Hemispherical resonator gyroscope closed-loop control method and device, hemispherical resonator gyroscope and circuit board of hemispherical resonator gyroscope

Abstract

The invention discloses a closed-loop control method and device for a hemispherical resonator gyroscope, the hemispherical resonator gyroscope and a circuit board of the hemispherical resonator gyroscope, vibration of the gyroscope is decomposed into superposition of two traveling waves, three complex numbers are constructed based on the two traveling waves and a reference driving signal, a driving vector is calculated through the constructed three complex numbers, and therefore the closed-loop control of the hemispherical resonator gyroscope is achieved. And respectively controlling the moduli and arguments of the multiple numbers to complete closed-loop control of the hemispherical resonator gyroscope. Due to the fact that follow-up operation is normalized into a complex number to calculate a modulus and an argument, the code reusability is high, only an amplitude control loop needs to be adopted to control the moduli of the first two multiples, the number of control loops is reduced, the calculation workload is reduced, in addition, solving and restraining of orthogonal errors are avoided in the closing control process, error residues are reduced, and the control precision is improved. And the calculation precision of the driving force is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial navigation, in particular to a closed-loop control method and device of a hemispherical resonator gyro, a hemispherical resonator gyro and a circuit board thereof. BACKGROUND

[0002] The hemispherical resonator gyro is an inertial sensitive device, which has the advantages of small volume, light mass, simple structure and long service life. The hemispherical resonator gyro detects angular velocity by using standing wave vibration of a hemispherical resonator. A sinusoidal electrostatic force is applied to the eight electrodes at the edge of the resonator by a static electrostatic, electromagnetic or piezoelectric exciter, so that the resonator generates vibration at its natural frequency. Usually, the Lynch model is used in the hemispherical control circuit, and the vibration signal of the gyro is directly calculated. The demodulation quantity , , , , and the parameters E, Q, R, S and L are calculated, wherein E represents the total energy of vibration, Q represents the quadrature error, R and S represent the angle calculation parameters, and L represents the phase-locked error. Then, the amplitude control loop, the quadrature error suppression loop, the azimuth angle output loop and the phase-locked control loop are controlled respectively to suppress errors, and finally the driving force is calculated according to the error results after suppression to drive the hemispherical resonator gyro to maintain vibration. This method needs to calculate multiple parameters and design multiple loops to suppress errors, and the calculation workload is relatively large. SUMMARY

[0003] In view of the problems in the background art, the present application provides a closed-loop control method of a hemispherical resonator gyro, which can reduce the number of control loops and thus reduce the calculation workload. In addition, the calculation and suppression of the quadrature error are avoided in the closed-loop control process, thereby reducing the error residual and improving the driving force calculation accuracy.

[0004] The present application adopts the following technical solutions: A closed-loop control method of a hemispherical resonator gyro, comprising the following steps: calculating a demodulation reference signal and a driving reference signal according to a reference phase, mixing the demodulation reference signal and a detection signal of the hemispherical resonator gyro, and then low-pass filtering to obtain a phase shift identification parameter, constructing a first complex number, a second complex number and a third complex number according to the phase shift identification parameter, wherein the first complex number and the second complex number respectively represent two counter-propagating traveling waves, and the third complex number represents the tracking error of the reference signal to the gyro resonant signal, and the modulus of the first complex number, the second complex number and the third complex number and the angle thereof in the complex plane are calculated, adjusting the reference phase according to the angle of the third complex number in the complex plane to adjust the values of the demodulation reference signal and the driving reference signal until the angle of the third complex number in the complex plane is 0, and completing the phase-locked closed-loop control, The current mode azimuth angle of the hemispherical resonator gyroscope is calculated according to the difference between the angles of the first complex number and the second complex number in the complex plane; The driving force for driving the traveling wave corresponding to the first complex number is calculated according to the angle of the first complex number in the complex plane , and the size of the driving force is adjusted according to the difference between the modulus of the first complex number and the set reference amplitude , until the modulus of the first complex number is equal to the set reference amplitude; The driving force for driving the traveling wave corresponding to the second complex number is calculated according to the angle of the second complex number in the complex plane , and the size of the driving force is adjusted according to the difference between the modulus of the second complex number and the set reference amplitude , until the modulus of the second complex number is equal to the set reference amplitude; The adjusted driving force and the driving force are mixed to obtain the driving force of the X driving electrode and the Y driving electrode respectively and act on the corresponding driving electrode.

[0005] Optionally, the calculation formula of the demodulation reference signal is as follows: , , The calculation formula of the driving reference signal is as follows: , , wherein, is the resonant angular frequency, is time, is the reference phase, is the loop delay compensation amount.

[0006] Optionally, the mixing of the demodulation reference signal and the detection signal of the hemispherical resonator gyroscope, and the low-pass filtering to obtain the phase shift recognition parameter, specifically comprises: , , , , wherein, , , , is the phase shift recognition parameter, is the detection signal of the X detection electrode, is the detection signal of the Y detection electrode, indicates low-pass filtering.

[0007] Optionally, the constructing the first complex number, the second complex number and the third complex number according to the phase shift recognition parameter specifically comprises: , , , wherein, the first complex number is, the second complex number is, the third complex number is, the imaginary number is, the real part of the first complex number is, the imaginary part of the first complex number is; the real part of the second complex number is, the imaginary part of the second complex number is; the real part of the third complex number is, the imaginary part of the third complex number is; the values of the real part and the imaginary part of the three complex numbers are as follows: , , , , , .

[0008] Optionally, the driving force includes a cos component acting on the X driving electrode , a sin component acting on the X driving electrode , a cos component acting on the Y driving electrode , a sin component acting on the Y driving electrode , The size of the driving force is adjusted, and specifically comprises: adjusting , , and ; The driving force includes a cos component acting on the X driving electrode , a sin component acting on the X driving electrode , a cos component acting on the Y driving electrode​​​​​​ , the sin component of the driving force acting on the Y driving electrode , adjusting the size of the driving force , specifically including adjusting , , and ; mixing the adjusted driving force and the driving force to obtain the driving force of the X driving electrode and the Y driving electrode respectively and acting on the corresponding driving electrode, specifically including: adding the adjusted and to obtain the total cos amount acting on the X driving electrode , adding the adjusted and to obtain the total sin amount acting on the X driving electrode , mixing and with the driving reference signal to obtain the X driving electrode driving force and acting on the X driving electrode , adding the adjusted and to obtain the total cos amount acting on the Y driving electrode , adding the adjusted and to obtain the total sin amount acting on the Y driving electrode , mixing and

[0009] with the driving reference signal to obtain the Y driving electrode driving force and acting on the Y driving electrode. Optionally, the specific calculation method of each component of the driving force is: , , wherein is the first driving gain; the specific calculation method of each component of the driving force is: , , , ,in, This is the second driving gain.

[0010] Optionally, the step of adjusting the reference phase based on the angle of the third complex number in the complex plane to adjust the values ​​of the demodulation reference signal and the drive reference signal until the angle of the third complex number in the complex plane is 0, thereby completing the phase-locked loop control, specifically includes: when When >0, decrease the reference phase; when When <0, increase the reference phase until... When = 0, the adjusted reference phase remains unchanged; where... Let the third complex number be the angle in the complex plane; The driving force is adjusted based on the difference between the modulus of the first complex number and the set reference amplitude. The magnitude of the first complex number is determined until the modulus is equal to the set reference amplitude, specifically including: when At that time, reduce the first drive gain. ;when At that time, increase the first driving gain ;until At the same time, maintain the current first drive gain. Unchanged; among them, The modulus of the first complex number, For reference amplitude; The driving force is adjusted based on the difference between the modulus of the second complex number and the set reference amplitude. The magnitude of the second complex number is maintained until the modulus is equal to the set reference amplitude, specifically including: when At that time, reduce the second drive gain. ;when At that time, increase the second drive gain ;until At the same time, maintain the current second drive gain. Unchanged; among them, It is the modulus of the second complex number.

[0011] Optionally, the adjusted and Adding them together, we get the total cosine concentration acting on the X-driven electrode. The adjusted and Adding them together, we obtain the total sin value acting on the X-driven electrode. ,Will and With drive reference signal Multiplication yields the driving force of the X-driven electrode. and acting on the X driving electrode, specifically comprising: , wherein, , ; the adjusted and are added to obtain the total cos acting on the Y driving electrode the adjusted and are added to obtain the total sin acting on the Y driving electrode the and are multiplied with the driving reference signal to obtain the Y driving electrode driving force and acting on the Y driving electrode, specifically comprising: , wherein, , .

[0012] As a general inventive concept, the application also provides a device for implementing the closed-loop control method of the hemispherical resonator gyroscope as described above, comprising: a CORDIC module connected with the reference phase adjustment module, for calculating the demodulation reference signal and the driving reference signal according to the reference phase output by the reference phase adjustment module, a mixing and filtering module connected with the CORDIC module and the detection electrode of the hemispherical resonator gyroscope respectively, for mixing the detection signal output by the detection electrode with the demodulation reference signal output by the CORDIC module, and then low-pass filtering to obtain the phase shift identification parameter, a complex number construction operation module connected with the mixing and filtering module, for constructing a first complex number, a second complex number and a third complex number according to the phase shift identification parameter output by the mixing and filtering module, wherein the first complex number and the second complex number respectively represent two counter-propagating traveling waves, the third complex number represents the tracking error of the reference signal to the gyroscope resonant signal, and the modulus of the first complex number, the second complex number and the third complex number and the angle thereof in the complex plane are calculated respectively, a reference phase adjustment module connected with the complex number construction operation module, for adjusting the reference phase according to the angle of the third complex number in the complex plane, and transmitting it to the CORDIC module to adjust the values of the demodulation reference signal and the driving reference signal until the angle of the third complex number in the complex plane is 0, and the adjustment of the reference phase is stopped; a mode azimuth angle calculation module connected with the complex number construction operation module, for calculating the current mode azimuth angle of the hemispherical resonator gyroscope according to the difference between the angles of the first complex number and the second complex number in the complex plane. The first amplitude control module is connected with the complex number construction operation module, and is configured to calculate a driving force for driving a traveling wave corresponding to the first complex number according to an angle of the first complex number in a complex plane , and adjust a size of the driving force according to a difference between a modulus of the first complex number and a set reference amplitude , until the modulus of the first complex number is equal to the set reference amplitude. The second amplitude control module is connected with the complex number construction operation module, and is configured to calculate a driving force for driving a traveling wave corresponding to the second complex number according to an angle of the second complex number in a complex plane , and adjust a size of the driving force according to a difference between a modulus of the second complex number and a set reference amplitude , until the modulus of the second complex number is equal to the set reference amplitude. The mixing calculation module is connected with the first amplitude control module and the second amplitude control module respectively, and is configured to perform mixing calculation on the adjusted driving force and the driving force to obtain driving forces of the X driving electrode and the Y driving electrode respectively and apply the driving forces to the corresponding driving electrodes.

[0013] Optionally, the reference phase adjustment module comprises a frequency control module and a DDS module, the frequency control module is configured to adjust a frequency control word FCW according to the angle of the third complex number in the complex plane and transmit the adjusted frequency control word FCW to the DDS module, and the DDS module is configured to generate a reference phase according to the adjusted frequency control word FCW and transmit the reference phase to the CORDIC module. The mixing calculation module comprises an adding module and a mixing multiplication module, The driving force comprises a cos component acting on the X driving electrode , a sin component acting on the X driving electrode , a cos component acting on the Y driving electrode , and a sin component acting on the Y driving electrode . The driving force comprises a cos component acting on the X driving electrode , a sin component acting on the X driving electrode , a cos component acting on the Y driving electrode , and a sin component acting on the Y driving electrode . The adding module is connected with the first amplitude control module and the second amplitude control module respectively, and is configured to add the adjusted and to obtain a total cos component acting on the X driving electrode , and add the adjusted and Adding them together, we obtain the total sin value acting on the X-driven electrode. It is also used to adjust the and Adding them together, we get the total cosine concentration acting on the Y-driven electrode. The adjusted and Adding them together gives the total sin value acting on the Y-driving electrode. , The multiplication module is connected to the drive electrodes of the addition module, the CORDIC module, and the hemispherical resonator gyroscope, respectively, and is used to... and With drive reference signal Multiplication yields the driving force of the X-driven electrode. It acts on the X-drive electrode and is also used to... and With drive reference signal Multiplication yields the driving force of the Y-drive electrode. It also acts on the Y-drive electrode.

[0014] As a general inventive concept, the present invention also provides a hemispherical resonant gyroscope circuit board, including an FPGA chip, a DSP chip, and the device as described above, wherein a CORDIC module, a mixing and filtering module, a DDS module, and a multiplication module are configured within the FPGA chip. The complex number construction and operation module, frequency control module, mode shape azimuth calculation module, first amplitude control module, second amplitude control module and addition module are configured in the DSP chip.

[0015] As a general inventive concept, the present invention also provides a hemispherical resonant gyroscope, including a hemispherical resonant gyroscope body and a hemispherical resonant gyroscope circuit board as described above. Compared with the prior art, the advantages of the present invention are: This invention provides a novel closed-loop control method for a hemispherical resonant gyroscope. The gyroscope's vibration is decomposed into the superposition of two traveling waves. Three complex numbers are constructed based on the two traveling waves and a reference drive signal. The drive vector is calculated using these three complex numbers, and the magnitude and argument (i.e., the angle in the complex plane) of the complex numbers are controlled separately to complete the closed-loop control of the hemispherical resonant gyroscope. Since subsequent calculations are normalized to the calculation of the magnitude and argument of complex numbers, the code has high reusability, and only an amplitude control loop is needed for the first complex number. Second complex number The control is performed using a modulus, which reduces the number of control loops and thus reduces the computational workload. In addition, the solution and suppression of orthogonal errors are avoided during the closed-loop control process, thereby reducing error residues and improving the accuracy of driving force solution. Attached Figure Description

[0016] For the sake of easier understanding of the present application, the present application will be described in more detail by referring to the specific embodiments shown in the drawings. These drawings only depict typical embodiments of the present application and should not be considered as limiting the scope of the present application.

[0017] Figure 1 The flow chart of the closed-loop control method of the hemispherical resonator gyroscope according to the embodiment of the present application. DETAILED DESCRIPTION

[0018] Embodiments of the present application will be described below with reference to the accompanying drawings in order to facilitate better understanding of the present application by those skilled in the art and to enable them to carry out the present application, but the listed embodiments are not considered as limiting the present application, and the embodiments described below and the technical features in the embodiments can be combined with each other without conflict, wherein the same components are denoted by the same reference numerals.

[0019] The present application provides a closed-loop control method of a hemispherical resonator gyroscope, which is based on the construction of three complex numbers and the control of the modulus of the complex numbers to complete the closed-loop control of the hemispherical resonator gyroscope. The running steps of the lower computer are as follows: As shown in Figure 1 , the ADC module samples the detection waveforms of the X detection electrode and the Y detection electrode, and the ADC sampling results first pass through the DBL module to convert the data into double-precision floating-point data before participating in the operation, so as to avoid quantization error. The conversion results of the X detection electrode and the Y detection electrode are , respectively. The DDS module continuously outputs the phase of the sine signal according to the frequency control word. The Delay module is used to compensate for the loop delay and acts on the phase output by the DDS module. The CORDIC module calculates the demodulation reference signal according to the phase output by the DDS module and the Delay module: , , and the drive reference signal: , .

[0020] wherein, is the resonant angular frequency, is the time, is the reference phase, is the loop delay compensation amount.

[0021] The demodulation reference signal , Similarly, the data is converted to double-precision floating-point numbers by the DBL module before being used in the calculation, avoiding quantization errors during the computation process. The conversion results from the X and Y electrodes are mixed with the demodulation reference signal, and then filtered by the FIR filter module to complete binary coherent demodulation, obtaining... , , , 4 demodulation values.

[0022] , , , .

[0023] The vibration of a harmonic oscillator can be represented as the superposition of two traveling waves propagating in opposite directions. Therefore, the complex number operation module is based on... , , , Construct the first complex number Second plural Third plural ,in , Representing two traveling waves propagating in opposite directions, the third complex number The argument (i.e., its angle in the complex plane) reflects the tracking error of the driving reference signal to the frequency of the gyroscope resonant signal, constructing a third complex number. The purpose is to determine whether the frequencies of the driving reference signal and the gyroscope resonant signal are consistent. When the amplitude of is 0, the frequencies of the two are the same.

[0024] The subsequent operations of this invention are normalized to complex number modulus and argument calculations, thereby increasing code reusability. Furthermore, the calculation and suppression of orthogonality errors are avoided during the computation process, thus reducing residual errors. An amplitude control loop is also employed for the first complex number... , second plural By using a modular control system, the number of control loops is reduced, thereby reducing the computational workload.

[0025] , , , in It is an imaginary number. The first complex number The real part, The first complex number The imaginary part; The second complex number the real part of the first complex number, the imaginary part of the second complex number the real part of the third complex number, the imaginary part of the third complex number the real part of the fourth complex number, the imaginary part of the fourth complex number the imaginary part of the fourth complex number.

[0026] The real part and the imaginary part of the three complex numbers are as follows: , , , , , .

[0027] The complex number operation module calculates the modulus of the three complex numbers respectively according to , , , , and the angle in the complex plane , , The calculation formula is as follows: , , wherein is the modulus of the corresponding complex number, is the real part, is the imaginary part, is the angle of the corresponding complex number in the complex plane.

[0028] The input of the frequency control module is the third complex number the angle in the complex plane , that is, the phase difference between the driving reference signal and the gyro vibration signal, when > 0, the frequency control word FCW is reduced, and the frequency of the DDS is reduced; when < 0, the frequency control word FCW is increased, and the frequency of the DDS is increased; until = 0, the frequency control word FCW is kept, and at this time the frequency of the DDS is the gyro resonance frequency. The adjustment process can specifically use a PID algorithm.

[0029] The phase difference between the two traveling waves is the mode azimuth, that is, the first complex number the second complex number ​the phase angle difference (i.e. the difference of the angle of the two complex numbers in the complex plane), so the current mode azimuth output is .

[0030] The input of the first amplitude control module is the amplitude of the first complex number , and the angle of the first complex number in the complex plane . First, the first amplitude control module calculates the driving force according to the amplitude of the first complex number , the driving force , the component of the driving force on the X electrode is , which is a sine function, can be expressed as , wherein , represents the cos component of the driving force acting on the X driving electrode, , represents the sin component of the driving force acting on the X driving electrode, and the first driving gain.

[0031] Let , , according to and to construct the vector , in the complex plane, wherein , are the horizontal coordinate and vertical coordinate of the vector in the complex plane, respectively, the phase of the vector is consistent with the angle of the first complex number in the complex plane , , , , .

[0032] The component of the driving force on the Y electrode is , which is a sine function, can be expressed as , wherein , represents the cos component of the driving force acting on the Y driving electrode,​ , Indicates driving force The sin component acting on the Y-driven electrode, This is the first driving gain.

[0033] make , ,according to and Vectors for constructing the complex plane , Let be a unit vector, where , They are vectors In the complex plane, the vectors are at the x and y coordinates. phase Prior to the first plural In the complex plane angle , , , , .

[0034] Get driving force The four components , , , Then, the first amplitude control module will control the first complex number. model With the set reference amplitude Comparison, reference amplitude This represents the vibration amplitude set by the gyroscope. At that time, reduce the first drive gain. , driving force Decrease; when At that time, increase the first driving gain , driving force Increase; until At the same time, maintain the current gain. The driving force remains unchanged at this point. Maintain the first complex number model Reference amplitude Unit vector and After gain adjustment and The output of the first amplitude control module is and The four components , , , The adjustment process can specifically utilize the PID control algorithm.

[0035] The input to the second amplitude control module is the second complex number. model and in the complex plane angle First, the second amplitude control module according to... Computation-driven and second complex number The driving force of the corresponding traveling wave driving force The component at the X electrode is , The sine function can be expressed as: , in, , Indicates driving force The cosine component acting on the X-driven electrode , Indicates driving force The sin component acting on the X-driven electrode, This is the second driving gain.

[0036] make , ,according to and Vectors for constructing the complex plane , Let be a unit vector, where , They are vectors In the complex plane, the vectors are at the x and y coordinates. phase and the second complex number In the complex plane angle Consistent , , , .

[0037] driving force The component at the Y electrode is , The sine function can be expressed as: , in, , Indicates driving force The cosine component acting on the Y-driven electrode , Indicates driving force The sin component acting on the Y-driven electrode, This is the second driving gain.

[0038] make , ,according to and Vectors for constructing the complex plane , Let be a unit vector, where , They are vectors In the complex plane, the vectors are at the x and y coordinates. The phase lags behind the second complex number In the complex plane angle , , , , .

[0039] Get driving force The four components , , , Then, the second amplitude control module will control the second complex number. model With the set reference amplitude In comparison, the second amplitude control module uses the same reference amplitude as the first amplitude control module. At that time, reduce the second drive gain. , driving force Decrease; when At that time, increase the second drive gain , driving force Increase; until At the same time, maintain the current second drive gain. The driving force remains unchanged at this point. Maintaining the second complex number model Reference amplitude Unit vector and After gain adjustment and The output of the second amplitude control module is and The four components , , , The adjustment process can specifically utilize the PID control algorithm.

[0040] The driving force is calculated through multiplication and addition. and driving force The driving force is applied to the X-drive electrode and the Y-drive electrode, firstly... Component acting on the X-drive electrode and driving force Component acting on the X-drive electrode Add , get: , , Then drive force Component acting on the Y-drive electrode and driving force Component acting on the Y-drive electrode Add: , get: , , in, This represents the total cosine concentration acting on the X-drive electrode, which is then compared with the output of the CORDIC module. Signal multiplication, This represents the total sin value acting on the X-drive electrode, which is then compared with the output of the CORDIC module. Signal multiplication, the sum of the two is obtained The output is sent to the X drive electrode; in, .

[0041] This represents the total cosine concentration acting on the Y-drive electrode, which is then compared with the output of the CORDIC module. Signal multiplication, This represents the total sin value acting on the Y-drive electrode, which is then compared with the output of the CORDIC module. Signal multiplication, the sum of the two is obtained The output is sent to the Y drive electrode; in, .

[0042] This completes the closed-loop control.

[0043] like Figure 1As shown, the FPGA program implements the function of the left part of the dotted line, and the DSP program implements the function of the right part of the dotted line. The program implements the process of closed-loop control of the hemispherical resonator gyro as follows: S01, the FPGA program contains a DDS module which generates the phase of a continuous output sine signal.

[0044] S02, the Delay module is used to compensate for the loop delay, which acts on the phase output by the DDS module, and aligns the phase after time delay with the detection signal.

[0045] S03, the FPGA program designs a CORDIC module, which calculates the demodulation reference signal and the drive reference signal according to the phase output by the DDS module and the Delay module.

[0046] S04, in this example, the FPGA program designs a DBL module, which converts the results of ADC acquisition and demodulation reference signal into double-precision floating-point numbers, avoiding quantization error in the operation process.

[0047] S05, the double-precision floating-point conversion results of the ADC acquisition results and the demodulation reference signal in the FPGA are multiplied to complete the mixing.

[0048] S06, the FIR filter module is realized by FPGA to obtain the demodulation quantity

[0049] S07, through the complex operation function run by DSP, the modulus of the three complex numbers and the angle in the complex plane

[0050] S08, run the frequency control function to execute the first PID control algorithm to control the angle of the third complex number in the complex plane to keep it at 0, completing the resonance frequency tracking.

[0051] S09, run two amplitude control functions respectively to execute the second and third PID control algorithms to control the modulus of the first complex number and the second complex number to keep it at the reference amplitude .

[0052] S10, in the DSP program, the outputs of the two amplitude control functions are added in turn to obtain​​​​​​​​​​​ , , , , output to FPGA.

[0053] S11, FPGA program will , , , in turn and drive reference signal: , multiplication, and then add, get and , output to the gyro drive electrode, complete closed-loop control.

[0054] The above-described embodiments are only the preferred specific embodiments of the present application, and the present specification uses the phrases "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" which all can refer to one or more of the same or different embodiments according to the present disclosure. The usual changes and replacements made by those skilled in the art within the technical solution range of the present application shall be included in the protection scope of the present application.

Claims

1. A closed-loop control method for a hemispherical resonator gyroscope, characterized in that, The method comprises the following steps: According to the reference phase, a demodulation reference signal and a driving reference signal are calculated, the demodulation reference signal is mixed with a detection signal of the hemispherical resonator gyroscope, and a low-pass filter is used to obtain a phase shift recognition parameter, According to the phase shift recognition parameter, a first complex number, a second complex number and a third complex number are constructed, the first complex number and the second complex number respectively represent two counter propagating traveling waves, the third complex number represents a tracking error of the reference signal to the gyroscope resonant signal, and the modulus of the first complex number, the second complex number and the third complex number and the angle of the first complex number, the second complex number and the third complex number in the complex plane are calculated, The reference phase is adjusted according to the angle of the third complex number in the complex plane, so as to adjust the values of the demodulation reference signal and the driving reference signal, until the angle of the third complex number in the complex plane is 0, and the phase-locked closed loop control is completed, The current mode azimuth of the hemispherical resonator gyroscope is calculated according to the difference between the angles of the first complex number and the second complex number in the complex plane. According to the angle of the first complex number on the complex plane, the driving force driving the traveling wave corresponding to the first complex number is calculated According to the difference between the modulus of the first complex number and the set reference amplitude, the size of the driving force is adjusted until the modulus of the first complex number is equal to the set reference amplitude According to the angle of the second complex number on the complex plane, the driving force driving the traveling wave corresponding to the second complex number is calculated , According to the difference between the modulus of the second complex number and the set reference amplitude, the size of the driving force is adjusted , Until the modulus of the second complex number is equal to the set reference amplitude; The adjusted driving force and the driving force The mixed calculation is performed to obtain the driving force of the X driving electrode and the Y driving electrode, respectively, and to act on the corresponding driving electrode.

2. The closed-loop control method of a hemispherical resonator gyroscope according to claim 1, wherein, The first complex number, the second complex number and the third complex number are constructed according to the phase shift recognition parameter, and the values of the real part and the imaginary part of the three complex numbers are as follows: ， ， ， in, It is the first complex number. It is the second plural number. It is the third plural. It is an imaginary number. The first complex number The real part, The first complex number The imaginary part; The second complex number The real part, The second complex number The imaginary part; The third complex number The real part, The third complex number The imaginary part; 3. The closed loop control method of the hemispherical resonator gyroscope according to claim 2, wherein ， ， ， ， ， ； wherein , , , is a phase shift discrimination parameter. The reference phase is adjusted according to the angle of the third complex number in the complex plane, so as to adjust the values of the demodulation reference signal and the driving reference signal, until the angle of the third complex number in the complex plane is 0, and the phase-locked closed loop control is completed, Driving force including a cos component thereof acting on the X drive electrode , a sin component thereof acting on the X drive electrode , a cos component thereof acting on the Y drive electrode , a sin component thereof acting on the Y drive electrode , adjusting the driving force , specifically including adjusting , , , and the size of the driving force Driving force including a cos component thereof acting on the X drive electrode , a sin component thereof acting on the X drive electrode , a cos component thereof acting on the Y drive electrode , a sin component thereof acting on the Y drive electrode , adjusting the driving force , specifically including adjusting , , and the size of the driving force The adjusted driving force and the driving force The mixed calculation is performed to obtain the driving force of the X driving electrode and the Y driving electrode respectively and to act on the corresponding driving electrode, specifically including: The adjusted and are added to obtain the total cos acting on the X driving electrode The adjusted and are added to obtain the total sin acting on the X driving electrode The and are multiplied with the driving reference signal to obtain the X driving electrode driving force and act on the X driving electrode, The adjusted and are added to obtain the total cos acting on the Y driving electrode The adjusted and are added to obtain the total sin acting on the Y driving electrode The and are multiplied with the driving reference signal to obtain the Y driving electrode driving force and act on the Y driving electrode.

4. The closed-loop control method of a hemispherical resonator gyroscope according to claim 3, characterized in that, Driving force The specific calculation method of each component is as follows: ， ， ， wherein, is the first drive gain; Driving force The specific calculation method of each component is as follows: ， ， ， wherein, is the second drive gain.

5. The closed-loop control method of a hemispherical resonator gyroscope according to claim 4, characterized in that, 6. The closed loop control method of the hemispherical resonator gyroscope according to claim 4, wherein When > 0, decrease the reference phase; when < 0, increase the reference phase until = 0, keep the adjusted reference phase unchanged; wherein is the angle of the third complex number in the complex plane; adjusting the driving force according to the difference between the modulus of the first complex number and the set reference amplitude until the modulus of the first complex number is equal to the set reference amplitude, specifically comprising: when At that time, reduce the first drive gain. ;when At that time, increase the first driving gain ;until At the same time, maintain the current first drive gain. Unchanged; among them, The modulus of the first complex number, For reference amplitude; adjusting the driving force according to a difference between a modulus of the second complex number and a set reference amplitude until the modulus of the second complex number is equal to the set reference amplitude, specifically comprising: when At that time, reduce the second drive gain. ;when At that time, increase the second drive gain ;until At the same time, maintain the current second drive gain. Unchanged; among them, It is the modulus of the second complex number. It comprises: The adjusted and are added to obtain the total cos acting on the X driving electrode The adjusted and are added to obtain the total sin acting on the X driving electrode The and are multiplied with the driving reference signal to obtain the X driving electrode driving force and act on the X driving electrode, specifically comprising: ， wherein , ； The adjusted and are added to obtain the total cos acting on the Y driving electrode The adjusted and are added to obtain the total sin acting on the Y driving electrode The and are multiplied with the driving reference signal to obtain the Y driving electrode driving force and act on the Y driving electrode, specifically comprising: ， wherein , ； wherein, is the resonant angular frequency, is time, is the reference phase.

7. A device for implementing the closed-loop control method of the hemispherical resonator gyroscope according to any one of claims 1 to 6, characterized in that, The CORDIC module is connected with the reference phase adjustment module and is used for calculating the demodulation reference signal and the driving reference signal according to the reference phase output by the reference phase adjustment module, The mixing filter module is connected with the CORDIC module and the detection electrode of the hemispherical resonator gyroscope respectively, is used for mixing the detection signal output by the detection electrode with the demodulation reference signal output by the CORDIC module, and then performing low-pass filtering to obtain the phase shift recognition parameter, The complex number construction operation module is connected with the mixing filter module and is used for constructing the first complex number, the second complex number and the third complex number according to the phase shift recognition parameter output by the mixing filter module, wherein the first complex number and the second complex number respectively represent two counter propagating traveling waves, the third complex number represents a tracking error of the reference signal to the gyroscope resonant signal, and the modulus of the first complex number, the second complex number and the third complex number and the angle of the first complex number, the second complex number and the third complex number in the complex plane are calculated, The reference phase adjustment module is connected with the complex number construction operation module and is used for adjusting the reference phase according to the angle of the third complex number in the complex plane, and transmitting the reference phase to the CORDIC module, so as to adjust the values of the demodulation reference signal and the driving reference signal, until the angle of the third complex number in the complex plane is 0, and the adjustment of the reference phase is stopped; The mode azimuth calculation module is connected with the complex number construction operation module and is used for calculating the current mode azimuth of the hemispherical resonator gyroscope according to the difference between the angles of the first complex number and the second complex number in the complex plane.

8. The apparatus according to claim 7, wherein The first amplitude control module, connected to the complex number construction and calculation module, is used to calculate the driving force for the traveling wave corresponding to the first complex number based on the angle of the first complex number in the complex plane. The driving force is adjusted based on the difference between the modulus of the first complex number and the set reference amplitude. The magnitude of the first complex number is equal to the set reference amplitude; The second amplitude control module, connected to the complex number construction and calculation module, is used to calculate the driving force for the traveling wave corresponding to the second complex number based on the angle of the second complex number in the complex plane. The driving force is adjusted based on the difference between the modulus of the second complex number and the set reference amplitude. The magnitude of the second complex number is maintained until the modulus of the second complex number is equal to the set reference amplitude. The mixing module is connected with the first amplitude control module and the second amplitude control module respectively, and is used for mixing the adjusted driving forces and the driving force to obtain the driving force of the X driving electrode and the Y driving electrode respectively and to act on the corresponding driving electrode. ​ The reference phase adjustment module comprises a frequency control module and a DDS module, the frequency control module is used for adjusting a frequency control word FCW according to the angle of the third complex in the complex plane and transmitting to the DDS module, and the DDS module generates a reference phase according to the adjusted frequency control word FCW and transmits to the CORDIC module; The mixing calculation module comprises an adding module and a mixing multiplication module, Driving force including a cos component thereof acting on the X drive electrode , a sin component thereof acting on the X drive electrode , a cos component thereof acting on the Y drive electrode , a sin component thereof acting on the Y drive electrode , Driving force including a cos component thereof acting on the X drive electrode , a sin component thereof acting on the X drive electrode , a cos component thereof acting on the Y drive electrode , a sin component thereof acting on the Y drive electrode , The adding module is connected with the first amplitude control module and the second amplitude control module respectively, and is used for adding the adjusted and to obtain the total cos acting on the X driving electrode , adding the adjusted and to obtain the total sin acting on the X driving electrode ; and is also used for adding the adjusted and to obtain the total cos acting on the Y driving electrode , adding the adjusted and to obtain the total sin acting on the Y driving electrode . The mixed multiplication module is connected with the adding module, the CORDIC module and the driving electrode of the hemispherical resonator gyro respectively, and is used for mixing multiplication of and the driving reference signal to obtain the driving force of the X driving electrode and act on the X driving electrode, and is also used for mixing multiplication of and the driving reference signal to obtain the driving force of the Y driving electrode and act on the Y driving electrode.

9. A hemispherical resonator gyro circuit board, characterized by, The device comprises an FPGA chip, a DSP chip, and the CORDIC module, the mixing filtering module, the DDS module and the mixing multiplication module are configured in the FPGA chip, The complex construction operation module, the frequency control module, the mode azimuth calculation module, the first amplitude control module, the second amplitude control module and the adding module are configured in the DSP chip.

10. A hemispherical resonator gyroscope, characterized by The device comprises a hemispherical resonator gyro body and the hemispherical resonator gyro circuit board.

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