A hemispherical resonator gyro closed-loop control method and device, a hemispherical resonator gyro and a circuit board thereof

Abstract

The application discloses a kind of hemispherical resonator gyro closed-loop control method and device, hemispherical resonator gyro and its circuit board, by the vibration of gyro is decomposed into the superposition of two traveling waves, three complex numbers are constructed based on two traveling waves and reference drive signal, drive vector is calculated via the three complex numbers constructed, the module and amplitude angle of complex number are controlled respectively, and the closed-loop control of hemispherical resonator gyro is completed.Because subsequent operation is normalized into complex number module and amplitude angle, code reusability is high, and only amplitude control loop is needed to control the module of the first two complex numbers, the number of control loop is reduced, thereby reducing the calculation workload, in addition, the calculation and suppression of quadrature error are avoided in closed control process, thereby reducing error residue, and improving the driving force calculation precision.

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 the 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 , , , , 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 the error, and finally the driving force is calculated according to the error result after suppression to drive the hemispherical resonator gyro to maintain vibration. This method needs to calculate multiple parameters and design multiple loops to suppress the error, and the calculation workload is 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:

[0005] A closed-loop control method of a hemispherical resonator gyro, comprising the following steps:

[0006] 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,

[0007] 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 forward 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,

[0008] According to the angle adjustment reference phase of the third complex number in the complex plane, the values of the demodulation reference signal and the driving reference signal are adjusted until the angle of the third complex number in the complex plane is 0, and the phase-locked closed-loop control is completed,

[0009] According to the difference between the angles of the first complex number and the second complex number in the complex plane, the current mode azimuth angle of the hemispherical resonator gyroscope is calculated;

[0010] According to the angle of the first complex number in the complex plane, the driving force of the driving 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;

[0011] According to the angle of the second complex number in the complex plane, the driving force of the driving 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;

[0012] 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.

[0013] Optionally, the calculation formula of the demodulation reference signal is:

[0014] ,

[0015] ,

[0016] The calculation formula of the driving reference signal is:

[0017] ,

[0018] ,

[0019] wherein, is the resonant angular frequency, is time, is the reference phase, is the loop delay compensation amount.

[0020] Optionally, the mixing of the demodulation reference signal and the detection signal of the hemispherical resonator gyroscope, and then low-pass filtering to obtain the phase shift recognition parameter, specifically includes:

[0021] ,

[0022] ,

[0023] ,

[0024] ,

[0025] wherein, , , , is a phase shift identification parameter, is a detection signal of the X detection electrode, is a detection signal of the Y detection electrode, represents a low-pass filter.

[0026] Optionally, the constructing the first complex number, the second complex number and the third complex number according to the phase shift identification parameter specifically comprises:

[0027] ,

[0028] ,

[0029] ,

[0030] wherein, is the first complex number, is the second complex number, is the third complex number, is an imaginary number, is a real part of the first complex number , is an imaginary part of the first complex number ; is a real part of the second complex number , is an imaginary part of the second complex number ; is a real part of the third complex number , is an imaginary part of the third complex number ;

[0031] The values of the real parts and the imaginary parts of the three complex numbers are as follows:

[0032] ,

[0033] ,

[0034] ,

[0035] ,

[0036] ,

[0037] .

[0038] 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 ,

[0039] The size of the adjusted driving force , specifically includes adjusting , , and ;

[0040] 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 ,

[0041] The size of the adjusted driving force , specifically includes adjusting , , and ;

[0042] Mixing the adjusted driving force and the driving force , respectively obtaining the driving force of the X driving electrode and the Y driving electrode and acting on the corresponding driving electrode, specifically including:

[0043] Adding the adjusted and , obtaining the total cos amount acting on the X driving electrode , adding the adjusted and , obtaining the total sin amount acting on the X driving electrode , mixing and with the driving reference signal , obtaining the X driving electrode driving force and acting on the X driving electrode,

[0044] Adding the adjusted and Adding up, the total cos acting on the Y driving electrode is obtained The adjusted and are added up, and the total sin acting on the Y driving electrode is obtained The and are multiplied by the driving reference signal to obtain the Y driving electrode driving force and act on the Y driving electrode.

[0045] Optionally, the specific calculation method of each component of the driving force is as follows:

[0046] ,

[0047] ,

[0048] ,

[0049] wherein, the first driving gain is G1;

[0050] The specific calculation method of each component of the driving force is as follows:

[0051] ,

[0052] ,

[0053] ,

[0054] wherein, the second driving gain is G2.

[0055] Optionally, 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, the phase-locked closed-loop control is completed, and the specific method comprises the following steps:

[0056] When >0, the reference phase is reduced; when <0, the reference phase is increased, until =0, the adjusted reference phase is kept unchanged; wherein, the angle of the third complex number in the complex plane is

[0057] 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, and the specific method comprises the following steps:

[0058] 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;

[0059] 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:

[0060] 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.

[0061] 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 it acts on the X-drive electrode, specifically including:

[0062] ,

[0063] in, ,

[0064] ;

[0065] The adjusted 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. ,Will and drive reference signal mixing, obtaining Y drive electrode driving force and acting on the Y drive electrode, specifically comprising:

[0066] ,

[0067] wherein, ,

[0068] .

[0069] 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:

[0070] A CORDIC module, connected to the reference phase adjustment module, is configured to calculate the demodulation reference signal and the drive reference signal according to the reference phase output by the reference phase adjustment module,

[0071] A mixing and filtering module, connected to the CORDIC module and the detection electrode of the hemispherical resonator gyroscope respectively, is configured to mix the detection signal output by the detection electrode with the demodulation reference signal output by the CORDIC module, and then low-pass filter to obtain the phase shift identification parameter,

[0072] A complex number construction operation module, connected to the mixing and filtering module, is configured to construct 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, and the third complex number represents the tracking error of the reference signal to the gyroscope resonant signal, and the module is further configured to calculate the modulus of the first complex number, the second complex number and the third complex number, and the angle of each complex number in the complex plane,

[0073] A reference phase adjustment module, connected to the complex number construction operation module, is configured to adjust the reference phase according to the angle of the third complex number in the complex plane, and transmit it to the CORDIC module 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, and the adjustment of the reference phase is stopped;

[0074] A mode azimuth angle calculation module, connected to the complex number construction operation module, is configured to calculate 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;

[0075] A first amplitude control module, connected to the complex number construction operation module, is configured to calculate the driving force of the drive corresponding to the first complex number according to the angle of the first complex number in the complex plane , and adjust the size of 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;

[0076] The second amplitude control module is connected with the complex 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 reference amplitude , until the modulus of the second complex number is equal to the reference amplitude.

[0077] The mixing module is connected with the first amplitude control module and the second amplitude control module respectively, and is configured to mix 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.

[0078] 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 an angle of the third complex number in a 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.

[0079] The mixing module comprises an adding module and a mixing multiplication module,

[0080] The driving force comprises a cos component for acting on the X driving electrode , a sin component for acting on the X driving electrode , a cos component for acting on the Y driving electrode , and a sin component for acting on the Y driving electrode .

[0081] The driving force comprises a cos component for acting on the X driving electrode , a sin component for acting on the X driving electrode , a cos component for acting on the Y driving electrode , and a sin component for acting on the Y driving electrode .

[0082] 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 for acting on the X driving electrode , add the adjusted and to obtain a total sin component for acting on the X driving electrode , and add the adjusted and to obtain a total cos component for acting on the Y driving electrode.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. ,

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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:

[0087] 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

[0088] 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.

[0089] Figure 1 The flow chart of the closed-loop control method of the hemispherical resonator gyroscope embodiment of the present application. DETAILED DESCRIPTION

[0090] Embodiments of the present application will be described below with reference to the drawings so that those skilled in the art can better understand the present application and implement it, 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.

[0091] 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:

[0092] 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, avoiding 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:

[0093] ,

[0094] ,

[0095] and the drive reference signal:

[0096] ,

[0097] .

[0098] wherein, is the resonant angular frequency, is the time, is the reference phase, is the loop delay compensation amount.

[0099] The demodulation reference signal , The data is converted into double precision floating point by the DBL module before participating in operation, so as to avoid quantization error in the operation process. , , , , four demodulation quantities.

[0100] ,

[0101] ,

[0102] ,

[0103] .

[0104] The vibration of the resonator can be represented as the superposition of two counter-propagating traveling waves, and thus, the complex operation module constructs a first complex number , , , , a second complex number , and a third complex number , wherein , , respectively represent the two counter-propagating traveling waves, and the argument (i.e., the angle in the complex plane) of the third complex number reflects the tracking error of the driving reference signal to the frequency of the gyro resonant signal, and the purpose of constructing the third complex number is to determine whether the frequency of the driving reference signal is consistent with that of the gyro resonant signal, and when the argument of is 0, the frequencies are consistent.

[0105] The subsequent operation of the application is normalized to complex modulus and argument, thereby increasing code reusability. In addition, the calculation process avoids the calculation and suppression of quadrature error, thereby reducing error residues. Furthermore, the modulus of the first complex number and the second complex number is controlled by using an amplitude control loop, thereby reducing the number of control loops and the calculation workload.

[0106] ,

[0107] ,

[0108] ,

[0109] wherein is an imaginary number, is 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.

[0110] The values ​​of the real and imaginary parts of the three complex numbers are as follows:

[0111] ,

[0112] ,

[0113] ,

[0114] ,

[0115] ,

[0116] .

[0117] Complex number operation module according to , , Calculate the modulus of the three complex numbers respectively. , , and in the complex plane angle , , The calculation formula is as follows:

[0118] ,

[0119] ,

[0120] in For the modulus of the corresponding complex number, For the real part, The virtual part, For the corresponding complex number in the complex plane angle.

[0121] The input to the frequency control module is a third complex number. From the angle of the complex plane , That is, the phase difference between the driving reference signal and the gyroscope vibration signal, when When >0, decrease the frequency control word FCW to reduce the frequency of DDS; when When <0, increase the frequency control word FCW to increase the frequency of DDS; until When the frequency is 0, the frequency control word FCW is maintained, and the frequency of DDS at this time is the gyroscope resonant frequency. The adjustment process can be carried out using a PID algorithm.

[0122] The phase difference between two traveling waves is the mode azimuth angle, also known as the first complex angle. , second plural The difference in the phase angle (i.e., the difference in the angles between the two in the complex plane) is used to determine the current mode azimuth output. .

[0123] The input to the first amplitude control module is the first complex number. model and in the complex plane angle First, the first amplitude control module according to Computation-driven and first complex number driving force driving force The component at the X electrode is , The sine function can be expressed as: ,

[0124] in, , Indicates driving force The cosine component acting on the X-driven electrode

[0125] , Indicates driving force The sin component acting on the X-driven electrode, This is the first driving gain.

[0126] 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 first complex number In the complex plane angle Consistent

[0127] ,

[0128] ,

[0129] ,

[0130] .

[0131] Driving force The component of the driving force acting on the Y electrode is , which is a sinusoidal function, can be expressed as

[0132] ,

[0133] wherein , denotes the driving force acting on the cos component of the Y driving electrode,

[0134] , denotes the driving force acting on the sin component of the Y driving electrode, is the first driving gain.

[0135] Let , , according to and , the vector , is a unit vector, wherein , are the horizontal and vertical coordinates of the vector in the complex plane, the phase of the vector leads the first complex number by an angle ,

[0136] ,

[0137] ,

[0138] ,

[0139] .

[0140] The four components of the driving force , , , After that, the first amplitude control module compares the modulus of the first complex number with a set reference amplitude , and the reference amplitude representing the vibration amplitude set for the gyroscope, when the first driving gain is reduced , the driving force is reduced; when the first driving gain is increased , the driving force is increased; until the current gain is kept unchanged , at which time the driving force maintains the modulus of the first complex number as the reference amplitude . The unit vectors and are obtained after gain adjustment and , and the output of the first amplitude control module is the four components and , , , , the adjustment process can specifically use a PID control algorithm. The input of the second amplitude control module is the modulus of the second complex number and the angle

[0141] in the complex plane. First, the second amplitude control module calculates the driving force corresponding to the driving of the second complex number and the driving force , the component of the driving force on the X electrode is , which is a sinusoidal function and can be expressed as , wherein ,

[0142] , and , represent the cos component of the driving force acting on the X driving electrode,

[0143] , represent the sin component of the driving force acting on the X driving electrode, and the second driving gain.

[0144] Let , , construct the vector , in the complex plane according to and , which is a unit vector, wherein ,​ respectively, are vectors In the horizontal and vertical coordinates of the complex plane, the phase of the vector is lagging behind the second complex number In the complex plane angle is consistent,

[0145] ,

[0146] ,

[0147] ,

[0148] .

[0149] Driving force The component in the Y electrode is , is a sinusoidal function, which can be expressed as ,

[0150] wherein, , denotes the driving force acting on the Y driving electrode cos component,

[0151] , denotes the driving force acting on the Y driving electrode sin component, is the second driving gain.

[0152] Let , , according to and to construct the vector , is a unit vector, wherein , respectively, are vectors In the horizontal and vertical coordinates of the complex plane, the phase of the vector is lagging behind the second complex number In the complex plane angle ,

[0153] ,

[0154] ,

[0155] ,

[0156] .

[0157] Get the driving force four components of the 4th component , , , Afterwards, the second amplitude control module compares the modulus of the second complex number with the set reference amplitude , the second amplitude control module uses the same reference amplitude as the first amplitude control module, when , the second driving gain is reduced, the driving force is reduced; when , the second driving gain is increased, the driving force is increased; until , the current second driving gain is kept unchanged, at this time the driving force maintains the modulus of the second complex number as the reference amplitude . The unit vectors and are adjusted by the gain and become and , the output of the second amplitude control module is and four components of the 4th component , , , , , , the adjustment process can use a PID control algorithm in particular.

[0158] The driving force and the driving force are applied to the X driving electrode and the Y driving electrode through multiplication and addition operation, first, the component of the driving force applied to the X driving electrode and the component of the driving force applied to the X driving electrode are added ,

[0159] to obtain:

[0160] ,

[0161] ,

[0162] Then, the component of the driving force applied to the Y driving electrode and the component of the driving force applied to the Y driving electrode are added: ,

[0163] Get:

[0164] ,

[0165] ,

[0166] wherein, cos total acting on the X drive electrode is multiplied by the signal output by the CORDIC module, sin total acting on the X drive electrode is multiplied by the signal output by the CORDIC module, and the two are added to obtain , which is output to the X drive electrode;

[0167] wherein, .

[0168] cos total acting on the Y drive electrode is multiplied by the signal output by the CORDIC module, sin total acting on the Y drive electrode is multiplied by the signal output by the CORDIC module, and the two are added to obtain , which is output to the Y drive electrode;

[0169] wherein, .

[0170] Thus far, closed-loop control is completed.

[0171] As shown in Figure 1 , the FPGA program implements the functions of the left part of the dashed line, and the DSP program implements the functions of the right part of the dashed line. The program implements the process of closed-loop control of the hemispherical resonator gyro as follows:

[0172] S01, the FPGA program includes a DDS module, which generates a continuously output phase of a sine signal.

[0173] S02, the Delay module is used to compensate for the loop delay, and acts on the phase output by the DDS module. After the phase is delayed, it is aligned with the detection signal.

[0174] 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.

[0175] S04. In this example, the FPGA program designed a DBL module to convert the ADC acquisition results and demodulation reference signal into double-precision floating-point numbers, thus avoiding quantization errors during the calculation process.

[0176] S05. In the FPGA, perform a multiplication operation on the result acquired by the ADC and the double-precision floating-point conversion result of the demodulation reference signal to complete the mixing.

[0177] S06. Implement the FIR filter module using FPGA to obtain the demodulated signal. , , , .

[0178] S07. Obtain the modulus of three complex numbers using the complex number operation function executed by the DSP. , , and in the complex plane angle , , .

[0179] S08. Run the frequency control function, execute the first PID control algorithm, and control the third complex number. From the angle of the complex plane This keeps it at 0, thus completing the resonant frequency tracking.

[0180] S09. Run the two amplitude control functions respectively, execute the second and third PID control algorithms, and control the first complex number respectively. Second complex number model , Keep it at the reference amplitude .

[0181] S10. In the DSP program, add the outputs of the two amplitude control functions sequentially to obtain... , , , The output is sent to the FPGA.

[0182] S11, FPGA program will , , , sequentially drive the reference signal: , Multiply, then add, and you get and The output is sent to the gyroscope drive electrode to complete closed-loop control.

[0183] The above-described embodiments are merely preferred specific embodiments of the present application. The phrase "in an embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments" used in the specification can refer to one or more of the same or different embodiments according to the present disclosure. Common variations and replacements made by those skilled in the art within the technical scope of the present application should 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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