end of the twelfth resistor and the first end of the fourteenth resistor, and an output terminal of the sixth operational amplifier electrically connected to the second end of the fourteenth resistor and the output terminal of the zero adjustment circuit;

[0015] 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.

[0016] According to an embodiment of the present invention, the control circuit includes: a seventh op amp, 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] a non-inverting input terminal of the seventh operational amplifier electrically connected to the first end of the seventeenth resistor, and a negative input terminal of the seventh operational amplifier 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;

[0018] an 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 end of the above-mentioned sixteenth resistor is electrically connected to the output end of the above-mentioned zero adjustment circuit, the second end of the above-mentioned nineteenth resistor is electrically connected to the second end of the above-mentioned fifth capacitor, the second end of the above-mentioned twentieth resistor and the first end of the above-mentioned sixth capacitor are electrically connected to the output end of the above-mentioned control circuit, and the second end of the above-mentioned seventeenth resistor and the second end of the above-mentioned sixth capacitor are grounded.

[0020] According to an embodiment of the present invention, the driving 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] a non-inverting input terminal of the eighth operational amplifier electrically connected to the first end of the twenty-second resistor and the first end of the twenty-third resistor, a negative input terminal of the eighth operational amplifier electrically connected to the first end of the twenty-first resistor and the first end of the twenty-fourth resistor, and an output terminal of the eighth operational amplifier electrically connected to the second end of the twenty-fourth resistor and the first end of the twenty-fifth resistor;

[0022] a positive phase input terminal of the ninth operational amplifier electrically connected to the second end of the twenty-fifth resistor and the first end of the twenty-sixth resistor, a negative phase input terminal of the ninth operational amplifier electrically connected to the output terminal of the ninth operational amplifier, and the output terminal of the ninth operational amplifier electrically connected to the second end of the twenty-third resistor;

[0023] The second end of the twenty-sixth resistor, the first end of the transient suppression diode, and the output end of the driving circuit are electrically connected, 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.

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

[0025] According to an embodiment of the present invention, the 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 balance control circuit is obtained according to the following operations:

[0027] 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 the first term of the target transfer function;

[0028] 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;

[0029] A transfer function corresponding to the dynamic model of the shaft system is obtained based on the moment of inertia of the pendulum mass distribution converted to the shaft of the shaft system, the friction damping coefficient of the shaft system, and the elastic torque coefficient of the shaft system;

[0030] The target transfer function is obtained based on the first item, the second item, and the transfer function corresponding to the dynamic model of the shaft system.

[0031] According to an embodiment of the present invention, 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.

[0032] According to another aspect of the present invention, a balance control method for a fluid rotation inertial angular displacement sensor is provided, which is applied to the balance control circuit for the fluid rotation inertial angular displacement sensor, comprising:

[0033] The position detector detects the angular displacement between the pendulum 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 and the housing in the fluid rotation inertial angular displacement sensor to deflect, and obtains 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 the 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 driving circuit converts the above-mentioned control voltage to obtain a driving current so that the torque coil included in the above-mentioned fluid rotational inertia angular displacement sensor generates an electromagnetic torque under the control of the above-mentioned driving current, so that the above-mentioned pendulum piece rotates in a direction of reducing the deviation between the above-mentioned angular displacement and the initial angular displacement under the action of the above-mentioned electromagnetic torque, thereby adjusting the above-mentioned angular displacement between the above-mentioned pendulum piece and the above-mentioned shell to the above-mentioned initial angular displacement.

[0038] According to an embodiment of the present invention, a balancing control circuit for a fluid rotation inertial angular displacement sensor is provided. When the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, so that the pendulum and the shell in the fluid rotation inertial angular displacement sensor are deflected, the angular displacement between the pendulum and the shell is detected by using a position detector to obtain a detection voltage corresponding to the angular displacement. The detection voltage is amplified by an amplifier circuit to obtain an amplified voltage. The amplified voltage and a reference voltage are subtracted by a zero adjustment circuit to obtain an angular displacement error voltage. The angular displacement error voltage is proportionally-integrated adjusted by a control circuit to obtain a control voltage. The control voltage is converted by a drive circuit 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, so that the pendulum rotates in a direction of reducing 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 and the shell to the initial angular displacement. In this way, the angular displacement between the pendulum and the shell is maintained at the initial angular displacement, completing the real-time tracking compensation of the dynamic response of the pendulum. When the fluid rotation inertia angular displacement sensor is subsequently used to measure the angular vibration signal input from the outside world, the influence of the pendulum deflection on the measurement accuracy can be eliminated, thereby improving the measurement accuracy of the fluid rotation inertia angular displacement sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings.

[0040] 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;

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

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

[0043] Figure 4 A schematic structural diagram of a zero adjustment circuit according to an embodiment of the present invention is shown;

[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 driving circuit according to an embodiment of the present invention;

[0046] Figure 7 A flow chart of a balance control method for a fluid rotational inertial angular displacement sensor according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[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 exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concept of the present invention.

[0048] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the presence of the 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] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0051] When a low-frequency angular vibration signal is input from the outside, the pendulum inside the fluid rotation inertial angular displacement sensor will swing with the fluid and cannot maintain inertial stillness. As a result, the relative angular displacement between the pendulum and the sensor housing cannot accurately reflect the actual angular displacement input from the outside, thereby affecting the accuracy of the measurement signal corresponding to the angular displacement and reducing the accuracy 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 in the field of sensor control technology.

[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] like Figure 1 As shown, the balance control circuit 100 for a fluid rotation inertial angular displacement sensor may include a position detector 110 , an amplifying circuit 120 , a zeroing circuit 130 , a control circuit 140 and a driving circuit 150 .

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

[0056] The fluid rotation inertial angular displacement sensor may include a pendulum 1011, a shell 1012, a fluid ring 1013 and a torque coil 1014, wherein the fluid ring 1013 is filled with fluid. When the external angular vibration signal generated by the angular vibration table 102 acts on the shell 1012, and the frequency of the external angular vibration signal is not within the predetermined frequency range, the shell 1012 generates a small angular displacement. The pendulum 1011 is suspended in the fluid ring 1013, and uses the fluid inertia to block external vibration interference and maintain an inertial static state, thereby forming a relative angular displacement between the shell 1012 and the pendulum 1011 when the shell 1012 moves. The structure for generating the angular vibration signal is not limited to the angular vibration table 102, but can also be any structure that can vibrate. Here, only the angular vibration table 102 is used for schematic illustration.

[0057] When the 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 within a predetermined frequency range, the fluid rotation inertial angular displacement sensor is stimulated by the angular vibration signal, causing the pendulum 1011 in the fluid rotation inertial angular displacement sensor to be subjected to an interference torque. At this time, the pendulum 1011 inside the fluid rotation inertial angular displacement sensor will swing with the fluid and cannot maintain inertial stillness. The position detector 110 can be used to detect the angular displacement between the pendulum 1011 and the housing 1012, and 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 may be fixed to the housing 1012. The detection principle of the position detection probe 111 may be eddy current or capacitive. The position detection probe 111, fixed to the housing 1012, can detect the relative angular displacement between the pendulum 1011 and the housing 1012 in real time and output an electrical signal proportional to the angular displacement. The position detection probe 111 may have a symmetrical differential structure to improve common-mode noise suppression capabilities.

[0059] The original signal output by the position detection probe 111 , namely the detection voltage, is sequentially input to the amplifier circuit 120 , the zero adjustment circuit 130 , the control circuit 140 and the 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 may use 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 may be configured 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-voltage difference linear regulator and a voltage divider resistor structure, and determine the zero point offset based on the adjustable reference voltage, that is, determine the offset of the angular displacement between the pendulum 1011 and the shell 1012 from the initial angular displacement, and judge the swing direction of the pendulum 1011 to generate an angular displacement error voltage, wherein the angular displacement error voltage is a voltage corresponding to the offset of the angular displacement between the pendulum 1011 and the shell 1012 from the initial angular displacement.

[0064] The control circuit 140 may 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 deviations from the angular displacement error voltage and high-frequency noise by using a proportional-integral (PI) control algorithm combined with low-pass filtering, and generate a control voltage.

[0066] The drive circuit 150 is used to convert the control voltage to obtain a drive current so that the torque coil 1014 included in the fluid rotation inertia angular displacement sensor generates an electromagnetic torque under the control of the drive current, so that the pendulum 1011 rotates in the direction of reducing 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 1011 and the shell 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 amplifier circuit 120, the reference voltage and angular displacement error voltage output by the zero adjustment circuit 130, and the control voltage output by the control circuit 140 are all analog voltages. The drive current output by the drive circuit 150 is also an analog current.

[0068] According to an embodiment of the present invention, the initial angular displacement represents the angular displacement between the pendulum 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 a voltage corresponding to the initial angular displacement.

[0069] The driving circuit 150 may convert the control voltage into a high-precision bipolar driving current based on an improved Howland Current Pump (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 so that the pendulum 1011 is stabilized in the linear working area 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 subsequently digitized and transmitted to a host computer through a communication interface. The host computer can then display the detected information reflecting the angular displacement change and the parameters reflecting the system status in real time, wherein the information reflecting the angular displacement change includes the detection voltage, and the parameters reflecting the system status include the angular displacement error voltage, the control voltage, and the driving current.

[0072] For example, the electromagnetic torque can act on the sensor shaft system 103, and under the action of the electromagnetic torque, the sensor shaft system 103 can rotate the pendulum 1011 in the direction of reducing the deviation between the angular displacement and the initial angular displacement, and adjust the angular displacement between the pendulum 1011 and the housing 1012 to the initial angular displacement. Among them, the sensor shaft system 103 includes a pendulum 1011 suspended in a fluid ring 1013, and a dynamic model related to the pendulum 1011 can be constructed for the sensor shaft system 103. The movement of the sensor shaft system 103 can be converted from the mass distribution of the pendulum to the rotational inertia of the axis of the shaft system , friction damping coefficient of the shaft system and the elastic torque coefficient of the shaft system The elastic torque coefficient is related to the material and structure of the shaft system hairspring. The shaft system axis can be the sensitive axis of the fluid rotation inertial angular displacement sensor.

[0073] According to an embodiment of the present invention, after the angular displacement between the pendulum 1011 and the shell 1012 is adjusted to the initial angular displacement, the angular vibration signal input from the outside is measured using the fluid rotation inertia angular displacement sensor, which can eliminate the influence of the deflection of the pendulum 1011 on the measurement accuracy and improve the measurement accuracy of the fluid rotation inertia angular displacement sensor.

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

[0075] According to an embodiment of the present invention, a balance control circuit 100 for a fluid rotation inertial angular displacement sensor is provided. When the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, the position detector 110 detects the angular displacement between the pendulum 1011 and the housing 1012 in the fluid rotation inertial angular displacement sensor, obtains a detection voltage corresponding to the angular displacement, amplifies the detection voltage by an amplifier circuit 120 to obtain an amplified voltage, and adjusts the amplified voltage by a zeroing circuit 130. The reference voltage is subtracted to obtain an angular displacement error voltage. The control circuit 140 performs proportional-integral regulation on the angular displacement error voltage to obtain a control voltage. The drive circuit 150 converts the control voltage 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 1011 to rotate in a direction that reduces 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 1011 and the housing 1012 to the initial angular displacement. This maintains the angular displacement between the pendulum 1011 and the housing 1012 at the initial angular displacement, completing real-time tracking and compensation of the dynamic response of the pendulum 1011. When the fluid rotation inertial angular displacement sensor is subsequently used to measure an angular vibration signal input from the outside, the influence of the deflection of the pendulum 1011 on the measurement accuracy can be eliminated, thereby improving the measurement accuracy of the fluid rotation inertial angular displacement sensor.

[0076] In related technologies, when the input low-frequency angular vibration signal is a large-amplitude angular vibration signal, the pendulum 1011 will deviate from the linear working range. The angular vibration signal with an amplitude that is too large may also cause the pendulum 1011 to collide with the position detection probe 111, resulting in a shell collision phenomenon. Long-term work in this working environment will seriously damage the pendulum 1011 and the position detection probe 111.

[0077] The balance control circuit 100 for the fluid rotation inertial angular displacement sensor provided by the embodiment of the present invention can maintain the angular displacement between the pendulum 1011 and the shell 1012 at the initial angular displacement, complete the real-time tracking compensation of the dynamic response of the pendulum 1011, and thus make the relative position between the pendulum 1011 and the shell 1012 basically fixed, so that the pendulum 1011 is stabilized in the linear working area in real time, avoiding collision between the pendulum 1011 and the position detection probe 111, and greatly reducing the probability of damage to the pendulum 1011 and the position detection probe 111.

[0078] In related art, to ensure that the measurement accuracy of fluid rotational inertial angular displacement sensors is not affected by low-frequency angular vibration signals input from external sources, complex balance control circuits are designed to control and regulate the fluid rotational inertial angular displacement sensors. For example, these balance control circuits involve modulation and demodulation circuits, analog-to-digital conversion circuits, and digital-to-analog conversion circuits, increasing circuit complexity and, in some cases, potentially leading to significant measurement lag and errors.

[0079] The balance control circuit 100 for a fluid rotational inertial angular displacement sensor provided in accordance with an embodiment of the present invention includes a position detector 110, an amplifier circuit 120, a zeroing 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 outputs are all analog signals, eliminating the use of traditional modulation and demodulation and digital circuits. This allows for direct closed-loop signal control through low-latency, high-linearity analog circuits, enabling real-time tracking and compensation of the dynamic response of the pendulum 1011. This results in a miniaturized circuit design and high-precision, wide-dynamic, low-latency measurement of angular displacement signals.

[0080] The balance control circuit 100 for a fluid rotational inertial angular displacement sensor provided by an embodiment of the present invention enables the pendulum 1011 to operate within the linear region of the position detector 110, preventing the pendulum 1011 from colliding with the housings 1012 on both sides due to rotational angle restrictions and causing wobbling. This protects the sensor's internal components while significantly reducing the impact of nonlinear measurement. Furthermore, the signal processing circuit and control circuit design within the rebalancing circuit offer a simple circuit structure and a small footprint, facilitating the design of miniaturized sensors.

[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 may be 5 Hz, 10 Hz, 12 Hz, 15 Hz, or 20 Hz.

[0082] According to an embodiment of the present invention, when the frequency of the angular vibration signal received by the fluid rotation inertial angular displacement sensor is greater than 0 Hz and less than 20 Hz, the pendulum 1011 in the fluid rotation inertial angular displacement sensor is affected by the interference torque and cannot maintain inertial stillness, wherein the interference torque is the torque brought to the pendulum 1011 by the fluid shaking under the stimulation of the angular vibration signal. Figure 1 The balance control circuit 100 shown for the fluid rotation inertial angular displacement sensor performs real-time regulation on the position of the pendulum 1011, so that the angular displacement between the pendulum 1011 and the shell 1012 remains at the initial angular displacement, completes the real-time tracking compensation of the dynamic response of the pendulum 1011, and improves the measurement accuracy of the fluid rotation inertial angular displacement sensor.

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

[0084] like Figure 2 As 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 driving circuit 150 is , the transfer function of the torque coil 1014 is The transfer function of the dynamic model of the shaft system is , where s is a complex variable.

[0085] When the position detector 110 is fixed to the sensor housing 1012, the position detector 110 can detect the sensor sensitive input angular displacement. The actual output angular displacement of the pendulum 1011 The relative angular displacement between The position detector 110 is based on the transfer function Diagonal displacement Processing, output and angular displacement Proportional detection voltage Among them, the sensor sensitive input angular displacement It can be the angular displacement of the housing 1012.

[0086] The amplifier circuit 120 and the zero adjustment circuit 130 are cascaded to form a signal processing circuit. The transfer function of the signal processing circuit based on the amplifier circuit 120 is: and the transfer function of the zeroing circuit 130 The detection voltage output to the position detector 110 Perform signal amplification and zero point calibration to generate a standardized output, namely the angular displacement error voltage .

[0087] The control loop includes a control circuit 140 and a drive circuit 150. The control circuit 140 is based on the transfer function Angular displacement error voltage Perform PI control algorithm adjustment and low-pass filtering to generate a control voltage that suppresses high-frequency noise The driving circuit 150 is based on the transfer function The control voltage Converted to drive current , to utilize the drive current The driving torque coil 1014 is based on the transfer function Generate electromagnetic torque .

[0088] Interference torque Including the torque of the fluid on the pendulum 1011. The transfer function of the sensor shaft system 103 based on the dynamic model of the shaft system , the electromagnetic torque and disturbance torque The angular displacement coupled to the actual output of the pendulum 1011 , so that the pendulum 1011 is under electromagnetic torque and disturbance torque Under the action of and the direction of the deviation between the initial angular displacement, and the angular displacement between the pendulum 1011 and the housing 1012 is Adjust to the initial angular displacement.

[0089] Figure 3 FIG. 4 is a schematic structural diagram of an amplifier circuit according to an embodiment of the present invention.

[0090] like Figure 3 As shown, the amplifying circuit 120 may include: a first op amp U1, a second op amp U2, a third op amp U3, a fourth op amp 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] A positive input terminal of the first op amp U1 is electrically connected to a first end of a first resistor R1. A negative input terminal of the first op amp U1 is electrically connected to a first end of a gain adjustment resistor Rg and a first end of a third resistor R3. An output terminal of the first op amp U1 is electrically connected to a second end of the third resistor R3 and a first end of a fifth resistor R5. A 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 negative 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 positive phase input terminal of the third operational amplifier U3 is electrically connected to the second end of the sixth resistor R6 and the first end of the eighth resistor R8. The negative phase input terminal of the third operational amplifier U3 is electrically connected to the second end of the fifth resistor R5 and the first end of the seventh resistor R7. The output terminal of the third operational amplifier U3 is electrically connected to the second end of the seventh resistor R7 and the first end of the ninth resistor R9.

[0094] The positive input terminal of the fourth operational amplifier U4 is grounded. The negative input terminal of the fourth operational amplifier U4 is electrically connected to the second end of the ninth resistor R9 and the first end of the first capacitor C1. The output terminal of the fourth operational amplifier U4 is electrically connected to the second end of the first capacitor C1 and the second end 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] like Figure 3 As shown, the amplifier circuit 120 includes an instrument amplifier circuit with a high common-mode rejection ratio composed of three operational amplifiers, namely a first operational amplifier U1, a second operational amplifier U2 and a third operational amplifier U3. The input end of the amplifier circuit 120 is connected to the output end Vout1 of the position detector 110 through a symmetrical differential structure. A second resistor R2 is connected in series between the positive input end of the amplifier circuit 120 and the output end Vout1 of the position detector 110, and a first resistor R1 is connected in series between the negative input end of the amplifier circuit 120 and the reference ground. An adjustable gain resistor, namely a gain adjustment resistor Rg, is configured between the positive input end and the negative input end of the amplifier circuit 120. The output end 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 a first capacitor C1 and a pull-down resistor, namely a ninth resistor, connected in parallel to the output end Vout2 of the amplifier circuit 120. .

[0097] exist Figure 3 In the embodiment, 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 amplifier structure composed of a first operational amplifier U1, a second operational amplifier U2, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a gain adjustment resistor Rg. The detection 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 amplifier structure composed of the third operational amplifier U3 and the fifth resistor R5, the sixth resistor R6, the seventh resistor R7, and the eighth resistor R8. The resistance values ​​of the resistors in the intermediate stage operational amplifier are set to meet The gain of the intermediate stage operational amplifier is .

[0099] The output feedback stage operational amplifier is an AC coupling circuit that can isolate the DC component in the amplified signal, prevent DC bias or DC noise from being transmitted to the subsequent circuit, and ensure that the operating point of the subsequent circuit is not affected by the DC bias. The output feedback stage operational amplifier includes the fourth op amp U4, the ninth resistor R9, and the first capacitor C1. The cutoff frequency corresponding to the output feedback stage operational amplifier is .

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

[0101] like Figure 4 As shown, the zeroing circuit 130 may include: a fifth op amp U5, a sixth op amp 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 positive input terminal of the fifth operational amplifier U5 is electrically connected to the first end of the tenth resistor R10 and the first end of the eleventh resistor R11. The negative 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 P-MOS field-effect transistor is electrically connected to the output terminal of the second power supply V2 and the first terminal of the second capacitor C2. The drain of the P-MOS field-effect transistor is electrically connected to the second terminal of the tenth resistor P-MOS, the first terminal of the third capacitor C3, and the first terminal of the twelfth resistor R12. The P-MOS field-effect transistor can be a P-type field-effect transistor. The output voltage of the second power supply V2 can be +15V. The input terminal of the first power supply V1 and the input terminal of 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 end of the thirteenth resistor R13 and the first end of the fifteenth resistor R15. The negative 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 end of the fourteenth resistor R14 , and the output terminal Vout3 of the zero adjustment circuit 130 are electrically connected.

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

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

[0108] like Figure 4 As shown, the zero adjustment circuit 130 includes a voltage stabilization subcircuit and a subtraction operation subcircuit. The voltage stabilization subcircuit includes a low-dropout linear regulator and a voltage divider resistor structure. The low-dropout linear regulator includes a fifth op amp 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 divider resistor structure includes a tenth resistor R10 and an eleventh resistor R11. The voltage stabilization subcircuit is used to generate an adjustable reference voltage. , eliminating the sensor zero offset and determining the swing direction of the pendulum 1011. Decoupling capacitors, namely the second capacitor C2 and the third capacitor C3, are connected in parallel at both ends of the input and output of the voltage stabilization subcircuit to filter out 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 subsequent circuits.

[0109] The subtraction operation sub-circuit includes a sixth op amp 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 op amp U6, whose non-inverting input receives the output voltage of the amplifier circuit 120, and whose inverting input receives the reference voltage. , the output terminal Vout3 outputs the angular displacement error voltage The subtraction operation subcircuit adopts a single gain differential amplifier circuit, that is, ,but , wherein Uout2 represents the voltage outputted by the output terminal Vout2 of the amplifier circuit 120. The gain of the zero adjustment circuit 130 is set to single amplification.

[0110] The reference voltage can be adjusted Determine the zero position of the pendulum 1011, that is, the voltage at the position of the pendulum 1011 when the angular displacement between the pendulum 1011 and the housing 1012 is the initial angular displacement, and dynamically adjust the reference voltage corresponding to the initial angular displacement. . When changing the reference voltage In this case, the zero position of the pendulum 1011 can be changed, and the initial angular displacement between the pendulum 1011 and the shell 1012 can be changed at the same time.

[0111] According to an embodiment of the present invention, when the pendulum 1011 deviates from the zero position, the positive or negative value of the angular displacement error voltage outputted from the output end of the zero adjustment circuit 130 indicates the change in the direction of the swing of the pendulum 1011. For example, when the angular displacement error voltage outputted from the output end of the zero adjustment circuit 130 is greater than 0, it indicates that the pendulum 1011 is away from the position detection probe 111, that is, the angular displacement between the pendulum 1011 and the housing 1012 is greater than the initial angular displacement. When the angular displacement error voltage outputted from the output end of the zero adjustment circuit 130 is less than 0, it indicates that the pendulum 1011 is close to the detection probe, that is, the angular displacement between the pendulum 1011 and the housing 1012 is less than the initial angular displacement. When the angular displacement error voltage outputted from the output end of the zero adjustment circuit 130 is equal to 0, it indicates that the angular displacement between the pendulum 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 1011.

[0112] Figure 5 FIG. 4 shows a schematic structural diagram of a control circuit according to an embodiment of the present invention.

[0113] like Figure 5 As 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 negative 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] An output end 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] A second end of a sixteenth resistor R16 is electrically connected to the output terminal Vout3 of the zero adjustment circuit 130. A second end of a nineteenth resistor R19 is electrically connected to the second end of the fifth capacitor C5. A second end of a twentieth resistor R20 is electrically connected to the first end of the sixth capacitor C6. A second end of a seventeenth resistor R17 and a 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] like Figure 5 As 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 op amp 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 saturation of the low-frequency and high-frequency component amplification factors, that is, to prevent excessive DC gain and AC gain from causing output saturation. The transfer function corresponding to the PI control circuit is: .in 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 , so as to filter out the interference of high-frequency noise on the angular displacement error voltage output by the output terminal Vout4 of the control circuit 140.

[0120] Figure 6 FIG. 1 is a schematic structural diagram of a driving circuit according to an embodiment of the present invention.

[0121] like Figure 6 As shown, the driving 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 positive phase input terminal of the eighth operational amplifier U8 is electrically connected to the first end of the twenty-second resistor R22 and the first end of the twenty-third resistor R23. The negative phase input terminal of the eighth operational amplifier U8 is electrically connected to the first end of the twenty-first resistor R21 and the first end of 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 positive phase 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 negative phase 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] A second end of the twenty-sixth resistor R26 is electrically connected to the first end of the transient suppression diode D1. A second end of the twenty-second resistor R22 is electrically connected to the output terminal Vout4 of the control circuit 140. A second end of the twenty-first resistor R21 and a second end of the transient suppression diode D1 are grounded.

[0125] The second end of the twenty-sixth resistor R26 is electrically connected to the first end of the TVS diode D1 and the output terminal Vout5 of the driving circuit 150. The output terminal Vout5 of the driving circuit 150 forms a closed loop through the current limiting resistor R26 and the excitation terminal of the torque coil 1014.

[0126] like Figure 6 As shown, the driving circuit 150 is based on an improved Howland current pump architecture, and through the differential amplifier and feedback loop in the improved Howland current pump architecture, it cooperates to convert the control voltage into a high-precision bipolar driving current and outputs the driving current.

[0127] The differential amplifier includes an eighth operational amplifier U8, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, and a twenty-fourth resistor R24. , which can set the gain coefficient of the Howland current pump to The feedback loop is a non-inverting follower amplifier circuit built by the ninth operational amplifier U9, which suppresses the positive feedback loop current. The shunt resistor, that is, the twenty-fifth resistor R25, adopts a tolerance of Precision resistors are used to control the output current accuracy.

[0128] At the same time, a transient suppression diode D1 is connected in parallel to the output terminal Vout5 of the driving circuit 150 to suppress the back electromotive force spike generated by the inductance characteristics of the torque coil 1014 during power-on and power-off. The transient suppression diode D1 is a bidirectional breakdown diode.

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

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

[0131] The current signal output by the driving circuit 150 is loaded to the torque coil 1014 via the current limiting resistor, ie, the twenty-sixth resistor R26, so that the torque coil 1014 generates an electromagnetic torque, forcing the pendulum 1011 to move toward the zero position under the action of the electromagnetic torque.

[0132] The resistance range of the twenty-sixth resistor R26 is 0.5Ω~5Ω, and the resistance of the twenty-sixth resistor R26 and the resistance of the equivalent resistance of the torque coil 1014 satisfy a ratio of 1:10, thereby utilizing the 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 energy utilization.

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

[0134] (1).

[0135] in, is the actual output angular displacement of the pendulum 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 seen that the sensor sensitive input angular displacement And the actual output angular displacement of the pendulum 1011 The corresponding transfer function is shown in formula (3).

[0138] (3).

[0139] according to Figure 2 It can be seen that Figure 1 The target transfer function of the balance control circuit 100 for the fluid rotation inertial angular displacement sensor can be obtained according to the following operation:

[0140] The transfer function of the position detector 110 is , the transfer function of the amplifier circuit 120 and the transfer function of the zeroing circuit 130 Multiply them together to get the first term of the target transfer function;

[0141] The transfer function of the position detector 110 is , 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 driving circuit 150 and the transfer function of the torque coil 1014 Multiply them together to get the second term of the target transfer function;

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

[0143] The target transfer function is obtained according to the first term, the second term and the transfer function corresponding to the dynamic model of the shaft system.

[0144] according to Figure 2 It can be seen that Figure 1 The target transfer function of the balance control circuit 100 for the fluid rotation inertial angular displacement sensor is and the sensor sensitive input angular displacement The corresponding target transfer function is shown in formula (4).

[0145] (4).

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

[0147] According to an embodiment of the present invention, the balance control circuit 100 provided by the embodiment of the present invention can detect the relative angular displacement between the shell 1012 and the pendulum 1011, and then use the drive circuit 150 to apply electromagnetic torque to the torque coil 1014 to balance the external torque applied to the pendulum 1011, so that the pendulum 1011 returns to zero position, and then use the position detector 110 to detect the output angular displacement corresponding to the real external input angular displacement signal, thereby improving the output dynamic range and realizing low-frequency angular vibration signal measurement.

[0148] According to the above-mentioned balance control circuit 100 for a fluid rotation inertial angular displacement sensor, an embodiment of the present invention further provides a balance control method for a fluid rotation inertial angular displacement sensor.

[0149] Figure 7 The flowchart of the balance control method for a fluid rotation inertial angular displacement sensor according to an embodiment of the present invention is shown, which can be applied to the balance control circuit 100 for the fluid rotation inertial angular displacement sensor described above.

[0150] like Figure 7 As shown, the balance control method for a fluid rotation inertial angular displacement sensor includes operations S710 to S750.

[0151] In operation S710, when the fluid rotation inertial angular displacement sensor is stimulated by an angular vibration signal of a predetermined frequency, causing the pendulum and the shell in the fluid rotation inertial angular displacement sensor to deflect, the position detector detects the angular displacement between the pendulum and the shell, and obtains a detection voltage corresponding to the angular displacement.

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

[0153] In operation S730 , the zeroing 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 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 rotates in the direction of reducing 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 and the shell to the initial angular displacement.

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

[0157] It will be understood by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention may be combined and / or coupled in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or couplings fall within the scope of the present invention.

[0158] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. The scope of the present invention is defined by the accompanying embodiments and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, and these substitutions and modifications should all 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 for detecting the angular displacement between the pendulum 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 and the housing in the fluid rotation inertial angular displacement sensor to deflect, and obtaining a detection voltage corresponding to the angular displacement; an amplifier circuit, configured to amplify the detection voltage to obtain an amplified voltage; a zero adjustment circuit, configured to perform a subtraction operation on the amplified voltage and a reference voltage to obtain an angular displacement error voltage, wherein the zero adjustment circuit includes a voltage stabilization subcircuit and a subtraction subcircuit, and the voltage stabilization subcircuit is configured to generate an adjustable reference voltage; The voltage stabilization subcircuit includes a fifth op amp, a second capacitor, a third capacitor, a field effect transistor, a first power supply, a second power supply, a tenth resistor, and an eleventh resistor; the subtraction subcircuit includes a sixth op amp, 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 transistor 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 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; a non-inverting input terminal of the sixth operational amplifier electrically connected to the first end of the thirteenth resistor and the first end of the fifteenth resistor, a negative input terminal of the sixth operational amplifier electrically connected to the second end of the twelfth resistor and the first end of the fourteenth resistor, and an output terminal of the sixth operational amplifier 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; 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; A control circuit, configured to perform proportional-integral regulation on the angular displacement error voltage to obtain a control voltage; The drive circuit is used to convert the control voltage to obtain a drive current so that the torque coil included in the fluid rotation inertia angular displacement sensor generates an electromagnetic torque under the control of the drive current, so that 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, thereby adjusting the angular displacement between the pendulum and the housing to the initial angular displacement.

2. The balance control circuit according to claim 1, wherein: The amplifying circuit includes: 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; a non-inverting input terminal of the second operational amplifier electrically connected to the first terminal of the second resistor, a negative input terminal of the second operational amplifier electrically connected to the second terminal of the gain adjustment resistor and the first terminal of the fourth resistor, an output terminal of the second operational amplifier electrically connected to the second terminal of the fourth resistor and the first terminal of the sixth resistor, and a second terminal of the second resistor 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 input terminal of the fourth op amp is grounded, the negative input terminal of the fourth op amp 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 op amp 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, wherein: 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; 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.

4. The balance control circuit according to claim 1, wherein: The driving 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; a non-inverting input terminal of the eighth operational amplifier electrically connected to the first end of the twenty-second resistor and the first end of the twenty-third resistor, a negative input terminal of the eighth operational amplifier electrically connected to the first end of the twenty-first resistor and the first end of the twenty-fourth resistor, and an output terminal of the eighth operational amplifier electrically connected to the second end of the twenty-fourth resistor and the first end of the twenty-fifth resistor; the non-inverting 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 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, the first end of the transient suppression diode, and the output end of the driving circuit are electrically connected, 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.

5. The balance control circuit according to claim 4, characterized in that: The resistance range of the twenty-sixth resistor is 0.5Ω~5Ω, and the resistance of the twenty-sixth resistor and the resistance of the equivalent resistance of the torque coil satisfy a ratio of 1:

10.

6. The balance control circuit according to claim 1, wherein: The predetermined frequency is greater than 0 Hz and less than 20 Hz.

7. The balance control circuit according to claim 3, 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; A transfer function corresponding to the dynamic model of the shaft system is obtained based on the moment of inertia of the mass distribution of the pendulum piece converted to the shaft of the shaft system, the friction damping coefficient of the shaft system, and the elastic torque coefficient of the shaft system; The target transfer function is obtained according to the first term, the second term, and the transfer function corresponding to the dynamic model of the shaft system.

8. A balance control method for a fluid rotation inertial angular displacement sensor, applied to the balance control circuit for a fluid rotation inertial angular displacement sensor according to any one of claims 1 to 7, characterized in that: include: The position detector detects the angular displacement between the pendulum 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 and the housing in the fluid rotation inertial angular displacement sensor to deflect, 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, wherein the zero adjustment circuit includes a voltage stabilization subcircuit and a subtraction subcircuit, and the voltage stabilization subcircuit is used to generate an adjustable reference voltage; The voltage stabilization subcircuit includes a fifth op amp, a second capacitor, a third capacitor, a field effect transistor, a first power supply, a second power supply, a tenth resistor, and an eleventh resistor; the subtraction subcircuit includes a sixth op amp, 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 transistor 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 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; a non-inverting input terminal of the sixth operational amplifier electrically connected to the first end of the thirteenth resistor and the first end of the fifteenth resistor, a negative input terminal of the sixth operational amplifier electrically connected to the second end of the twelfth resistor and the first end of the fourteenth resistor, and an output terminal of the sixth operational amplifier 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; The zero adjustment circuit outputs the reference voltage at a connection end between the second end of the tenth resistor and the first end of the third capacitor; 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 rotates in a direction of reducing 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 and the housing to the initial angular displacement.

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