Hemispherical resonator gyroscope circuit model based on CadencePspice software

Abstract

The invention discloses a hemispherical resonator gyroscope circuit model based on Cadence Pspice software. The hemispherical resonator gyroscope circuit model is realized by calling a built-in element of the Cadence Pspice software. Comprising a driving module used for providing an excitation signal; the first conversion module is used for converting the excitation signal into a first signal f (x) representing x-axis electrostatic force; the first simulation module is used for simulating a second signal x and a third signal y which represent the vibration displacement of the x axis and the y axis based on the first signal f (x); the second simulation module is used for simulating a ninth signal v0, a tenth signal v90, an eleventh signal v45 and a twelfth signal v135 of capacitance value changes formed between the harmonic oscillator and the detection electrode based on the second signal x and the third signal y; and the second conversion module is used for carrying out charge amplification processing based on the ninth signal v0, the tenth signal v90, the eleventh signal v45 and the twelfth signal v135 and outputting corresponding detection signals. According to the invention, the simulation accuracy can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscope control, and in particular, to a hemispherical resonant gyroscope circuit model based on Cadence Pspice software. Background Art

[0002] Currently, the RLC oscillation circuit method is generally used to simulate the hemispherical resonant gyroscope, but this kind of circuit has many defects: the RLC model can only approximately simulate the linear vibration characteristics and cannot simulate the non-linear vibration of the resonator (such as the Coriolis force effect, error coupling caused by non-unidirectional damping, error coupling caused by frequency splitting, etc.); the fixed mapping relationship between mechanical parameters (such as stiffness and damping) and circuit parameters (L, R, C) cannot dynamically reflect the time-varying characteristics during the actual operation of the gyroscope (such as capacitance offset caused by temperature drift); the RLC model is difficult to describe the interference of multi-modal vibration of the gyroscope on the detection signal; the resonant frequency of the RLC model is determined by fixed parameters L and C, while the resonant frequency of the actual gyroscope is affected by factors such as driving voltage and frequency splitting, and the RLC model cannot dynamically correct the frequency response; it cannot simulate the dynamic change of the detection capacitance; it cannot simulate the influence of circuit characteristics (such as the inherent thermal noise of the circuit) on the vibration behavior of the resonator. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a hemispherical resonant gyroscope circuit model based on Cadence Pspice software, which can improve the accuracy of simulation.

[0004] To solve the above technical problems, the technical solution of the present invention is:

[0005] A hemispherical resonant gyroscope circuit model based on PSpice software is implemented by calling the built-in components of PSpice software; it includes:

[0006] A driving module for providing an excitation signal;

[0007] A first conversion module for converting the excitation signal into a first signal f(x) representing the electrostatic force of the x-axis;

[0008] A first simulation module for simulating a second signal x and a third signal y representing the vibration displacements of the x-axis and y-axis based on the first signal f(x);

[0009] A second simulation module for simulating a ninth signal v0, a tenth signal v90, an eleventh signal v45, and a twelfth signal v135 representing the change in the capacitance value formed between the resonator and the detection electrode based on the second signal x and the third signal y;

[0010] and a second conversion module, configured to perform charge amplification processing based on the ninth signal v0, the tenth signal v90, the eleventh signal v45, and the twelfth signal v135 and output corresponding detection signals.

[0011] Preferably, the first conversion module includes:

[0012] A first EVALUE element with two-input and two-output functions, whose IN- pin inputs 300V, IN+ pin inputs the excitation signal, and OUT- pin is grounded; the first EVALUE element is configured to subtract 300V from the excitation signal and then square and output it;

[0013] A first GAIN element, whose input terminal is connected to the OUT+ pin of the EVALUE element, and is configured to perform a gain operation on the output signal of the OUT+ pin of the first EVALUE element.

[0014] A MULT element, whose IN1 pin is connected to the OUT+ pin of the first EVALUE element, and IN2 pin inputs the second signal x after gain operation; the MULT element is configured to multiply the signal output from the OUT+ pin of the EVALUE element by the second signal x and then output it;

[0015] A SUM element, whose IN1 pin is connected to the output terminal of the first GAIN element, and IN2 pin is connected to the OUT pin of the MULT element; the SUM element is configured to sum the input signals of the IN1 and IN2 pins and then output it;

[0016] Wherein, the signal output from the SUM element is the first signal f(x).

[0017] Preferably, the first analog module includes an X-axis analog unit and a Y-axis analog unit. Among them, the X-axis analog unit is configured to simulate the second signal x representing the x-axis displacement based on the first signal f(x), the third signal y, and its differential value; the Y-axis analog unit is configured to simulate the third signal y representing the y-axis displacement based on the third signal y, the second signal x, and its differential value.

[0018] Preferably, the X-axis analog unit includes:

[0019] A first ABM3 element with three-input and one-output functions, whose IN1 pin inputs the first signal f(x), IN2 pin inputs the second signal x after gain operation, and IN3 pin inputs the fifth signal after gain operation The first ABM3 element is configured to subtract the first signal f(x) from the second signal x and the fifth signal and then output the result;

[0020] The second ABM3 component with a three-input and one-output function, where its IN1 pin is connected to the OUT pin of the first ABM3 component, and the IN2 pin inputs the seventh signal after gain operation. The IN3 pin inputs the second signal y after gain operation; the second ABM3 component is used to sum the output signal of the first ABM3 component and the seventh signal and the second signal y, and then outputs the result, which is the sixth signal.

[0021] The first INTEG component, whose input terminal is connected to the OUT pin of the second ABM3 component, is used to integrate the sixth signal once and then output the fifth signal.

[0022] The second INTEG component, whose input terminal is connected to the output terminal of the first INTEG component, is used to integrate the fifth signal once and then output the first signal x;

[0023] The second GAIN component, whose input terminal is connected to the output terminal of the second INTEG component, is used to perform a gain operation on the first signal x and then input it into the MULT component;

[0024] The third GAIN component, whose input terminal is connected to the output terminal of the second INTEG component, is used to perform a gain operation on the first signal x and then input it into the first ABM3 component;

[0025] The fourth GAIN component, whose input terminal is connected to the output terminal of the first INTEG component, is used to perform a gain operation on the fifth signal and then input it into the first ABM3 component;

[0026] The fifth GAIN component, whose input terminal inputs the second signal y, is used to perform a gain operation on the second signal y and then input it into the second ABM3 component;

[0027] The sixth GAIN component, whose input terminal inputs the seventh signal is used to perform a gain operation on the seventh signal and then input it into the second ABM3 component.

[0028] Preferably, the Y-axis analog unit includes:

[0029] The seventh GAIN component, whose input terminal inputs the fifth signal is used to perform a gain operation on the fifth signal and then output the result;

[0030] The third ABM3 component with a three-input and one-output function, where the IN1 pin is input-connected to the output terminal of the seventh GAIN component, the IN2 pin inputs the third signal y after gain operation, and the IN3 pin inputs the seventh signal after gain operation The third ABM3 component is used to subtract the output signal of the seventh GAIN component from the third signal y and the seventh signal and then output the result;

[0031] The fourth ABM3 component with a three-input and one-output function, where the IN1 pin is connected to the OUT pin of the third ABM3 component, the IN2 pin inputs the fifth signal after gain operation and the IN3 pin inputs the second signal x after gain operation; the fourth ABM3 component is used to subtract the output signal of the third ABM3 component from the fifth signal add the second signal x, and then output the result, which is the eighth signal

[0032] The third INTEG component, whose input terminal is connected to the OUT pin of the fourth ABM3 component, is used to integrate the eighth signal once and then output the seventh signal

[0033] The fourth INTEG component, whose input terminal is connected to the output terminal of the third INTEG component, is used to integrate the seventh signal once and then output the second signal y;

[0034] The eighth GAIN component, whose input terminal is connected to the output terminal of the fourth INTEG component, is used to perform gain operation on the second signal y and then input it into the third ABM3 component;

[0035] The ninth GAIN component, whose input terminal is connected to the output terminal of the third INTEG component, is used to perform gain operation on the seventh signal and then input it into the third ABM3 component;

[0036] The tenth GAIN component, whose input terminal inputs the second signal x, is used to perform gain operation on the second signal x and then input it into the fourth ABM3 component;

[0037] The eleventh GAIN component, whose input terminal inputs the fifth signal is used to perform gain operation on the fifth signal and then input it into the fourth ABM3 component.

[0038] Preferably, the second analog module includes:

[0039] The second EVALUE component with two inputs and two outputs, its IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE component is used to output the second signal x after performing a first operation;

[0040] The third EVALUE component with two inputs and two outputs, its IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE component is used to output the second signal x after performing an operation;

[0041] The fourth EVALUE component with two inputs and two outputs, its IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the fourth EVALUE component is used to output the third signal y after performing an operation;

[0042] The fifth EVALUE component with two inputs and two outputs, its IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE component is used to output the third signal y after performing an operation;

[0043] The first variable admittance component, its pin 1 is connected to the OUT+ pin of the second EVALUE component, pin 2 is grounded, pin 3 is grounded through a first capacitor, and pin 4 is connected to a 300V voltage; the first variable admittance component is used to output the ninth signal v0 based on the output signal of the second EVALUE component;

[0044] The second variable admittance component, its pin 1 is connected to the OUT+ pin of the third EVALUE component, pin 2 is grounded, pin 3 is grounded through a second capacitor, and pin 4 is connected to a 300V voltage; the second variable admittance component is used to output the tenth signal v90 based on the output signal of the third EVALUE component;

[0045] The third variable admittance component, its pin 1 is connected to the OUT+ pin of the fourth EVALUE component, pin 2 is grounded, pin 3 is grounded through a third capacitor, and pin 4 is connected to a 300V voltage; the third variable admittance component is used to output the eleventh signal v45 based on the output signal of the third EVALUE component;

[0046] The fourth variable admittance component, its pin 1 is connected to the OUT+ pin of the fifth EVALUE component, pin 2 is grounded, pin 3 is grounded through a fourth capacitor, and pin 4 is connected to a 300V voltage; the fourth variable admittance component is used to output the twelfth signal v135 based on the output signal of the third EVALUE component.

[0047] Preferably, the driving module includes a signal source, a timing-off switch, a timing-on switch, and a layer module connected in sequence, and the layer module is associated with a signal amplification circuit; the timing-off switch and the timing-on switch are used to control the opening and closing of the excitation signal to simulate the starting and decaying processes of the hemispherical resonator.

[0048] Preferably, the 4th pin of the first variable admittance element is also connected to the input end of the layer module through a fifth capacitor.

[0049] Preferably, the second conversion module includes a first charge amplifier and a second charge amplifier. Among them, the first charge amplifier is used to generate a first detection signal outx based on the ninth signal v0 and the tenth signal v90; the second charge amplifier is used to generate a second detection signal outy based on the eleventh signal v45 and the twelfth signal v135.

[0050] The technical effects of the present invention are mainly reflected in the following aspects:

[0051] 1. Compared with the linear approximation of the RLC oscillation circuit analogy method, the behavioral model method can embed the complete motion model of the hemispherical resonator gyroscope, including real characteristics such as non-uniform damping and frequency splitting, and the simulation accuracy is greatly improved. Moreover, it can simulate the dynamic changes of the detection capacitance, which is more consistent with the actual situation.

[0052] 2. Compared with the finite element simulation, it can simulate the influence of electrical characteristics (such as the inherent thermal noise and flicker noise of the circuit) on the performance of the gyroscope, and the simulation speed is faster and the resources occupied are smaller. In addition, it can more accurately simulate the influence of the orthogonal control voltage and simulate the frequency characteristics of the hemispherical resonator gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is the schematic diagram of the circuit model in the embodiment;

[0054] Figure 2 is the schematic diagram of the driving module in the embodiment;

[0055] Figure 3 is the schematic diagram of the first conversion module in the embodiment;

[0056] Figures 4-5 is the schematic diagram of the first analog module in the embodiment;

[0057] Figures 6-7 is the schematic diagram of the second analog module in the embodiment;

[0058] Figures 8-9 is the schematic diagram of the second conversion module in the embodiment;

[0059] Figure 10 is the simulation result diagram of the ideal characteristic state in the embodiment;

[0060] Figure 11 Graph of the experimental results of the ideal characteristic state in the embodiment;

[0061] Figure 12 Graph of the simulation results of frequency splitting and beat frequency phenomena under non-ideal characteristic states in the embodiment;

[0062] Figure 13 Graph of the experimental results of frequency splitting and beat frequency phenomena under non-ideal characteristic states.

[0063] Reference numerals: 1. Driving module; 11. Signal source; 12. Timing off switch; 13. Timing on switch; 14. Signal amplification circuit; 2. First conversion module; 21. First EVALUE element; 22. First GAIN element; 23. MULT element; 24. SUM element; 3. First analog module; 31. First ABM3 element; 32. Second ABM3 element; 33. First INTEG element; 34. Second INTEG element; 35. Second GAIN element; 36. Third GAIN element; 37. Fourth GAIN element; 38. Fifth GAIN element; 39. Sixth GAIN element; 41. Seventh GAIN element; 42. Third ABM3 element; 43. Fourth ABM3 element; 44. Third INTEG element; 45. Fourth INTEG element; 46. Eighth GAIN element; 47. Ninth GAIN element; 48. Tenth GAIN element; 49. Eleventh GAIN element; 5. Second analog module; 51. Second EVALUE element; 52. Third EVALUE element; 55. Fourth EVALUE element; 56. Fifth EVALUE element; 53. First variable admittance element; 54. Second variable admittance element; 57. Third variable admittance element; 58. Fourth variable admittance element; 6. Second conversion module; 61. First charge amplifier; 62. Second charge amplifier. Detailed implementation manners

[0064] The following further details the specific implementation manners of the present invention in conjunction with the accompanying drawings, so that the technical solutions of the present invention are easier to understand and master.

[0065] The gyroscope algorithm model used in this embodiment is:

[0066] The symbols in the formula are mentioned in the following content.

[0067] Refer to Figure 1, this embodiment provides a hemispherical resonant gyroscope circuit model based on Cadence Pspice software, which is implemented by calling the built-in components of the PSpice software, and the corresponding parameters and expressions can be input into the built-in components.

[0068] The circuit model mainly includes a driving module, a first conversion module, a first simulation module, a second simulation module, and a second conversion module.

[0069] Combined with Figure 1 , Figure 2 , the driving module 1 includes a signal source 11, a timing off switch 12, a timing on switch 13, and a layer module connected in sequence. The layer module is associated with a signal amplification circuit 14; the signal source 11 outputs an excitation signal, and the timing off switch 12 and the timing on switch 13 are used to control the opening and closing of the excitation signal to simulate the starting and decaying processes of the hemispherical resonator.

[0070] Referring to Figure 3 , the first conversion module 2 includes a first EVALUE element 21, a first GAIN element 22, a MULT element 23, and a SUM element 24 with two-input and two-output functions. Among them, the IN- pin of the first EVALUE element 21 inputs 300V, the IN+ pin inputs the excitation signal, and the OUT- pin is grounded; the first EVALUE element 21 is used to subtract 300V from the excitation signal and then output the square of V 2 .

[0071] The input end of the first GAIN element 22 is connected to the OUT+ pin of the first EVALUE element 21, and is used to perform a gain operation on the output signal of the OUT+ pin of the EVALUE element, that is: where A is the effective plate area of the excitation electrode, ε0 is the vacuum permittivity, ε r is the relative permittivity, x0 is the initial plate gap, and m0 is the effective mass of vibration.

[0072] The IN1 pin of the MULT element 23 is connected to the OUT+ pin of the first EVALUE element 21, and the IN2 pin inputs the second signal x after the gain operation; the MULT element 23 is used to multiply the signal output from the OUT+ pin of the EVALUE element by the second signal x after the gain operation and then output:

[0073] The IN1 pin of the SUM element is connected to the output end of the first GAIN element 22, and the IN2 pin is connected to the OUT pin of the MULT element 23; the SUM element 24 is used to sum the input signals of the IN1 and IN2 pins and then output; the output from the SUM element 24 is the first signal f(x), which represents the electrostatic force on the x-axis:

[0074] Refer to Figure 4 、 Figure 5 The first simulation module includes an X-axis simulation unit and a Y-axis simulation unit.

[0075] The X-axis simulation unit includes a first ABM3 element 31, a second ABM3 element 32, a first INTEG element 33, a second INTEG element 34, a second GAIN element 35, a third GAIN element 36, a fourth GAIN element 37, a fifth GAIN element 38, and a sixth GAIN element 39. The first ABM3 element and the second ABM3 element have a three-input and one-output function.

[0076] The IN1 pin of the first ABM3 element 31 inputs a first signal f(x), the IN2 pin inputs a second signal x after gain operation by the third GAIN element 36, and the IN3 pin inputs a fifth signal after gain operation by the second GAIN element 35 The first ABM3 element 31 is used to subtract the first signal f(x) from the second signal x and the fifth signal and then output the result;

[0077] The second ABM3 element 32 with a three-input and one-output function has its IN1 pin connected to the OUT pin of the first ABM3 element 31, its IN2 pin inputs a seventh signal after gain operation and its IN3 pin inputs a second signal y after gain operation; the second ABM3 element 32 is used to sum the output signal of the first ABM3 element 31 with the seventh signal and the second signal y and then output the result, which is the sixth signal

[0078] The input end of the first INTEG element 33 is connected to the OUT pin of the second ABM3 element, and is used to integrate the sixth signal once and then output the fifth signal

[0079] The input end of the second INTEG element 34 is connected to the output end of the first INTEG element 33, and is used to integrate the fifth signal once and then output the first signal x.

[0080] The input end of the second GAIN element 35 is connected to the output end of the second INTEG element 34, and is used to perform a gain operation on the first signal x and then input it to the MULT element:

[0081] ​​The input end of the third GAIN element 36 is connected to the output end of the second INTEG element 34, and is used to input the first signal x into the first ABM3 element after performing a gain operation on the first signal x: ωx is the initial resonance frequency of the x mode, ω y is the initial resonance frequency of the y mode, θ ω is the azimuth angle between the rigid "frequency normal axis" ω y and the x-axis (assuming ωy < ωx), and n is the circumferential wave number (the hemispherical resonant gyroscope generally operates in a four-wave-bellows oscillation state during normal operation, that is, n = 2); the result of this part of the operation is equivalent to (ω 2 -ωΔωcos2nθ ω )·x in the algorithm model.

[0082] The input end of the fourth GAIN element 37 is connected to the output end of the first INTEG element 33, and is used to input the fifth signal into the first ABM3 element 23 after performing a gain operation on the fifth signal T is the time decay constant, θ τ is the azimuth angle between the "damping normal axis" and the x-axis, and Q is the quality factor of the hemispherical resonator; the result of this part of the operation is equivalent to

[0083] The input end of the fifth GAIN element 38 inputs the second signal y, and is used to input the second signal y into the second ABM3 element 32 after performing a gain operation on the second signal y: The result of this part of the operation is equivalent to ωΔω·sin2nθ ω y in the algorithm model.

[0084] The input end of the sixth GAIN element 39 inputs the seventh signal and is used to input the seventh signal into the second ABM3 element 32 after performing a gain operation on the seventh signal k is the precession factor; the result of this part of the operation is equivalent to

[0085] The Y-axis simulation unit includes a seventh GAIN element 41, a third ABM3 element 42, a fourth ABM3 element 43, a third INTEG element 44, a fourth INTEG element 45, an eighth GAIN element 46, a ninth GAIN element 47, a tenth GAIN element 48, and an eleventh GAIN element 49. The third ABM3 element 42 and the fourth ABM3 element 43 have a three-input and one-output function.

[0086] The input end of the seventh GAIN element 41 inputs the fifth signal For the fifth signal After performing a gain operation, the output is: 2nkΩx.

[0087] The input of the IN1 pin of the third ABM3 component 42 is connected to the output terminal of the seventh GAIN component 41. The input of the IN2 pin is the third signal y after performing a gain operation by the eighth GAIN component 46. The input of the IN3 pin is the seventh signal after performing a gain operation by the ninth GAIN component 47 The third ABM3 component 42 is used to subtract the output signal of the seventh GAIN component 41 from the third signal y and the seventh signal And then output the result.

[0088] The IN1 pin of the fourth ABM3 component 43 is connected to the OUT pin of the third ABM3 component 42. The input of the IN2 pin is the fifth signal after performing a gain operation The input of the IN3 pin is the second signal x after performing a gain operation; the fourth ABM3 component 43 is used to subtract the output signal of the third ABM3 component 42 from the fifth signal Sum with the second signal x and then output, which is the eighth signal

[0089] The input terminal of the third INTEG component 44 is connected to the OUT pin of the fourth ABM3 component 43, and is used to integrate the eighth signal once and then output the seventh signal

[0090] The input terminal of the fourth INTEG component 45 is connected to the output terminal of the third INTEG component 44, and is used to integrate the seventh signal Once and then output the second signal y.

[0091] The input terminal of the eighth GAIN component 46 is connected to the output terminal of the fourth INTEG component 45, and is used to perform a gain operation on the second signal y and then input it into the third ABM3 component 42: The result of this part of the operation is equivalent to (ω 2 -ωΔωcos2nθ ω )·y in the algorithm model.

[0092] The input terminal of the ninth GAIN component 47 is connected to the output terminal of the third INTEG component 44, and is used to perform a gain operation on the seventh signal And then input it into the third ABM3 component: The result of this part of the operation is equivalent to

[0093] The input terminal of the tenth GAIN element 48 inputs the second signal x, which is used to perform a gain operation on the second signal x and then input it into the fourth ABM3 element 43: The result of this part of the operation is equivalent to ωΔω·sin2nθ in the algorithm model ω x.

[0094] The input terminal of the eleventh GAIN element 49 inputs the fifth signal which is used to perform a gain operation on the fifth signal and then input it into the fourth ABM3 element: The result of this part of the operation is equivalent to

[0095] Refer to Figure 6 、 Figure 7 The second analog module 5 includes a second EVALUE element 51, a third EVALUE element 52, a fourth EVALUE element 55, a fifth EVALUE element 56, a first variable admittance element 53, a second variable admittance element 54, a third variable admittance element 57, and a fourth variable admittance element 58. The second EVALUE element 51, the third EVALUE element 52, the fourth EVALUE element 55, and the fifth EVALUE element 56 have a two-input and two-output function.

[0096] The IN+ pin of the second EVALUE element 51 inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element 51 is used to perform a first operation on the second signal x and then output: x0 / (x0 - x).

[0097] The IN+ pin of the third EVALUE element 52 inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element 51 is used to perform an operation on the second signal x and then output: x0 / (x0 + x).

[0098] The IN+ pin of the fourth EVALUE element 55 inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the fourth EVALUE element 55 is used to perform an operation on the third signal y and then output: x0 / (xO - y).

[0099] The IN+ pin of the fifth EVALUE element 56 inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element 51 is used to perform an operation on the third signal y and then output: x0 / (xO + y).

[0100] The pin 1 of the first variable admittance element 53 is connected to the OUT+ pin of the second EVALUE element 51, the pin 2 is grounded, the pin 3 is grounded through the first capacitor C1, and the pin 4 is connected to a 300V voltage; the first variable admittance element 53 is used to output the ninth signal v0 based on the output signal of the second EVALUE element 51: (x0 / (x0 - x))*c c1 ; c C1 is the capacitance value of C1.

[0101] The pin 1 of the second variable admittance element 54 is connected to the OUT+ pin of the third EVALUE element 52, the pin 2 is grounded, the pin 3 is grounded through the second capacitor C2, and the pin 4 is connected to a 300V voltage; the second variable admittance element 54 is used to output the tenth signal v90 based on the output signal of the third EVALUE element 52: (x0 / (x0 + x))*c c2 ; c C2 is the capacitance value of C2.

[0102] The pin 1 of the third variable admittance element 57 is connected to the OUT+ pin of the fourth EVALUE element 55, the pin 2 is grounded, the pin 3 is grounded through the third capacitor C3, and the pin 4 is connected to a 300V voltage; the third variable admittance element 57 is used to output the eleventh signal v45 based on the output signal of the third EVALUE element 52: (x0 / (x0 - -y))*c c3 ; c C3 is the capacitance value of C3.

[0103] The pin 1 of the fourth variable admittance element 58 is connected to the OUT+ pin of the fifth EVALUE element 56, the pin 2 is grounded, the pin 3 is grounded through the fourth capacitor C4, and the pin 4 is connected to a 300V voltage; the fourth variable admittance element 58 is used to output the twelfth signal v135 based on the output signal of the third EVALUE element 52: (x0 / (x0 + y))*c c4 ; c C4 is the capacitance value of C4.

[0104] In addition, the pin 4 of the first variable admittance element 53 is also connected to the input end of the layer module through a fifth capacitor, and the fifth capacitor is used to simulate the inherent parasitic capacitance between the excitation electrode and the detection electrode.

[0105] The above-mentioned ninth signal v0, tenth signal v90, eleventh signal v45, and twelfth signal v135 are used to represent the change in the capacitance value formed between the resonator and the detection electrode.

[0106] Refer to Figure 8 、 Figure 9, the second conversion module 6 includes a first charge amplifier 61 and a second charge amplifier 62. Among them, the first charge amplifier 61 is used to generate a first detection signal outx based on the ninth signal v0 and the tenth signal v90; the second charge amplifier 62 is used to generate a second detection signal outy based on the eleventh signal v45 and the twelfth signal v135.

[0107] Of course, the above are only typical examples of the present invention. In addition, the present invention can also have many other specific implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A hemispherical resonant gyroscope circuit model based on Cadence Pspice software, which is implemented by calling the built-in components of Cadence Pspice software; it is characterized in that, Comprising: A driving module for providing an excitation signal; A first conversion module for converting the excitation signal into a first signal f(x) representing the electrostatic force of the x-axis; A first simulation module for simulating a second signal x and a third signal y representing the vibration displacements of the x-axis and y-axis based on the first signal f(x); A second simulation module for simulating a ninth signal v0, a tenth signal v90, an eleventh signal v45, and a twelfth signal v135 representing the change in the capacitance value formed between the resonator and the detection electrode based on the second signal x and the third signal y; And a second conversion module for performing charge amplification processing on the ninth signal v0, the tenth signal v90, the eleventh signal v45, and the twelfth signal v135 and outputting corresponding detection signals.

2. The hemispherical resonator gyroscope circuit model based on Cadence Pspice software according to claim 1, characterized in that, The first conversion module includes: A first EVALUE element with two-input and two-output functions, whose IN- pin inputs 300V, the IN+ pin inputs the excitation signal, and the OUT- pin is grounded; the first EVALUE element is used to subtract 300V from the excitation signal and then square and output; A first GAIN element, whose input end is connected to the OUT+ pin of the EVALUE element, for performing a gain operation on the output signal of the OUT+ pin of the first EVALUE element; A MULT element, whose IN1 pin is connected to the OUT+ pin of the first EVALUE element, and the IN2 pin inputs the second signal x after gain operation; the MULT element is used to multiply the signal output from the OUT+ pin of the EVALUE element by the second signal x and then output; A SUM element, whose IN1 pin is connected to the output end of the first GAIN element, and the IN2 pin is connected to the OUT pin of the MULT element; the SUM element is used to sum the input signals of the IN1 and IN2 pins and then output; Wherein, the output from the SUM element is the first signal f(x).

3. A hemispherical resonant gyroscope circuit model based on Cadence Pspice software as described in claim 1, characterized in that, The first simulation module includes an X-axis simulation unit and a Y-axis simulation unit. Among them, the X-axis simulation unit is used to simulate the second signal x representing the x-axis displacement based on the first signal f(x), the third signal y, and their differential values; the Y-axis simulation unit is used to simulate the third signal y representing the y-axis displacement based on the third signal y, the second signal x, and their differential values.

4. A hemispherical resonant gyroscope circuit model based on Cadence Pspice software as described in claim 1, characterized in that, The X-axis simulation unit includes: The first ABM3 component with a three-input and one-output function, where its IN1 pin inputs the first signal f(x), its IN2 pin inputs the second signal x after gain operation, and its IN3 pin inputs the fifth signal after gain operation The first ABM3 component is used to subtract the first signal f(x) from the second signal x and the fifth signal and then output the result; The second ABM3 component with a three-input and one-output function, whose IN1 pin is connected to the OUT pin of the first ABM3 component, and the IN2 pin inputs the seventh signal after gain operation The IN3 pin inputs the second signal y after gain operation; the second ABM3 component is used to combine the output signal of the first ABM3 component with the seventh signal and the second signal y, and then outputs the sum, which is the sixth signal The first INTEG component, whose input terminal is connected to the OUT pin of the second ABM3 component, is used to integrate the sixth signal once and then output the fifth signal A second INTEG component, whose input end is connected to the output end of the first INTEG component, is used to integrate the fifth signal once and then output the first signal x; A second GAIN element, whose input end is connected to the output end of the second INTEG element, for performing a gain operation on the first signal x and then inputting it into the MULT element; A third GAIN element, whose input end is connected to the output end of the second INTEG element, for performing a gain operation on the first signal x and then inputting it into the first ABM3 element; The fourth GAIN component, whose input end is connected to the output end of the first INTEG component, is used to input the fifth signal after performing a gain operation into the first ABM3 component; A fifth GAIN element, whose input end is connected to the input of the second signal y, for performing a gain operation on the second signal y and then inputting it into the second ABM3 element; The sixth GAIN component, with a seventh signal input to its input terminal connected for performing gain operation on the seventh signal and then inputting the result to the second ABM3 component.

5. The hemispherical resonant gyroscope circuit model based on Cadence Pspice software according to claim 4, characterized in that, The Y-axis simulation unit includes: The seventh GAIN component, with the fifth signal input to its input terminal for performing a gain operation on the fifth signal and then outputting the result; The third ABM3 component with a three-input and one-output function, its IN1 pin is connected to the output terminal of the seventh GAIN component, the IN2 pin inputs the third signal y after gain operation, and the IN3 pin inputs the seventh signal after gain operation The third ABM3 component is used to subtract the output signal of the seventh GAIN component from the third signal y and the seventh signal and then output the result; The fourth ABM3 component with a three-input and one-output function, whose IN1 pin is connected to the OUT pin of the third ABM3 component, and the IN2 pin inputs the fifth signal after gain operation The IN3 pin inputs the second signal x after gain operation; the fourth ABM3 component is used to subtract the output signal of the third ABM3 component from the fifth signal sum with the second signal x and then output, which is the eighth signal The third INTEG component, whose input terminal is connected to the OUT pin of the fourth ABM3 component, is used to integrate the eighth signal once and then output the seventh signal The fourth INTEG component, whose input end is connected to the output end of the third INTEG component, is used to integrate the seventh signal once and then output the second signal y; An eighth GAIN element, whose input end is connected to the output end of the fourth INTEG element, for performing a gain operation on the second signal y and then inputting it into the third ABM3 element; The ninth GAIN component, whose input end is connected to the output end of the third INTEG component, is used to input the seventh signal after performing a gain operation into the third ABM3 component; A tenth GAIN element, whose input end is connected to the input of the second signal x, for performing a gain operation on the second signal x and then inputting it into the fourth ABM3 element; The eleventh GAIN component, with the fifth signal input at its input terminal is connected for applying the fifth signal to perform a gain operation and then input it to the fourth ABM3 component.

6. The hemispherical resonator gyroscope circuit model based on Cadence Pspice software according to claim 1, characterized in that, The second simulation module includes: A second EVALUE element with two-input and two-output functions, whose IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used to output the second signal x after operation; A third EVALUE element with two-input and two-output functions, whose IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used to output the second signal x after operation; A fourth EVALUE element with two-input and two-output functions, whose IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the fourth EVALUE element is used to output the third signal y after operation; A fifth EVALUE element with two-input and two-output functions, whose IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used to output the third signal y after operation; A first variable admittance element, whose pin 1 is connected to the OUT+ pin of the second EVALUE element, pin 2 is grounded, pin 3 is grounded through a first capacitor, and pin 4 is connected to a 300V voltage; the first variable admittance element is used to output the ninth signal v0 based on the output signal of the second EVALUE element; A second variable admittance element, whose pin 1 is connected to the OUT+ pin of the third EVALUE element, pin 2 is grounded, pin 3 is grounded through a second capacitor, and pin 4 is connected to a 300V voltage; the second variable admittance element is used to output the tenth signal v90 based on the output signal of the third EVALUE element; A third variable admittance element, whose pin 1 is connected to the OUT+ pin of the fourth EVALUE element, pin 2 is grounded, pin 3 is grounded through a third capacitor, and pin 4 is connected to a 300V voltage; the third variable admittance element is used to output the eleventh signal v45 based on the output signal of the third EVALUE element; A fourth variable admittance element, whose pin 1 is connected to the OUT+ pin of the fifth EVALUE element, pin 2 is grounded, pin 3 is grounded through a fourth capacitor, and pin 4 is connected to a 300V voltage; the fourth variable admittance element is used to output the twelfth signal v135 based on the output signal of the third EVALUE element.

7. The circuit model of a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 6, characterized in that The driving module includes a signal source, a timing-off switch, a timing-on switch, and a layer module connected in sequence, and the layer module is associated with a signal amplification circuit; the timing-off switch and the timing-on switch are used to control the opening and closing of the excitation signal to simulate the starting and decaying processes of the hemispherical resonator.

8. The circuit model of a hemispherical resonant gyroscope based on Cadence Pspice software as claimed in claim 7, wherein The pin 4 of the first variable admittance element is also connected to the input end of the layer module through a fifth capacitor.

9. The hemispherical resonator gyroscope circuit model based on Cadence Pspice software according to claim 1, wherein The second conversion module includes a first charge amplifier and a second charge amplifier. Among them, the first charge amplifier is used to generate a first detection signal outx based on the ninth signal v0 and the tenth signal v90; the second charge amplifier is used to generate a second detection signal outy based on the eleventh signal v45 and the twelfth signal v135.

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