Parameter adjustment method for closed-loop modulation 2pi reset of fiber-optic gyroscope and storage medium

Abstract

The invention discloses a parameter adjustment method for closed-loop modulation 2pi reset of a fiber-optic gyroscope and a storage medium, and the method comprises the following steps: determining a steady-state working point of a digital integrator and a corresponding modulation gain initial value, and establishing a reference working state; calibrating a reference resistor based on the reference working state so as to establish a corresponding relation between the digital control quantity and the Y waveguide half-wave voltage; optimizing the proportionality coefficient of the modulation gain and the interception digit of the gain error based on the transfer function, and controlling the value of the pole position parameter within the target interval; a basic modulation signal is generated through a parallel DA converter, fine tuning voltage output by a serial DA converter is calculated in real time in combination with a digital integrator, the basic modulation signal and the fine tuning voltage are synthesized through an operational amplifier circuit, and a final driving signal is generated and fed back to a Y waveguide electrode of the fiber-optic gyroscope for 2 pi reset modulation. By dynamically adjusting the modulation gain, the stabilization time of the fiber-optic gyroscope is shortened, so that the scale factor and the zero-bias stability of the gyroscope are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of digital closed-loop fiber optic gyroscopes, and in particular to a parameter adjustment method and storage medium for closed-loop modulation 2π reset of a fiber optic gyroscope. Background Art

[0002] As a high-precision angular velocity measurement device, the 2π reset modulation technology in the fiber optic gyroscope's digital closed-loop system is a key component in ensuring measurement accuracy. This technology applies a periodic reset voltage through a Y-waveguide phase modulator to control the Sagnac phase difference within a 2π range to prevent signal saturation. However, due to the differences in the Y-waveguide half-wave voltage between different manufacturers and models, and the degree of influence from the external environment, instability in the Y-waveguide half-wave voltage can lead to unstable scale factor and zero bias of the fiber optic gyroscope, and even malfunction of the gyro. Therefore, the circuit board must adjust the voltage height corresponding to the modulation height of 2π in real time to reduce closed-loop feedback error and improve gyroscope performance.

[0003] In the prior art, Chinese patent publication number CN116026304A discloses a method for resetting the 2π voltage of a fiber optic gyroscope based on optical path extension. This method proposes an optical path delay alignment scheme, but it only addresses the reset timing error and fails to solve the essential problem of Vπ dynamic drift. Chinese patent publication number CN114111754A discloses a closed-loop control method for a fiber optic gyroscope to eliminate reset errors. Although the square wave amplitude adjustment method of this method can stabilize the operating point, it lacks adaptability to slowly changing factors such as temperature.

[0004] At the same time, existing technologies use a digital integrator to track the 2π voltage in real time based on the reset error signal. However, the digital integrator has a limited bit width. If the feedback coefficient is too large or the Y-waveguide half-wave voltage changes too much, the digital integrator can easily overflow. If the feedback coefficient is too small, the system will stabilize too slowly and cannot close the loop properly. Summary of the Invention

[0005] In response to the above-mentioned deficiencies in the prior art, the present invention provides a parameter adjustment method for 2π reset of closed-loop modulation of a fiber optic gyroscope. By dynamically adjusting the modulation gain, the fiber optic gyroscope stabilization time is reduced, the gyroscope scale factor and zero bias stability are improved, the stable value of the digital integrator is brought close to the intermediate value, and the gyroscope's adaptability in extreme environments is enhanced.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a parameter adjustment method for a fiber optic gyroscope closed-loop modulation 2π reset, comprising the following steps:

[0008] S1. Determine the steady-state operating point of the digital integrator and the corresponding initial value of the modulation gain to establish a reference operating state;

[0009] S2. Calibrate the reference resistor based on the reference working state to establish a corresponding relationship between the digital control amount and the Y-waveguide half-wave voltage;

[0010] S3. Optimizing the proportional coefficient of the modulation gain and the number of intercepted bits of the gain error based on the transfer function, and controlling the value of the pole position parameter within a target range;

[0011] S4. Generate a basic modulation signal through a parallel DA converter, combine with a digital integrator to calculate the fine-tuning voltage output by the serial DA converter in real time, synthesize the basic modulation signal and the fine-tuning voltage through an operational amplifier circuit, and generate a final drive signal that is fed back to the Y-waveguide electrode of the fiber optic gyroscope for 2π reset modulation.

[0012] As a preferred solution, step S1 specifically includes the following steps:

[0013] S101, setting the initial value of the digital integrator to the middle range value of the serial DA converter, and setting the initial value of the proportional coefficient;

[0014] S102, powering on the fiber optic gyroscope, monitoring the gain error E0, and determining the modulation gain initial value K1(0) that stabilizes the gain error E0 by adjusting the initial value of the digital integrator;

[0015] S103 , recording the output steady-state voltage V0 and the corresponding steady-state current I0 of the serial DA converter at this time.

[0016] As a preferred solution, the corresponding relationship between the digital control amount and the Y waveguide half-wave voltage is established in step S2 by adjusting the reference resistor R REF , so that when the serial DA converter outputs the mid-scale value, the reference current I REF Matches the steady-state current I0.

[0017] As a preferred solution, in step S3, the transfer function is:

[0018]

[0019] Where K1 is the modulation gain, K2 is the proportional coefficient, K3 is the drive ratio, E0 is the gain error, 2 N is the quantization level of the parallel DA converter, Z is the discrete time domain operator;

[0020] The pole position parameters are:

[0021]

[0022] Where ρ is the pole location parameter.

[0023] As a preferred solution, step S4 specifically includes the following steps:

[0024] The basic modulation signal is generated by the parallel DA converter, and the fine-tuning voltage output by the serial DA converter is calculated in real time by combining the digital integrator. The basic modulation signal and the fine-tuning voltage are synthesized through the operational amplifier circuit to generate the final drive signal to dynamically adjust the modulation gain and compensate the Y waveguide half-wave voltage to meet the requirements. in, Generates the basic modulation signal for the parallel DA converter, K1 is the modulation gain, V 2π is the 2π reset voltage to achieve closed-loop modulation 2π reset.

[0025] In a second aspect, the present invention further provides a computer-readable storage medium storing a computer program, which implements control according to the steps of the parameter adjustment method for 2π reset of closed-loop modulation of a fiber optic gyroscope when the computer program is executed.

[0026] Compared with the prior art, the present invention has the following technical effects:

[0027] (1) The present invention adopts a dual-DA collaborative regulation architecture to generate a basic modulation signal through a parallel DA converter, and uses a serial DA converter to achieve dynamic fine-tuning. This not only ensures a wide range of adjustment capabilities, but also achieves fine adjustment accuracy, effectively compensates for the drift change of the Y-waveguide half-wave voltage, and significantly improves the overall control accuracy of the system.

[0028] (2) The optimized design of the digital integrator of the present invention sets the initial value to the middle range and optimizes the dynamic response characteristics through ρ value control, which effectively avoids the overflow risk of the digital integrator; at the same time, the intelligent temperature compensation algorithm can automatically adjust the control parameters according to the temperature change rate and adopt an adaptive adjustment strategy to enable the system to adapt to the working environment with a wide temperature range, and maintain stable performance regardless of rapid temperature change or slow drift.

[0029] (3) The present invention achieves precise 2π reset modulation by calculating the digital integrator output in real time and dynamically adjusting the modulation gain to maintain a precise voltage-phase relationship. This closed-loop control method enables the system to automatically track parameter changes, ensuring long-term operational stability. Combined with an optimized hardware architecture design, including the coordinated operation of parallel and serial DAs and a high-bandwidth op amp drive circuit, the signal quality and signal-to-noise ratio are significantly improved, the system's anti-interference capability is enhanced, and sensitivity to component parameter drift is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the purpose, technical solutions and advantages of the invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0031] Figure 1 This is a flow chart of a parameter adjustment method for closed-loop modulation 2π reset of a fiber optic gyroscope according to the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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 described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but only represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] The present invention will be described in further detail below with reference to the accompanying drawings.

[0034] First, as Figure 1 As shown, the present invention discloses a parameter adjustment method for closed-loop modulation 2π reset of a fiber optic gyroscope, specifically:

[0035] S1. Determine the steady-state operating point of the digital integrator and the corresponding initial value of the modulation gain to establish a reference operating state;

[0036] In this embodiment, step S1 specifically includes the following steps:

[0037] S101, setting the initial value of the digital integrator to the middle range value of the serial DA converter, and setting the initial value of the proportional coefficient;

[0038] S102, powering on the fiber optic gyroscope, monitoring the gain error E0, and determining the modulation gain initial value K1(0) that stabilizes the gain error E0 by adjusting the initial value of the digital integrator;

[0039] S103 , recording the output steady-state voltage V0 and the corresponding steady-state current I0 of the serial DA converter at this time.

[0040] When the present embodiment is specifically applied, the initial value of the digital integrator is set to 2 M-1 -1, taking 12 as an example, the initial value is 2047, and K2 is set to After the fiber optic gyroscope is powered on, the gain error E0 is observed. When the observed E0 is large, the initial value of the serial DA converter is adjusted to 1047 or 3047. No obvious error E0 is observed, and the serial DA converter outputs a steady-state voltage V0. The reference value for modulating the parallel DA converter is the current I REF , the serial DA converter output with gain K1 is voltage V out , but The corresponding K1 is the steady-state initial value.

[0041] S2. Calibrate the reference resistor based on the reference working state to establish a corresponding relationship between the digital control amount and the Y-waveguide half-wave voltage;

[0042] In this embodiment, the corresponding relationship between the digital control amount and the Y waveguide half-wave voltage is established in step S2 by adjusting the reference resistor R REF , so that when the serial DA converter outputs the mid-scale value, the reference current I REF Matches the steady-state current I0.

[0043] When this embodiment is specifically applied, the initial R REF =2KΩ, V0=1.75V, The initial value of the integrator is 2 M-1 -1, V out =1.25V, then the adjusted Therefore, the reference resistor was changed from 2KΩ to 1.48KΩ.

[0044] S3. Optimizing the proportional coefficient of the modulation gain and the number of intercepted bits of the gain error based on the transfer function, and controlling the value of the pole position parameter within a target range;

[0045] The transfer function is:

[0046]

[0047] Where K1 is the modulation gain, K2 is the proportional coefficient, K3 is the drive ratio, E0 is the gain error, 2 N is the quantization level of the parallel DA converter, Z is the discrete time domain operator;

[0048] The pole position parameters are:

[0049]

[0050] Where ρ is the pole location parameter.

[0051] In this embodiment, K1 is primarily affected by the half-wave voltage of the Y-waveguide. While many factors influence its variation, temperature is the primary factor when the gyro hardware is fixed. During gyro operation, temperature changes slowly, and the rate and magnitude of voltage change corresponding to a modulation phase of 2π are very small. This requires that the K1 adjustment coefficient be kept small to prevent overshoot and oscillation. The ideal tracking adjustment process is a slow, monotonic convergence from the first K1(t0) to the second K1(t1).

[0052] Therefore, according to the above pole position parameters, we can get The pole position parameter ρ should be controlled within the target range, less than 1 and close to 1, so K1 needs to be very small. Considering that the gyro stabilization time is as short as possible and the temperature adaptability is as wide as possible, the initial value given by the gain integral link is as close as possible to the actual K1 value. The initial value corresponds to the middle value of the regulating actuator 2 M-1 -1.

[0053] In the specific application of this embodiment, for example, E0 is a 14-bit digital signal, and the initial steady-state value of the integrator is 2 11 -1, K2 is set to Then digital integration is implemented for E0, and the high 7 bits are added to the steady-state initial value, that is, the input signal of the serial DA converter is (2 11 -1)+(∑E0[18:7]). If K2 needs to be reduced to improve closed-loop performance, a higher bit of ∑E0 is used for closed-loop regulation. For example, (2 11 -1)+(∑E0[19:8]) corresponding to K2 is set to

[0054] S4. Generate a basic modulation signal through a parallel DA converter, combine with a digital integrator to calculate the fine-tuning voltage output by the serial DA converter in real time, synthesize the basic modulation signal and the fine-tuning voltage through an operational amplifier circuit, and generate a final drive signal that is fed back to the Y-waveguide electrode of the fiber optic gyroscope for 2π reset modulation.

[0055] In this embodiment, step S4 specifically includes the following steps:

[0056] The basic modulation signal is generated by the parallel DA converter, and the fine-tuning voltage output by the serial DA converter is calculated in real time by combining the digital integrator. The basic modulation signal and the fine-tuning voltage are synthesized through the operational amplifier circuit to generate the final drive signal to dynamically adjust the modulation gain and compensate the Y waveguide half-wave voltage to meet the requirements. in, Generates the basic modulation signal for the parallel DA converter, K1 is the modulation gain, V 2π is the 2π reset voltage to achieve closed-loop modulation 2π reset.

[0057] In a second aspect, the present invention further provides a computer-readable storage medium storing a computer program that, when executed, implements control according to the steps of the parameter adjustment method for 2π reset of closed-loop modulation of an optical fiber gyroscope according to the present invention. For example, the computer-readable storage medium may be a memory of an electronic controller containing the aforementioned program instructions. The aforementioned program instructions may be executed by a processor of the electronic controller to implement control according to the parameter adjustment method for 2π reset of closed-loop modulation of an optical fiber gyroscope according to the aforementioned embodiment, thereby controlling a DA converter and a digital integrator to cooperate in completing the parameter adjustment process for 2π reset of closed-loop modulation of an optical fiber gyroscope.

[0058] The storage medium may be any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0059] The code for the computer program for performing the operations of the present invention can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer via any type of network, including a local area network or a wide area network, or can be connected to an external computer.

[0060] In summary, the present invention has the following technical effects:

[0061] (1) The present invention adopts a dual-DA collaborative regulation architecture to generate a basic modulation signal through a parallel DA converter, and uses a serial DA converter to achieve dynamic fine-tuning. This not only ensures a wide range of adjustment capabilities, but also achieves fine adjustment accuracy, effectively compensates for the drift change of the Y-waveguide half-wave voltage, and significantly improves the overall control accuracy of the system.

[0062] (2) The optimized design of the digital integrator of the present invention sets the initial value to the middle range and optimizes the dynamic response characteristics through ρ value control, which effectively avoids the overflow risk of the digital integrator; at the same time, the intelligent temperature compensation algorithm can automatically adjust the control parameters according to the temperature change rate and adopt an adaptive adjustment strategy to enable the system to adapt to the working environment with a wide temperature range, and maintain stable performance regardless of rapid temperature change or slow drift.

[0063] (3) The present invention achieves precise 2π reset modulation by calculating the digital integrator output in real time and dynamically adjusting the modulation gain to maintain a precise voltage-phase relationship. This closed-loop control method enables the system to automatically track parameter changes, ensuring long-term operational stability. Combined with an optimized hardware architecture design, including the coordinated operation of parallel and serial DAs and a high-bandwidth op amp drive circuit, the signal quality and signal-to-noise ratio are significantly improved, the system's anti-interference capability is enhanced, and sensitivity to component parameter drift is reduced.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described with reference to the preferred embodiments of the present invention, it should be understood by those skilled in the art that various changes can be made in form and details without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A parameter adjustment method for closed-loop modulation 2π reset of a fiber optic gyroscope, characterized in that: The steps include: S1. Determine the steady-state operating point of the digital integrator and the corresponding initial value of the modulation gain to establish a reference operating state; S2. Calibrate the reference resistor based on the reference working state to establish a corresponding relationship between the digital control amount and the Y-waveguide half-wave voltage; S3. Optimizing the proportional coefficient of the modulation gain and the number of intercepted bits of the gain error based on the transfer function, and controlling the value of the pole position parameter within a target range; S4. Generate a basic modulation signal through a parallel DA converter, combine with a digital integrator to calculate the fine-tuning voltage output by the serial DA converter in real time, synthesize the basic modulation signal and the fine-tuning voltage through an operational amplifier circuit, and generate a final drive signal that is fed back to the Y-waveguide electrode of the fiber optic gyroscope for 2π reset modulation.

2. The parameter adjustment method for closed-loop modulation 2π reset of an optical fiber gyroscope according to claim 1, characterized in that: The step S1 specifically includes the following steps: S101, setting the initial value of the digital integrator to the middle range value of the serial DA converter, and setting the initial value of the proportional coefficient; S102, powering on the fiber optic gyroscope, monitoring the gain error E0, and determining the modulation gain initial value K1(0) that stabilizes the gain error E0 by adjusting the initial value of the digital integrator; S103 , recording the output steady-state voltage V0 and the corresponding steady-state current I0 of the serial DA converter at this time.

3. The parameter adjustment method for closed-loop modulation 2π reset of an optical fiber gyroscope according to claim 2, characterized in that: The corresponding relationship between the digital control amount and the Y waveguide half-wave voltage is established in step S2 by adjusting the reference resistor R REF , so that when the serial DA converter outputs the mid-scale value, the reference current I REF Matches the steady-state current I0.

4. The parameter adjustment method for closed-loop modulation 2π reset of an optical fiber gyroscope according to claim 1, characterized in that: In step S3, the transfer function is: Where K1 is the modulation gain, K2 is the proportional coefficient, K3 is the drive ratio, E0 is the gain error, 2 N is the quantization level of the parallel DA converter, Z is the discrete time domain operator; The pole position parameters are: Where ρ is the pole location parameter.

5. The parameter adjustment method for closed-loop modulation 2π reset of an optical fiber gyroscope according to claim 1, characterized in that: The step S4 specifically includes the following steps: The basic modulation signal is generated by the parallel DA converter, and the fine-tuning voltage output by the serial DA converter is calculated in real time by combining the digital integrator. The basic modulation signal and the fine-tuning voltage are synthesized through the operational amplifier circuit to generate the final drive signal to dynamically adjust the modulation gain and compensate the Y waveguide half-wave voltage to meet V 2N ×K1=V 2π , where V 2N Generates the basic modulation signal for the parallel DA converter, K1 is the modulation gain, V 2π is the 2π reset voltage to achieve closed-loop modulation 2π reset.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, control is implemented according to the steps of the parameter adjustment method for 2π reset of closed-loop modulation of an optical fiber gyroscope according to any one of claims 1 to 5.

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