A control system and control method for a hemispherical resonator gyro

Abstract

The application discloses a control system and a control method of a hemispherical resonator gyro, and the control system comprises a carrier generation module, a control module, an excitation synthesis module, a drive output module and a signal detection module; the carrier generation module is used for providing at least two carrier signals with different frequencies; the signal detection module is used for acquiring a vibration response signal of a resonator and processing the vibration response signal, and outputting a first detection signal and a second detection signal to the control module; wherein the control module is further used for adjusting a force signal according to the first detection signal to maintain the vibration stability of the resonator, and adjusting a standing wave calculation azimuth angle according to the second detection signal, so that the standing wave calculation azimuth angle is the same as an actual value. The application can make the hemispherical resonator gyro realize the angular velocity measurement under a high dynamic rate and the angle reading with high precision and low noise at the same time without switching the working mode, thereby improving the performance integration and output continuity of the gyro.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a control system and control method for a hemispherical resonant gyroscope. Background Technology

[0002] As a high-precision inertial sensor, the hemispherical resonator gyroscope has been widely used in aerospace, precision navigation and other fields due to its advantages such as stable structure, high reliability and long life.

[0003] In existing technologies, hemispherical resonator gyroscopes typically employ a dual-mode operating mechanism: full-angle mode and force-balanced mode. Full-angle mode achieves angular velocity measurement at high dynamic rates by directly detecting the precession angle of the standing wave, but suffers from significant angular noise. Force-balanced mode, on the other hand, suppresses standing wave precession through feedback control to achieve high-precision angle measurement, but its dynamic range is limited, making it unsuitable for high-speed scenarios. To achieve full-condition coverage, the gyroscope needs to switch between these two modes. This process easily introduces transient output errors and often requires redundant gyroscope systems to maintain reliability, leading to a significant increase in system size, power consumption, and cost. Summary of the Invention

[0004] This invention provides a control system and control method for a hemispherical resonant gyroscope, which enables the hemispherical resonant gyroscope to simultaneously achieve angular velocity measurement at high dynamic rates and high-precision, low-noise angle reading without switching operating modes, thereby improving the performance integration and output continuity of the gyroscope.

[0005] In a first aspect, embodiments of the present invention provide a control system for a hemispherical resonant gyroscope. Optionally, the hemispherical resonant gyroscope includes a resonator and multiple electrodes disposed around the resonator. The control system includes a carrier generation module, a control module, an excitation synthesis module, a drive output module, and a signal detection module. The carrier generation module is connected to the control module and is used to provide at least two carrier signals with different frequencies according to the clock synchronization information or frequency configuration information of the control module. The control module is used to output an angle control signal related to the azimuth angle of the standing wave calculation and a force signal for maintaining vibration stability. The excitation synthesis module is connected to the carrier generation module and the control module and is used to output the angle control signal and the carrier signal. The system generates at least two excitation signals. The drive output module is connected to the excitation synthesis module and the control module. It is used to differentially condition the excitation signals according to the applied force signal to generate and output corresponding differential drive signals to the corresponding electrodes. The signal detection module is connected to the electrodes and the carrier generation module. It is used to acquire the vibration response signal of the resonator and perform synchronous demodulation processing on the vibration response signal based on the carrier signal, and output the first detection signal and the second detection signal to the control module. The control module is also used to adjust the applied force signal according to the first detection signal to maintain the vibration stability of the resonator, and adjust the standing wave calculation azimuth angle according to the second detection signal so that the standing wave calculation azimuth angle is the same as the actual value of the standing wave azimuth angle.

[0006] Optionally, at least two carrier signals with different frequencies include a first carrier signal and a second carrier signal; the signal detection module includes: a charge amplifier for converting the capacitance change signal generated by the vibration of the harmonic oscillator on the electrode into a voltage signal; a first bandpass filter and a second bandpass filter for extracting signal components corresponding to the frequencies of the first carrier signal and the second carrier signal from the voltage signal, respectively; and a first synchronous demodulator and a second synchronous demodulator for demodulating the filtered signal using the first carrier signal and the second carrier signal as demodulation reference signals, respectively, to output a first detection signal and a second detection signal.

[0007] Optionally, the carrier generation module includes a first carrier generator and a second carrier generator; the first carrier generator is connected to a first synchronous demodulator and an excitation synthesis module to provide a first carrier signal; the second carrier generator is connected to a second synchronous demodulator and an excitation synthesis module to provide a second carrier signal.

[0008] Optionally, the control system further includes a first analog-to-digital converter (ADC) and a second ADC; the first ADC is connected to the first synchronous demodulator and the control module, and is used to convert the first detection signal into a digital signal and provide it to the control module; the second ADC is connected to the second synchronous demodulator and the control module, and is used to convert the second detection signal into a digital signal and provide it to the control module.

[0009] Optionally, the angle control signal includes the sine and cosine components of the azimuth angle calculated by the standing wave; at least two carrier signals with different frequencies include a first carrier signal and a second carrier signal; at least two excitation signals include a first excitation signal and a second excitation signal; the excitation synthesis module includes a first signal synthesis unit and a second signal synthesis unit; the first signal synthesis unit is used to perform a first multiplication operation on the cosine component of the azimuth angle calculated by the standing wave and the first carrier signal, perform a second multiplication operation on the sine component of the azimuth angle calculated by the standing wave and the second carrier signal, and subtract the result of the second multiplication operation from the result of the first multiplication operation to synthesize the first excitation signal; the second signal synthesis unit is used to perform a third multiplication operation on the sine component of the azimuth angle calculated by the standing wave and the first carrier signal, perform a fourth multiplication operation on the cosine component of the azimuth angle calculated by the standing wave and the second carrier signal, and add the result of the third multiplication operation to the result of the fourth multiplication operation to synthesize the second excitation signal.

[0010] Optionally, the first signal synthesis unit includes: a first multiplier for performing a first multiplication operation; a second multiplier for performing a second multiplication operation; a first adder for performing a subtraction operation on the outputs of the first and second multipliers; and / or, the second signal synthesis unit includes: a third multiplier for performing a third multiplication operation; a fourth multiplier for performing a fourth multiplication operation; and a second adder for performing an addition operation on the outputs of the third and fourth multipliers.

[0011] Optionally, the drive output module includes a first differential drive unit and a second differential drive unit; multiple electrodes include multiple X electrodes and multiple Y electrodes; at least two excitation signals include a first excitation signal and a second excitation signal; force signals include a first force signal and a second force signal; the first differential drive unit is used to receive the first excitation signal and the first force signal, and generate a pair of first drive signals and a first anti-phase drive signal with opposite phases based on the first excitation signal and the first force signal, and output them to the X electrodes; the second differential drive unit is used to receive the second excitation signal and the second force signal, and generate a pair of second drive signals and a second anti-phase drive signal with opposite phases based on the second excitation signal and the second force signal, and output them to the Y electrodes.

[0012] Optionally, the first differential driving unit includes a first operational amplifier and a second operational amplifier; the non-inverting input of the first operational amplifier is used to receive a first excitation signal, the inverting input is used to receive a first applied force signal, and the output is used to output a first driving signal; the non-inverting input of the second operational amplifier is used to receive the first applied force signal, the inverting input is used to receive the first excitation signal, and the output is used to output a first inverted driving signal; and / or, the second differential driving unit includes a third operational amplifier and a fourth operational amplifier; the non-inverting input of the third operational amplifier is used to receive a second excitation signal, the inverting input is used to receive a second applied force signal, and the output is used to output a second driving signal; the non-inverting input of the fourth operational amplifier is used to receive the second applied force signal, the inverting input is used to receive the second excitation signal, and the output is used to output a second inverted driving signal.

[0013] Secondly, embodiments of the present invention provide a control method for a hemispherical resonator gyroscope, applied to the control system of the hemispherical resonator gyroscope provided in any embodiment of the present invention. The control method includes: generating an angle control signal related to the standing wave calculated azimuth angle, and a force signal for maintaining vibration stability; providing the angle control signal and at least two carrier signals of different frequencies to an excitation synthesis module to generate at least two excitation signals; providing the force signal and the excitation signal to a drive output module to generate and output a differential drive signal to the corresponding electrode of the hemispherical resonator gyroscope; receiving a first detection signal and a second detection signal from a signal detection module; wherein the first detection signal and the second detection signal are obtained by processing the resonator vibration response signal obtained on the electrode; adjusting the force signal according to the first detection signal to maintain the vibration stability of the resonator; and adjusting the standing wave calculated azimuth angle according to the second detection signal so that the standing wave calculated azimuth angle is the same as the actual value of the standing wave calculated azimuth angle.

[0014] Optionally, the angle control signal includes the sine and cosine components of the azimuth angle calculated by the standing wave; the carrier signal includes a first carrier signal and a second carrier signal; the excitation signal includes a first excitation signal and a second excitation signal; the step of generating at least two excitation signals includes: performing a first multiplication operation on the cosine component of the azimuth angle calculated by the standing wave and the first carrier signal, performing a second multiplication operation on the sine component of the azimuth angle calculated by the standing wave and the second carrier signal, and subtracting the result of the second multiplication operation from the result of the first multiplication operation to synthesize a first excitation signal; performing a third multiplication operation on the sine component of the azimuth angle calculated by the standing wave and the first carrier signal, performing a fourth multiplication operation on the cosine component of the azimuth angle calculated by the standing wave and the second carrier signal, and adding the result of the third multiplication operation to the result of the fourth multiplication operation to synthesize a second excitation signal.

[0015] The control system provided in this invention achieves stable control of the resonator vibration amplitude through a first detection signal, laying the foundation for high-precision measurement. Simultaneously, a second detection signal is used to perform real-time correction of the calculated azimuth angle of the standing wave, ensuring accurate tracking of the dynamic changes in the actual azimuth angle. This architecture constructs a novel dynamic coupling mechanism in its control logic: through closed-loop tracking of the actual azimuth angle using the calculated azimuth angle of the standing wave, it retains the high dynamic response characteristics of the full-angle mode to the precession of the standing wave while possessing the angle output accuracy advantages of the force balance mode. Since the control system always operates under this unified architecture, it fundamentally avoids the transient processes, transient errors, and output interruptions that inevitably occur when switching from one control strategy to another, thereby significantly improving the all-condition adaptability, measurement continuity, and operational reliability of the control system.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the control system of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0024] Figure 7This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0025] Figure 8 This is a flowchart of a control method for a hemispherical resonant gyroscope provided in an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0028] Figure 1 This is a schematic diagram of the control system of a hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the hemispherical resonant gyroscope includes a resonator 10 and electrodes 20 disposed around the resonator 10;

[0029] The control system includes a carrier generation module 11, a control module 12, an excitation synthesis module 13, a drive output module 14, and a signal detection module 15;

[0030] The carrier generation module 11 is connected to the control module 12 and is used to provide at least two carrier signals with different frequencies according to the clock synchronization information or frequency configuration information of the control module 12.

[0031] The control module 12 is used to output an angle control signal related to the azimuth angle of the standing wave calculation, and a force signal used to maintain vibration stability;

[0032] The excitation synthesis module 13 is connected to the carrier generation module 11 and the control module 12, and is used to generate at least two excitation signals based on the angle control signal and the carrier signal.

[0033] The drive output module 14 is connected to the excitation synthesis module 13 and the control module 12, and is used to differentially condition the excitation signal according to the applied force signal to generate and output the corresponding differential drive signal to the corresponding electrode 20.

[0034] The signal detection module 15 is connected to the electrode 20 and the carrier generation module 11. It is used to acquire the vibration response signal of the resonator 10, and to perform synchronous demodulation processing on the vibration response signal based on the carrier signal, and output the first detection signal A1 and the second detection signal A2 to the control module 12.

[0035] The control module 12 is also used to adjust the applied force signal according to the first detection signal A1 to maintain the vibration stability of the resonator 10, and to adjust the standing wave calculation azimuth angle according to the second detection signal A2 so that the standing wave calculation azimuth angle is the same as the actual value of the standing wave azimuth angle.

[0036] Specifically, the carrier generation module 11 provides at least two carrier signals with different frequencies based on the clock synchronization information or frequency configuration information of the control module 12. These carrier signals can be sine waves or square waves, and their frequency selection should avoid mutual interference and facilitate subsequent signal processing. The carrier generation module 11 can be implemented using a digital frequency synthesizer or oscillator circuit.

[0037] Clock synchronization information refers to the carrier generation module 11 using the reference clock of the control module 12 as a reference to generate a carrier signal with a stable phase relationship, so as to ensure that the local reference signal of the signal detection module 15 is coherent with the applied signal when performing synchronous demodulation, thereby improving the signal-to-noise ratio and detection accuracy.

[0038] Frequency configuration information refers to the ability of control module 12 to send instructions to carrier generation module 11 to dynamically set, adjust, or calibrate the specific frequencies of at least two carrier signals.

[0039] The control module 12 may include a microcontroller. Optionally, the control module 12 may include a microcontroller, or a digital signal processor (DSP) or a field-programmable gate array (FPGA).

[0040] The control module 12 outputs two types of signals: an angle control signal related to the azimuth angle of the standing wave calculation, and a force signal used to maintain vibration stability. The angle control signal can be expressed as a trigonometric function of the azimuth angle of the standing wave calculation, such as sine and cosine components. The force signal is used to adjust the amplitude or phase of the drive signal to maintain the stability of the harmonic oscillator vibration.

[0041] The standing wave azimuth angle refers to the spatial angle of the standing wave pattern formed by the vibration of the harmonic oscillator in a hemispherical resonant gyroscope. The actual value of the standing wave azimuth angle refers to the real angle value that objectively exists at any given moment in this physical concept of "standing wave azimuth angle".

[0042] The standing wave azimuth angle calculation refers to the estimated value of the actual standing wave azimuth angle in a gyroscope control system, calculated and output in real time through an internal algorithm. It is a state variable within the system, aiming to infinitely approximate the actual value of the standing wave azimuth angle, and is directly used for angular velocity calculation and closed-loop control.

[0043] The excitation synthesis module 13 receives a carrier signal from the carrier generation module 11 and an angle control signal from the control module 12, and generates at least two excitation signals through signal synthesis operations. The synthesis process involves combining the angle control signal with carrier signals of different frequencies to generate excitation signals with specific phase and frequency characteristics. These excitation signals correspond to different drive channels.

[0044] The drive output module 14 receives the excitation signal output by the excitation synthesis module 13 and the force signal from the control module 12, and performs differential conditioning on the excitation signal to generate a differential drive signal suitable for the drive electrode. The drive output module 14 outputs the conditioned differential drive signal to the corresponding electrode 20, thereby exciting the resonator 10 to vibrate.

[0045] The signal detection module 15 is connected to the electrode 20 and is used to detect the vibration response signal generated when the resonator 10 vibrates. The vibration response signal is usually manifested as a change in capacitance on the electrode. The signal detection module 15 converts these signals into voltage signals, performs preprocessing, and outputs a first detection signal A1 and a second detection signal A2 to the control module 12. The first detection signal A1 reflects the vibration amplitude information, and the second detection signal A2 reflects the standing wave azimuth error information.

[0046] Continue to refer to Figure 1 The working principle of the control system of this invention is based on multi-carrier modulation and feedback control technology. By using at least two carrier signals with different frequencies, the control system achieves separation of the force application and detection channels, improving the flexibility of signal processing and anti-interference capability.

[0047] During the excitation phase, the control module 12 calculates the azimuth angle based on the current standing wave and generates an angle control signal. The excitation synthesis module 13 synthesizes the angle control signal with carrier signals of different frequencies to generate multiple excitation signals. After being conditioned by the drive output module 14, these signals drive the electrode 20 to excite the vibration of the resonator 10.

[0048] During the detection phase, the vibration response of the resonator is captured by electrode 20. The signal detection module 15 processes the vibration response signal, extracts the components related to each carrier frequency, and outputs a first detection signal A1 and a second detection signal A2. The first detection signal A1 is used for closed-loop control of the vibration amplitude to ensure the stability of the resonator vibration; the second detection signal A2 is used to correct the standing wave calculation azimuth angle and eliminate the deviation between the calculated value and the actual value.

[0049] Through this dual-channel feedback mechanism, the system can adjust the excitation parameters and calculate the standing wave azimuth angle in real time, effectively improving the control accuracy and reliability of the hemispherical resonant gyroscope.

[0050] The control system provided in this invention achieves stable control of the resonator vibration amplitude through a first detection signal, laying the foundation for high-precision measurement. Simultaneously, a second detection signal is used to perform real-time correction of the calculated azimuth angle of the standing wave, ensuring accurate tracking of the dynamic changes in the actual azimuth angle. This architecture constructs a novel dynamic coupling mechanism in its control logic: through closed-loop tracking of the actual azimuth angle using the calculated azimuth angle of the standing wave, it retains the high dynamic response characteristics of the full-angle mode to the precession of the standing wave while possessing the angle output accuracy advantages of the force balance mode. Since the control system always operates under this unified architecture, it fundamentally avoids the transient processes, transient errors, and output interruptions that inevitably occur when switching from one control strategy to another, thereby significantly improving the all-condition adaptability, measurement continuity, and operational reliability of the control system.

[0051] Figure 2 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 2 As shown, at least two carrier signals with different frequencies include a first carrier signal F1 and a second carrier signal F2; the signal detection module 15 includes:

[0052] The charge amplifier 151 is used to convert the capacitance change signal generated by the vibration of the resonator 10 on the electrode 20 into a voltage signal.

[0053] The first bandpass filter 152 and the second bandpass filter 153 are respectively used to extract signal components from the voltage signal that correspond to the frequencies of the first carrier signal F1 and the second carrier signal F2.

[0054] The first synchronous demodulator 154 and the second synchronous demodulator 155 are respectively used as the first carrier signal F1 and the second carrier signal F2 as demodulation reference signals to demodulate the filtered signal and output the first detection signal A1 and the second detection signal A2.

[0055] Specifically, the hemispherical resonant gyroscope adopts an eight-electrode structure, with a bias voltage connected to the resonator 10. Detection and force application employ an electrode multiplexing method, meaning the force signal and excitation signal are superimposed by an operational amplifier and then applied to electrode 20.

[0056] Assume the distance A between the capacitor plates is expressed as:

[0057] ;(Formula 1)

[0058] in This refers to the spacing between the capacitor plates at the equilibrium position. The amplitude of vibration ( ), It is the resonant angular frequency. For time. If the area of ​​a single electrode is The capacitances formed between the upper electrode and the lower electrode and the resonator are respectively... and :

[0059] ;(Formula 2)

[0060] Taking a pair of electrodes as an example, a differential AC excitation voltage is applied to the upper and lower electrodes. , The amplitude of the excitation signal, The angular frequency of the excitation signal, Given the initial phase angle, then in as well as The current flowing through them are respectively and :

[0061] ;(Formula 3)

[0062] The total current flowing out of the harmonic oscillator for:

[0063] ;(Formula 4)

[0064] After passing through the charge amplifier, the output voltage is:

[0065] ;(Formula 5)

[0066] in, The relative permittivity of the dielectric is denoted as . The area of ​​the two plates facing each other. ; This is the feedback capacitor value of the charge amplifier;

[0067] Based on the equivalent model of hemispherical resonant gyroscope vibration, the vibration displacements of the harmonic oscillator in the X and Y directions can be written as:

[0068] ;(Formula 6)

[0069] in, Main wave amplitude, For orthogonal wave amplitude, For the standing wave azimuth, It is the resonant angular frequency. The main wave phase.

[0070] At least two excitation signals include a first excitation signal E1 and a second excitation signal E2;

[0071] ;(Formula 7)

[0072] in, The amplitude; , These are the phases of the first carrier signal and the second carrier signal, respectively; and These are the carrier frequencies of the first carrier signal F1 and the second carrier signal F2, respectively. Calculate the azimuth angle for standing waves;

[0073] Substituting (Equation 6) and (Equation 7) into (Equation 5) yields the total output of the charge amplifier. for:

[0074] ;

[0075] The first synchronous demodulator 154 and the second synchronous demodulator 155 will Relative to the first carrier signal respectively Second carrier signal Demodulation yields the first detection signal A1 and the second detection signal A2 as follows:

[0076] ;

[0077] If orthogonality is suppressed, then:

[0078] ;

[0079] As can be seen from the above formula, if the azimuth angle of the standing wave is calculated... The actual value of the standing wave direction angle Consistency (i.e.) If A2 = 0, then A2 = 0. Therefore, we can adjust according to A2. This allows for the calculation of the azimuth angle using standing waves. Real-time tracking of the actual value of the standing wave direction angle Furthermore, since the second detection signal A2 is very small, its acquisition channel can use high-gain amplification, which will significantly reduce... and The error between them can avoid the problem that the accuracy of the full-angle mode standing wave azimuth angle calculation is limited by the accuracy of the analog-to-digital converter (ADC).

[0080] Optionally, continue to refer to Figure 2 The carrier generation module 11 includes a first carrier generator 111 and a second carrier generator 112.

[0081] The first carrier generator 111 is connected to the first synchronous demodulator 154 and the excitation synthesis module 13 to provide the first carrier signal F1. The second carrier generator 112 is connected to the second synchronous demodulator 155 and the excitation synthesis module 13 to provide the second carrier signal F2. In this embodiment of the invention, two AC measurement schemes with different carrier frequencies are adopted to avoid mutual interference between the X-channel and Y-channel vibration detection signals.

[0082] Optionally, setting the carrier frequencies of the first carrier signal F1 and the second carrier signal F2 to be far from the natural resonant frequency of the resonator can effectively avoid the mutual coupling between the driving signal and the natural vibration frequency of the resonator, ensuring that the force control and vibration detection operate in independent and non-interfering frequency bands, thereby improving the control accuracy and stability of the control system.

[0083] Figure 3 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the control system of the hemispherical resonant gyroscope also includes a first analog-to-digital converter 16 and a second analog-to-digital converter 17;

[0084] The first analog-to-digital converter 16 is connected to the first synchronous demodulator 154 and the control module 12, and is used to convert the first detection signal A1 into a digital signal and provide it to the control module 12.

[0085] The second analog-to-digital converter 17 is connected to the second synchronous demodulator 155 and the control module 12, and is used to convert the second detection signal A2 into a digital signal and provide it to the control module 12.

[0086] Specifically, an analog-to-digital converter is a device that converts continuous analog voltage signals into discrete digital codes (usually binary numbers).

[0087] Control module 12 is a digital device that can only process and operate on digital signals. The ADC converts analog signals into digital signals, enabling the control module to read and perform complex control algorithm calculations (such as PID control).

[0088] The first detection signal A1 and the second detection signal A2 are low-frequency (or DC) analog voltage signals obtained after synchronous demodulation. The first detection signal A1 represents the vibration amplitude information of the resonator. The second detection signal A2 represents the standing wave azimuth error information (i.e., the difference between the calculated standing wave azimuth and the actual standing wave azimuth).

[0089] After receiving the digital values ​​of the first detection signal A1 and the second detection signal A2, the control module 12 adjusts the output force signal according to the digitized first detection signal A1 to form a closed loop, thereby maintaining the stability of the resonator's vibration amplitude. According to the digitized second detection signal A2, it adjusts the internal standing wave calculation azimuth angle to form a closed loop, thereby forcing the standing wave calculation azimuth angle to track the actual value of the upper standing wave azimuth angle.

[0090] Figure 4 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the angle control signal includes the standing wave calculation azimuth angle. sinusoidal component Sum and cosine components At least two carrier signals with different frequencies include a first carrier signal F1 and a second carrier signal F2; at least two excitation signals include a first excitation signal E1 and a second excitation signal E2; the excitation synthesis module 13 includes a first signal synthesis unit 131 and a second signal synthesis unit 132.

[0091] The first signal synthesis unit 131 is used to synthesize the cosine component of the azimuth angle of the standing wave. The first multiplication operation is performed with the first carrier signal F1 to calculate the sinusoidal component of the azimuth angle of the standing wave. A second multiplication operation is performed with the second carrier signal F2, and the result of the first multiplication operation is subtracted from the result of the second multiplication operation to synthesize the first excitation signal E1.

[0092] The second signal synthesis unit 132 is used to calculate the sinusoidal component of the azimuth angle of the standing wave. Perform a third multiplication operation with the first carrier signal F1 to calculate the cosine component of the azimuth angle of the standing wave. The second excitation signal E2 is synthesized by performing a fourth multiplication operation with the second carrier signal F2 and adding the result of the third multiplication operation to the result of the fourth multiplication operation.

[0093] The control system aims to generate a resultant force on the resonator whose direction coincides with the calculated azimuth angle of the standing wave. This resultant force can be decomposed into components in two orthogonal directions (such as the X and Y directions).

[0094] The first signal synthesis unit 131 is responsible for synthesizing the excitation signal in the X direction (i.e., E1), and the second signal synthesis unit 132 is responsible for synthesizing the excitation signal in the Y direction (i.e., E2).

[0095] The excitation signal in each direction is modulated by two carriers of different frequencies, rather than a single carrier.

[0096] In other words, .

[0097] Since the first excitation signal E1 and the second excitation signal E2 simultaneously contain both the first carrier signal F1 and the second carrier signal F2, and their amplitudes are similar to... ,as well as This enables the subsequent signal detection module 15 to use carriers of different frequencies as preset frequency features, and through bandpass filtering and synchronous demodulation, completely separate the vibration information and azimuth error information from the mixed response signal.

[0098] Figure 5 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 5 As shown, optionally, the first signal synthesis unit 131 includes:

[0099] The first multiplier M1 is used to perform the first multiplication operation;

[0100] The second multiplier M2 is used to perform the second multiplication operation;

[0101] The first adder J1 is used to perform subtraction operations on the outputs of the first multiplier M1 and the second multiplier M2.

[0102] The second signal synthesis unit 132 includes:

[0103] The third multiplier M3 is used to perform the third multiplication operation;

[0104] The fourth multiplier M4 is used to implement the fourth multiplication operation;

[0105] The second adder J2 is used to perform addition operations on the outputs of the third multiplier M3 and the fourth multiplier M4.

[0106] Specifically, the first multiplier M1 performs the first multiplication operation: ×F1. This operation sets the amplitude of the first carrier signal F1 in the first excitation signal E1.

[0107] The second multiplier M2 performs the second multiplication operation: ×F2. This operation sets the amplitude of the second carrier signal F2 in the first excitation signal E1.

[0108] The first adder J1 performs a subtraction operation on the two results mentioned above. This subtraction operation can be implemented in the circuit by connecting an inverted signal to the adder, which physically means synthesizing the excitation signal in the X-axis direction.

[0109] The third multiplier M3 performs the third multiplication operation: ×F1. This operation sets the amplitude of the first carrier signal F1 in the second excitation signal E2.

[0110] The fourth multiplier M4 performs the fourth multiplication operation: ×F2. This operation sets the amplitude of the second carrier signal F2 in the second excitation signal E2.

[0111] The second adder J2 performs an addition operation on the two results mentioned above. This addition operation completes the synthesis of the excitation signal in the Y direction.

[0112] Figure 6 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the drive output module 14 includes a first differential drive unit 141 and a second differential drive unit 142; multiple electrodes include multiple X electrodes and multiple Y electrodes; at least two excitation signals include a first excitation signal E1 and a second excitation signal E2; and force signals include a first force signal Force1 and a second force signal Force2.

[0113] The first differential drive unit 141 is used to receive the first excitation signal E1 and the first force signal Force1, and generate a pair of first drive signals S1+ and first anti-phase drive signals S1- with opposite phases based on the first excitation signal E1 and the first force signal Force1, and output them to the X electrode.

[0114] The second differential drive unit 142 is used to receive the second excitation signal E2 and the second force signal Force2, and generate a pair of second drive signals S2+ and second anti-phase drive signals S2- with opposite phases based on the second excitation signal E2 and the second force signal Force2, and output them to the Y electrode.

[0115] Specifically, the gray electrode in the diagram is the X electrode, and the black electrode is the Y electrode.

[0116] The first differential drive unit 141 generates a pair of opposite-phase first drive signals S1+ and S1- based on the first excitation signal E1 and the first force signal Force1, and outputs them to the X electrode. This differential drive method can apply a net driving force in the X-axis direction of the resonator, the direction and magnitude of which are jointly determined by E1 and Force1.

[0117] The second differential drive unit 142 operates in the same manner, responsible for the Y direction. It receives the second excitation signal E2 and the second force signal Force2, generates a pair of opposite-phase second drive signals S2+ and S2-, and outputs them to the Y electrode. By applying a pair of opposite-phase drive signals to the electrode pair, a stronger effective electric field can be generated on the resonator, thereby obtaining higher drive efficiency, which is crucial for maintaining stable resonator vibration.

[0118] Figure 7 This is a schematic diagram of the control system of another hemispherical resonant gyroscope provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the first differential drive unit 141 includes a first operational amplifier U1 and a second operational amplifier U2;

[0119] The non-inverting input of the first operational amplifier U1 is used to receive the first excitation signal E1, the inverting input is used to receive the first force signal Force1, and the output is used to output the first drive signal S1+.

[0120] The non-inverting input of the second operational amplifier U2 is used to receive the first force signal Force1, the inverting input is used to receive the first excitation signal E1, and the output is used to output the first inverted drive signal S1-.

[0121] And / or,

[0122] The second differential drive unit 142 includes a third operational amplifier U3 and a fourth operational amplifier U4;

[0123] The non-inverting input of the third operational amplifier U3 is used to receive the second excitation signal E2, the inverting input is used to receive the second force signal Force2, and the output is used to output the second drive signal S2+.

[0124] The non-inverting input of the fourth operational amplifier U4 is used to receive the second force signal Force2, the inverting input is used to receive the second excitation signal E2, and the output is used to output the second inverted drive signal S2-.

[0125] Optionally, the control system also includes a bias voltage source for applying a DC bias voltage VB to the resonator.

[0126] Based on the same inventive concept, this invention also provides a control method for a hemispherical resonant gyroscope, applicable to the control system of the hemispherical resonant gyroscope provided in any embodiment of this invention. Figure 8 This is a flowchart illustrating a control method for a hemispherical resonant gyroscope according to an embodiment of the present invention. The method in this embodiment can be executed by a control system, which can be implemented in software and / or hardware.

[0127] like Figure 8 As shown, the control method of this hemispherical resonant gyroscope includes:

[0128] S101, Generate an angle control signal related to the azimuth angle of the standing wave calculation, and a force signal for maintaining vibration stability.

[0129] Specifically, the angle control signal is generated based on the standing wave azimuth angle calculated internally by the current control system (i.e., an estimate of the actual standing wave azimuth angle), and is typically provided in the form of sine and cosine components of that angle. These components are used to modulate with carrier signals of different frequencies in the subsequent excitation synthesis module, thereby synthesizing an excitation signal with specific directional characteristics to drive the resonator to vibrate along the desired azimuth.

[0130] On the other hand, the applied force signal is used to maintain the stability of the resonator's vibration amplitude. This signal can be an AC signal related to the resonant frequency, and its amplitude or phase can be dynamically adjusted according to the detected vibration response to ensure that the resonator always operates in a stable resonant state, providing a reliable vibration basis for high-precision angle measurement.

[0131] By simultaneously generating and outputting angle control signals and force signals, the control system can achieve both oscillation orientation detection and vibration amplitude control of the resonator under the same architecture, thus meeting the dual requirements of high dynamic response and high-precision measurement without switching operating modes.

[0132] S102. Provide the angle control signal and at least two carrier signals of different frequencies to the excitation synthesis module to generate at least two excitation signals.

[0133] S103. The force signal and excitation signal are provided to the drive output module to generate and output differential drive signals to the corresponding electrodes of the hemispherical resonant gyroscope.

[0134] Specifically, the excitation synthesis module receives an angle control signal (represented by the sine and cosine components of the azimuth angle calculated from the standing wave) from the control module and at least two carrier signals of different frequencies (e.g., a first carrier signal F1 and a second carrier signal F2) from the carrier generation module. Subsequently, the module mixes the azimuth information with carriers of different frequencies through specific synthesis operations to generate at least two independent excitation signals (e.g., a first excitation signal E1 and a second excitation signal E2).

[0135] In a preferred embodiment, the synthesis operation includes: performing a first multiplication operation on the cosine component and the first carrier signal, performing a second multiplication operation on the sine component and the second carrier signal, and subtracting the result of the second multiplication operation from the result of the first multiplication operation to synthesize a first excitation signal for driving the X electrode; simultaneously, performing a third multiplication operation on the sine component and the first carrier signal, performing a fourth multiplication operation on the cosine component and the second carrier signal, and adding the result of the third multiplication operation to the result of the fourth multiplication operation to synthesize a second excitation signal for driving the Y electrode.

[0136] Through the above calculations, each of the two generated excitation signals simultaneously contains two carrier components of different frequencies, and its amplitude is precisely modulated by the calculated azimuth angle of the standing wave. This design enables the subsequent driving signal to synthesize a resultant force on the resonator whose direction strictly corresponds to the calculated azimuth angle of the standing wave. More importantly, it lays the foundation for subsequent signal detection, allowing information related to azimuth angle and amplitude in the vibration response to be modulated onto different carrier frequencies. This enables decoupling and independent extraction through frequency domain separation technology, effectively avoiding crosstalk between channels and improving the system's control accuracy and anti-interference capability.

[0137] S104, Receive the first detection signal and the second detection signal from the signal detection module.

[0138] The first and second detection signals are obtained by processing the harmonic oscillator vibration response signals acquired on the electrodes.

[0139] Specifically, the first and second detection signals are the final results obtained by the signal detection module after a series of processing steps on the original vibration response signals acquired from the electrodes of the hemispherical resonator gyroscope. The processing typically includes: using a charge amplifier to convert the minute capacitance changes caused by the resonator oscillation into voltage signals; then, using bandpass filters whose center frequencies correspond to different carrier signals to separate the signal components of each channel from the mixed voltage signals; finally, using a synchronous demodulator, with each carrier signal as a reference, to demodulate the high-frequency carrier modulation signal into a low-frequency vibration detection signal containing vibration information.

[0140] The first detection signal primarily characterizes the vibration amplitude information of the resonator, which will be used in the subsequent amplitude stabilization control loop to maintain the energy stability of the resonator vibration. The second detection signal primarily characterizes the error information between the calculated azimuth angle of the standing wave and the actual value of the standing wave azimuth angle, which will be used in the subsequent angle tracking control loop to achieve high-precision azimuth angle locking and reading.

[0141] By receiving and processing these two detection signals with different physical meanings, the control system is able to decouple the stable control of vibration amplitude and the precise tracking of standing wave orientation into two parallel and independent closed-loop processes.

[0142] S105. Adjust the applied force signal according to the first detection signal to maintain the vibration stability of the harmonic oscillator.

[0143] Specifically, the first detection signal is obtained by extracting and demodulating the vibration response signal of the harmonic oscillator through the signal detection module. It directly and linearly reflects the magnitude of the current vibration amplitude of the harmonic oscillator. The control module continuously reads the digital value of the first detection signal and compares it with an ideal reference amplitude value preset within the system to obtain an amplitude error signal. Subsequently, the control module runs a specific control algorithm (such as PID control) to dynamically adjust its output force signal based on the error signal.

[0144] The "adjusting the applied force signal" here can be interpreted as adjusting the amplitude or equivalent gain of the applied force signal. When the first detection signal indicates that the vibration amplitude is lower than the preset value, the control algorithm will increase the amplitude of the applied force signal, thereby enhancing the driving force applied to the electrodes and causing the vibration amplitude to rise again; conversely, when the vibration amplitude is too high, the amplitude of the applied force signal will be reduced to decrease the driving force and cause the vibration amplitude to fall back. Through such a continuous negative feedback adjustment process, the vibration amplitude of the resonator can be actively and precisely "locked" at the optimal operating point.

[0145] Maintaining vibration stability is of critical technical significance: First, a stable amplitude ensures the constant scaling factor of the gyroscope, which is a prerequisite for accurate angular velocity calculation; second, it enables the control system to detect and calculate the standing wave azimuth angle without being disturbed by amplitude fluctuations, thereby improving the accuracy of angle reading and signal-to-noise ratio.

[0146] S106. Adjust the standing wave calculation azimuth angle according to the second detection signal so that the standing wave calculation azimuth angle is the same as the actual value of the standing wave calculation azimuth angle.

[0147] Specifically, the second detection signal is the electrical representation of the azimuth error information contained in the harmonic oscillator's vibration response, extracted by the signal detection module. Its physical meaning lies in the fact that its magnitude is proportional to the difference between the calculated azimuth angle of the standing wave and the actual value of the standing wave azimuth angle (i.e., the error), while its polarity (positive or negative) indicates the direction of deviation of the calculated value relative to the actual value. The control module continuously reads this second detection signal and inputs it as an error feedback quantity into the angle tracking control algorithm. Based on the magnitude and direction of the error, the algorithm dynamically and iteratively corrects the internally maintained calculated azimuth angle of the standing wave.

[0148] The dynamic equilibrium point of this adjustment process is: theoretically, the second detection signal should be zero when the calculated azimuth angle of the standing wave is exactly equal to the actual value of the standing wave azimuth angle. If the second detection signal is not zero, it indicates a tracking error, and the control algorithm will immediately drive the calculated azimuth angle of the standing wave to change in the direction of reducing this error until it converges back to the actual value. A key technical advantage is that, since the second detection signal is essentially an amplified representation of this tiny error, its acquisition channel can apply high-gain amplification, thus enabling extremely sensitive detection of extremely small angle deviations. This solves the bottleneck problem in traditional full-angle mode where the accuracy of angle calculation is directly limited by the resolution of the analog-to-digital converter.

[0149] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control system for a hemispherical resonant gyroscope, characterized in that, The hemispherical resonant gyroscope includes a resonator and multiple electrodes disposed around the resonator; The control system includes a carrier generation module, a control module, an excitation synthesis module, a drive output module, and a signal detection module; The carrier generation module is connected to the control module and is used to provide at least two carrier signals with different frequencies according to the clock synchronization information or frequency configuration information of the control module. The control module is used to output an angle control signal related to the azimuth angle of the standing wave calculation, and a force signal used to maintain vibration stability. The excitation synthesis module is connected to the carrier generation module and the control module, and is used to generate at least two excitation signals based on the angle control signal and the carrier signal; The drive output module is connected to the excitation synthesis module and the control module, and is used to differentially condition the excitation signal according to the applied force signal to generate and output a corresponding differential drive signal to the corresponding electrode; The signal detection module is connected to the electrode and the carrier generation module, and is used to acquire the vibration response signal of the harmonic oscillator, and to perform synchronous demodulation processing on the vibration response signal based on the carrier signal, and output the first detection signal and the second detection signal to the control module. The control module is further configured to adjust the applied force signal according to the first detection signal to maintain the vibration stability of the resonator, and to adjust the standing wave calculated azimuth angle according to the second detection signal so that the standing wave calculated azimuth angle is the same as the actual value of the standing wave azimuth angle.

2. The control system for the hemispherical resonant gyroscope according to claim 1, characterized in that, The at least two carrier signals with different frequencies include a first carrier signal and a second carrier signal; the signal detection module includes: A charge amplifier is used to convert the capacitance change signal generated on the electrode due to the vibration of the harmonic oscillator into a voltage signal. The first bandpass filter and the second bandpass filter are respectively used to extract signal components from the voltage signal that correspond to the frequencies of the first carrier signal and the second carrier signal. The first synchronous demodulator and the second synchronous demodulator are respectively used as the first carrier signal and the second carrier signal as demodulation reference signals to demodulate the filtered signal and output the first detection signal and the second detection signal.

3. The control system for the hemispherical resonant gyroscope according to claim 2, characterized in that, The carrier generation module includes a first carrier generator and a second carrier generator; The first carrier generator is connected to the first synchronous demodulator and the excitation synthesis module to provide the first carrier signal; The second carrier generator is connected to the second synchronous demodulator and the excitation synthesis module to provide the second carrier signal.

4. The control system for the hemispherical resonant gyroscope according to claim 2, characterized in that, It also includes a first analog-to-digital converter and a second analog-to-digital converter; The first analog-to-digital converter is connected to the first synchronous demodulator and the control module, and is used to convert the first detection signal into a digital signal and provide it to the control module. The second analog-to-digital converter is connected to the second synchronous demodulator and the control module, and is used to convert the second detection signal into a digital signal and provide it to the control module.

5. The control system for the hemispherical resonant gyroscope according to claim 1, characterized in that, The angle control signal includes the sine and cosine components of the standing wave azimuth angle calculation; at least two carrier signals with different frequencies include a first carrier signal and a second carrier signal; at least two excitation signals include a first excitation signal and a second excitation signal. The excitation synthesis module includes a first signal synthesis unit and a second signal synthesis unit; The first signal synthesis unit is used to perform a first multiplication operation on the cosine component of the calculated azimuth angle of the standing wave and the first carrier signal, perform a second multiplication operation on the sine component of the calculated azimuth angle of the standing wave and the second carrier signal, and subtract the result of the second multiplication operation from the result of the first multiplication operation to synthesize the first excitation signal. The second signal synthesis unit is used to perform a third multiplication operation on the sine component of the calculated azimuth angle of the standing wave and the first carrier signal, perform a fourth multiplication operation on the cosine component of the calculated azimuth angle of the standing wave and the second carrier signal, and add the result of the third multiplication operation to the result of the fourth multiplication operation to synthesize the second excitation signal.

6. The control system for the hemispherical resonant gyroscope according to claim 5, characterized in that, The first signal synthesis unit includes: The first multiplier is used to implement the first multiplication operation; The second multiplier is used to perform the second multiplication operation; The first adder is used to perform subtraction operations on the outputs of the first multiplier and the second multiplier; And / or, the second signal synthesis unit includes: The third multiplier is used to perform the third multiplication operation; The fourth multiplier is used to perform the fourth multiplication operation; The second adder is used to perform addition operations on the outputs of the third and fourth multipliers.

7. The control system for the hemispherical resonant gyroscope according to claim 1, characterized in that, The drive output module includes a first differential drive unit and a second differential drive unit; the plurality of electrodes includes a plurality of X electrodes and a plurality of Y electrodes; at least two excitation signals include a first excitation signal and a second excitation signal; the force signal includes a first force signal and a second force signal; The first differential drive unit is used to receive the first excitation signal and the first force signal, and generate a pair of first drive signals and first anti-phase drive signals with opposite phases based on the first excitation signal and the first force signal, and output them to the X electrode; The second differential drive unit is used to receive the second excitation signal and the second force signal, and generate a pair of second drive signals and second anti-phase drive signals with opposite phases based on the second excitation signal and the second force signal, and output them to the Y electrode.

8. The control system for the hemispherical resonant gyroscope according to claim 7, characterized in that, The first differential drive unit includes a first operational amplifier and a second operational amplifier; The non-inverting input of the first operational amplifier is used to receive the first excitation signal, the inverting input is used to receive the first applied force signal, and the output is used to output the first drive signal. The non-inverting input of the second operational amplifier is used to receive the first applied force signal, the inverting input is used to receive the first excitation signal, and the output is used to output the first inverted drive signal. And / or, The second differential drive unit includes a third operational amplifier and a fourth operational amplifier; The non-inverting input of the third operational amplifier is used to receive the second excitation signal, the inverting input is used to receive the second force signal, and the output is used to output the second drive signal. The non-inverting input of the fourth operational amplifier is used to receive the second applied force signal, the inverting input is used to receive the second excitation signal, and the output is used to output the second inverted drive signal.

9. A control method for a hemispherical resonant gyroscope, characterized in that, A control system applied to the hemispherical resonant gyroscope according to any one of claims 1-8, the control method comprising: Generate an angle control signal related to the azimuth angle of the standing wave calculation, as well as a force signal for maintaining vibration stability; The angle control signal and at least two carrier signals of different frequencies are provided to the excitation synthesis module to generate at least two excitation signals; The applied force signal and the excitation signal are provided to the drive output module to generate and output differential drive signals to the corresponding electrodes of the hemispherical resonant gyroscope; The system receives a first detection signal and a second detection signal from the signal detection module; wherein the first detection signal and the second detection signal are obtained by processing the resonator vibration response signal acquired on the electrode. The applied force signal is adjusted according to the first detection signal to maintain the vibration stability of the harmonic oscillator; The standing wave calculation azimuth is adjusted according to the second detection signal so that the standing wave calculation azimuth is the same as the actual value of the standing wave calculation azimuth.

10. The control method for a hemispherical resonant gyroscope according to claim 9, characterized in that, The angle control signal includes the sine and cosine components of the azimuth angle calculated by the standing wave; the carrier signal includes a first carrier signal and a second carrier signal; the excitation signal includes a first excitation signal and a second excitation signal. The step of generating at least two excitation signals includes: The cosine component of the calculated azimuth angle of the standing wave is multiplied by the first carrier signal, the sine component of the calculated azimuth angle of the standing wave is multiplied by the second carrier signal, and the result of the first multiplication operation is subtracted from the result of the second multiplication operation to synthesize the first excitation signal. The sine component of the azimuth angle calculated by the standing wave is multiplied by the first carrier signal in a third multiplication operation, and the cosine component of the azimuth angle calculated by the standing wave is multiplied by the second carrier signal in a fourth multiplication operation. The result of the third multiplication operation is added to the result of the fourth multiplication operation to synthesize the second excitation signal.

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