A method and system for quickly testing the Q value of a hemispherical resonator gyro

Abstract

The application provides a kind of hemispherical resonator gyro Q value fast test method and system, the method comprises: based on hemispherical resonator motion model establishes the correlation model of hemispherical resonator gyro Q value and amplitude control force;The observability of correlation model is increased by applying varying amplitude control force;Resonator damping is obtained by inverse identification based on correlation model and varying amplitude control force using least square method, and the Q value of hemispherical resonator gyro is calculated according to resonator damping.The technical scheme of the application is used to solve the technical problems of noise sensitivity, long test time and complex data processing in the prior art free decay method for measuring Q value.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation and sensor technology, and in particular to a method and system for rapid testing of the Q value of a hemispherical resonant gyroscope. Background Technology

[0002] A hemispherical resonant gyroscope is a solid-state vibrating gyroscope based on the Coriolis effect, possessing advantages such as high precision, high reliability, strong environmental adaptability, and long lifespan. Its core sensing element is a quartz hemispherical shell. In a vacuum-encapsulated environment, the resonator operates in a second-order modal resonance mode under external excitation. The resonator's vibration forms a standing wave at its lip. When an external angular rate is input, the standing wave precesses on the resonator's lip. The angular rate can be measured by observing the precession angle of the standing wave. The quality factor (Q value) of the resonator is a key parameter measuring its vibration energy loss characteristics, and it is one of the most critical parameters affecting gyroscope performance (such as gyroscope zero-bias stability, scaling factor, random walk, etc.). Currently, the main method for testing the Q value is the free decay method. The free decay method involves cutting off the excitation signal after the resonator is excited, and calculating the Q value by measuring the natural decay process of the resonant signal and fitting its envelope. The free decay method is simple in principle and has a clear physical meaning, but it is sensitive to noise in the testing environment, has a long testing time, and relies on long-term data acquisition and complex post-processing, making it difficult to meet the rapid testing requirements in mass production. Therefore, there is an urgent need for a method that can directly, quickly, and with high precision test the Q value of a hemispherical resonator gyroscope to overcome the bottlenecks in existing technologies. Summary of the Invention

[0003] This invention provides a rapid testing method and system for the Q value of a hemispherical resonant gyroscope, which can solve the technical problems of noise sensitivity, long testing time, and complex data processing in the existing free decay method for measuring Q value.

[0004] According to one aspect of the present invention, a rapid testing method for the Q value of a hemispherical resonant gyroscope is provided, the method comprising:

[0005] A correlation model between the Q value and amplitude control force of a hemispherical harmonic gyroscope is established based on the motion model of a hemispherical harmonic oscillator.

[0006] Applying varying amplitude control forces increases the observability of the correlation model;

[0007] The damping of the harmonic oscillator was identified using the least squares method based on the correlation model and the changing amplitude control force, and the Q value of the hemispherical harmonic gyroscope was calculated based on the damping of the harmonic oscillator.

[0008] Furthermore, the established correlation model between the Q-value and amplitude control force of the hemispherical resonant gyroscope is as follows:

[0009] ,

[0010] ,

[0011] ,

[0012] In the above formula, The Q value of the harmonic oscillator. Indicates the damping of the harmonic oscillator. The damping of the harmonic oscillator is uneven. for The azimuth angle of the frequency axis, where These are the resonant frequencies of the two principal frequency axes. , For the standing wave azimuth, This refers to the gain conversion coefficient of the vibration signal sampling circuit. This refers to the gain conversion factor of the vibration control circuit. The amplitude of the antinode vibration of the standing wave of the harmonic oscillator. The amplitude of the orthogonal antinodes of the harmonic oscillator. The total vibrational energy of the harmonic oscillator. The resonant frequency, The applied amplitude control force.

[0013] Furthermore, the amplitude control force is applied according to the following formula:

[0014] ,

[0015] In the above formula, The amplitude control force component is obtained from the amplitude stabilization controller. To motivate The varying amplitude of the control force component.

[0016] Furthermore, the harmonic oscillator damping is identified using the least squares method based on the correlation model and the varying amplitude control force through the following formula:

[0017] ,

[0018] In the above formula, The order is number 1 Observation time The amplitude of the standing wave antinodes of the harmonic oscillator. The harmonic oscillator in sequence Observation time Total vibrational energy The order is number 1 Observation time The resonant frequency, The order is number 1 Observation time The applied amplitude control force, , It is an intermediate variable.

[0019] Furthermore, incentives Variation in amplitude control force component Periodic changes.

[0020] Furthermore, incentives Variation in amplitude control force component Square wave, sine wave or cosine wave can be used.

[0021] According to another aspect of the present invention, a rapid testing system for the Q value of a hemispherical resonator gyroscope is provided. The system includes a model building unit, a control force application unit, and a Q value calculation unit.

[0022] The model building unit is used to establish a correlation model between the Q value and amplitude control force of a hemispherical resonant gyroscope based on the motion model of a hemispherical harmonic oscillator;

[0023] The control force application unit is used to apply varying amplitude control forces, increasing the observability of the correlation model;

[0024] The Q-value calculation unit is used to identify the harmonic oscillator damping based on the correlation model and the changing amplitude control force using the least squares method, and to calculate the Q-value of the hemispherical resonant gyroscope based on the harmonic oscillator damping.

[0025] This invention provides a rapid testing method and system for the Q-value of a hemispherical resonator gyroscope. The method establishes a relationship between the amplitude control voltage (control force) and the Q-value of the hemispherical resonator gyroscope based on a hemispherical resonator motion model. By applying a varying amplitude control voltage and increasing the model's observability, the damping of the resonator is observed and identified. Finally, the Q-value of the hemispherical resonator gyroscope is rapidly identified by observing changes in the resonator damping. Using the method proposed in this invention, the Q-value testing time can be reduced from 2-3 minutes required by the traditional decay method to within 5 seconds, meeting the urgent need for direct, rapid, and high-precision evaluation of the resonator Q-value in the research, development, production, and quality control of hemispherical resonator gyroscopes. Attached Figure Description

[0026] The accompanying drawings, which form part of this specification, are provided to further illustrate embodiments of the invention and, together with the textual description, explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0027] Figure 1 A flowchart illustrating a rapid testing method for the Q value of a hemispherical resonator gyroscope according to a specific embodiment of the present invention is shown. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0031] like Figure 1 As shown, a rapid testing method for the Q value of a hemispherical resonant gyroscope is provided according to a specific embodiment of the present invention. The method includes:

[0032] S1. Based on the motion model of the hemispherical harmonic oscillator, a correlation model between the Q value and the amplitude control force of the hemispherical harmonic gyroscope is established.

[0033] S2, applying varying amplitude control forces increases the observability of the correlation model;

[0034] S3. The damping of the harmonic oscillator is identified using the least squares method based on the correlation model and the changing amplitude control force, and the Q value of the hemispherical harmonic gyroscope is calculated based on the damping of the harmonic oscillator.

[0035] This configuration provides a rapid method for testing the Q-value of a hemispherical resonator gyroscope. This method establishes the relationship between the amplitude control voltage (control force) and the Q-value of the hemispherical resonator gyroscope based on a hemispherical resonator motion model. By applying a varying amplitude control voltage and increasing the model's observability, the damping of the resonator is observed and identified. Finally, the Q-value of the hemispherical resonator gyroscope is rapidly identified by observing changes in the resonator damping. Using the method proposed in this invention, the Q-value testing time can be reduced from 2-3 minutes required by the traditional decay method to within 5 seconds, meeting the urgent need for direct, rapid, and high-precision evaluation of the resonator Q-value in the research, development, production, and quality control of hemispherical resonator gyroscopes. Compared with existing technologies, the technical solution of this invention can solve the technical problems of noise sensitivity, long testing time, and complex data processing in the free decay method for measuring Q-values.

[0036] Furthermore, the process of establishing the correlation model between the Q value of the hemispherical resonant gyroscope and the amplitude control force in this invention is as follows:

[0037] The dynamic equation of a hemispherical harmonic gyroscope can be equivalently represented as the equation of motion of a second-order spring-mass damped system. Therefore, the dynamic equation of the harmonic oscillator can be expressed as:

[0038]

[0039] In the formula:

[0040]

[0041] In the above formula, This represents the resonant frequency of the harmonic oscillator at electrodes X and Y; The coupling term is the resonant frequency of the harmonic oscillator at the X and Y electrodes; This represents the resonant frequency of the two principal frequency axes. ; express The azimuth angle of the frequency axis where it is located; This represents the damping coefficient of the harmonic oscillator at the X and Y electrodes; The coupling terms for the damping of the harmonic oscillator at the X and Y electrodes; Indicates the damping of the harmonic oscillator; This indicates that the damping of the harmonic oscillator is uneven; This represents the decay time constant of the two damping principal axes; express The azimuth angle of the damping axis where it is located; This indicates the force applied at the X and Y electrodes; This is the gyroscope precession factor; Angular velocity is the input; Q is the Q value of the harmonic oscillator. The resonant frequency is given. Therefore, determining the Q value of the resonant oscillator is equivalent to determining the damping parameters of the resonant oscillator. .

[0042] , The vibrations of the harmonic oscillator at electrodes X and Y, respectively, can be expressed as:

[0043]

[0044] in, This represents the amplitude of the antinodes of the standing wave of the harmonic oscillator; This represents the amplitude of the orthogonal antinodes of the harmonic oscillator. This represents the azimuth angle of the standing wave, which is the angle between the antinode of the standing wave of the harmonic oscillator and the X electrode. Indicates time.

[0045] Total vibrational energy of the harmonic oscillator It can be represented as:

[0046]

[0047] Will , and Substituting into the kinematic equations of the hemispherical harmonic gyroscope, neglecting second-order terms, and using both sides of the equations... , Given that the coefficients are equal, we can obtain:

[0048]

[0049] in, For amplitude control force.

[0050] In actual testing, the vibration and amplitude control force of the harmonic oscillator cannot be directly obtained; they must be converted through circuitry. Therefore, the above equation can be transformed into:

[0051]

[0052] in, This refers to the gain conversion coefficient of the vibration signal sampling circuit. This is the gain conversion coefficient for the vibration control circuit.

[0053] In summary, in this embodiment of the invention, the established correlation model between the Q-value of the hemispherical resonant gyroscope and the amplitude control force is as follows:

[0054] ,

[0055] ,

[0056] ,

[0057] When the gyroscope is in a stable operating state, under the action of the amplitude stabilizing control force , Since it is a constant value, we can obtain:

[0058]

[0059] in , As an intermediate variable, it can be seen from the above formula that... The damping and damping non-uniformity of the harmonic oscillator were characterized, due to the non-uniform damping of the hemispherical resonant gyroscope. Therefore, it exists:

[0060]

[0061] However, due to In China, only Since it is a known quantity, it cannot be directly obtained through... Calculated .

[0062] Based on the above analysis, in this embodiment of the invention, the observability of the model is increased by applying a varying control signal (amplitude control force). The specific analysis process is as follows:

[0063] when At that time, it exists that:

[0064]

[0065] As can be seen from the above formula, by changing the control force The value, and for The solution can be obtained by observation. .because Size and rate of change By control force Decision, therefore It consists of two parts: one part is the force that controls the amplitude to a stable value, and the other part is the excitation. ,let A non-zero force. That is:

[0066]

[0067] in, The amplitude control force is obtained by the amplitude stabilization controller. To motivate The force of change can be understood as For the total amplitude control force applied, and There are two amplitude control force components. Based on this analysis, in order to improve... The observability of this invention is set For periodically changing control forces, such as square wave or sine / cosine control forces, and then according to Apply specific and varying amplitude control force.

[0068] Based on the above embodiments, this invention constructs a least-squares matrix to achieve damping parameter identification. The observation matrix is ​​as follows:

[0069]

[0070] In the above formula, the variables Indicates the first Each observation time.

[0071] Applying the least squares method to the above equation, we obtain:

[0072]

[0073] In the above formula, The order is number 1 Observation time The amplitude of the standing wave antinodes of the harmonic oscillator. The harmonic oscillator in sequence Observation time Total vibrational energy The order is number 1 Observation time The resonant frequency, The order is number 1 Observation time The applied amplitude control force.

[0074] The above formula can be used to obtain... Thus, the Q value of the hemispherical resonant gyroscope can be obtained.

[0075] In other words, in this embodiment of the invention, the harmonic oscillator damping is identified using the least squares method based on the correlation model and the changing amplitude control force through the above formula, and the Q value of the hemispherical resonant gyroscope is calculated based on the harmonic oscillator damping.

[0076] According to another aspect of the present invention, a rapid testing system for the Q value of a hemispherical resonator gyroscope is provided. The system includes a model building unit, a control force application unit, and a Q value calculation unit.

[0077] The model building unit is used to establish a correlation model between the Q value and amplitude control force of a hemispherical resonant gyroscope based on the motion model of a hemispherical harmonic oscillator;

[0078] The control force application unit is used to apply varying amplitude control forces, increasing the observability of the correlation model;

[0079] The Q-value calculation unit is used to identify the harmonic oscillator damping based on the correlation model and the changing amplitude control force using the least squares method, and to calculate the Q-value of the hemispherical resonant gyroscope based on the harmonic oscillator damping.

[0080] In summary, this invention provides a rapid testing method and system for the Q-value of a hemispherical resonator gyroscope. This method establishes the relationship between the amplitude control voltage (control force) and the Q-value of the hemispherical resonator gyroscope based on a hemispherical resonator motion model. By applying a varying amplitude control voltage and increasing the model's observability, the damping of the resonator is observed and identified. Finally, the Q-value of the hemispherical resonator gyroscope is rapidly identified by observing changes in the resonator damping. Using the method proposed in this invention, the Q-value testing time can be reduced from 2-3 minutes required by the traditional decay method to within 5 seconds, meeting the urgent need for direct, rapid, and high-precision evaluation of the resonator Q-value in the research, development, production, and quality control of hemispherical resonator gyroscopes. Compared with existing technologies, the technical solution of this invention can solve the technical problems of noise sensitivity, long testing time, and complex data processing in the free decay method for measuring Q-values.

[0081] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0082] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rapid method for testing the Q value of a hemispherical resonant gyroscope, characterized in that, The method includes: A correlation model between the Q value and amplitude control force of a hemispherical harmonic gyroscope is established based on the motion model of a hemispherical harmonic oscillator. Applying varying amplitude control forces increases the observability of the correlation model; The harmonic oscillator damping is identified using the least squares method based on the correlation model and the changing amplitude control force, and the Q value of the hemispherical resonant gyroscope is calculated based on the harmonic oscillator damping.

2. The method according to claim 1, characterized in that, The established correlation model between the Q-value and amplitude control force of the hemispherical resonant gyroscope is as follows: ， ， ， In the above formula, The Q value of the harmonic oscillator. Indicates the damping of the harmonic oscillator. The damping of the harmonic oscillator is uneven. for The azimuth angle of the frequency axis, where These are the resonant frequencies of the two principal frequency axes. , For the standing wave azimuth, This refers to the gain conversion coefficient of the vibration signal sampling circuit. This refers to the gain conversion factor of the vibration control circuit. The amplitude of the antinode vibration of the standing wave of the harmonic oscillator. The amplitude of the orthogonal antinodes of the harmonic oscillator. The total vibrational energy of the harmonic oscillator. The resonant frequency, The applied amplitude control force.

3. The method according to claim 2, characterized in that, Apply varying amplitude control force according to the following formula: ， In the above formula, The amplitude control force component is obtained from the amplitude stabilization controller. To motivate The varying amplitude of the control force component.

4. The method according to claim 3, characterized in that, The harmonic oscillator damping is identified using the least squares method based on the aforementioned correlation model and the varying amplitude control force, using the following formula: ， In the above formula, The order is number 1 Observation time The amplitude of the standing wave antinodes of the harmonic oscillator. The harmonic oscillator in sequence Observation time Total vibrational energy The order is number 1 Observation time The resonant frequency, The order is number 1 Observation time The applied amplitude control force, , It is an intermediate variable.

5. The method according to any one of claims 1 to 4, characterized in that, excitation Variation in amplitude control force component Periodic changes.

6. The method according to claim 5, characterized in that, excitation Variation in amplitude control force component Square wave, sine wave or cosine wave can be used.

7. A rapid testing system for the Q value of a hemispherical resonant gyroscope, characterized in that, The system includes a model building unit, a control force application unit, and a Q-value calculation unit; The model building unit is used to establish a correlation model between the Q value and amplitude control force of a hemispherical resonant gyroscope based on the motion model of a hemispherical harmonic oscillator. The control force application unit is used to apply a variable amplitude control force to increase the observability of the correlation model; The Q-value calculation unit is used to identify the harmonic oscillator damping based on the correlation model and the changing amplitude control force using the least squares method, and to calculate the Q-value of the hemispherical resonant gyroscope based on the harmonic oscillator damping.

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