A circuit model of hemispherical resonator gyroscope based on cadence pspice software

Abstract

The application discloses a kind of based on CadencePspice software's hemispherical resonator gyro circuit model, is realized by calling the built-in element of CadencePspice software;Including: drive module, for providing an excitation signal;First conversion module, for converting excitation signal into the first signal f (x) representing x-axis electrostatic force;First simulation module, for simulating the second signal x representing the vibration displacement of x-axis and y-axis based on first signal f (x), third signal y;Second simulation module, for simulating the change of the capacitance value between resonator and detection electrode based on second signal x and third signal y, ninth signal v0, tenth signal v90, eleventh signal v45, twelfth signal v135;And second conversion module, for carrying out charge amplification processing based on ninth signal v0, tenth signal v90, eleventh signal v45, twelfth signal v135 and output corresponding detection signal.The application can improve the accuracy of simulation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gyro control, in particular, to a circuit model of a hemispherical resonator gyro based on Cadence Pspice software. BACKGROUND

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

[0003] Therefore, the present application aims to provide a circuit model of a hemispherical resonator gyro 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 application is:

[0005] A circuit model of a hemispherical resonator gyro based on PSpice software is realized by calling the built-in elements of the PSpice software; comprising:

[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 the second signal x representing the vibration displacement of the x-axis and the third signal y representing the vibration displacement of the y-axis based on the first signal f(x);

[0009] A second simulation module for simulating the ninth signal v0, the tenth signal v90, the eleventh signal v45, and the twelfth signal v135 representing the changes of the capacitance value 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 comprises:

[0012] a first EVALUE element having a two-input two-output function, an IN- pin inputting 300V, an IN+ pin inputting the excitation signal, and an OUT- pin grounded; the first EVALUE element is configured to square the excitation signal after subtracting 300V and output;

[0013] a first GAIN element having an input end connected to the OUT+ pin of the EVALUE element and configured to perform gain operation on the output signal of the OUT+ pin of the first EVALUE element.

[0014] a MULT element having an IN1 pin connected to the OUT+ pin of the first EVALUE element and an IN2 pin inputting the second signal x after gain operation; the MULT element is configured to multiply the signal output by the OUT+ pin of the EVALUE element and the second signal x and output;

[0015] a SUM element having an IN1 pin connected to the output end of the first GAIN element and an IN2 pin 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 output;

[0016] wherein the first signal f(x) is output by the SUM element.

[0017] Preferably, the first analog module comprises an X-axis analog unit and a Y-axis analog unit, wherein the X-axis analog unit is configured to analog the second signal x representing x-axis displacement based on the first signal f(x), the third signal y, and the differential values thereof; and the Y-axis analog unit is configured to analog the third signal y representing y-axis displacement based on the third signal y, the second signal x, and the differential values thereof.

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

[0019] a first ABM3 element having a three-input one-output function, an IN1 pin inputting the first signal f(x), an IN2 pin inputting the second signal x after gain operation, and an IN3 pin inputting the fifth signal after gain operation; the first ABM3 element is configured to output the difference between the first signal f(x) and the second signal x and the fifth signal ;

[0020] The second ABM3 element with three input and one output function, the IN1 pin is connected with the OUT pin of the first ABM3 element, the IN2 pin inputs the seventh signal after gain operation , and the IN3 pin inputs the third signal y after gain operation; the second ABM3 element is used for summing the output signal of the first ABM3 element and the seventh signal and the third signal y, and outputting the sixth signal ;

[0021] The first INTEG element, the input end of which is connected with the OUT pin of the second ABM3 element, is used for outputting the fifth signal after integrating the sixth signal once ;

[0022] The second INTEG element, the input end of which is connected with the output end of the first INTEG element, is used for outputting the first signal x after integrating the fifth signal once

[0023] The second GAIN element, the input end of which is connected with the output end of the second INTEG element, is used for inputting the MULT element after gain operation of the first signal x;

[0024] The third GAIN element, the input end of which is connected with the output end of the second INTEG element, is used for inputting the first ABM3 element after gain operation of the first signal x;

[0025] The fourth GAIN element, the input end of which is connected with the output end of the first INTEG element, is used for inputting the first ABM3 element after gain operation of the fifth signal ;

[0026] The fifth GAIN element, the input end of which inputs the third signal y, is used for inputting the second ABM3 element after gain operation of the third signal y;

[0027] The sixth GAIN element, the input end of which inputs the seventh signal , is used for inputting the second ABM3 element after gain operation of the seventh signal .

[0028] Preferably, the Y-axis simulation unit comprises:

[0029] The seventh GAIN element, the input end of which inputs the fifth signal , is used for outputting after gain operation of the fifth signal ;

[0030] The third ABM3 element with three inputs and one output function, the IN1 pin of which is connected to the output terminal of the seventh GAIN element, the IN2 pin of which inputs the third signal y after gain operation, and the IN3 pin of which inputs the seventh signal after gain operation The third ABM3 element is used to output the difference between the output signal of the seventh GAIN element and the third signal y and the seventh signal after gain operation;

[0031] The fourth ABM3 element with three inputs and one output function, the IN1 pin of which is connected to the OUT pin of the third ABM3 element, the IN2 pin of which inputs the fifth signal after gain operation, and the IN3 pin of which inputs the second signal x after gain operation; the fourth ABM3 element is used to output the difference between the output signal of the third ABM3 element and the fifth signal and the sum of the second signal x, that is, the eighth signal ;

[0032] The third INTEG element, the input terminal of which is connected to the OUT pin of the fourth ABM3 element, is used to output the seventh signal after integral operation once;

[0033] The fourth INTEG element, the input terminal of which is connected to the output terminal of the third INTEG element, is used to output the third signal y after integral operation once;

[0034] The eighth GAIN element, the input terminal of which is connected to the output terminal of the fourth INTEG element, is used to input the third signal y after gain operation to the third ABM3 element;

[0035] The ninth GAIN element, the input terminal of which is connected to the output terminal of the third INTEG element, is used to input the seventh signal after gain operation to the third ABM3 element;

[0036] The tenth GAIN element, the input terminal of which inputs the second signal x, is used to input the second signal x after gain operation to the fourth ABM3 element;

[0037] The eleventh GAIN element, the input terminal of which inputs the fifth signal is used to input the fifth signal

[0038] Preferably, the second analog module comprises:

[0039] ​​​The second EVALUE element with two-input and two-output function, the IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used for outputting after the first operation of the second signal x;

[0040] The third EVALUE element with two-input and two-output function, the IN+ pin inputs the second signal x, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used for outputting after the operation of the second signal x;

[0041] The fourth EVALUE element with two-input and two-output function, the IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the fourth EVALUE element is used for outputting after the operation of the third signal y;

[0042] The fifth EVALUE element with two-input and two-output function, the IN+ pin inputs the third signal y, the IN- pin is grounded, and the OUT- pin is grounded; the second EVALUE element is used for outputting after the operation of the third signal y;

[0043] The first variable admittance element, the No. 1 pin is connected with the OUT+ pin of the second EVALUE element, the No. 2 pin is grounded, the No. 3 pin is grounded through the first capacitor, and the No. 4 pin is connected with 300V voltage; the first variable admittance element is used for outputting the ninth signal v0 based on the output signal of the second EVALUE element;

[0044] The second variable admittance element, the No. 1 pin is connected with the OUT+ pin of the third EVALUE element, the No. 2 pin is grounded, the No. 3 pin is grounded through the second capacitor, and the No. 4 pin is connected with 300V voltage; the second variable admittance element is used for outputting the tenth signal v90 based on the output signal of the third EVALUE element;

[0045] The third variable admittance element, the No. 1 pin is connected with the OUT+ pin of the fourth EVALUE element, the No. 2 pin is grounded, the No. 3 pin is grounded through the third capacitor, and the No. 4 pin is connected with 300V voltage; the third variable admittance element is used for outputting the eleventh signal v45 based on the output signal of the third EVALUE element;

[0046] The fourth variable admittance element, the No. 1 pin is connected with the OUT+ pin of the fifth EVALUE element, the No. 2 pin is grounded, the No. 3 pin is grounded through the fourth capacitor, and the No. 4 pin is connected with 300V voltage; the fourth variable admittance element is used for outputting the twelfth signal v135 based on the output signal of the third EVALUE element.

[0047] Preferably, the driving module comprises 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 for controlling the opening and closing of the excitation signal to simulate the starting and damping processes of the hemispherical resonator.

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

[0049] Preferably, the second conversion module comprises a first charge amplifier and a second charge amplifier, wherein the first charge amplifier is used for generating a first detection signal outx based on a ninth signal v0 and a tenth signal v90; and the second charge amplifier is used for generating a second detection signal outy based on an eleventh signal v45 and a twelfth signal v135.

[0050] The technical effects of the present application mainly embody in the following aspects:

[0051] 1. Compared with the linear approximation of the RLC oscillation circuit analogy method, the behavior model method can embed the complete motion model of the hemispherical resonator gyroscope, including the real characteristics of uneven damping and frequency splitting, and the simulation accuracy is greatly improved. Moreover, the dynamic changes of the detection capacitor can be simulated, which is more consistent with the real situation.

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

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

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

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

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

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

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

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

[0060] Figure 11 Fig. 1 is a diagram of experimental results of ideal characteristic state in the embodiment;

[0061] Figure 12 Fig. 2 is a diagram of simulation results of frequency splitting and beat frequency phenomenon in non-ideal characteristic state in the embodiment;

[0062] Figure 13 Fig. 3 is a diagram of experimental results of frequency splitting and beat frequency phenomenon in non-ideal characteristic state.

[0063] Reference signs: 1, driving module; 11, signal source; 12, timing closing switch; 13, timing opening 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 DESCRIPTION

[0064] The specific embodiments of the present application are described in further detail below with reference to the accompanying drawings, so that the technical scheme of the present application is easier to understand and master.

[0065] The gyroscope algorithm model used in the embodiment is as follows:

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

[0067] With reference to Figure 1 The embodiment provides a circuit model of a hemispherical resonator gyroscope based on Cadence Pspice software, which is realized by calling built-in elements of the PSpice software and by inputting corresponding parameters and expressions in the built-in elements.

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

[0069] Combination Figure 1 , Figure 2 The drive module 1 includes a signal source 11, a timed off switch 12, a timed 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. The timed off switch 12 and the timed on switch 13 are used to control the on and off of the excitation signal to simulate the start-up and decay process of the hemispherical harmonic oscillator.

[0070] Reference 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, each with two inputs and two outputs. The first EVALUE element 21 has a 300V input at its IN- pin, an excitation signal at its IN+ pin, and is grounded at its OUT- pin. The first EVALUE element 21 is used to square the excitation signal after subtracting 300V from it. .

[0071] The input terminal of the first GAIN element 22 is connected to the OUT+ pin of the first EVALUE element 21, and is used to perform gain calculation 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, and ε r denoted as the relative permittivity, x0 as the initial gap between the plates, and m0 as the effective mass of the vibration.

[0072] The IN1 pin of MULT element 23 is connected to the OUT+ pin of the first EVALUE element 21, and the IN2 pin is used to input the second signal x after gain calculation; MULT element 23 is used to multiply the signal output from the OUT+ pin of the EVALUE element with the second signal x after gain calculation and then output the result. .

[0073] The IN1 pin of the SUM element is connected to the output 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 sum; the output from the SUM element 24 is the first signal f(x), which represents the electrostatic force along the x-axis. .

[0074] Reference 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-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 fourth GAIN element 37. The first ABM3 element 31 is used to output the difference between the first signal f(x) and the second signal x and the fifth signal .

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

[0078] The input end of the first INTEG element 33 is connected to the OUT pin of the second ABM3 element, which is used to output the fifth signal after integrating the sixth signal once.

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

[0080] The input end of the second GAIN element 35 is connected to the output end of the second INTEG element 34, which is used to input the first signal x after gain operation 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, which is used to input the first signal x after gain operation to the first ABM3 element: , ωx is the initial resonant frequency of the x mode, ω y is the initial resonant frequency of the y mode, and θ ω is the rigid "frequency normal axis" ωy azimuth angle between the x-axis (assuming ωy< ωx), n is the ring wave number (the normal working state of the hemispherical resonator gyroscope is generally in the four-wave abdominal oscillation state, that is, n = 2); the result of this part of operation is equivalent to the algorithm model .

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

[0083] The input end of the fifth GAIN element 38 inputs the third signal y, for inputting the third signal y after gain operation into the second ABM3 element 32: ; the result of this part of operation is equivalent to the algorithm model .

[0084] The input end of the sixth GAIN element 39 inputs the seventh signal , for inputting the seventh signal after gain operation into the second ABM3 element 32: , k is the precession factor; the result of this part of operation is equivalent to the algorithm model .

[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-one-output function.

[0086] The input end of the seventh GAIN element 41 inputs the fifth signal , for outputting the fifth signal after gain operation: x.

[0087] The IN1 pin of the third ABM3 element 42 is input connected with the output end of the seventh GAIN element 41, the IN2 pin inputs the third signal y after gain operation through the eighth GAIN element 46, and the IN3 pin inputs the seventh signal The third ABM3 element 42 is used to connect the output signal of the seventh GAIN element 41 with the third signal y and the seventh signal y. Output the difference.

[0088] The IN1 pin of the fourth ABM3 element 43 is connected to the OUT pin of the third ABM3 element 42, and the IN2 pin receives the fifth signal after gain calculation. The IN3 pin receives the second signal x after gain calculation; the fourth ABM3 element 43 is used to combine the output signal of the third ABM3 element 42 with the fifth signal. The output after subtracting the second signal x and summing the results is the eighth signal. .

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

[0090] The input terminal of the fourth INTEG element 45 is connected to the output terminal of the third INTEG element 44, and is used to transmit the seventh signal. After one integration, the third signal y is output.

[0091] The input terminal of the eighth GAIN element 46 is connected to the output terminal of the fourth INTEG element 45, and is used to perform gain calculation on the third signal y before inputting it into the third ABM3 element 42. The result of this part of the calculation is equivalent to the result in the algorithm model. .

[0092] The input terminal of the ninth GAIN element 47 is connected to the output terminal of the third INTEG element 44 to transmit the seventh signal. After performing gain calculation, input the third ABM3 element: The result of this part of the calculation is equivalent to the result in the algorithm model. .

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

[0094] The fifth signal is input to the input terminal of the eleventh GAIN element 49. Used to transmit the fifth signal After performing gain calculation, input the fourth ABM3 element: The result of this part of the calculation is equivalent to the result in the algorithm model. .

[0095] Referring to Figure 6 , Figure 7 , the second simulation module 5 comprises 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 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 output x0 / (x0-x) after performing a first operation on the second signal 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 output x0 / (x0+x) after performing an operation on the second signal 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 output x0 / (x0-y) after performing an operation on the third signal 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 output x0 / (x0+y) after performing an operation on the third signal y.

[0100] The No. 1 pin of the first variable admittance element 53 is connected to the OUT+ pin of the second EVALUE element 51, the No. 2 pin is grounded, the No. 3 pin is grounded through a first capacitor C1, and the No. 4 pin is connected to a 300V voltage; the first variable admittance element 53 is used to output a ninth signal v0: (x0 / (x0-x))*c C1 ; c C1 is the capacitance value of C1.

[0101] The No. 1 pin of the second variable admittance element 54 is connected to the OUT+ pin of the third EVALUE element 52, the No. 2 pin is grounded, the No. 3 pin is grounded through a second capacitor C2, and the No. 4 pin is connected to a 300V voltage; the second variable admittance element 54 is used to output a tenth signal v90: (x0 / (x0+x))*c C2 ; cC2 C2 is the capacitance value.

[0102] The No. 1 pin of the third variable admittance element 57 is connected with the OUT+ pin of the fourth EVALUE element 55, the No. 2 pin is grounded, the No. 3 pin is grounded through the third capacitor C3, and the No. 4 pin is connected with 300V voltage; the third variable admittance element 57 is used for outputting the eleventh signal v45 based on the output signal of the third EVALUE element 52: (x0 / (x0-y))*c C3 ; c C3 C3 is the capacitance value.

[0103] The No. 1 pin of the fourth variable admittance element 58 is connected with the OUT+ pin of the fifth EVALUE element 56, the No. 2 pin is grounded, the No. 3 pin is grounded through the fourth capacitor C4, and the No. 4 pin is connected with 300V voltage; the fourth variable admittance element 58 is used for outputting the twelfth signal v135 based on the output signal of the third EVALUE element 52: (x0 / (x0+y))*c C4 ; c C4 C4 is the capacitance value.

[0104] In addition, the No. 4 pin of the first variable admittance element 53 is also connected with the input end of the layer module through the fifth capacitor, and the fifth capacitor is used for simulating the inherent parasitic capacitance between the excitation electrode and the detection electrode.

[0105] The ninth signal v0, the tenth signal v90, the eleventh signal v45 and the twelfth signal v135 are used for representing the change of the capacitance value formed between the resonator and the detection electrode.

[0106] Referring to Figure 8 , Figure 9 The second conversion module 6 includes a first charge amplifier 61 and a second charge amplifier 62, wherein the first charge amplifier 61 is used for generating a first detection signal outx based on the ninth signal v0 and the tenth signal v90; and the second charge amplifier 62 is used for generating a second detection signal outy based on the eleventh signal v45 and the twelfth signal v135.

[0107] Of course, the above is only a typical example of the present application, in addition to which, the present application can have other various specific embodiments, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of the present application.

Claims

1. A circuit model of a hemispherical resonator gyroscope based on Cadence Pspice software, which is realized by calling built-in elements of the Cadence Pspice software; characterized in that, The method comprises the following steps: a driving module for providing an excitation signal; a first conversion module for converting the excitation signal into a first signal f(x) representing electrostatic force of the x-axis; a first simulation module for simulating a second signal x and a third signal y representing vibration displacement of the x-axis and the 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 of the capacitance value 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 based on the ninth signal v0, the tenth signal v90, the eleventh signal v45 and the twelfth signal v135 and outputting corresponding detection signals; The first simulation module comprises an X-axis simulation unit and a Y-axis simulation unit, wherein the X-axis simulation unit is used for simulating the second signal x representing the displacement of the x-axis based on the first signal f(x), the third signal y and their differential values; and the Y-axis simulation unit is used for simulating the third signal y representing the displacement of the y-axis based on the third signal y, the second signal x and their differential values. The first ABM3 element with three-input and one-output function inputs the first signal f(x) at the IN1 pin, the second signal x after gain operation at the IN2 pin, and the fifth signal after gain operation at the IN3 pin The first ABM3 element is used for outputting the difference between the first signal f(x) and the second signal x and the fifth signal after gain operation. The second ABM3 element with three-input and one-output function, the IN1 pin of which is connected with the OUT pin of the first ABM3 element, the IN2 pin inputs the seventh signal after gain operation , and the IN3 pin inputs the third signal y after gain operation; the second ABM3 element is used for summing the output signal of the first ABM3 element with the seventh signal and the third signal y, and outputting the sixth signal ; a first INTEG element, an input end of which is connected with the OUT pin of the second ABM3 element, for outputting a sixth signal outputting a fifth signal after integrating once ; a second INTEG element, an input terminal of which is connected with an output terminal of the first INTEG element, for outputting a first signal x after integrating the fifth signal once outputting the first signal x after integrating the fifth signal once A second GAIN element is connected to the output end of the second INTEG element, and is used for inputting the first signal x after gain operation into the first ABM3 element. A third GAIN element is connected to the output end of the second INTEG element, and is used for inputting the first signal x after gain operation into the MULT element. a fourth GAIN element having an input terminal connected to an output terminal of the first INTEG element for inputting a fifth signal after gain operation to the MULT element; A fifth GAIN element is connected to the input end of the third signal y, and is used for inputting the third signal y after gain operation into the second ABM3 element. A sixth GAIN element is connected to the input end of the seventh signal dy, and is used for inputting the seventh signal dy after gain operation into the second ABM3 element. a seventh GAIN element having an input terminal to which the fifth signal is input for performing a gain operation on the fifth signal and outputting the result The third ABM3 element with three-input and one-output function, the IN1 pin is connected with the output terminal of the seventh GAIN element, 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 element is used for outputting the difference between the output signal of the seventh GAIN element and the third signal y and the seventh signal after difference operation A fourth ABM3 element with a three-input and one-output function, an IN1 pin of which is connected to an OUT pin of the third ABM3 element, an IN2 pin of which inputs the fifth signal after gain operation , and an IN3 pin of which inputs the second signal x after gain operation; the fourth ABM3 element is used to sum the output signal of the third ABM3 element and the fifth signal and subtract the second signal x, and output the eighth signal ; a third INTEG element, an input terminal of which is connected with the OUT pin of the fourth ABM3 element, for outputting an eighth signal outputting a seventh signal after integrating once ; a fourth INTEG element, an input terminal of which is connected with an output terminal of the third INTEG element, for outputting a seventh signal y7 outputting the third signal y after integrating once; An eighth GAIN element is connected to the output end of the fourth INTEG element, and is used for inputting the third signal y after gain operation into the third ABM3 element. a ninth GAIN element having an input terminal connected to an output terminal of the third INTEG element for inputting a seventh signal after gain operation to the third ABM3 element; A tenth GAIN element is connected to the input end of the second signal x, and is used for inputting the second signal x after gain operation into the fourth ABM3 element. a eleventh GAIN element whose input terminal inputs the fifth signal for gain operation of the fifth signal and inputs a fourth ABM3 element.

2. A circuit model for a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 1, characterized in that, The first conversion module comprises: a first EVALUE element with two-input and two-output function, wherein the IN- pin is input with 300V, the IN+ pin is input with the excitation signal, and the OUT- pin is grounded; the first EVALUE element is used for subtracting 300V from the excitation signal and then squaring the output; a first GAIN element connected to the OUT+ pin of the EVALUE element, and is used for gain operation on the output signal of the OUT+ pin of the first EVALUE element; a MULT element with the IN1 pin connected to the OUT+ pin of the first EVALUE element and the IN2 pin input with the second signal x after gain operation; the MULT element is used for multiplying the output signal of the OUT+ pin of the EVALUE element with the second signal x and then outputting; a SUM element with the IN1 pin connected to the output end of the first GAIN element and the IN2 pin connected to the OUT pin of the MULT element; the SUM element is used for summing the input signals of the IN1 and IN2 pins and then outputting. The first signal f(x) output from the SUM element is obtained.

3. A circuit model for a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 1, characterized in that, The second analog module comprises: a second EVALUE element with a two-input and two-output function, an IN+ pin of the second EVALUE element inputting the second signal x, an IN- pin of the second EVALUE element grounded, and an OUT- pin of the second EVALUE element grounded, the second EVALUE element being configured to output a first operation result of the second signal x; a third EVALUE element with a two-input and two-output function, an IN+ pin of the third EVALUE element inputting the second signal x, an IN- pin of the third EVALUE element grounded, and an OUT- pin of the third EVALUE element grounded, the third EVALUE element being configured to output an operation result of the second signal x; a fourth EVALUE element with a two-input and two-output function, an IN+ pin of the fourth EVALUE element inputting the third signal y, an IN- pin of the fourth EVALUE element grounded, and an OUT- pin of the fourth EVALUE element grounded, the fourth EVALUE element being configured to output an operation result of the third signal y; a fifth EVALUE element with a two-input and two-output function, an IN+ pin of the fifth EVALUE element inputting the third signal y, an IN- pin of the fifth EVALUE element grounded, and an OUT- pin of the fifth EVALUE element grounded, the fifth EVALUE element being configured to output an operation result of the third signal y; a first variable admittance element, a No. 1 pin of the first variable admittance element being connected to an OUT+ pin of the second EVALUE element, a No. 2 pin of the first variable admittance element being grounded, a No. 3 pin of the first variable admittance element being grounded through a first capacitor, and a No. 4 pin of the first variable admittance element being connected to a 300 V voltage, the first variable admittance element being configured to output a ninth signal v0 based on an output signal of the second EVALUE element; a second variable admittance element, a No. 1 pin of the second variable admittance element being connected to an OUT+ pin of the third EVALUE element, a No. 2 pin of the second variable admittance element being grounded, a No. 3 pin of the second variable admittance element being grounded through a second capacitor, and a No. 4 pin of the second variable admittance element being connected to a 300 V voltage, the second variable admittance element being configured to output a tenth signal v90 based on an output signal of the third EVALUE element; a third variable admittance element, a No. 1 pin of the third variable admittance element being connected to an OUT+ pin of the fourth EVALUE element, a No. 2 pin of the third variable admittance element being grounded, a No. 3 pin of the third variable admittance element being grounded through a third capacitor, and a No. 4 pin of the third variable admittance element being connected to a 300 V voltage, the third variable admittance element being configured to output an eleventh signal v45 based on an output signal of the third EVALUE element; a fourth variable admittance element, a No. 1 pin of the fourth variable admittance element being connected to an OUT+ pin of the fifth EVALUE element, a No. 2 pin of the fourth variable admittance element being grounded, a No. 3 pin of the fourth variable admittance element being grounded through a fourth capacitor, and a No. 4 pin of the fourth variable admittance element being connected to a 300 V voltage, the fourth variable admittance element being configured to output a twelfth signal v135 based on an output signal of the third EVALUE element.

4. A circuit model of a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 3, characterized in that, The driving module comprises 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 configured to control the opening and closing of an excitation signal to simulate the starting and damping processes of a hemispherical resonator.

5. A circuit model for a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 4, characterized in that, The No. 4 pin of the first variable admittance element is further connected to an input end of the layer module through a fifth capacitor.

6. A circuit model for a hemispherical resonator gyroscope based on Cadence Pspice software according to claim 1, characterized in that, The second conversion module comprises a first charge amplifier and a second charge amplifier, wherein the first charge amplifier is configured to generate a first detection signal outx based on a ninth signal v0 and a tenth signal v90; and the second charge amplifier is configured to generate a second detection signal outy based on an eleventh signal v45 and a twelfth signal v135.

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