Control method and system for hemispherical resonator gyroscopes

Abstract

The application discloses a control method and system of a hemispherical resonator gyro. The control method of the hemispherical resonator gyro comprises the following steps: obtaining an interrupt signal with a fixed period; synchronously starting a driving loop task and a detection loop task according to the interrupt signal; in the driving loop task, a driving signal is formed by controlling the driving loop, and the driving signal is used for controlling the hemispherical resonator gyro; in the detection loop task, a detection signal is formed according to detection information provided by the detection loop. According to the method, the driving loop task and the detection loop task can be directly synchronized with the interrupt signal, and the driving loop task and the detection loop task can be operated at the highest priority, so that the time sequence jitter caused by task scheduling and interrupt delay in the prior art can be eliminated. The driving loop task and the detection loop task are operated at a fixed frequency with nanosecond-level jitter, the phase and amplitude noise caused by time sequence uncertainty are greatly reduced, and the core performance index of the hemispherical resonator gyro is improved.

Description

Technical Field

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

[0002] Resonant gyroscopes, a type of solid-state wave gyroscope based on the Coriolis effect, include quartz hemispherical resonant gyroscopes. As solid-state wave gyroscopes based on the Coriolis effect, hemispherical resonant gyroscopes have become core components of high-end inertial systems in aerospace, marine navigation, precision weapon guidance, and space exploration due to their characteristics such as no mechanical wear, long lifespan, high reliability, strong shock resistance, and potential high precision.

[0003] Traditional control schemes for resonant gyroscopes have the following drawbacks: 1. Timing jitter and uncertainty. The drive loop and detection loop in the control system of a resonant gyroscope are typical high-dynamic processes, requiring extremely high stability (microseconds or even nanoseconds) for the sampling and control cycle. In current control schemes, unpredictable jitter in the control cycle is easily caused by interruption delays and task scheduling conflicts, thus introducing significant phase noise and amplitude noise, directly deteriorating the key performance indicators of the resonant gyroscope, such as bias stability and angular random walk (ARW). 2. Inter-loop coupling interference. The drive loop and detection loop are tightly coupled physically and algorithmically. The execution timing of the two loops is difficult to coordinate and synchronize precisely, which may lead to mutual interference. For example, the calculation delay of the detection loop will directly affect the real-time calculation accuracy of the Coriolis force, causing distortion of the rate output. 3. Difficulty in development, maintenance, and functional expansion. All functional code in the control scheme is coupled in a single loop or interrupt, resulting in a messy code structure and poor readability. When integrating new compensation algorithms or functions in the future, the risks are high and the cycle is long, often requiring the reconstruction of the entire software architecture, which cannot adapt to the development needs of rapid iteration. Summary of the Invention

[0004] This invention provides a control method and system for a hemispherical resonant gyroscope, which improves the real-time performance, reliability, and control accuracy of the hemispherical resonant gyroscope, while also enhancing the scalability of the control method and reducing the difficulty of development and maintenance.

[0005] In a first aspect, embodiments of the present invention provide a control method for a hemispherical resonant gyroscope, which is executed using a control system of the hemispherical resonant gyroscope; the control system embeds a real-time operating system; the control system of the hemispherical resonant gyroscope includes a drive loop and a detection loop; the control method of the hemispherical resonant gyroscope includes:

[0006] Obtain interrupt signals with a fixed cycle;

[0007] The drive loop task and the detection loop task are started synchronously according to the interrupt signal; in the drive loop task, the drive loop is controlled to generate a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, a detection signal is generated according to the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

[0008] Optionally, the control system of the hemispherical resonant gyroscope further includes a mode matching control loop; the control method of the hemispherical resonant gyroscope further includes:

[0009] The modal matching control loop task is started according to a preset period, so that the modal matching control loop matches the frequency of the driving loop and the detection loop; the preset period is greater than the fixed period; the interrupt priority of the modal matching control loop task is lower than the interrupt priority of the driving loop task and the detection loop task.

[0010] Optionally, the control system of the hemispherical resonant gyroscope further includes at least one of a temperature compensation loop and a data communication loop; the control method of the hemispherical resonant gyroscope further includes:

[0011] The interrupt signal initiates a temperature compensation loop task and / or a data communication loop task, enabling the temperature compensation loop to perform temperature compensation on the hemispherical resonant gyroscope, and / or enabling the data communication loop to communicate with different tasks; the interrupt priority of the temperature compensation loop task is lower than the interrupt priority of the modal matching control loop task, and the interrupt priority of the data communication task loop is lower than the interrupt priority of the temperature compensation loop task.

[0012] Optionally, the drive loop includes a digital modulator, the detection loop includes a phase detector, and the control system of the hemispherical resonator gyroscope further includes at least two digital signal processing modules; the digital modulator and the phase detector are respectively connected to one of the digital signal processing modules; after synchronously starting the drive loop task and the detection loop task according to the interrupt signal, the system further includes:

[0013] The phase detector and the digital modulator are controlled to operate in parallel.

[0014] Optionally, before receiving the interrupt signal at a fixed period, the method further includes:

[0015] The control system of the hemispherical resonant gyroscope is decoupled to determine the tasks of the drive loop, the detection loop, the mode matching control loop, the temperature compensation loop, and the data communication loop.

[0016] Interrupt priorities are assigned to the driving loop task, the detection loop task, the modal matching control loop task, the temperature compensation loop task, and the data communication loop task.

[0017] Optionally, after synchronously starting the drive loop task and the detection loop task according to the interrupt signal, the method further includes:

[0018] The detection signal is sent to the data communication loop, so that the data communication loop is responsible for transmitting the detection signal.

[0019] Secondly, embodiments of the present invention provide a control system for a hemispherical resonant gyroscope, including a controller, a drive loop, and a detection loop; the controller embeds a real-time operating system, and the controller is connected to the drive loop and the detection loop. The controller includes:

[0020] The module acquires interrupt signals at fixed intervals;

[0021] The startup module is used to synchronously start the drive loop task and the detection loop task according to the interrupt signal; and in the drive loop task, it controls the drive loop to generate a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, it generates a detection signal based on the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

[0022] Optionally, the controller further includes a real-time processing core and an FPGA programmable logic unit, wherein the real-time processing core is communicatively connected to the FPGA programmable logic unit, and the acquisition module is integrated within the FPGA programmable logic unit; the FPGA programmable logic unit is used to acquire the interrupt signal and output it to the real-time processing core; the real-time processing core is used to output a drive start signal according to the interrupt signal, and synchronously generate the detection signal according to the detection information; the FPGA programmable logic unit is also used to control the drive loop to generate a drive signal according to the drive start signal.

[0023] Optionally, the control system of the hemispherical resonator gyroscope further includes a hardware timer connected to the FPGA programmable logic unit, which provides the interrupt signal to the FPGA programmable logic unit.

[0024] Optionally, the control system of the hemispherical resonant gyroscope also includes a digital-to-analog converter module and an analog-to-digital converter module;

[0025] The analog-to-digital conversion module is connected to the hemispherical resonant gyroscope and the FPGA programmable logic unit, and is used to acquire the orthogonal analog signals of the hemispherical resonant gyroscope and convert them into detection digital signals and output them to the FPGA programmable logic unit;

[0026] The digital-to-analog converter module is connected to the hemispherical resonant gyroscope and the FPGA programmable logic unit, and is used to convert the driving signal into a driving digital signal and output it to the hemispherical resonant gyroscope.

[0027] The technical solution of this invention synchronously starts the drive loop task and the detection loop task based on the interrupt signal. This allows the drive loop task and the detection loop task to be directly synchronized with the interrupt signal and run with the highest priority, eliminating the timing jitter caused by task scheduling and interrupt delays in the prior art. The drive loop task and the detection loop task run at a fixed frequency with nanosecond-level jitter, greatly reducing the phase and amplitude noise introduced by timing uncertainties, thereby directly improving the core performance indicators of the hemispherical resonator gyroscope. Attached Figure Description

[0028] Figure 1 A schematic diagram of the control system of a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0029] Figure 2 A flowchart illustrating a control method for a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0030] Figure 3 A timing diagram illustrating data interaction and synchronization between different tasks, provided as an embodiment of the present invention;

[0031] Figure 4 A flowchart illustrating another control method for a hemispherical resonant gyroscope provided in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram illustrating the performance test results of a control system for a hemispherical resonant gyroscope provided in an embodiment of the present invention. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0034] This invention provides a control method for a hemispherical resonant gyroscope. This control method can be implemented using the control system of the hemispherical resonant gyroscope and is used to control the hemispherical resonant gyroscope. Figure 1This is a schematic diagram of a control system for a hemispherical resonant gyroscope provided as an embodiment of the present invention. Figure 1 As shown, the control system of this hemispherical resonator gyroscope includes hardware and software components. The software component includes a controller 1, which embeds a real-time operating system (RTOS). The hardware component of the hemispherical resonator gyroscope's control system may include a drive loop 2 and a detection loop 3. Both drive loop 2 and detection loop 3 are connected to the controller 1, enabling the controller 1 to control drive loop 2 when performing drive loop tasks and to control detection loop 3 when performing detection loop tasks. Figure 2 This is a flowchart illustrating a control method for a hemispherical resonant gyroscope provided in an embodiment of the present invention. Figure 2 As shown, the control method of this hemispherical resonant gyroscope includes:

[0035] S110, Obtain an interrupt signal with a fixed cycle;

[0036] Specifically, the interrupt signal can be triggered by an external hardware device. For example, the external hardware device may include a hardware timer for generating an interrupt signal with a fixed period. For instance, the hardware timer generates an interrupt signal with a fixed frequency of 4kHz, and the period accuracy of the interrupt signal is 100ps.

[0037] S120. Synchronously start the drive loop task and the detection loop task according to the interrupt signal; in the drive loop task, control the drive loop to form a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, form a detection signal according to the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

[0038] Specifically, controller 1 may include an ARM processor, which includes a real-time processing core. The ARM processor embeds a real-time operating system. The real-time operating system includes a scheduler and an external interrupt service routine (ISR). After controller 1 receives an interrupt signal, the external interrupt service routine (ISR) can execute an API function call to release a binary semaphore based on the interrupt signal. The drive loop task and the detection loop task are the core tasks of the hemispherical resonator gyroscope's control system. The drive loop task and the detection loop task are blocked on this binary semaphore after creation. Figure 3 This is a timing diagram illustrating data interaction and synchronization between different tasks, provided as an embodiment of the present invention. The horizontal axis represents the TimerTick event, and the vertical axis represents the timing diagram of interrupt signals and different tasks. Figure 3As shown, when the binary semaphore is released, the drive loop task and the detection loop task are simultaneously awakened and enter the ready state, and the scheduler immediately executes the drive loop task and the detection loop task. This allows the drive loop task and the detection loop task to be directly synchronized with the interrupt signal and run with the highest priority, eliminating the timing jitter caused by task scheduling and interrupt delays in existing technologies. The drive loop task and the detection loop task operate at a fixed frequency with nanosecond-level jitter, greatly reducing the phase and amplitude noise introduced by timing uncertainties, thereby directly improving the core performance indicators of the hemispherical resonator gyroscope, such as angular random walk (ARW) and zero-bias stability.

[0039] Controller 1 may also include an FPGA programmable logic unit. Both drive loop 2 and detection loop 3 are connected to the hemispherical resonator gyroscope. After the drive loop task and detection loop task are started, controller 1 can control drive loop 2 to modulate, causing drive loop 2 to generate a drive signal, which is then output to the hemispherical resonator gyroscope to control its operation. Detection loop 3 can detect the current state of the hemispherical resonator gyroscope and store it in memory. The current state of the hemispherical resonator gyroscope may include vibration amplitude and phase, etc. Controller 1 can retrieve the current state of the hemispherical resonator gyroscope from memory and generate a detection signal based on the current state to achieve detection of the hemispherical resonator gyroscope.

[0040] For example, drive loop 2 may include an automatic gain control module, a phase-locked loop (PLL), and a drive signal production module. Controller 1 may include a drive loop task module. In the drive loop task, the drive loop task module can first acquire the current vibration amplitude and phase information of the hemispherical resonator gyroscope. Then, it compares the current vibration amplitude of the hemispherical resonator gyroscope with a preset reference amplitude and transmits the resulting amplitude error signal to a hardware PID controller. This allows the hardware PID controller to calculate a new drive signal amplitude, achieving automatic gain control of drive loop 2 to maintain stable vibration energy of the hemispherical resonator gyroscope. The drive loop task module can also compare the acquired phase with a reference phase and fine-tune the frequency of the digitally controlled oscillator (NCO) based on the generated phase error signal, ensuring that the drive signal is always precisely locked to the inherent resonant frequency of the hemispherical resonator gyroscope, achieving PLL control of drive loop 2. The updated drive signal amplitude and frequency / phase parameters are then written to the drive signal production module to form the drive signal. For example, as... Figure 1 As shown, the drive signal production module may include a CORDIC-based NCO, such as a digital modulator, for modulating two orthogonal sinusoidal drive signals. (Continue to the previous section) Figure 1The drive loop 2 may further include a digital-to-analog control module and a digital-to-analog conversion module, used to process and convert the drive signal output from the drive signal production module into a digital-to-analog signal, and then output the converted analog signal to the excitation electrode of the hemispherical resonator gyroscope to drive the hemispherical resonator gyroscope. For example, the digital-to-analog conversion module can be a high-precision digital-to-analog converter, such as one with 14-bit resolution and a conversion rate of 125 MSPS. The digital-to-analog converter receives the digital drive signal through a parallel interface, converts it into an analog signal, and applies it to the excitation electrode of the hemispherical resonator gyroscope via a subsequent drive amplification circuit to control the hemispherical resonator gyroscope.

[0041] The detection loop 3 may include an analog-to-digital conversion module, an analog-to-digital control module, and a phase detector. The controller 1 may include a storage module, such as shared memory or a FIFO on the side of the FPGA programmable logic unit. The analog-to-digital conversion module synchronously acquires the detection electrode signals of the hemispherical resonator gyroscope and converts them into digital signals. This digital signal is then processed by the analog-to-digital control module through real-time filtering and preprocessing before being output to the phase detector. The two preprocessed quadrature signals are demodulated to calculate the amplitude and precession angle of the standing wave of the hemispherical resonator gyroscope in real time. The results are then stored in the storage module within the controller 1 to realize the detection of the hemispherical resonator gyroscope. The data path from the analog-to-digital conversion module to the controller 1 can adopt the AXI4-Stream protocol to construct a non-blocking, low-latency pipelined data flow.

[0042] Controller 1 also includes a detection loop task module. When controller 1 executes the detection loop task, the detection loop task module can first obtain the standing wave precession angle calculated in real time by the phase detector from the internal storage module. Then, it calculates the standing wave precession angle to determine the original angular velocity of the hemispherical resonant gyroscope. For example, the standing wave precession angle can be digitally differentiated:

[0043] ;

[0044] Where Ω_raw is the initial angular velocity of the hemispherical resonant gyroscope, θ[n] is the precession angle of the standing wave at time n, and θ[n-1] is the precession angle of the standing wave at time n-1. Let be the time difference between time n and time n-1.

[0045] After determining the original angular velocity of the hemispherical resonator gyroscope, a high-pass filter can be applied to the original angular velocity to eliminate accumulated drift, and scaling factor correction and other processing can be performed to obtain the final high-precision angular velocity Ω_out.

[0046] The technical solution of this embodiment synchronously starts the drive loop task and the detection loop task based on the interrupt signal. This allows the drive loop task and the detection loop task to be directly synchronized with the interrupt signal and run with the highest priority, eliminating the timing jitter caused by task scheduling and interrupt delays in the prior art. The drive loop task and the detection loop task run at a fixed frequency with nanosecond-level jitter, which greatly reduces the phase and amplitude noise introduced by timing uncertainties, thereby directly improving the core performance indicators of the hemispherical resonator gyroscope.

[0047] In some embodiments, the control system of the hemispherical resonator gyroscope further includes a mode matching control loop; the control method of the hemispherical resonator gyroscope further includes:

[0048] The modal matching control loop task is started according to a preset period, so that the frequency of the modal matching control loop matches that of the driving loop and the detection loop; the preset period is greater than the fixed period; the interrupt priority of the modal matching control loop task is lower than that of the driving loop task and the detection loop task.

[0049] Specifically, such as Figure 1 As shown, the hardware of the hemispherical resonator gyroscope's control system also includes a mode matching control loop 4. The mode matching control loop 4 is connected to the controller 1, allowing the controller 1 to control the operation of the mode matching control loop 4 when executing its tasks. The mode matching control loop task is a non-core task of the hemispherical resonator gyroscope's control system. Figure 3As shown, the interrupt priority of the modal matching loop task is lower than that of the drive loop task and the detection loop task. When an interrupt signal is received, if the task to be executed includes both the drive loop task and the detection loop task, then the drive loop task and the detection loop task are executed. If the task to be executed does not include the drive loop task and the detection loop task, but includes the modal matching control loop task, then the modal matching control loop task can be started according to a preset period, so that the modal matching control loop task can be triggered periodically. For example, the control system of the hemispherical resonator gyroscope also includes a software timer for providing a trigger signal with a preset period for the modal matching control loop task. In some embodiments, the preset period of the trigger signal is greater than the fixed period of the interrupt signal, that is, the frequency of the trigger signal is less than the frequency of the interrupt signal. By setting the interrupt priority of the modal matching loop task to be lower than that of the drive loop and detection loop tasks, it is possible to prevent anomalies or blockages in the modal matching loop task from affecting the drive loop and detection loop tasks. This ensures that the resources required for executing the drive loop and detection loop tasks are guaranteed, preventing the hemispherical resonator gyroscope control system from becoming unstable due to non-core function failures, thus significantly improving the robustness and reliability of the hemispherical resonator gyroscope control system. Furthermore, by decomposing the software portion of the hemispherical resonator gyroscope control system into multiple single-function, clearly defined task modules through a real-time operating system, the coupling degree of the hemispherical resonator gyroscope control system is reduced, improving the structural clarity and ease of maintenance of the control system.

[0050] Controller 1 also includes a mode matching control loop module. After the mode matching control loop task is triggered, the module acquires the internal state variables in the drive loop 2 and the detection loop 3. For example, the internal state variables in the drive loop 2 may include the output voltage of the automatic gain control module, and the internal state variables in the detection loop 3 may include the quadrature error signal. Then, the internal state variables in the drive loop 2 and the detection loop 3 are used as inputs to run an adaptive estimation algorithm (system identification based on least squares). This allows for real-time calculation of the frequency mismatch between the drive mode and the detection mode of the hemispherical resonator gyroscope's control system based on the internal state variables in the drive loop 2 and the detection loop 3. A corresponding tuning voltage is then generated based on the frequency mismatch and sent to the digital-to-analog converter module of the drive loop 2 via the SPI bus. After conversion by the digital-to-analog converter module, the voltage is applied to the tuning electrodes, achieving active matching or controllable mismatch between the drive mode and the detection mode, thereby optimizing the performance of the hemispherical resonator gyroscope's control system.

[0051] Continue to refer to Figure 1The modal matching control loop 4 also includes an electrode control module and an electrode switching switch. The electrode control module is connected to the controller 1, and the electrode switching switch is connected to the electrode control module, so that the electrode control module controls the electrode switching switch to operate according to the control signal provided by the controller 1, thereby controlling the working state of the excitation electrode and the detection electrode of the hemispherical resonant gyroscope.

[0052] In some embodiments, the control system of the hemispherical resonant gyroscope further includes at least one of a temperature compensation loop and a data communication loop; the control method of the hemispherical resonant gyroscope further includes:

[0053] The interrupt signal initiates the temperature compensation loop task and / or the data communication loop task, enabling the temperature compensation loop to perform temperature compensation on the hemispherical resonator gyroscope, and / or enabling the data communication loop to communicate with different tasks; the interrupt priority of the temperature compensation loop task is lower than the interrupt priority of the mode matching control loop task, and the interrupt priority of the data communication task loop is lower than the interrupt priority of the temperature compensation loop task.

[0054] Specifically, the hardware component of the hemispherical resonator gyroscope's control system also includes a temperature compensation loop. Controller 1 further includes a temperature compensation loop module, used to control the temperature compensation loop to perform temperature compensation on the hemispherical resonator gyroscope. Controller 1 also includes an inter-task communication and synchronization module, used to achieve communication and synchronization between different task modules. The temperature compensation loop task and the data communication loop task are non-core tasks of the hemispherical resonator gyroscope's control system. (Continue to refer to...) Figure 3 By setting the interrupt priority of the temperature compensation loop task to be lower than that of the modal matching control loop task, and the interrupt priority of the data communication task loop to be lower than that of the temperature compensation loop task, the execution priority of different tasks can be determined according to their importance. This avoids the impact of low-priority task anomalies or blockages on the resources required for high-priority task execution, ensuring that the hemispherical resonator gyroscope control system will not become unstable due to non-core function failures, significantly improving the robustness and reliability of the hemispherical resonator gyroscope control system. Furthermore, by decomposing the software portion of the hemispherical resonator gyroscope control system into multiple single-function, clearly defined task modules through a real-time operating system, the coupling degree of the hemispherical resonator gyroscope control system is reduced, improving the structural clarity and ease of maintenance. Moreover, the modular task design makes it very simple and direct to integrate new compensation algorithms (such as more advanced temperature models and artificial intelligence fault diagnosis) or add new functions (such as online calibration) into the hemispherical resonator gyroscope control system. Developers only need to create new independent task modules and assign them appropriate priorities and communication interfaces, without having to refactor the existing system architecture on a large scale. This greatly reduces development difficulty, risk and cycle cost, and improves the scalability and maintainability of the hemispherical resonant gyroscope control system.

[0055] For example, the inter-task communication and synchronization module includes message queues, mutexes, and semaphores. Message queues are used for asynchronous data transfer between task modules. For instance, the detection loop task module encapsulates the calculated final angular rate data into a message and sends it to the low-priority data communication loop task module via the message queue. The latter then uploads the data to the host computer via UART or Ethernet, thus decoupling data production and consumption. Mutexes are used to protect shared resources and prevent data contention. For example, when both the inertial measurement (IMU) read task (potentially triggered in the ISR) and the temperature compensation task need to access a global IMU raw data structure, mutual exclusion must be achieved through mutexes to ensure data consistency. Semaphores are used for timing synchronization and can also be used for event notifications, such as the analog-to-digital conversion module completing conversion and notifying the data preprocessing task of an interrupt.

[0056] It should be noted that, as Figure 3 As shown, in some embodiments, the control system of the hemispherical resonator gyroscope also includes an idle task, which has the lowest interrupt priority to ensure the priority execution of the aforementioned tasks.

[0057] In some embodiments, when controller 1 includes an inter-task communication and synchronization module, after synchronously starting the drive loop task and the detection loop task according to the interrupt signal, it further includes:

[0058] The detection signal is sent to the data communication loop, enabling the data communication loop to transmit the detection signal.

[0059] Specifically, the high-precision angular velocity of the hemispherical resonant gyroscope generated after the controller 1 executes the detection loop task is used as the detection signal. This detection signal can be sent to the inter-task communication and synchronization module through the message queue of the real-time operating system, enabling the inter-task communication and synchronization module to subsequently transmit or record the detection signal. Through inter-process communication mechanisms such as message queues and semaphores, lock-free, efficient, and synchronous data transmission between tasks is achieved, ensuring the consistency and timeliness of data in complex pipeline processing.

[0060] Continue to refer to Figure 1 The drive loop 2 includes a digital modulator, and the detection loop 3 includes a phase detector. The control system of the hemispherical resonant gyroscope also includes at least two digital signal processing modules; the digital modulator and the phase detector are each connected to a digital signal processing module; after synchronously starting the drive loop task and the detection loop task according to the interrupt signal, it also includes:

[0061] Control the phase detector and digital modulator to operate in parallel.

[0062] Specifically, such as Figure 1As shown, controller 1 includes an ARM processor and an FPGA programmable logic control unit. The ARM processor embeds a real-time operating system and includes a real-time processing core. The FPGA programmable logic control unit includes a digital signal processing module for controlling the modulation of the digital modulator and the phase detection of the phase detector. For example, the digital signal processing module can be an IP core integrating a CORDIC algorithm. At least two IP cores can control the phase detector and digital modulator in parallel, enabling parallel execution of phase detection and amplitude extraction of the hemispherical resonator gyroscope's detection signal and generation of the hemispherical resonator gyroscope's drive signal. This allows for hardware-accelerated IP cores, providing the FPGA programmable logic control unit with low-latency, high-parallel data processing capabilities. At least two IP cores integrating the CORDIC algorithm can be called and configured from the Xilinx IP library.

[0063] In some embodiments, the FPGA programmable logic control unit further includes a parallel PID controller, which implements dedicated PID controllers for the automatic gain module and phase-locked loop (PLL) in drive loop 2, respectively, to reduce the latency of the automatic gain module and PLL. For example, the parallel PID controller includes computation slices, such as DSP48E2 computation slices, with a single computation latency of less than 1 microsecond. The IP of the parallel PID controller can be custom-written and encapsulated using VHDL / Verilog, and its parameters can be dynamically configured by the ARM processor via the AXI4-Lite bus.

[0064] Figure 4 This is a flowchart illustrating another control method for a hemispherical resonant gyroscope provided in an embodiment of the present invention. Figure 4 As shown, the control method of this hemispherical resonant gyroscope includes:

[0065] S210. Decouple the control system of the hemispherical resonant gyroscope to determine the tasks of the drive loop, detection loop, mode matching control loop, temperature compensation loop, and data communication loop.

[0066] Specifically, by embedding a real-time operating system on the ARM processor, the real-time processing core can decouple the control system of the hemispherical resonator gyroscope into multiple independent FreeRTOS tasks. This reduces the coupling of the control system and improves its structural clarity and ease of maintenance. Furthermore, the modular task design makes it very simple and direct to integrate new compensation algorithms (such as more advanced temperature models and AI-based fault diagnosis) or add new functions (such as online calibration) into the control system. Developers only need to create new independent task modules and assign them appropriate priorities and communication interfaces, without requiring large-scale reconstruction of the existing system architecture. This significantly reduces development difficulty, risk, and cycle costs, and improves the scalability and maintainability of the hemispherical resonator gyroscope control system.

[0067] S220 assigns interrupt priorities to the drive loop task, detection loop, modal matching control loop, temperature compensation loop, and data communication loop.

[0068] Specifically, by decoupling the control system of the hemispherical resonator gyroscope, static priorities can be assigned to different tasks, ensuring the predictable behavior of the scheduler in the real-time operating system. This eliminates timing uncertainties caused by software delays and improves the real-time performance of the hemispherical resonator gyroscope's control system.

[0069] S230: Obtain an interrupt signal with a fixed cycle.

[0070] S240. Synchronously start the drive loop task and the detection loop task according to the interrupt signal; in the drive loop task, control the drive loop to form a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, form a detection signal according to the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

[0071] In some embodiments, after embedding a real-time operating system on an ARM processor, the ARM processor can be configured to ensure that it meets real-time requirements. For example, FreeRTOS can be configured to enable preemptive scheduling and disable time-slice round-robin scheduling, ensuring that the highest interrupt priority task runs continuously until blocked, further reducing timing uncertainties caused by task switching. Simultaneously, the system tick frequency can be set to be different from the fixed frequency corresponding to the fixed period, achieving decoupling between the system tick frequency and the fixed frequency. For example, the system tick frequency can be set to 1000. Task creation and startup can also be performed. After hardware and RTOS initialization are completed at the program entry point, tasks are created sequentially according to interrupt priority, ensuring no overflow of the task stack space, and then the scheduler is started. Hardware timers and semaphores can also be synchronized. In the ISR, only the semaphore release operation is performed, ensuring that the ISR execution time is extremely short. Furthermore, an FPGA logic control unit can be configured to directly feed the data stream provided by the analog-to-digital converter module to the phase detector through the AXI4-Stream Direct Memory Access (VDMA) IP or a custom AXI4-Stream logic. The amplitude and phase values ​​calculated by the phase detector are written into the Block RAM (BRAM) in the FPGA logic control unit. This BRAM is mapped to the address space of the ARM processor via the AXI4-Lite bus, allowing the driver task to directly read the data through memory mapping, achieving extremely low-latency data exchange. For example, Figure 5 This diagram illustrates the performance test results of a hemispherical resonant gyroscope control system according to an embodiment of the present invention. The horizontal axis represents the average time (s), and the vertical axis represents the Allen variance (deg / h). Curve 10 (blue) is a schematic diagram of the Allen variance, curve 20 (red) is a schematic diagram of the zero-bit quality factor (QN), curve 30 (yellow) is a schematic diagram of the angular random walk (ARW), and curve 40 (purple) is a schematic diagram of the zero-bias current (Bi). As shown by curves 10 to 40, the angular rate signal noise of the hemispherical resonant gyroscope is very low, and the zero-bias stability and angular random walk performance calculated through Allen variance analysis are effectively improved. The hemispherical resonant gyroscope control system provided in this embodiment of the invention can stably and reliably control the operation of the hemispherical resonant gyroscope. The actual execution cycle of the driving task, measured using a high-precision oscilloscope, shows significantly lower jitter than the actual execution cycle of the driving task in traditional hemispherical resonant gyroscope control systems.

[0072] This invention also provides a control system for a hemispherical resonant gyroscope, which can be further referenced. Figure 1The control system of the hemispherical resonant gyroscope includes a controller 1, a drive loop 2, and a detection loop 3; the controller 1 has an embedded real-time operating system, and is connected to the drive loop 2 and the detection loop 3. The controller includes:

[0073] The module acquires interrupt signals at fixed intervals;

[0074] The startup module is used to synchronously start the drive loop task and the detection loop task according to the interrupt signal; in the drive loop task, it controls the drive loop to generate drive signals, which are used to control the hemispherical resonant gyroscope; in the detection loop task, it generates detection signals based on the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

[0075] The technical solution of this embodiment, through the startup module synchronously starting the drive loop task and the detection loop task according to the interrupt signal, can achieve direct synchronization between the drive loop task and the interrupt signal, and run with the highest priority, thus eliminating the timing jitter caused by task scheduling and interrupt delays in the prior art. The drive loop task and the detection loop task run at a fixed frequency with nanosecond-level jitter, which greatly reduces the phase and amplitude noise introduced by timing uncertainties, thereby directly improving the core performance indicators of the hemispherical resonator gyroscope.

[0076] Continue to refer to Figure 1 The controller 1 also includes a real-time processing core and an FPGA programmable logic unit. The real-time processing core is communicatively connected to the FPGA programmable logic unit, and the acquisition module is integrated within the FPGA programmable logic unit. The FPGA programmable logic unit is used to acquire interrupt signals and output them to the real-time processing core. The real-time processing core is used to output a drive start signal based on the interrupt signal and synchronously form a detection signal based on the detection information. The FPGA programmable logic unit is also used to control the drive loop to form a drive signal based on the drive start signal.

[0077] Specifically, controller 1 may include an ARM processor and an FPGA programmable logic unit. The ARM processor includes a real-time processing core, such as an ARM Cortex-R5, for running a hard real-time operating system (RTOS). This RTOS serves as the hard real-time control core of the hemispherical resonator gyroscope's control system, specifically responsible for executing critical control tasks that are highly sensitive to timing jitter. In some embodiments, the ARM processor may include two real-time processing cores, one of which runs a precisely tailored and configured FreeRTOS real-time operating system, serving as the hard real-time control island of this invention. The other can serve as a hot backup or be used to handle other functions with lower real-time requirements. The ARM processor and the FPGA programmable logic unit can achieve high-speed data interaction via the AXI4-Lite bus, providing the ARM processor with read and write access to the FPGA's internal control registers and status registers, enabling flexible control and parameter configuration between hardware and software.

[0078] Continue to refer to Figure 1 ARM processors also include application processing cores, such as Cortex-A53 clusters. These application processing cores can run embedded Linux systems and handle non-real-time tasks. Examples include system configuration, high-speed data interaction with a host computer via Ethernet, recording data from the hemispherical resonator gyroscope to local storage, running system-level health management algorithms, and human-computer interaction and complex background algorithms (such as long-term error modeling and temperature compensation). For instance, the ARM processor connects to a computer via a serial port for high-speed data interaction with the host computer.

[0079] In some embodiments, the control system of the hemispherical resonant gyroscope further includes a hardware timer connected to the FPGA programmable logic unit, which provides an interrupt signal to the FPGA programmable logic unit.

[0080] In some embodiments, the control system of the hemispherical resonator gyroscope further includes a digital-to-analog converter module and an analog-to-digital converter module; the analog-to-digital converter module is connected to the hemispherical resonator gyroscope and the FPGA programmable logic unit, and is used to acquire the orthogonal analog signals of the hemispherical resonator gyroscope and convert them into detection digital signals and output them to the FPGA programmable logic unit; the digital-to-analog converter module is connected to the hemispherical resonator gyroscope and the FPGA programmable logic unit, and is used to convert the driving signals into driving digital signals and output them to the hemispherical resonator gyroscope.

[0081] Specifically, the analog-to-digital converter (ADC) module, acting as the signal acquisition end, employs an AD9203 (10-bit resolution, 40MSPS sampling rate) ADC, connected to the FPGA programmable logic unit via a parallel LVDS interface. This allows for the synchronous acquisition of the sine and cosine quadrature analog signals output from the hemispherical resonator gyroscope. The ADC interface IP of the FPGA programmable logic unit can be programmed with HDL code to establish a parallel LVDS interface communication connection with the AD9203 ADC, enabling the AD9203 ADC to convert the acquired 14-bit sine and cosine data into an AXI4-Stream data stream. The digital-to-analog converter (DAC), acting as the signal output end, employs an AD9744 (14-bit resolution, 125MSPS conversion rate) DAC. This DAC receives the digital drive signal generated by the FPGA programmable logic unit via a parallel interface, converts it into an analog signal, amplifies it through a subsequent drive circuit (power operational amplifier), and applies it to the excitation electrodes of the hemispherical resonator gyroscope.

[0082] The control system of this hemispherical resonator gyroscope achieves full digitalization, modularity, and high real-time performance through deep co-design of hardware and software. It effectively solves the core problems of timing jitter, functional coupling, and expansion difficulties in traditional control schemes, and provides a high-performance, stable, and reliable solution for the widespread application of high-precision hemispherical resonator gyroscopes in harsh environments.

[0083] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for a hemispherical resonant gyroscope, characterized in that, The system employs a hemispherical resonant gyroscope control system; a real-time operating system is embedded within the control system. The control system of the hemispherical resonant gyroscope includes a drive loop and a detection loop; the control method of the hemispherical resonant gyroscope includes: Obtain interrupt signals with a fixed cycle; The drive loop task and the detection loop task are started synchronously according to the interrupt signal; in the drive loop task, the drive loop is controlled to generate a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, a detection signal is generated according to the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

2. The control method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The control system of the hemispherical resonant gyroscope further includes a mode matching control loop; the control method of the hemispherical resonant gyroscope further includes: The modal matching control loop task is started according to a preset period, so that the modal matching control loop matches the frequency of the driving loop and the detection loop; the preset period is greater than the fixed period; the interrupt priority of the modal matching control loop task is lower than the interrupt priority of the driving loop task and the detection loop task.

3. The control method for a hemispherical resonant gyroscope according to claim 2, characterized in that, The control system of the hemispherical resonant gyroscope further includes at least one of a temperature compensation loop and a data communication loop; the control method of the hemispherical resonant gyroscope further includes: The interrupt signal initiates a temperature compensation loop task and / or a data communication loop task, enabling the temperature compensation loop to perform temperature compensation on the hemispherical resonant gyroscope, and / or enabling the data communication loop to communicate with different tasks; the interrupt priority of the temperature compensation loop task is lower than the interrupt priority of the modal matching control loop task, and the interrupt priority of the data communication task loop is lower than the interrupt priority of the temperature compensation loop task.

4. The control method for a hemispherical resonant gyroscope according to claim 1, characterized in that, The drive loop includes a digital modulator, the detection loop includes a phase detector, and the control system of the hemispherical resonant gyroscope also includes at least two digital signal processing modules. The digital modulator and the phase detector are respectively connected to one of the digital signal processing modules; after synchronously starting the drive loop task and the detection loop task according to the interrupt signal, the module further includes: The phase detector and the digital modulator are controlled to operate in parallel.

5. The control method for a hemispherical resonant gyroscope according to claim 3, characterized in that, Before receiving the interrupt signal at a fixed period, the following steps are also included: The control system of the hemispherical resonant gyroscope is decoupled to determine the tasks of the drive loop, the detection loop, the mode matching control loop, the temperature compensation loop, and the data communication loop. Interrupt priorities are assigned to the driving loop task, the detection loop task, the modal matching control loop task, the temperature compensation loop task, and the data communication loop task.

6. The control method for a hemispherical resonant gyroscope according to claim 3, characterized in that, After synchronously starting the drive loop task and the detection loop task according to the interrupt signal, the process also includes: The detection signal is sent to the data communication loop, so that the data communication loop is responsible for transmitting the detection signal.

7. A control system for a hemispherical resonant gyroscope, characterized in that, Includes controller, drive loop, and detection loop; The controller embeds a real-time operating system and is connected to the drive loop and the detection loop. The controller includes: The module acquires interrupt signals at fixed intervals; The startup module is used to synchronously start the drive loop task and the detection loop task according to the interrupt signal; and in the drive loop task, it controls the drive loop to generate a drive signal, which is used to control the hemispherical resonant gyroscope; in the detection loop task, it generates a detection signal based on the detection information provided by the detection loop; the interrupt priority of the drive loop task and the detection loop task is the highest priority.

8. The control system for the hemispherical resonant gyroscope according to claim 7, characterized in that, The controller further includes a real-time processing core and an FPGA programmable logic unit. The real-time processing core is communicatively connected to the FPGA programmable logic unit, and the acquisition module is integrated within the FPGA programmable logic unit. The FPGA programmable logic unit is used to acquire the interrupt signal and output it to the real-time processing core. The real-time processing core is used to output a drive start signal according to the interrupt signal and synchronously generate the detection signal according to the detection information. The FPGA programmable logic unit is also used to control the drive loop to generate a drive signal according to the drive start signal.

9. The control system for the hemispherical resonant gyroscope according to claim 8, characterized in that, It also includes a hardware timer, which is connected to the FPGA programmable logic unit and is used to provide the interrupt signal to the FPGA programmable logic unit.

10. The control system for the hemispherical resonant gyroscope according to claim 8, characterized in that, It also includes a digital-to-analog conversion module and an analog-to-digital conversion module; The analog-to-digital conversion module is connected to the hemispherical resonant gyroscope and the FPGA programmable logic unit, and is used to acquire the orthogonal analog signals of the hemispherical resonant gyroscope and convert them into detection digital signals and output them to the FPGA programmable logic unit; The digital-to-analog converter module is connected to the hemispherical resonant gyroscope and the FPGA programmable logic unit, and is used to convert the driving signal into a driving digital signal and output it to the hemispherical resonant gyroscope.

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