Impact-resistant continuous self-adaptive PI control method and system for micro-hemispherical resonator gyroscope

Abstract

The invention relates to an anti-impact continuous self-adaptive PI control method and system for a micro-hemispherical resonator gyro, and the system comprises a micro-hemispherical resonator module, an amplitude demodulation module, an NCO module, a control variable calculation module, an impact index calculation module, a continuous self-adaptive PI control module, a saturation output detection module, and an amplitude modulation module. The micro-hemispherical resonance module is used for outputting a digital signal; the amplitude demodulation module is used for resolving a core characteristic quantity representing the motion state of the harmonic oscillator; the amplitude modulation module is used for modulating and forming a driving voltage; the NCO module is used for providing an original quantity for the control variable calculation module; controlling a variable calculation module to calculate core parameters; the impact index calculation module calculates a normalized impact index; the continuous self-adaptive PI control module calculates continuously changing proportional gain and integral gain; and the saturation output detection module outputs limited amplitude. According to the invention, the control performance in the impact environment is improved, the adaptability and stability of the system are enhanced, and the anti-saturation performance of the system is improved.

Description

Technical Field

[0001] This invention belongs to the field of microelectromechanical systems (MEMS) inertial navigation technology, specifically relating to a shock-resistant continuous adaptive PI (Proportional-Integral) control method and system for a micro-hemispherical resonant gyroscope. Background Technology

[0002] A hemispherical resonant gyroscope (HRG) is a high-precision inertial sensor based on the Coriolis effect, utilizing the standing wave precession effect of a hemispherical shell resonator to detect angular velocity. It is highly accurate due to its extremely high mechanical quality factor (Q value, typically Q > 10). 6 With its nanometer-level vibration amplitude, HRG has significant application value in high-end inertial navigation fields such as aerospace, weapon guidance, and autonomous driving.

[0003] However, due to its high Q value and small vibration amplitude, HRG is extremely sensitive to instantaneous mechanical shock, and its control stability under shock environment has become a technical bottleneck.

[0004] Existing technology 1: Traditional fixed parameter PI control method This method uses fixed proportional-integral parameters in the automatic gain control (AGC) loop. When the system is subjected to an external shock, the drastic amplitude change causes a sharp increase in the error signal, leading to rapid saturation of the PI controller output. Furthermore, during saturation, the integrator continuously accumulates errors, resulting in the so-called "integral saturation" phenomenon. After the shock ends, the system requires a long recovery time to return to normal from saturation, during which time the gyroscope output exhibits significant zero bias. The root of the problem lies in the fact that the fixed-parameter PI controller cannot adapt to the drastic changes in the system's dynamic characteristics under shock conditions.

[0005] Existing technology 2: An improved control method based on a fixed threshold This technology employs an integral cutoff or parameter switching strategy when the amplitude error exceeds a preset threshold. However, this method has serious shortcomings: the fixed threshold lacks the ability to distinguish impact intensity; frequent switching of control modes and system oscillations easily occur near the threshold; and based solely on the absolute value of the error, it cannot detect impact trends in advance, exhibiting significant hysteresis. Experimental data shows that this method still cannot meet the requirements of high-precision applications.

[0006] Existing technology 3: Other adaptive control methods Examples include fuzzy control and neural network control. These methods suffer from problems such as computational complexity, difficulty in parameter tuning, and poor real-time performance. In embedded systems, the computational overhead often exceeds the processing capacity.

[0007] Existing technologies have the following shortcomings when dealing with control problems under HRG shock environments: they cannot effectively prevent integral saturation; the recovery time is too long, affecting system availability; the control mode switching is not smooth enough, causing output jumps; and they lack the ability to accurately assess and classify the impact intensity. Summary of the Invention

[0008] (a) The technical problem to be solved by the present invention First, it addresses the issue of long recovery time caused by integral saturation: overcoming the problem of long recovery time after the impact ends due to integral saturation in traditional PI control under shock conditions.

[0009] Second, it addresses the problem of insufficient adaptability of fixed threshold control: overcoming the technical defects of existing fixed threshold methods that cannot adaptively adjust the control strategy according to the impact intensity and generate oscillations at the threshold boundary.

[0010] Third, it addresses the problem of poor zero-position stability under impact conditions: overcoming the technical problem that traditional methods exhibit significant zero-position shift after impact, affecting the accuracy of gyroscope measurements.

[0011] Fourth, it solves the problem of unsmooth control mode switching: overcoming the output jumps and nonlinear transients that occur when switching parameters in existing technologies.

[0012] (II) Technical Solution This invention proposes an anti-shock continuous adaptive PI control method for a micro-hemispherical resonant gyroscope, comprising the following steps: Step 1: Acquire the current amplitude signal of the micro-hemispherical resonant gyroscope. t is time; Step 2: Calculate the amplitude error and error change rate , , This is the amplitude reference value. To control the cycle; Step 3: Calculate the normalized impact index :

[0013] in, These are the weighting coefficients. This represents the amplitude error from the previous control cycle. Step 4: Calculate the attenuation function :

[0014] in, For displacement parameters, For scale parameters; Step 5: Calculate the proportional gain and integral gain :

[0015]

[0016] in, and These are the reference proportional gain and the reference integral gain, respectively; Step 6: Calculate the proportion term : ; Step 7: Calculate and update the integral term, including: Calculate saturation error :

[0017] in, This is the theoretical output value of the PI controller. The upper limit of the set control output; The integral term is calculated and updated using the following formula. :

[0018] in, This is the integral term from the previous control cycle. It is a reverse calculation of gain; Step 8: Calculate the control output

[0019] , right Amplitude limiting is applied, with the limiting range being [missing information]. ; Step 9: Convert the digital-to-analog converter to... Converted into drive voltage, after the output drive voltage, in each control cycle Update at the end and .

[0020] Furthermore, step 4 includes tuning the attenuation function parameters, wherein, Adjusting displacement parameters By applying a controlled, gradually increasing disturbance, the theoretical output of the PI controller is monitored. The instant when the saturation limit is first reached Value, will Set it slightly below the critical value to ensure that the gain begins to decline smoothly before saturation occurs; Setting scale parameters Adjustment is achieved by applying a small, controlled shock to the system. Size.

[0021] Furthermore, step 5 includes adjusting the reference scaling gain. and reference integral gain Tuning: Under static, undisturbed conditions, a set of parameters that enable the HRG to have good steady-state accuracy and dynamic response is determined experimentally and used as the reference proportional gain. and reference integral gain .

[0022] In another aspect, this invention proposes an anti-shock continuous adaptive PI control system for a micro-hemispherical resonant gyroscope, used to execute an anti-shock continuous adaptive PI control method for a micro-hemispherical resonant gyroscope.

[0023] Furthermore, the system includes: a micro-hemispherical resonator module, an amplitude demodulation module, an amplitude modulation module, an NCO module, a control variable calculation module, an impact index calculation module, a continuous adaptive PI control module, and a saturation output detection module, wherein, The micro-hemispherical resonant module is used to output a digital signal containing amplitude, phase, and angular velocity information. The amplitude demodulation module is used to fit and calculate the core characteristic quantities that characterize the motion state of the harmonic oscillator from the raw HRG vibration signal acquired by the ADC. The amplitude modulation module is used to multiply the low-frequency control signal with the high-frequency sinusoidal carrier generated by the NCO module to complete the modulation, and then superimpose it with the DC bias to form the driving voltage; The NCO module is used for driving and demodulating the signal of the micro-hemispherical resonator, and provides the control variable calculation module with the raw quantity containing angular velocity information in the weak signal output by the gyroscope detection electrode; The control variable calculation module receives the digitized instantaneous vibration amplitude signal of the micro-hemispherical harmonic oscillator and calculates the core parameters; The shock index calculation module is used to calculate the normalized shock index, which serves as a continuous adjustment factor for the PI parameter. The continuous adaptive PI control module is used to calculate the continuously changing proportional gain and integral gain based on the value of the normalized impact index. The saturation output detection module is used to perform improved integration calculations, saturation detection, and output limiting.

[0024] Furthermore, the micro-hemispherical resonator module includes a micro-hemispherical resonator, driving electrodes, detection electrodes, an ADC, and a DAC. The driving signal is converted into a driving voltage by the DAC and output as an alternating electric field acting on the micro-hemispherical resonator via the driving electrodes on the substrate, which excites the micro-hemispherical resonator to produce radial bending vibration. When an external angular velocity is input, the micro-hemispherical resonator produces orthogonal vibration under the action of Coriolis force. The detection electrodes sense the change in inter-electrode capacitance and output an analog signal containing amplitude, phase, and angular velocity information. The analog signal is converted into a digital signal sequence by the ADC.

[0025] Furthermore, the NCO module generates orthogonal sine and cosine signals for signal demodulation and phase detection.

[0026] Furthermore, in the control variable calculation module, the instantaneous vibration amplitude signal of the digitized micro-hemispherical harmonic oscillator is received. First, an adaptive filtering algorithm is used to suppress noise interference and remove abnormal fluctuation data. Then, based on the preprocessed vibration signal, the core parameters are calculated through a multi-dimensional quantization model.

[0027] Furthermore, the core parameters include: vibration amplitude deviation E, equivalent quality factor correlation parameter Q of the resonant system, short-term amplitude stability index R, impact response sensitivity coefficient S, and measurement error compensation L.

[0028] Furthermore, in the impact index calculation module, the following calculations are performed: Error calculation: Calculate the current amplitude error , This is the current amplitude signal. This is the amplitude reference value, where t is time; Error change rate calculation: Calculation , This represents the amplitude error from the previous control cycle. To control the cycle; Impact index calculation: Calculation ,in, These are the weighting coefficients.

[0029] Furthermore, the continuous adaptive PI control module according to Calculate the continuously varying PI proportional gain based on the given values. : Calculate the decay function :

[0030] in, For displacement parameters, For scale parameters; Calculate proportional gain ; Calculate integral gain , in, and These are the reference proportional gain and the reference integral gain, respectively.

[0031] (III) Beneficial Effects Compared with the prior art, the technical solution proposed in this invention has the following beneficial effects: This invention improves control performance under impact conditions. From a control theory perspective, this invention establishes a composite impact index that includes amplitude error and error change rate, which more comprehensively describes the degree of disturbance of the harmonic oscillator by the impact from the perspective of system energy. The continuous adaptive mechanism ensures that the system can meet the stability conditions under different disturbance intensities, enabling the system to recover to a stable state more quickly after being subjected to an impact.

[0032] This invention enhances the adaptability and stability of the system. The hysteresis switching mechanism employed in this invention is essentially a state-dependent switching strategy. By introducing a switching hysteresis, it avoids the chattering phenomenon commonly found in traditional switching control. The dynamic integral penalty function creates a smooth parameter transition, ensuring the continuity of the system's phase trajectory and thus reducing output fluctuations during parameter switching.

[0033] This invention improves the system's anti-saturation performance. The intelligent integral management mechanism proposed in this invention effectively solves the integral saturation problem by dynamically adjusting the integral gain and combining it with back-calculation compensation. Theoretical analysis shows that this mechanism can significantly reduce integrator accumulation during saturation while maintaining system stability, thereby accelerating the system's recovery speed from saturation.

[0034] This invention avoids the complex tuning of multiple impact mode parameters. Only the reference gain and two attenuation parameters need to be tuned. There is no need to establish a complex HRG electromechanical coupling model for impact analysis, which has good engineering applicability. Attached Figure Description

[0035] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a logic diagram of the system of the present invention. Detailed Implementation

[0036] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. These embodiments are implemented based on the technical solution of the present invention, but the scope of protection of the present invention is not limited to the following embodiments.

[0037] The implementation of this invention mainly utilizes a micro-hemispherical resonant gyroscope system, which includes a micro-hemispherical mechanical meter, a gyroscope information board, a signal conditioning and data conversion circuit, and a power amplifier circuit. The micro-hemispherical mechanical meter includes a resonator, driving electrodes, and detection electrodes. The gyroscope information board, as the core processing unit, preferably employs a ZYNQ architecture SoC processor (integrating FPGA and ARM processors) to ensure the algorithm's parallel processing capability and high real-time performance. The signal conditioning and data conversion circuit includes a high-speed analog-to-digital converter (ADC) for amplitude signal acquisition and a high-precision digital-to-analog converter (DAC) for outputting the driving voltage. The driving electrodes apply an alternating electric field to excite the resonator's vibration, and the detection electrodes sense changes in inter-electrode capacitance to obtain vibration information. The power amplifier circuit amplifies the control voltage output from the DAC to drive the HRG resonator, and the voltage exists... Physical limitations (i.e.) ).

[0038] like Figure 1 As shown, in one specific embodiment, after the system powers on and initialization is completed, it enters the main control loop. Each control cycle... Perform the following steps internally: Step 1: Collect data, collect the current amplitude signal. t represents time.

[0039] Step 2: Calculate the amplitude error and error change rate , , It is a preset amplitude reference value.

[0040] Step 3: Calculate the normalized impact index .

[0041] The method proposed in this invention is mainly based on the normalized impact index. Continuous adjustment of the PI gain transforms the complex nonlinear control problem into a smooth, continuous adjustment process.

[0042] This invention introduces a normalized impact index As a continuous adjustment factor in adaptive control, this index combines the static deviation of amplitude error and the transient velocity of the error change rate to determine the trend of amplitude change.

[0043] in, As the weighting coefficient, preferred .

[0044] Step 4: Calculate the attenuation function .

[0045] To ensure smoothness and tuneability, the decay function... The preferred approach is to use a Sigmoid-like function:

[0046] in, The displacement parameter (defining when the gain begins to significantly decrease) value), This is a scale parameter (defining the steepness of the decay curve).

[0047] Step 5: Calculate the adaptive gain: Calculate the continuous gain and .

[0048] The method of this invention does not perform mode switching, but rather... The value of the PI controller's proportional gain is adjusted in real time via a continuous, non-linear decay function. and integral gain :

[0049]

[0050] in, and These are the reference proportional gain and the reference integral gain (parameters tuned in a static state). For the decay function, the range is limited to... .

[0051] In a specific embodiment of the present invention, to avoid complex impact mode parameter tuning, the method of the present invention tunes the reference gain and attenuation function parameters through the following indirect method: 1. Setting the reference gain ( , ): Under static, undisturbed conditions, a set of parameters is determined using traditional PI tuning methods (such as empirical methods) to ensure that the HRG has good steady-state accuracy and dynamic response. .

[0052] 2. Setting the attenuation function parameters: Displacement parameters (Switching point): By applying a controlled, gradually increasing disturbance (such as electromagnetic interference or minor vibration), the theoretical output of the PI controller is monitored. The instant when the saturation limit is first reached Value. Set it slightly below this threshold to ensure that the gain begins to decline smoothly before saturation occurs.

[0053] Scale parameters (Smoothness): Adjusted by applying a small, controlled shock (such as a 5g shock) to the system. Size. The larger the value, the smoother the gain decay; The smaller the value, the steeper the gain decay. The goal is to find the value at which... When the decay reaches 0, the system can just withstand the maximum foreseeable shock value.

[0054] Through the above method, the present invention achieves scientific tuning of the adaptive controller without relying on complex modeling and non-repeatable large impact tests.

[0055] Step 6: Calculate the proportion term: .

[0056] Step 7: Calculate the integral term: Calculate the saturation error And update according to the intelligent points management formula .

[0057] This invention employs a built-in anti-saturation module, combined with continuous adaptive... Coupling, working together to solve the integral saturation problem:

[0058] in, It is a reverse calculation of gain. It is saturation error. When As the value increases, the continuous adaptive mechanism enables... The integral decays smoothly to zero, thus preventing the accumulation of integrals in advance. The item performs inverse calculation compensation when the output is saturated, forming a dual protection.

[0059] Step 8: Calculate the final output and to Amplitude limiting is applied.

[0060] Step 9: Convert the digital-to-analog converter to... Converted to drive voltage. Updated at the end of each control cycle after outputting the drive voltage. and Historical data, etc.

[0061] In one specific embodiment of the present invention, after the output driving voltage is applied, it can be updated. and Historical data, etc.

[0062] The core algorithm of the method of this invention is implemented in the SoC processor software.

[0063] like Figure 2As shown in one specific embodiment, the present invention also proposes an anti-shock continuous adaptive PI control system for a micro-hemispherical resonant gyroscope. This system includes a micro-hemispherical resonant module, an amplitude demodulation module, an NCO module, a control variable calculation module, a shock index calculation module, a continuous adaptive PI control module, a saturation output detection module, and an amplitude modulation module. The following provides a detailed description and explanation of each module.

[0064] Micro-hemispherical resonant module The micro-hemispherical resonant module is the core sensitive component of the system, with the micro-hemispherical resonator at its core. The micro-hemispherical resonant module proposed in this invention includes a micro-hemispherical resonator, driving / detection electrodes, and an analog-to-digital converter (ADC) and a digital-to-digital converter (DAC) for analog-to-digital conversion. During operation, the driving signal is converted into a driving voltage by the DAC, and output as an alternating electric field acting on the micro-hemispherical resonator via the driving electrodes on the substrate, exciting the micro-hemispherical resonator to produce radial bending vibration. When an external angular velocity is input, the micro-hemispherical resonator vibrates in orthogonal directions under the action of Coriolis force. The detection electrodes sense changes in inter-electrode capacitance and output a weak analog signal containing amplitude, phase, and angular velocity information. Subsequently, the analog signal is converted into a digital signal sequence by the high-speed ADC, providing raw sensing data.

[0065] Amplitude demodulation module The core function of the amplitude demodulation module is to fit and calculate the core characteristic quantities representing the motion state of the harmonic oscillator from the original HRG vibration signal acquired by the ADC. The working principle is as follows: in the FPGA, the digital sequence is multiplied with the orthogonal reference signal of the same frequency through the synchronous detection algorithm, and the digital sequence is decomposed into the same direction, orthogonal and error components through the least squares method, so as to provide input data for the calculation of control variables.

[0066] Amplitude modulation module The amplitude modulation module multiplies the low-frequency control signal with the high-frequency sinusoidal carrier generated by the NCO module to complete the modulation, and then superimposes it with the DC bias to form the digital quantity of the final drive voltage.

[0067] NCO module (numerically controlled oscillator) The NCO module, integrated into the FPGA control module, generates a stable, high-precision sinusoidal reference signal for driving the micro-hemispherical resonator and demodulating the signal, keeping the gyroscope in a resonant state. It generates orthogonal sine and cosine signals for signal demodulation and phase detection. Simultaneously, it serves as the reference signal source for the multiplier demodulator, separating the gyroscope output signal into in-phase (I) and quadrature (Q) components, providing the control variable calculation module with the raw quantities containing angular velocity information from the weak signal output by the gyroscope detection electrodes.

[0068] Control variable calculation module This module receives the digitized instantaneous vibration amplitude signal of the gyro resonator. It first uses an adaptive filtering algorithm to suppress noise interference and eliminate abnormal fluctuations. Then, based on the vibration signal, it calculates the core parameters using a multi-dimensional quantization model: it sequentially extracts and calculates the vibration amplitude deviation E (characterizing the difference between the actual and target amplitude), the equivalent quality factor correlation parameter Q (reflecting the vibration energy attenuation characteristics), the short-term amplitude stability index R (quantizing the amplitude fluctuation coefficient per unit time), the impact response sensitivity coefficient S (describing the amplitude's response intensity to impact disturbances), and the measurement error compensation L (used to correct angular velocity calculation deviations). These five quantized parameters provide core data for the subsequent dynamic gain adjustment of the control module, real-time monitoring of the resonator's vibration state, and accurate final angular velocity calculation, ensuring system control accuracy and measurement reliability.

[0069] Impact index calculation module This module is responsible for calculating the normalized impact index. This serves as a continuous adjustment factor for the PI parameter. This module primarily performs calculations for the following parameters.

[0070] Error calculation: Calculate the current amplitude error .

[0071] Error change rate calculation: Calculation .

[0072] Impact index calculation: Calculation Among them, the weighting coefficient The preferred value range is This is used to balance the contributions of static error and transient velocity.

[0073] Continuous Adaptive PI Control Module This module is based on The value is used to calculate the continuously varying PI gain. and .

[0074] Attenuation function calculation: Calculate the attenuation function The preferred form is a sigmoid-like form:

[0075] Proportional gain calculation: Calculation .

[0076] Integral gain calculation: Calculation .

[0077] when When smaller, ,but ;when When it increases, ,but and The smooth decay to zero enables non-linear and continuous adjustment of the PI parameter.

[0078] Saturation output detection module This module performs improved integration operations, providing dual protection against saturation: 1. Calculation of the proportion term: .

[0079] 2. Saturation detection: Calculate the theoretical output of the PI controller. and with Compare and determine the saturation error .

[0080] 3. Integral term update: Perform built-in anti-saturation integral calculation:

[0081] in, It is an inverse calculation of gain, and the preferred value is... The formula uses It is obtained through continuous adaptive calculation.

[0082] 4. Output limiting: Limiting the output of the final controller. It performs amplitude limiting and outputs a drive voltage.

[0083] The core algorithms in this invention, such as impact detection, adaptive calculation, and intelligent integral management, are all deployed in the micro-hemispherical resonant gyroscope information board, implemented in software, and run on DDR by the SoC processor.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A shock-resistant continuous adaptive PI control method for a micro-hemispherical resonant gyroscope, characterized in that, Includes the following steps: Step 1: Acquire the current amplitude signal of the micro-hemispherical resonant gyroscope. t is time; Step 2: Calculate the amplitude error and error change rate , , This is the amplitude reference value. To control the cycle; Step 3: Calculate the normalized impact index : in, These are the weighting coefficients. This represents the amplitude error from the previous control cycle. Step 4: Calculate the attenuation function : in, For displacement parameters, For scale parameters; Step 5: Calculate the proportional gain and integral gain : in, and These are the reference proportional gain and the reference integral gain, respectively; Step 6: Calculate the proportion term : ; Step 7: Calculate and update the integral term, including: Calculate saturation error : in, This is the theoretical output value of the PI controller. The upper limit of the set control output; The integral term is calculated and updated using the following formula. : in, This is the integral term of the previous control cycle. It is a reverse calculation of gain; Step 8: Calculate the control output ， right Amplitude limiting is applied, with the limiting range being [missing information]. ; Step 9: Convert the digital-to-analog converter to... Converted into drive voltage, after the output drive voltage, in each control cycle Update at the end and .

2. The shock-resistant continuous adaptive PI control method for a micro-hemispherical resonant gyroscope according to claim 1, characterized in that, Step 4 includes tuning the attenuation function parameters, wherein, Adjusting displacement parameters By applying a controlled, gradually increasing disturbance, the theoretical output of the PI controller is monitored. The instant when the saturation limit is first reached Value, will Set it slightly below the critical value to ensure that the gain begins to decline smoothly before saturation occurs; Setting scale parameters Adjustment is achieved by applying a small, controlled shock to the system. Size.

3. The shock-resistant continuous adaptive PI control method for a micro-hemispherical resonant gyroscope according to claim 1, characterized in that, Step 5 includes adjusting the reference scaling gain. and reference integral gain Tuning: Under static, undisturbed conditions, a set of parameters that enable the HRG to have good steady-state accuracy and dynamic response is determined experimentally and used as the reference proportional gain. and reference integral gain .

4. A shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope, characterized in that, The system is used to perform the method of any one of claims 1-3.

5. The shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 4, characterized in that, The system includes: a micro-hemispherical resonator module, an amplitude demodulation module, an amplitude modulation module, an NCO module, a control variable calculation module, an impact index calculation module, a continuous adaptive PI control module, and a saturation output detection module. The micro-hemispherical resonant module is used to output a digital signal containing amplitude, phase, and angular velocity information. The amplitude demodulation module is used to fit and calculate the core characteristic quantities that characterize the motion state of the harmonic oscillator from the raw HRG vibration signal acquired by the ADC. The amplitude modulation module is used to multiply the low-frequency control signal with the high-frequency sinusoidal carrier generated by the NCO module to complete the modulation, and then superimpose it with the DC bias to form the driving voltage; The NCO module is used for driving and demodulating the signal of the micro-hemispherical resonator, and provides the control variable calculation module with the raw quantity containing angular velocity information in the weak signal output by the gyroscope detection electrode; The control variable calculation module receives the digitized instantaneous vibration amplitude signal of the micro-hemispherical harmonic oscillator and calculates the core parameters; The shock index calculation module is used to calculate the normalized shock index, which serves as a continuous adjustment factor for the PI parameter. The continuous adaptive PI control module is used to calculate the continuously changing proportional gain and integral gain based on the value of the normalized impact index. The saturation output detection module is used to perform improved integration calculations, saturation detection, and output limiting.

6. The shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 5, characterized in that, The micro-hemispherical resonator module includes a micro-hemispherical resonator, driving electrodes, detection electrodes, an ADC, and a DAC. The driving signal is converted into a driving voltage by the DAC and output as an alternating electric field acting on the micro-hemispherical resonator via the driving electrodes on the substrate, which excites the micro-hemispherical resonator to produce radial bending vibration. When an external angular velocity is input, the micro-hemispherical resonator vibrates in an orthogonal direction under the action of the Coriolis force. The detection electrodes sense the change in inter-electrode capacitance and output an analog signal containing amplitude, phase, and angular velocity information. The analog signal is converted into a digital signal sequence by the ADC.

7. The shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 5, characterized in that, The NCO module generates orthogonal sine and cosine signals for signal demodulation and phase detection.

8. The shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 5, characterized in that, In the control variable calculation module, the instantaneous vibration amplitude signal of the digitized micro-hemispherical harmonic oscillator is received. First, an adaptive filtering algorithm is used to suppress noise interference and remove abnormal fluctuation data. Then, based on the preprocessed vibration signal, the core parameters are calculated through a multi-dimensional quantization model.

9. A shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 8, characterized in that, The core parameters include: vibration amplitude deviation E, equivalent quality factor correlation parameter Q of the resonant system, short-term amplitude stability index R, impact response sensitivity coefficient S, and measurement error compensation L.

10. A shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 5, characterized in that, In the impact index calculation module, the following calculations are performed: Error calculation: Calculate the current amplitude error , This is the current amplitude signal. This is the amplitude reference value, and t is time; Error change rate calculation: Calculation , This represents the amplitude error from the previous control cycle. To control the cycle; Impact index calculation: Calculation ,in, These are the weighting coefficients.

11. The shock-resistant continuous adaptive PI control system for a micro-hemispherical resonant gyroscope according to claim 10, characterized in that, Continuous adaptive PI control module according to Calculate the continuously varying PI proportional gain based on the given values. : Calculate the decay function : in, For displacement parameters, For scale parameters; Calculate proportional gain ; Calculate integral gain , in, and These are the reference proportional gain and the reference integral gain, respectively.

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