Mechanical vibration gyroscope amplitude and frequency coupling modulation model control system and measurement and control method

Abstract

The invention discloses a measurement and control method for an amplitude and frequency coupling modulation model of a mechanical vibration gyroscope. In the amplitude modulation working mode, when the system operates in the resonance state, the angular velocity input by the outside is modulated through the amplitude of the Coriolis force, and the magnitude of the Coriolis force is in direct proportion to the angular velocity input by the outside. And in the frequency modulation working mode, the angular velocity input from the outside directly modulates the resonant frequency of the mechanical vibration gyroscope, and the change of the resonant frequency is in direct proportion to the input angular velocity in a limited range. The coupling effect of amplitude modulation and frequency modulation is analyzed, same-frequency different-amplitude driving force is applied to the X mode and the Y mode at the same time, the X mode is driven to conduct simple harmonic vibration, the Y mode only has a component with the displacement difference of 90 degrees with the X mode, under external angular velocity input, the resonant frequency of the mechanical vibration gyroscope is modulated by the angular velocity, and the resonant frequency of the mechanical vibration gyroscope is modulated by the angular velocity. The modulated resonant frequency is in direct proportion to the ratio of the externally input angular velocity and the X-Y mode driving force amplitude, and the externally input angular velocity further modulates the X mode driving force amplitude and the Y mode driving force amplitude of the harmonic oscillator. The gyroscope is driven and detected in the form of electrostatic force driving and capacitance detection, the control of an amplitude and frequency coupling modulation model is realized through the design of a bilateral push-pull driving and coupling model control system, the improvement of the scale factor of the gyroscope is realized by adjusting the ratio of the XY modal driving force amplitude, and the stability of the gyroscope is improved. And the sensitivity and the signal-to-noise ratio of the system are improved.

Description

Technical Field

[0001] The present invention relates to a measurement and control method for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope, and belongs to the technical field of gyroscopes. Background Art

[0002] Due to its advantages such as small size, low power consumption, and high reliability, the mechanical vibration gyroscope has long been a key research direction in the gyroscope field and will continue to be the main research object for some time in the future. The classical control framework of this type of gyroscope includes two working modes: amplitude modulation and frequency modulation. In the amplitude modulation working mode, when the system operates in the resonant state, the externally input angular velocity is modulated by the amplitude of the Coriolis force. The magnitude of the Coriolis force is proportional to the externally angular velocity. By measuring the small displacement of the coupled mode, the feedback force that keeps the detection mode at a stable position is used to solve the angular velocity. However, due to the fact that the inherent properties of materials such as the resonator density and Young's modulus of the mechanical vibration gyroscope itself, as well as the physical size of the resonator, will change due to the influence of temperature, its temperature stability is poor. Although a certain degree of correction can be made by adopting a complex temperature compensation algorithm, it inevitably increases the design difficulty and cost. In the frequency modulation working mode, the externally input angular velocity can directly modulate the resonant frequency of the mechanical vibration gyroscope. Within a limited range, the change in the resonant frequency is proportional to the input angular velocity. Therefore, the magnitude of the externally input angular velocity can be deduced by directly measuring the magnitude of the resonant frequency. Summary of the Invention

[0003] Technical Problem: In the classical control system, for a mechanical vibration gyroscope controlled in the amplitude modulation mode, the inherent properties of materials such as its own resonator density and Young's modulus, as well as the physical size of the resonator, will change due to the influence of temperature, and its temperature stability is poor. In addition, the scale factor of the gyroscope in the classical control system is small, the sensitivity of the output signal to the change in angular velocity is insufficient, and it is difficult for the system to accurately detect the angular velocity input with a small amplitude.

[0004] Technical solution: To solve the above technical problems, the invention provides a measurement and control method for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope. In this solution, the coupling effect of amplitude modulation and frequency modulation is analyzed. A driving force with the same frequency but different amplitudes is applied to both the X mode and the Y mode simultaneously. The X mode is driven to perform simple harmonic vibration, and the Y mode only has a component with a 90° displacement difference from the X mode. Under the input of an external angular velocity, the resonant frequency of the mechanical vibration gyroscope is modulated by the angular velocity. The modulated resonant frequency is proportional to the ratio of the external input angular velocity and the driving force amplitudes of the XY modes. Moreover, the externally input angular velocity further modulates the driving force amplitudes of the resonant X mode and Y mode of the resonator. In the present invention, the driving and detection of the gyroscope adopt the form of electrostatic driving and capacitance detection. Through the design of a bilateral push-pull driving and coupling model control system, the control of the amplitude and frequency coupling modulation model is realized. By adjusting the ratio of the driving force amplitudes of the XY modes, the gyroscope scale factor is increased, and the sensitivity and signal-to-noise ratio of the system are improved.

[0005] To achieve the above object, the technical solution of the present invention is as follows: A control system for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope. The system includes a gyroscope resonator, a capacitance-voltage conversion circuit, an ADC module, a demodulation module, a DDS module, a PI module, a driving force modulation module, a DAC module, and an AC-DC coupling module. The capacitance displacement signals of the two modes of the gyroscope resonator are expressed as the electrical signal D of the vibration displacement of the X mode through the capacitance-voltage conversion module x and the electrical signal D of the vibration displacement of the Y mode y , which are respectively set as -A x cosωt and A y sinωt. This electrical signal passes through the analog-to-digital conversion module and the demodulation and filtering module, and is demodulated with cosωt to output c x , c y , and is demodulated with sinωt to output s x , s y , where ω represents the working resonant frequency of the system. Among them, c x , c y respectively represent the cosωt components of the displacement signals D x , D y , s x , s y respectively represent the sinωt components of the displacement signals D x , D y . s x After PI control, it is input to the DDS module to generate reference signals cosωt, sinωt, c x , c y , c y After PI control, f xs , f yc , f ys, respectively represent the amplitude of the cosωt component of the X-mode driving force and the amplitude of the cosωt and sinωt components of the Y-mode driving force, and input the driving force modulation module to obtain the driving force voltage signal f applied to the XY mode x 、f y After digital-to-analog conversion, it is coupled with a DC signal and input into the excitation electrode of the gyro resonator to achieve bilateral push-pull drive. By increasing the amplitude ratio A of the X mode to the Y mode x / A y , which directly increases the system resonant frequency offset caused by the angular velocity input and enhances the system's response to the Coriolis effect, thereby effectively improving the system's scale factor, which means that the output signal amplitude corresponding to a unit input angular velocity change is proportionally amplified, making the effective signal change caused by a small angular velocity change more significant, thereby improving the gyroscope's sensitivity and signal-to-noise ratio.

[0006] A mechanical vibration gyroscope amplitude and frequency coupling modulation model measurement and control method, the method comprising the following steps:

[0007] Step 1) applying a driving force with the same frequency but different amplitude to the XY mode, applying an external angular velocity input to the gyro resonator, and exciting the XY mode of the resonator to perform simple harmonic vibration.

[0008] Step 2) construct detection loops in two modes respectively, and convert the capacitance displacement signal into capacitance voltage to obtain the gyro XY mode displacement electrical signal D x , D y , respectively set to -A x cosωt and A y sinωt, this displacement electrical signal passes through the analog-to-digital conversion module and is demodulated and filtered to c x 、c y 、s x 、s y , control d x The sinωt component of is 0 and the control Y mode only has a component that is 90° different from the X mode displacement.

[0009] Step 3) The demodulated signal sx is input into the DDS module after PI control to generate a reference signal. x 、c y 、s y The orthogonal component f of the driving force is obtained through PI control xs 、f yc 、f ys , and modulated into a driving force signal f through control force x 、f y The driving force can be modulated by the reference signals sinωt and cosωt generated by DDS. sinωt、f yssinωt + f yc cosωt, and is solved jointly with the dynamic equation of the two-degree-of-freedom vibration system to obtain the system working resonance frequency ω as nα′Ω + ω 0x , the driving force is coupled with the high-voltage signal and finally applied to the X and Y excitation electrodes to maintain the simple harmonic vibration of the XY mode of the resonator.

[0010] Further, in step 1), driving forces with the same frequency and different amplitudes are applied to the XY modes respectively to excite the XY modes to perform simple harmonic vibration. Due to the coupling effect of amplitude modulation and frequency modulation, when the gyroscope receives an external angular velocity input, the system will introduce a stiffness modulation error of the angular velocity, making the actual working resonance frequency ω of the resonator greater than its initial resonance frequency ω 0x .

[0011] Further, in step 2), the capacitance displacement detection values d x and d y of the two modes of the gyroscope are respectively converted into signals D x representing the vibration displacement of the X mode and signal D y representing the vibration displacement of the Y mode through a capacitance-voltage conversion circuit. After being demodulated by sinωt and cosωt, the output is c x , c y , s x , s y , where c x , c y respectively represent the cosωt components of the displacement signals D x , D y , and s x , s y respectively represent the sinωt components of the displacement signals D x , D y . Control the sinωt component of D x to be 0 and control the Y mode to only have a component that is 90° different from the displacement of the X mode.

[0012] Further, after the demodulation output in step 2) obtains c x , c y , s x , s y , use s x as the frequency tracking reference, control s x = 0 to make the sinωt component of D x be 0, and provide a reference signal for demodulation. Use c y as the in-phase suppression signal, control c y = 0 to suppress the component in the Y-mode displacement signal that is in phase with the X-mode displacement, so that the Y mode only has a component that is 90° different from the X-mode displacement. Use c x , s yAs an amplitude control signal, the vibration amplitude of the gyroscope XY mode is kept stable and the ratio is n.

[0013] Further, in step 3), the demodulated signal s x After PI control, the DDS module is input to generate the reference sine and cosine signals sinωt and cosωt, c x 、s y 、s y Then the orthogonal component f of the driving force is obtained through PI control xs 、f yc 、f ys , the demodulated signal is input into the control force modulation to obtain the driving force voltage signal f applied on the XY mode x 、f y The reference signals sinωt and cosωt generated by DDS can modulate the driving force respectively. sinωt、f ys sinωt+f yc cosωt, the driving force signal and displacement signal D x , D y Combined with the dynamic equation of the two-degree-of-freedom vibration system, the system working resonant frequency ω=nα′Ω+ω 0x , where n is A x With A y ratio, α′ is the Coriolis coupling factor, Ω is the system input angular velocity, ω 0x is the initial resonant frequency of the oscillator, and the driving force f x 、f y It is coupled with the high voltage signal and finally applied to the X and Y excitation electrodes to maintain the simple harmonic vibration of the XY mode.

[0014] Furthermore, the system operating resonant frequency ω=nα′Ω+ω is obtained by solving step 3) 0x In the equation, due to α′, ω 0x For the same mechanical vibration gyroscope, when A is maintained x With A y When the ratio n is constant, the angular velocity of the system input can be obtained by reading the frequency ω output by the DDS module, realizing the control of the amplitude and frequency coupling modulation model. When the ratio n increases, the system resonant frequency offset caused by the angular velocity input is directly increased, and the system's response to the Coriolis effect is enhanced, thereby effectively improving the system's scale factor, which means that the output signal amplitude corresponding to a unit input angular velocity change is proportionally amplified, making the effective signal change caused by a small change in the input angular velocity more significant, thereby improving the sensitivity and signal-to-noise ratio of the gyroscope.

[0015] Compared with the prior art, the advantages of the present invention are as follows: For a mechanically vibrating gyroscope controlled in amplitude modulation mode, the inherent properties of materials such as the resonator density and Young's modulus of itself, as well as the physical dimensions of the resonator, will change due to the influence of temperature, resulting in poor temperature stability. In addition, the scale factor of the gyroscope in the classical control system is small, and the sensitivity of the output signal to the change in angular velocity is insufficient, making it difficult for the system to accurately detect a small angular velocity input. The present invention is based on a coupled model control system for amplitude modulation and frequency modulation of a mechanically vibrating gyroscope. Through the coupled effect of amplitude modulation and frequency modulation, the relationship between the operating resonance frequency of the system and the system input angular velocity Ω is solved, and maintaining the ratio n of A x and A y constant, the system actual operating frequency ω output by the DDS module can be used to calculate Ω. When increasing the ratio n, the offset of the system resonance frequency caused by the external angular velocity input is directly increased, enhancing the system's response ability to the Coriolis effect, thereby effectively improving the scale factor of the system, which means that the amplitude of the output signal corresponding to the change in unit input angular velocity is amplified proportionally, making the change in the effective signal caused by a small change in the input angular velocity more significant, and improving the sensitivity and signal-to-noise ratio of the gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the block diagram of the system implementation of the present invention;

[0017] Figure 2 is the two-degree-of-freedom vibration system of the equivalent gyro resonator of the present invention;

[0018] Figure 3 is the block diagram of the implementation of the phase-locked loop control loop of the present invention; Figure 4 is the block diagram of the implementation of the X-mode amplitude control loop of the present invention;

[0019] Figure 5 is the block diagram of the implementation of the Y-mode amplitude control loop of the present invention;

[0020] Figure 6 is the block diagram of the implementation of the in-phase suppression control loop of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In order to deepen the understanding of the present invention, the following detailed description of this embodiment will be given in conjunction with the accompanying drawings.

[0022] Embodiment 1: A measurement and control method control system for the amplitude and frequency coupled modulation model of a mechanically vibrating gyroscope. The system includes a gyro resonator, a capacitance-voltage conversion circuit, an ADC module, a demodulation module, a DDS module, a PI module, a driving force modulation module, a DAC module, and an AC-DC coupling module. The capacitance displacement signals of the two modes of the gyroscope resonator are represented as the electrical signal D of the X-mode vibration displacement through the capacitance-voltage conversion modulex And the electrical signal D of the Y-mode vibration displacement y , respectively set to -A x cosωt and A y sinωt, through the analog-to-digital conversion module and the demodulation filter module, and cosωt demodulation output c x 、c y , and the sinωt demodulated output s x 、s y , where ω represents the driving force frequency of the X mode, and c x 、c y Represents the displacement signal D x , D y The cosωt component, s x 、s y Represents the displacement signal D x , D y The sinωt component, s x After PI control, the reference signals cosωt, sinωt, c are input into the DDS module to generate x 、c y 、s y After PI control, f xs 、f yc 、f ys , respectively represent the amplitude of the cosωt component of the X-mode driving force and the amplitude of the cosωt and sinωt components of the Y-mode driving force, and input the driving force modulation module to obtain the driving force voltage signal f applied to the XY mode x 、f y After digital-to-analog conversion, it is coupled with a DC signal and input into the excitation electrode of the gyro resonator to achieve bilateral push-pull drive. By increasing the amplitude ratio A of the X mode to the Y mode x / A y , which enhances the system's responsiveness to the Coriolis effect and directly increases the system's resonant frequency offset caused by the angular velocity input, thereby effectively improving the system's scale factor, which means that the output signal amplitude corresponding to a unit input angular velocity change is proportionally amplified, making the effective signal change caused by a small angular velocity change more significant, thereby improving the gyroscope's sensitivity and signal-to-noise ratio.

[0023] Embodiment 2: Mechanical vibration gyroscope amplitude and frequency coupling modulation model measurement and control method. Under ideal conditions, the dynamic equation of the gyroscope resonator two-degree-of-freedom vibration system is as follows:

[0024]

[0025]

[0026] Where m represents the modal equivalent mass, ζx , ζ y represents the damping coefficient of the XY mode, ω 0x , ω 0y represent the natural vibration frequencies of the XY mode, f x and f y are respectively the driving forces of the XY mode, α is the precession factor, Ω is the externally input angular velocity, x and y are respectively the displacements of the XY mode, and are respectively the corresponding first-order differential and second-order differential values. In the ideal case, it can be considered that the frequency difference between the X mode and the Y mode of the micro-hemispherical resonant gyroscope is 0, and there is ω 0x = ω 0y , ζ x = ζ y = ζ.

[0027] In Figure 1 , D x , D y represent the electrical signals of the vibration displacements of the X and Y modes, A x , A y represent the amplitudes of D x , D y , c x , c y respectively represent the cosωt components of the displacement signals D x , D y , s x , s y respectively represent the sinωt components of the displacement signals D x , D y , f xs , f yc , f ys represent the three components of the driving force, f x , f y represent the driving force voltage signals applied to the XY mode, ω represents the angular velocity frequency output by the system, n represents the ratio of the amplitudes A x and A y , and the capacitance-voltage conversion circuit is a conversion circuit that converts the capacitance vibration displacement of the resonator electrode into the electrical signals D x , D y of the vibration displacements of the XY mode. The driving force modulation module circuit is a circuit that modulates the four orthogonal components of the driving force into the driving force voltage signals f x , f y applied to the XY mode.

[0028] The present invention includes the following steps:

[0029] (1) In the measurement and control method of the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope, as Figure 1As shown, the gyro XY mode generates capacitance detection signals. After being converted by the capacitance-voltage conversion circuit, electrical signals D representing the vibration displacement of the X mode are obtained. x And electrical signals D representing the vibration displacement of the Y mode. y , denoted as -A. x cosωt and A y sinωt. After passing through the AD conversion module, in the digital processing system, using the orthogonal signals cosωt and sinωt generated by the phase-locked loop PLL, through the demodulation and filtering module, the outputs c x , c y , s x , s y are obtained. Among them, c x , c y respectively represent the cosωt components of the displacement signals D x , D y , and s x , s y respectively represent the sinωt components of the displacement signals D x , D y . ω represents the angular velocity frequency output by the system.

[0030] (2) In the measurement and control method of the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope, as shown in Figure 1 , 3 , 4, 5, 6, the signals c x , c y , s x , s y generated by the demodulation module, in the phase-locked loop control loop, through the direct digital synthesizer DDS, the reference orthogonal signals cosωt and sinωt are generated, where ω is the actual working frequency of the system. c x , c x , c y , s y are respectively in the X-mode amplitude control loop, the in-phase suppression control loop, and the Y-mode amplitude control loop. After passing through the PI controller, the orthogonal components f xs , f yc , f ys of the driving force are obtained. This driving force component is input to the driving force modulation module to obtain the driving force voltage signals f x , f y applied to the XY mode.

[0031] (3) In the measurement and control method of the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope, in the way of (2), the orthogonal components f xs , f yc , f ys of the driving force applied to the XY mode can be obtained., the reference signals sinωt and cosωt generated by DDS can be used to modulate it separately by f xs sinωt, f ys sinωt + f yc cosωt are respectively substituted into the dynamic equation of the two-degree-of-freedom vibration system of the gyro resonator for calculation and separation of the cosωt term, and the following can be obtained The sinωt term is separated to obtain

[0032] (4) In the measurement and control method of the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope, the working resonance frequency of the system, the driving force of the Y mode, and the amplitude A of the vibration displacement electrical signal of the XY mode can be obtained in the way of (3) x 、A y , the relationship between the Coriolis coefficient α′, the system angular velocity input Ω, the cross-damping coupling coefficient, and the modal equivalent mass. Let the ratio of the amplitudes A x 、A y be n, and the working resonance frequency of the system and the sinωt component of the driving force of the Y mode can be further calculated

[0033] (5) ω = nα′Ω + ω 0x

[0034] (6)

[0035] The above formula represents that the left side of the system is the output angular velocity ω of the system, the right side is the Ω term with coefficients and the natural resonance frequency of the X axis, α′ is the Coriolis coefficient, n is the ratio of the amplitudes A of the vibration displacement electrical signals of the XY mode x 、A y , E is the sum of the squares of A x 、A y . When the ratio n is kept constant, the external angular velocity Ω input to the system can be calculated through the actual working resonance frequency ω of the system. By increasing the ratio n of A x 、A y , the influence of the angular velocity input on the working resonance frequency of the system can be increased, and the scale factor of the mechanical vibration gyroscope is also increased accordingly, improving the sensitivity and signal-to-noise ratio of the system

[0036] It should be noted that the above embodiments are not used to limit the protection scope of the present invention. Equivalent transformations or substitutions made on the basis of the above technical solutions all fall within the protection scope of the claims of the present invention

Claims

1. A mechanical vibration gyroscope amplitude and frequency coupling modulation model control system, characterized in that The system includes a gyro resonator, a capacitance-voltage conversion circuit, an ADC module, a demodulation module, a DDS module, a PI module, a driving force modulation module, a DAC module, and an AC-DC coupling module. The capacitance displacement signals of the two modes of the gyro resonator are expressed as an electrical signal D of the X-mode vibration displacement through the capacitance-voltage conversion module. x And the electrical signal D of the Y-mode vibration displacement y , respectively set to -A x cos* and A y sinωt, the electrical signal is demodulated and outputted by cosωt through the analog-to-digital conversion module and the demodulation filter module. x 、c y , and the sinωt demodulated output s x 、s y , where ω represents the system operating resonant frequency, and c x 、c y Respectively represent the displacement signal D x , D y The cosωt component, s x 、s y Respectively represent the displacement signal D x , D y The sinωt component, s x After PI control, the reference signals cosωt, sinωt, c are input into the DDS module to generate x 、c y 、s y After PI control, f xs 、f yc 、f ys , respectively represent the amplitude of the cosωt component of the X-mode driving force and the amplitude of the cosωt and sinωt components of the Y-mode driving force, and input the driving force modulation module to obtain the driving force voltage signal f applied to the XY mode x 、f y After digital-to-analog conversion, it is coupled with a DC signal and input into the excitation electrode of the gyro resonator to achieve bilateral push-pull drive. By increasing the amplitude ratio of the X mode to the Y mode, the x / A y , which directly increases the system resonant frequency offset caused by the angular velocity input and enhances the system's response to the Coriolis effect, thereby effectively improving the system's scale factor, which means that the output signal amplitude corresponding to a unit input angular velocity change is proportionally amplified, making the effective signal change caused by a small angular velocity change more significant, thereby improving the gyroscope's sensitivity and signal-to-noise ratio.

2. Measurement and control method for amplitude and frequency coupling modulation model of mechanical vibration gyroscope, characterized in that, The method includes the following steps: Step 1) Apply driving forces with the same frequency but different amplitudes to the XY mode, apply an external angular velocity input to the gyro resonator, and excite the XY mode of the resonator to perform simple harmonic vibration; Step 2) Detection circuits are respectively constructed in two modes, and the capacitance displacement signals are converted into capacitance voltage to obtain the gyro XY mode displacement electrical signals D x , D y , which are respectively set as -A x cosωt and A y sinωt. After passing through the analog-to-digital conversion module, these displacement electrical signals are demodulated and filtered into c x , c y , s x , s y . Control the sinωt component of D x to be 0 and control that the Y mode only has a component that is 90° different from the X mode displacement; Step 3) The demodulated signal s x After PI control, the DDS module generates reference signals cosωt and sinωt. x 、c y 、s y The orthogonal component f of the driving force is obtained through PI control xs 、f yc 、f ys , and modulated into a driving force signal f through control force x 、f y , modulate the driving force to be f xs sinωt、f ys sinωt+f yc cosωt, and the dynamic equation of the two-degree-of-freedom vibration system is solved to obtain the system working resonant frequency ω as nα′Ω+ω 0x , the driving force is coupled with the high voltage signal and finally applied to the X and Y excitation electrodes, so that the XY mode of the resonator maintains simple harmonic vibration.

3. The measurement and control method for the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope according to claim 2, wherein Step 1) Apply driving forces with the same frequency but different amplitudes to the XY modes respectively to excite the XY modes to perform simple harmonic vibrations. Due to the coupling effect of amplitude modulation and frequency modulation, when the gyroscope receives an external angular velocity input, the system will introduce a stiffness modulation error of the angular velocity, causing the actual working resonance frequency ω of the resonator to be greater than its initial resonance frequency ω 0x .

4. The measurement and control method for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope according to claim 2, wherein Step 2) The two modal capacitance displacement detection values d of the gyroscope x and d y are respectively converted into signals D representing the X-mode vibration displacement through a capacitance-voltage conversion circuit x and signal D of the Y-mode vibration displacement y . After demodulation by sinωt and cosωt, the output is c x , c y , s x , s y , where c x , c y respectively represent the cosωt components of the displacement signals D x , D y , and s x , s y respectively represent the sinωt components of the displacement signals D x , D y . Control the sinωt component of D x to be 0 and control the Y-mode to have only a component that is 90° different from the X-mode displacement.

5. The measurement and control method for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope according to claim 4, characterized in that, Step 2) Demodulate the output to obtain c x , c y , s x , s y After that, take s x as the frequency tracking reference, control s x = 0 to make the sinωt component of D x be 0, and provide a reference signal for demodulation. Take c y as the in-phase suppression signal, control c y = 0 to suppress the component in the Y-mode displacement signal that is in phase with the X-mode displacement, so that only the component in the Y-mode that is 90° different from the X-mode displacement exists. Take c x , s y as the amplitude control signal to keep the vibration amplitudes of the gyro XY modes stable and in a ratio of n.

6. The measurement and control method for the amplitude and frequency coupling modulation model of the mechanical vibration gyroscope according to claim 2, characterized in that In step 3), the demodulated signal s x After PI control, the DDS module is input to generate the reference sine and cosine signals sinωt and cosωt, c x 、s y 、c y Then the orthogonal component f of the driving force is obtained through PI control xs 、f yc 、f ys , after inputting the demodulated signal into the control force modulation module, the driving force voltage signal f applied to the XY mode can be obtained x 、f y The reference signals sinωt and cosωt generated by DDS can modulate the driving force to f xs sinωt、f ys sinωt+f yc cosωt, the driving force signal and displacement signal D x , D y Combined with the dynamic equation of the two-degree-of-freedom vibration system, the system working resonant frequency ω=nα′Ω+ω 0x , where n is A x With A y ratio, α′ is the Coriolis coupling factor, Ω is the system input angular velocity, ω 0x is the initial resonant frequency of the oscillator, and the driving force f x 、f y It is coupled with the high voltage signal and finally applied to the X and Y excitation electrodes to maintain the simple harmonic vibration of the XY mode.

7. The measurement and control method for the amplitude and frequency coupling modulation model of a mechanical vibration gyroscope according to claim 6, characterized in that, Step 3) Calculate the system operating resonant frequency ω=nα′Ω+ω 0x In the equation, due to α′, ω 0x For the same mechanical vibration gyroscope, when A is maintained x With A y When the ratio n is constant, the angular velocity of the system input can be obtained by reading the frequency ω output by the DDS module, realizing the control of the amplitude and frequency coupling modulation model. When the ratio n increases, the system resonant frequency offset caused by the angular velocity input is directly increased, and the system's response to the Coriolis effect is enhanced, thereby effectively improving the system's scale factor, which means that the output signal amplitude corresponding to a unit input angular velocity change is proportionally amplified, making the effective signal change caused by a small change in the input angular velocity more significant, thereby improving the sensitivity and signal-to-noise ratio of the gyroscope.

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