Simulation verification method for ASIC (Application Specific Integrated Circuit) control loop of metal micro-resonance hemispherical gyroscope

Abstract

The invention discloses a simulation verification method for an ASIC (Application Specific Integrated Circuit) control loop of a metal micro-resonance hemisphere-like gyroscope. The method comprises the following steps: based on an input angular velocity and a control signal, generating a vibration signal of a harmonic oscillator by using a pre-constructed dynamics simulation model; modulating and demodulating the vibration signal through a signal modulation and demodulation module, extracting a low-frequency component and removing high-frequency noise to obtain a parameter representing a modal precession state; an antinode control signal and a wave node control signal are generated through a PID controller module based on the parameters representing the modal precession state; an antinode control signal and a wave node control signal are decomposed to an orthogonal direction through a coordinate transformation and combination module to generate a driving signal, and the driving signal is applied to a harmonic oscillator to form a closed-loop self-excitation driving control loop; and verifying the dynamic performance of the closed-loop self-excitation driving control loop in a simulation environment. The technical problems of high power consumption, complexity and development cost of simulation verification are solved.

Description

Technical Field

[0001] The present invention relates to the field of inertial sensors, and in particular to a metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method. Background Art

[0002] Currently, widely used inertial sensors include fiber optic gyroscopes (FOGs), hemispherical resonator gyroscopes (HRGs), MEMS gyroscopes, and laser gyroscopes. Metal-shell resonator gyroscopes (HRGs), one type of HRG, offer high overload capacity, high precision, compact size, high integration, and high reliability. Their excellent performance has gradually attracted attention and become a research hotspot.

[0003] Traditional gyroscope control loops often employ analog or digital circuit designs to maintain vibration and detect angular velocity. In analog circuits, automatic gain control (AGC) or phase-locked loop (PLL) drive circuits are often used to control the vibration signal to ensure stable oscillation, while angular velocity detection is performed via open-loop or closed-loop sensing circuits. However, analog designs use a large number of discrete components, resulting in low integration and greater sensitivity to ambient temperature and noise. Digital circuits implement both drive and detection functions within the same device, typically relying on a digital signal processor (DSP) or field-programmable gate array (FPGA) for demodulation and control. While this design improves signal processing flexibility and accuracy, it also increases power consumption, complexity, and development costs, making it difficult to meet the demands of miniaturization and high integration.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The embodiment of the present invention provides a metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method, which at least solves the technical problems of high power consumption, complexity and development cost of simulation verification.

[0006] According to one aspect of an embodiment of the present invention, a method for simulating and verifying a control loop of an ASIC of a metal micro-resonance hemispherical gyroscope is provided, comprising: generating a vibration signal of a resonator based on an input angular velocity and a control signal using a pre-built dynamic simulation model; modulating and demodulating the vibration signal through a signal modulation and demodulation module, extracting low-frequency components and removing high-frequency noise to obtain parameters characterizing a modal precession state; generating an antinode control signal and a node control signal based on the parameters characterizing the modal precession state through a PID controller module; decomposing the antinode control signal and the node control signal into orthogonal directions through a coordinate transformation and combination module to generate a drive signal, and applying the drive signal to the resonator to form a closed-loop self-excited drive control loop; and verifying the dynamic performance of the closed-loop self-excited drive control loop in a simulation environment.

[0007] According to another aspect of an embodiment of the present invention, a metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification chip is also provided, including: a construction module, configured to generate a vibration signal of the resonator based on the input angular velocity and control signal using a pre-built dynamic simulation model; a signal modulation and demodulation module, configured to modulate and demodulate the vibration signal, extract low-frequency components and remove high-frequency noise, and obtain parameters characterizing the modal precession state; a PID controller module, configured to generate an antinode control signal and a node control signal based on the parameters characterizing the modal precession state; a coordinate transformation and combination module, configured to decompose the antinode control signal and the node control signal into orthogonal directions, generate a drive signal, and apply the drive signal to the resonator to form a closed-loop self-excited drive control loop.

[0008] In an embodiment of the present invention, a vibration signal of the resonator is generated based on the input angular velocity and control signal using a pre-built dynamic simulation model; the vibration signal is modulated and demodulated by a signal modulation and demodulation module, low-frequency components are extracted and high-frequency noise is removed to obtain parameters characterizing the modal precession state; a PID controller module is used to generate antinode control signals and node control signals based on the parameters characterizing the modal precession state; the antinode control signals and node control signals are decomposed into orthogonal directions by a coordinate transformation and combination module to generate a drive signal, which is applied to the resonator to form a closed-loop self-excited drive control loop; the dynamic performance of the closed-loop self-excited drive control loop is verified in a simulation environment. The above solution solves the technical problems of high power consumption, complexity and development cost of simulation verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0010] Figure 1 This is a flow chart of an optional metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method according to an embodiment of the present invention;

[0011] Figure 2 is a flow chart of another optional metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method according to an embodiment of the present invention;

[0012] Figure 3 2. A schematic diagram of a vibration trajectory of an equivalent particle of a harmonic oscillator according to an embodiment of the present invention;

[0013] Figure 4A signal modulation and demodulation module architecture according to an embodiment of the present invention;

[0014] Figure 5 is a structural diagram of a PID control module according to an embodiment of the present invention;

[0015] Figure 6 is a structural diagram of a packaging subsystem according to an embodiment of the present invention;

[0016] Figure 7 This is a schematic diagram of the composition structure of an optional metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification chip according to an embodiment of the present invention;

[0017] Figure 8 A schematic structural diagram of an electronic device suitable for implementing the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices.

[0020] According to an embodiment of the present invention, an embodiment of a method for simulating and verifying a control loop of an ASIC of a metal micro-resonance hemispherical gyroscope is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0021] Figure 1A metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method according to an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0022] Step S102 : Based on the input angular velocity and control signal, a vibration signal of the resonator is generated using a pre-built dynamic simulation model.

[0023] Step S104 : modulating and demodulating the vibration signal through a signal modulation and demodulation module, extracting low-frequency components and removing high-frequency noise to obtain parameters characterizing the modal precession state.

[0024] For example, the vibration signal is modulated and demodulated by a narrowband filter to extract the low-frequency component and remove the high-frequency noise near 2ω to obtain the parameters characterizing the modal precession state.

[0025] Step S106 : generating anti-node control signals and node control signals based on the parameters characterizing the modal precession state through a PID controller module.

[0026] For example, based on the parameters characterizing the modal precession state, signal characteristic parameters are generated, wherein the signal characteristic parameters include at least one of the following: antinode amplitude E, node amplitude Q, first gyro angle resolution signal S, and second gyro angle resolution signal R. Based on the signal characteristic parameters, the antinode control signal and the node control signal are generated. Furthermore, Q is used to generate an orthogonal component control signal for reducing orthogonal error; E is used to generate an amplitude control signal; and R and S are used to generate an additional PID control signal for error compensation.

[0027] Step S108, decomposing the antinode control signal and the node control signal into orthogonal directions through a coordinate transformation and combination module, generating a driving signal, and applying the driving signal to the resonator to form a closed-loop self-excited driving control circuit.

[0028] Based on the precession angle, the orthogonal components of the antinode control signal and the in-phase components of the node control signal are decomposed into the x-axis and y-axis directions to obtain the decomposed components; the drive signal is generated by combining the carrier signal with the decomposed components for application to the drive electrode of the resonator.

[0029] Step S110 , verifying the dynamic performance of the closed-loop self-excited drive control loop in a simulation environment.

[0030] The signal modulation and demodulation module, the PID controller module, and the coordinate transformation and combination module are encapsulated as a subsystem. The dynamic performance of the closed-loop self-excited drive control loop is verified in a simulation environment.

[0031] The present invention proposes a control loop simulation verification method that integrates complex signal processing and control algorithms into ASIC, which not only simplifies the design and shortens the development cycle, but also improves the integration of the circuit, meeting the requirements of modern electronic equipment for miniaturization and high integration.

[0032] Figure 2 Another metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method according to an embodiment of the present application is as follows: Figure 2 As shown, the method includes:

[0033] Step S202: The signal generator controls the initial input of the gyro model.

[0034] In full-angle mode, the metal micro-resonant hemispherical gyroscope uses the Coriolis effect to measure angular velocity. The resonator in the resonant gyroscope vibrates at a specific frequency, forming a four-antinode vibration mode. The vibration parameters are coupled with parameters such as the resonance amplitude, frequency, and precession angle. When the resonator is subjected to angular velocity input, the Coriolis force acts on the resonator. The direction of this force is perpendicular to the vibration direction and the angular velocity direction, causing the vibration standing wave to precess, which is proportional to the input angular velocity. The resonant vibration signal is detected by sensitive electrodes and converted into an electrical signal. The signal processing algorithm separates information such as the vibration amplitude, vibration frequency, and precession angle from these signals, and uses a control algorithm to stabilize the resonant vibration mode of the resonator to ensure that the precession angle of the gyroscope converges stably. The gyroscope control loop system is built in Simulink. It is divided into two major parts: gyroscope peripherals and system control. Among them, system control is the key part, which is divided into three parts: filtering, PID control, and data demodulation. The gyroscope peripheral part includes a gyroscope dynamics simulation model, which receives the system control signal f x and f y and the angular velocity changes of the gyroscopic motion.

[0035] When the gyroscopic mechanical model can be simplified to a second-order spring-mass-damper system, its second-order dynamic model is as shown in Equation (1.1):

[0036]

[0037] In step S204, the gyro model simulates the dynamic motion of the actual gyro. The module includes the input and output of the gyro to facilitate subsequent closed-loop control.

[0038] The GyoModal module uses the state equation to simulate the gyro dynamic response and receives the angular velocity input omega and the control signal f x 、f y The schematic diagram of the vibration trajectory of the equivalent particle of the oscillator is as follows: Figure 3 shown.

[0039] Step S206: the signal modulation and demodulation module modulates the input gyroscope signal.

[0040] The self-excited closed-loop control circuit includes a drive circuit and a detection circuit, which simultaneously achieve stable self-oscillation and angle detection for the gyroscope. During vibration, the x and y axes represent two orthogonal modal components, originating from the detection of the shell surface vibration by the flat electrode. Using the averaging method, the vibration displacement of the gyroscope resonator at the x and y positions can be expressed as follows:

[0041]

[0042] Where a and q are the major and minor axes of the resonant vibration mode, θ is the angle between the main wave amplitude axis and the 0° electrode axis (x-axis), and x and y are the signals read out by the gyroscope through two electrodes 45° apart. The signal modulation and demodulation module modulates and demodulates the collected x and y axis data, extracts the low-frequency components through a narrowband filter, and removes the high-frequency noise near 2ω. The signal modulation and demodulation module architecture is as follows: Figure 4 As shown, the transfer function is as follows:

[0043]

[0044] The low-frequency component C of the filtered output x 、C y 、S x 、S y Used to describe the state of modal precession, they represent the in-phase and quadrature components of x and y, respectively. These variables are expressed as signal characteristic parameters E, Q, S, and R after operation.

[0045]

[0046] Q=2(C x S y -C y S x )=2aq

[0047]

[0048] S=2(C x C y +S x S y )=(a 2 -q 2 )sin(2θ)

[0049] L=2(C x S x +C y S y )=(a 2 -q 2 )sin(2δ) (1.3)

[0050] Among them, E represents the sum of the squares of the vibration amplitudes of the main resonant wave and the orthogonal wave (under normal circumstances, q should be close to zero), which represents the amplitude of the anti-node point. Q represents the degree to which the orthogonal control loop returns to zero, which represents the amplitude of the wave node. The operation S and R obtains the precession angle, as expressed in formula 1.4.

[0051] θ=0.5arctan(S / R) (1.4)

[0052] In step S208 , the PID control module converts the characteristic parameters into a control signal, obtains the precession angle, and feeds the control signal back to the gyro model to form a closed-loop self-excited drive.

[0053] By performing amplitude control, quadrature control, and phase control on the E and Q calculated from the elliptical parameters, precise adjustment of the vibration mode can be achieved. The amplitude control loop adjusts the value of E through the PID controller to keep it constant, thereby generating the quadrature component f of the antinode control signal. as , used to stabilize the vibration amplitude; the orthogonal control loop controls Q through PID to generate the wave node control signal F q The in-phase component f qc , in order to minimize the value of Q, thereby reducing the orthogonal error. To further reduce the orthogonal error, a PID controller with compensation error is added, and the solution values ​​of R and S are used to generate additional orthogonal component control signals. These control signals (orthogonal components and in-phase components of antinodes and nodes) are transformed and combined with the carrier signal to finally generate control signals Fa and Fb. The gyroscope needs to use the driving electrodes in the x and y directions to apply to the resonator, so it is necessary to use the angle θ to adjust F a With F q Decomposed into x and y directions respectively, the driving force f is obtained x and f y Applying electrostatic force to control the hemispherical resonator completes the entire control solution loop to achieve comprehensive dynamic control of the vibration mode. Finally, the required feedback control signal f is achieved. x and f y , the formula is as follows:

[0054]

[0055] The control signal is fed back to the gyro model as input to form a closed-loop control system and realize the simulation of closed-loop self-excitation drive. This allows for precise control of the metal shell resonant gyro. The signal modulation and demodulation module, PID controller module (such as Figure 5 As shown) and coordinate transformation and combination modules are encapsulated as subsystems, such as Figure 6 shown.

[0056] In Simulink, click Model Settings in HDL Code. Select ZedBoard in Hardware Implementation. Select the subsystem to be converted, set the language to Verilog, and specify the path. Select Xilinx Vivado as the synthesis tool, set the subsequent parameters based on the development board, click Apply, and then click OK. After completing the basic configuration, click HDL Workflow Advisor, select the root file, and click Run All under Run to convert the code. Generate the IP core in Vivado.

[0057] In an embodiment of the present invention, the metal micro-resonant hemispherical gyroscope has a large dynamic range, capable of operating normally in high-overload environments, ensuring its stability and reliability under harsh conditions. Furthermore, integrating the gyroscope drive and detection control circuits into an ASIC simplifies the gyroscope design and development process. Instead of soldering the gyroscopes to the entire test circuit, this allows for batch verification of the effects of identical gyroscopes, saving development time and costs. Finally, integrating the gyroscope drive and detection control circuits into an ASIC reduces the complexity of the circuit interfaces and the high power consumption compared to analog and digital circuit designs.

[0058] The beneficial effects of the present invention are as follows: (1) Complex algorithms are integrated into ASIC and packaged as IP cores, so that the design can be reused in different projects, significantly shortening the development cycle, improving the accuracy and reusability of the design, and reducing development costs. (2) The gold metal micro-resonance hemispherical gyroscope in the present invention has excellent high overload bearing capacity and large dynamic range, can work stably in complex environments, and meet the demand for high dynamic accuracy. (3) The closed-loop self-excited drive control circuit can simultaneously realize the stable self-excited oscillation and angle detection of the metal micro-resonance hemispherical gyroscope. The integration of the circuit design is improved. At the same time, this design effectively reduces the high power consumption problem in traditional analog or digital circuit solutions. (4) The present invention has a compact design and high circuit integration, which can meet the requirements of modern electronic equipment for miniaturization, lightweight and high reliability, and is suitable for a variety of application scenarios.

[0059] This application also provides a metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification chip, such as Figure 7 As shown, it includes: a signal generator 72, which is configured to control the initial input of the gyro model; a gyro model 74, which is configured to simulate the behavior of an actual gyro and generate an output; a signal modulation and demodulation module 76, which is configured to modulate the input gyro signal; a PID control module 78, which is configured to convert the characteristic parameters into a control signal, obtain the precession angle and feed the control signal back to the gyro model to form a closed-loop self-excited drive.

[0060] It should be noted that the metal-shell resonant gyroscope ASIC control loop IP core design provided in the above embodiment is merely an example of the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the metal-shell resonant gyroscope ASIC control loop IP core design provided in the above embodiment and the metal-shell resonant gyroscope ASIC control loop IP core design embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0061] Figure 8 Schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present disclosure is shown. Figure 8 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0062] like Figure 8 As shown, the electronic device includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 into the random access memory (RAM) 1003. Various programs and data required for system operation are also stored in the RAM 1003. The CPU 1001, ROM 1002 and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0063] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1008 including a hard disk; and a communication section 1009 including a network interface card such as a LAN card or a modem. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1008 as needed.

[0064] In particular, according to an embodiment of the present disclosure, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the various functions defined in the method and apparatus of the present application are executed. In some embodiments, the electronic device may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0065] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification method, characterized in that: include: Based on the input angular velocity and control signal, a pre-built dynamic simulation model is used to generate the vibration signal of the resonator; The vibration signal is modulated and demodulated by a signal modulation and demodulation module to extract low-frequency components and remove high-frequency noise to obtain parameters representing the modal precession state; generating, by a PID controller module, antinode control signals and node control signals based on the parameters characterizing the modal precession state; Decomposing the antinode control signal and the node control signal into orthogonal directions through a coordinate transformation and combination module, generating a drive signal, and applying the drive signal to the resonator to form a closed-loop self-excited drive control circuit; The dynamic performance of the closed-loop self-excited drive control loop is verified in a simulation environment.

2. The method according to claim 1, characterized in that The vibration signal is modulated and demodulated, a low-frequency component is extracted, and high-frequency noise is removed to obtain parameters characterizing the modal precession state, including: modulating and demodulating the vibration signal through a narrowband filter, extracting the low-frequency component, removing high-frequency noise near 2ω, and obtaining parameters characterizing the modal precession state.

3. The method according to claim 1, characterized in that Based on the parameters characterizing the modal precession state, generating antinode control signals and node control signals includes: Generate signal characteristic parameters based on the parameters characterizing the modal precession state, wherein the signal characteristic parameters include at least one of the following: antinode amplitude E, node amplitude Q, first signal S for gyro angle resolution, and second signal R for gyro angle resolution; Based on the signal characteristic parameters, the antinode control signal and the node control signal are generated to calculate the gyro angle.

4. The method according to claim 3, characterized in that After generating the signal characteristic parameters, the method further includes: generating an orthogonal component control signal using the node amplitude Q to reduce the orthogonal error; generating an amplitude control signal using the antinode amplitude E; and generating an additional PID control signal for compensating the error using the first signal S and the second signal R for solving the gyro angle.

5. The method according to claim 3, characterized in that Decomposing the antinode control signal and the node control signal into orthogonal directions to generate a drive signal includes: Based on the precession angle, decomposing the orthogonal components of the antinode control signal and the in-phase components of the node control signal into the x-axis and y-axis directions to obtain decomposed components; The driving signal is generated by combining the carrier signal with the decomposed components, and is applied to the driving electrode of the resonator.

6. The method according to claim 1, characterized in that After forming a closed-loop self-excited drive control loop, the method further includes: packaging the signal modulation and demodulation module, the PID controller module, and the coordinate transformation and combination module into a subsystem.

7. A metal micro-resonance hemispherical gyroscope ASIC control loop simulation verification chip, characterized in that: include: The initialization and angular velocity input module 72 is configured to generate a vibration signal of the oscillator based on the input angular velocity and control signal using a pre-built dynamic simulation model; a signal modulation and demodulation module 74 configured to modulate and demodulate the vibration signal, extract low-frequency components and remove high-frequency noise, and obtain parameters representing the modal precession state; a PID controller module 76 configured to generate antinode control signals and node control signals based on the parameters characterizing the modal precession state; The coordinate transformation and combination module 78 is configured to decompose the antinode control signal and the node control signal into orthogonal directions, generate a drive signal, and apply the drive signal to the resonator to form a closed-loop self-excited drive control circuit.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A computer device, characterized in that: include: memory and processor, The memory stores a computer program; The processor is configured to execute a computer program stored in the memory, wherein the computer program enables the processor to execute the method according to any one of claims 1 to 6 when the computer program is executed.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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