Method and control system for detecting circumferential standing wave drift of a hemispherical gyroscope

Abstract

The application discloses a kind of hemispherical gyroscopic circumferential standing wave drift detection method and control system, comprising: when the difference between the current standing wave position of hemispherical gyroscopic and target position is greater than set threshold, control stable force driving module exports fixed stable force;Fixed stable force is applied to hemispherical gyroscopic for a set length of time, the current standing wave position of hemispherical gyroscopic is corrected using PID closed-loop control, so that the difference between the current standing wave position and target position is less than or equal to set threshold;Disconnect PID closed-loop control, obtain the circumferential standing wave drift data of hemispherical gyroscopic in PID open-loop state;Based on the target position is updated based on set step angle, the action of the above-mentioned circumferential standing wave drift data is repeatedly executed, until hemispherical gyroscopic completes set periodical circumferential traversal;All the circumferential standing wave drift data of hemispherical gyroscopic obtained is stored for future use.The application realizes the technical effect of improving standing wave fast response and improving circumferential drift output stability.

Description

Technical Field

[0001] This invention relates to the field of hemispherical gyroscope technology, and more particularly to a method and control system for detecting circumferential standing wave drift of a hemispherical gyroscope. Background Technology

[0002] The hemispherical resonator gyroscope (HRG) is a disruptive inertial technology developed in recent years. As a high-precision inertial device based on the solid-state wave principle, it has become a crucial component in inertial navigation and guidance, carrier attitude stabilization control, and inertial measurement units due to its numerous advantages such as high precision, high reliability, low noise, large dynamic range, long lifespan, compact structure, and strong environmental adaptability. It has become an ideal choice for inertial navigation systems in the aerospace and marine fields. The working principle of the hemispherical resonator gyroscope is based on the Coriolis effect generated when a hemispherical resonator rotates around its central axis, causing its mode shape to precess relative to the shell in the circumferential direction. Through the precession effect of the vibration wave, external input angular rate or angle information can be extracted.

[0003] Error factors affecting the accuracy of hemispherical resonant gyroscopes mainly include damping anisotropy, stiffness anisotropy, and mismatch between excitation and detection electrodes. In particular, damping anisotropy and stiffness anisotropy exhibit periodic characteristics in the gyroscope output, which affects the zero bias and angle measurement of the gyroscope.

[0004] To address the circumferential drift error caused by anisotropy, researchers have employed methods such as turntable calibration and RMS (Root Mean Square) identification and compensation for drift detection. However, since the mechanical characteristics (natural frequency, damping coefficient) of the harmonic oscillator change with temperature and environment, the fixed parameters of pure PID (Proportional-Integral-Derivative) are difficult to adapt to all operating conditions. This can easily lead to problems such as slow response, long settling time, and aggravated oscillations caused by large settling amplitude in complex environments, making it difficult to apply in complex scenarios that require rapid dynamic response and short-term stability. Summary of the Invention

[0005] This invention provides a method and control system for detecting circumferential standing wave drift of a hemispherical gyroscope, which solves the technical problems in the prior art where the mechanical characteristics of the resonator change with temperature and environment when detecting circumferential drift of a hemispherical gyroscope, making it difficult for the fixed parameters of pure PID control to adapt to all working conditions, and resulting in slow response, long adjustment time and large adjustment range in complex environments.

[0006] This invention provides a method for detecting circumferential standing wave drift of a hemispherical gyroscope, the detection method comprising:

[0007] Step 1: When the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold, the stabilizing force drive module is controlled to output a fixed stabilizing force.

[0008] Step 2: Apply the fixed stabilizing force to the hemispherical gyroscope for a set duration, and use PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold.

[0009] Step 3: Disconnect the PID closed-loop control and acquire the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state. The circumferential standing wave drift data includes at least the drift angle and the drift angular rate.

[0010] Step 4: Update the target position based on the set step angle, and repeat the actions of Step 1 to Step 3 until the hemispherical gyroscope completes the set number of circumferential traversals.

[0011] Step 5: Store all the circumferential standing wave drift data of the acquired hemispherical gyroscopes for later use.

[0012] Further, determining that the difference between the current standing wave position of the hemispherical gyroscope and the target position is greater than a set threshold includes:

[0013] Obtain the current standing wave position of the hemispherical gyroscope;

[0014] The difference is obtained by subtracting the current standing wave position from the target position;

[0015] The difference is compared with the set threshold to determine whether the difference is greater than the set threshold, wherein the set threshold is 1°.

[0016] Furthermore, applying the fixed stabilizing force to the hemispherical gyroscope for a set duration includes:

[0017] The fixed stabilizing force is modulated and synthesized into a timing control signal;

[0018] The timing control signal is converted into analog control information;

[0019] The driving force application module applies the analog control information to the hemispherical gyroscope for a set duration.

[0020] Furthermore, obtaining the current standing wave position of the hemispherical gyroscope includes:

[0021] Acquire the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope;

[0022] The X electrode signal and the Y electrode signal are demodulated into sine and cosine components, respectively.

[0023] The current standing wave position is determined based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal.

[0024] Furthermore, before demodulating the X electrode signal and the Y electrode signal into sine and cosine components, the method further includes:

[0025] The X electrode signal and Y electrode signal are converted into digital signals.

[0026] Furthermore, the detection method further includes:

[0027] Based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal, the phase information and amplitude information of the driving mode electrode terminals of the hemispherical gyroscope, the normal deviation information and standing wave angle information of the sensitive mode motor terminals are obtained.

[0028] The controlled and control quantities required for the frequency stabilization circuit are calculated based on the phase and amplitude information of the driving mode electrode.

[0029] The required standing wave control quantity and orthogonal control quantity for the sensitive mode motor are calculated based on the normal deviation information at the sensitive mode motor end.

[0030] Based on the controlled and control quantities required by the frequency stabilization circuit, the standing wave control quantity and orthogonal control quantity required by the sensitive mode motor end are used to achieve basic control of the hemispherical gyroscope.

[0031] This invention also provides a control system for a hemispherical gyroscope, wherein the control system executes the method for detecting circumferential standing wave drift of a hemispherical gyroscope as described in any of the above embodiments, and the control system includes:

[0032] The stabilizing force drive module is used to output a fixed stabilizing force when the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold.

[0033] The driving force application module is used to apply the fixed stabilizing force to the hemispherical gyroscope for a set duration, and use PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold.

[0034] The signal acquisition module is used to acquire the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state when the stabilizing force drive module disconnects the PID closed-loop control, wherein the circumferential standing wave drift data includes at least the drift angle and the drift angular rate.

[0035] The storage module is used to store the circumferential standing wave drift data of all the acquired hemispherical gyroscopes for later use.

[0036] Furthermore, the control system also includes:

[0037] The time-division detection and excitation module is used to acquire the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope.

[0038] An A / D conversion module is used to convert the X electrode signal and the Y electrode signal into digital signals;

[0039] The signal demodulation module is used to demodulate the X electrode signal and the Y electrode signal into sine and cosine components, respectively.

[0040] The state information calculation module is used to determine the current standing wave position based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal.

[0041] This invention also provides a control device for a hemispherical gyroscope, the control device for the hemispherical gyroscope comprising:

[0042] At least one processor; and

[0043] A memory communicatively connected to the at least one processor; wherein,

[0044] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the method for detecting circumferential standing wave drift of a hemispherical gyroscope in any of the above embodiments.

[0045] This invention also provides a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the method for detecting circumferential standing wave drift of a hemispherical gyroscope in any of the above embodiments.

[0046] This invention discloses a method and control system for detecting circumferential standing wave drift of a hemispherical gyroscope. The method includes: Step 1, when the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold, controlling the stabilizing force drive module to output a fixed stabilizing force; Step 2, applying the fixed stabilizing force to the hemispherical gyroscope for a set duration, and using PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold; Step 3, disconnecting the PID closed-loop control, and acquiring the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state, wherein the circumferential standing wave drift data includes at least the drift angle and the drift angular rate; Step 4, updating the target position based on a set step angle, and repeating the actions of Steps 1 to 3 until the hemispherical gyroscope completes a set number of circumferential traversals; Step 5, storing all the acquired circumferential standing wave drift data of the hemispherical gyroscope for later use. This invention addresses the technical problems in existing technologies for circumferential driving of hemispherical gyroscopes. These problems arise because the mechanical characteristics of the resonator change with temperature and environment, making it difficult for the fixed parameters of pure PID control to adapt to all operating conditions. Furthermore, the gyroscope exhibits slow response, long adjustment time, and large adjustment amplitude in complex environments. This invention achieves the technical effect of improving the fast response of standing waves and enhancing the stability of circumferential drift output. Attached Figure Description

[0047] Figure 1 This is a flowchart of a method for detecting circumferential standing wave drift of a hemispherical gyroscope provided in an embodiment of the present invention;

[0048] Figure 2 This is a structural diagram of a control system for a hemispherical gyroscope provided in an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the structure of a control device for a hemispherical gyroscope provided in an embodiment of the present invention. Detailed Implementation

[0050] 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.

[0051] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish different objects, not to limit a specific order. The various embodiments of this invention described below can be performed individually or in combination with each other; the embodiments of this invention do not impose specific limitations in this regard.

[0052] The working principle of a hemispherical resonant gyroscope is based on the Coriolis effect generated when a hemispherical resonator rotates around its central axis, causing the standing wave mode to precess relative to the shell. The angle or angular velocity of the external carrier is measured by detecting changes in the standing wave. The precession angular rate error model is the theoretical basis for the drift error parameter identification in this application. This model is established by first starting from the ideal dynamic equations, introducing the drift error term, and deriving the non-ideal dynamic equations, thus obtaining the precession angular rate error equation.

[0053] Under ideal conditions, the vibration of a hemispherical harmonic gyroscope oscillator can be equivalent to the simple harmonic motion of a two-dimensional point mass. Therefore, the dynamic equation of the oscillator can be expressed as: Where x is the vibration equation in the 0° electrode axis direction, Let x be the first derivative with respect to time. Let x be the second derivative of x with respect to time, and y be the vibration equation along the 45° electrode axis. Let y be the first derivative with respect to time. y is the second derivative of y with respect to time; k is the scaling factor of the gyroscope; Ω is the externally input rotational angular rate; ω is the angular frequency of vibration.

[0054] However, in practical applications, due to factors such as manufacturing processes, the harmonic oscillator may exhibit errors such as frequency fragmentation and uneven damping. These errors cause periodic drift in the precession angular rate of the gyroscope output. Introducing these errors into the ideal dynamic equations yields the harmonic oscillator dynamic equations under non-ideal conditions, including error coupling terms, as shown in the following expression:

[0055] ;

[0056] ;

[0057] in, , , ; To damp anisotropy, Ω is the externally input rotational angular rate; k is the gyroscope's scaling factor; n is the gyroscope's mode order. Indicates the stiffness misalignment angle; Indicates the damping misalignment angle; Indicates stiffness anisotropy; ω is the angular frequency of the hemispherical vibration; and Let the resonant frequencies of the two vibration modes be (assuming...) ); τ represents the decay time constant; and These are the time decay constants of the two "damped normal axes" (assuming...). x represents the vibration signal along the 0° electrode axis; y represents the vibration signal along the 45° electrode axis. Let x be the first derivative of x with respect to time; Let y be the first derivative of y with respect to time; Let x be the second derivative of x with respect to time; Let y be the second derivative of y with respect to time; and This is the term used to control the force applied by the electrodes to the resonator.

[0058] By separating the "fast variables" and "slow variables," the above dynamic equations are transformed into elliptic parametric equations for solution, yielding the following expression for the angular rate output: Where E_con is the systematic error, Let ω be the angular rate of the gyroscope output. As can be seen from the angular rate output expression, the gyroscope output drift exhibits periodic characteristics. Therefore, we can use these characteristics to change different standing wave angles and let it drift freely to detect circumferential drift.

[0059] Figure 1 This is a flowchart illustrating a method for detecting circumferential standing wave drift of a hemispherical gyroscope, as provided in an embodiment of the present invention. This monitoring method is applied to the control system of a hemispherical gyroscope.

[0060] like Figure 1 As shown, the method for detecting circumferential standing wave drift of this hemispherical gyroscope specifically includes the following steps:

[0061] S101, Step 1: When the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold, control the stabilizing force drive module to output a fixed stabilizing force.

[0062] Specifically, after the hemispherical gyroscope control system is powered on, it first performs a comprehensive initialization of the circumferential standing wave drive and circumferential drift detection system, including power supply, sensor self-test, and loading of preset PID parameters. It also includes updating the target position parameters and setting the n·360° target position traversal, while simultaneously detecting the initial position of the standing wave to provide basic data for subsequent control, where n is the set number of cycles.

[0063] After parameter initialization, the time-division detection and excitation module in the hemispherical gyroscope control system acquires the X-electrode and Y-electrode signals of the hemispherical gyroscope. The X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode. After processing the X-electrode and Y-electrode signals through analog-to-digital conversion and signal demodulation, the current standing wave position of the hemispherical gyroscope is obtained. If the deviation between the current standing wave position and the target position is greater than a set threshold (e.g., greater than 1°), the stabilizing force drive module is activated and outputs a fixed stabilizing force. This fixed stabilizing force is a stabilizing force pre-calibrated based on the structure of the hemispherical gyroscope.

[0064] S102, Step 2: Apply a fixed stabilizing force to the hemispherical gyroscope for a set duration, and use PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold.

[0065] Specifically, the fixed stabilizing force output by the stabilizing force drive module is subjected to "differential amplification → low-pass filtering (cutoff frequency 1kHz) → synchronous demodulation" by the signal modulation module, and then outputs a DC voltage signal (V_pos) corresponding to the standing wave position, which is applied to the hemispherical gyroscope.

[0066] After correcting the current standing wave position, the stabilizing force drive module recalculates the deviation Error between the actual position (i.e., the corrected current standing wave position θ_act) and the target position (θ_ref, preset value, such as 3°). Error = θ_ref - θ_act, so that Error ≤ 1°.

[0067] In this embodiment of the invention, two optimizations were made to the PID algorithm to address the control defects of traditional PID. (1) Integral separation strategy. When |Error|≥0.5°, i.e. when there is a large deviation, the integral link is turned off (I=0), and only the proportional (P) and derivative (D) links are retained to avoid overshoot caused by integral saturation; when |Error|<1°, i.e. when there is a small deviation, the integral link is turned on to eliminate steady-state error; (2) Derivative lead strategy. The derivative link is moved from “deviation Error” to “actual position θ_act”, i.e. D=Kd×d(θ_act) / dt, to avoid differential shock caused by sudden deviation (such as during initial power-on); after stabilizing for a set time, i.e. after stabilizing for T1s, the PID performs open-loop control for a duration ≥120s.

[0068] S103, Step 3: Disconnect the PID closed-loop control and acquire the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state. The circumferential standing wave drift data includes at least the drift angle and the drift angular rate.

[0069] Specifically, after correcting the current standing wave position of the hemispherical gyroscope using PID closed-loop control, the stabilizing force drive module disconnects the PID closed-loop control, allowing the standing wave to be in a free drift and precession state under the influence of damping defects and stiffness defects. Meanwhile, the circumferential standing wave drift data of the hemispherical gyroscope is collected while the hemispherical gyroscope is under PID open-loop control.

[0070] S104, Step 4: Update the target position based on the set step angle, and repeat the actions of Step 1 to Step 3 until the hemispherical gyroscope completes the set number of circumferential cycles.

[0071] Specifically, in order to comprehensively and repeatedly collect the standing wave drift data of the hemispherical gyroscope and provide complete data support for the accurate measurement of the hemispherical gyroscope, the next target position can be calculated based on the set step angle Δθ_Step, and the actions of S101-S103 "output constant force-PID-acquisition" can be repeatedly executed to obtain the circumferential standing wave drift data at the next target position until it is determined that the traversal of n·360° is completed, where n is the number of preset cycles during system initialization.

[0072] S105, Step 5: Store the circumferential standing wave drift data of all acquired hemispherical gyroscopes for later use.

[0073] Specifically, the circumferential standing wave drift data of the hemispherical gyroscope can be stored and used to calculate the performance parameters of the hemispherical gyroscope, such as zero bias, and can also be used for other precision adjustments of the hemispherical gyroscope, without any specific limitations.

[0074] In this embodiment of the invention, by combining fixed stabilizing force drive with closed-loop control, a fixed stabilizing force is configured to provide a stable output for the hemispherical gyroscope body. This reduces the irregular oscillation of output drift and loop coupling oscillation caused by the switching between closed-loop and open-loop control, ensuring accurate detection of output drift characteristics and demonstrating good engineering applicability.

[0075] Based on the above technical solutions, determining that the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold includes:

[0076] Obtain the current standing wave position of the hemispherical gyroscope; calculate the difference between the current standing wave position and the target position; compare the difference with a set threshold to determine whether the difference is greater than the set threshold, where the set threshold is 1°.

[0077] Specifically, the time-division detection and excitation module in the control system of the hemispherical gyroscope acquires the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, and after processing the X-electrode signal and Y-electrode signal through analog-to-digital conversion, signal demodulation, etc., the current standing wave position of the hemispherical gyroscope is obtained. The stabilizing force driving module calculates the difference between the current standing wave position and the target position to obtain the deviation between the two. If the deviation is greater than the set threshold of 1°, the stabilizing force driving module outputs a fixed stabilizing force to act on the hemispherical gyroscope.

[0078] Optionally, S102, the duration for which the stabilizing force is applied to the hemispherical gyroscope includes:

[0079] The fixed stabilizing force is modulated and synthesized into a timing control signal; the timing control signal is converted into analog control information; and the analog control information is applied to the hemispherical gyroscope for a set duration using the driving force application module.

[0080] Specifically, the signal modulation module in the control system of the hemispherical gyroscope modulates the fixed stabilizing force into a timing control signal. Then, the timing control signal is converted from digital control information to analog control information by the D / A conversion module. Subsequently, the driving force application module applies the analog control information to the hemispherical gyroscope for a set duration.

[0081] Optionally, obtaining the current standing wave position of the hemispherical gyroscope includes: obtaining the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope; demodulating the X-electrode signal and the Y-electrode signal into sine and cosine components, respectively; and determining the current standing wave position based on the sine and cosine components of the X-electrode signal and the sine and cosine components of the Y-electrode signal.

[0082] Specifically, in the control system of the hemispherical gyroscope, the time-division detection and excitation module acquires the X-electrode signal and the Y-electrode signal of the hemispherical gyroscope; then, it enters the signal demodulation module to obtain the sine and cosine components of the digital voltage signal on the X-electrode, as well as the sine and cosine components of the digital voltage signal on the Y-electrode; finally, the state information calculation module extracts the sine and cosine components of the X-electrode signal and the sine and cosine components of the orthogonally decoupled Y-electrode signal to determine the current standing wave position of the hemispherical gyroscope.

[0083] Optionally, before demodulating the X-electrode signal and the Y-electrode signal into sine and cosine components, the method further includes converting the X-electrode signal and the Y-electrode signal into digital signals.

[0084] The control system of the hemispherical gyroscope also includes an A / D converter, which is located between the time-division detection and excitation module and the signal demodulation module. The A / D converter is used to convert the X electrode signal and Y electrode signal from analog voltage signals into digital voltage signals and then send them to the signal demodulation module.

[0085] Optionally, the detection method further includes:

[0086] Based on the sine and cosine components of the X-electrode signal and the Y-electrode signal, the phase and amplitude information of the driving mode electrode terminals of the hemispherical gyroscope, the normal mode deviation information and standing wave angle information of the sensitive mode motor terminal are obtained. Based on the phase and amplitude information of the driving mode electrode terminals, the controlled and control variables required for the frequency stabilization circuit are calculated. Based on the normal mode deviation information of the sensitive mode motor terminal, the standing wave control variable and orthogonal control variable required for the sensitive mode motor terminal are calculated. Based on the controlled and control variables required for the frequency stabilization circuit, the standing wave control variable and orthogonal control variable required for the sensitive mode motor terminal, the basic control of the hemispherical gyroscope is realized.

[0087] Specifically, the control system of the hemispherical gyroscope also includes a state information calculation unit and a basic control module. The state information calculation unit extracts the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal to obtain the phase and amplitude information of the driving mode electrode, the normal deviation information of the sensitive mode motor end, and the standing wave angle information.

[0088] The basic control module calculates the controlled and control quantities required for the frequency stabilization circuit using phase and amplitude information, ensuring that the frequencies of the excitation and reference signals remain consistent with the resonant frequency of the resonator. The basic control module can also calculate the controlled and control quantities required for the amplitude stabilization circuit, enabling the resonator to maintain a constant energy amplitude during vibration. Furthermore, the basic control module can calculate the standing wave control quantities and quadrature control quantities required for the sensitive mode motor based on normal deviation information, thereby compensating for frequency fragmentation of the resonator.

[0089] In summary, the method for detecting circumferential standing wave drift of a ball gyroscope provided in this embodiment of the invention has the following advantages:

[0090] (1) Shorten the settling time. The fixed stabilizing force cancels out the initial disturbance in advance, so that the standing wave precession is within the basic stable range close to the ideal state. The PID control only needs to make small adjustments, avoiding the problem of the lengthy adjustment process caused by excessive deviation in single PID control. The settling time is shortened by 30%-50%.

[0091] (2) Reducing the adjustment amplitude and the fixed stabilizing force provided by the oscillation fixing force limits the fluctuation range of the standing wave precession. The PID adjustment only needs to compensate for the small deviation, and the adjustment amplitude is significantly reduced. At the same time, the small amplitude adjustment avoids the over-effect of the proportional and derivative environments in PID control, effectively suppressing system oscillation and reducing the oscillation amplitude by 35%-45%.

[0092] (3) Improve control stability and accuracy. By utilizing the unidirectional precession characteristic of standing waves, the composite closed-loop control combines the stability characteristics of fixed force with the precise adjustment characteristics of PID control. This not only ensures the long-term stability of standing wave precession, but also eliminates static deviation through the dynamic adjustment of PID, resulting in a significant improvement in control accuracy compared to single PID control.

[0093] (4) By traversing the n·360° target position, standing wave drift data can be collected repeatedly, providing complete data support for the accuracy of the hemispherical resonant gyroscope.

[0094] Figure 2 This is a structural diagram of a control system for a hemispherical gyroscope provided in an embodiment of the present invention. This control system executes the method for detecting circumferential standing wave drift of the hemispherical gyroscope in any of the above embodiments. Figure 2 As shown, the hemispherical gyroscope 100 includes a resonator 101 and an electrode 102.

[0095] like Figure 2 As shown, the control system of a hemispherical gyroscope specifically includes:

[0096] The stabilizing force drive module 20 is used to output a fixed stabilizing force when the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold.

[0097] The driving force application module 21 is used to apply a fixed stabilizing force to the hemispherical gyroscope for a set duration, so as to correct the current standing wave position of the hemispherical gyroscope using PID closed-loop control.

[0098] The signal acquisition module 22 is used to acquire the circumferential standing wave drift data of the hemispherical gyroscope in the open-loop state when the stabilizing force drive module determines that the difference between the current standing wave position and the target position after correction is less than or equal to the set threshold and disconnects the PID closed-loop control. The circumferential standing wave drift data includes at least the drift angle and the drift angular rate.

[0099] Storage module 23 is used to store the circumferential standing wave drift data of all acquired hemispherical gyroscopes for later use.

[0100] Optionally, such as Figure 2 As shown, the control system also includes:

[0101] The time-division detection and excitation module 24 is used to acquire the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope.

[0102] A / D conversion module 25 is used to convert the X electrode signal and the Y electrode signal into digital signals;

[0103] Signal demodulation module 26 is used to demodulate the X electrode signal and the Y electrode signal into sine and cosine components, respectively;

[0104] The state information calculation module 27 is used to determine the current standing wave position based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal.

[0105] Optionally, such as Figure 2 As shown, the control system also includes:

[0106] Signal modulation module 28 is used to synthesize the fixed stabilizing force into a timing control signal;

[0107] The D / A conversion module 29 is used to convert the timing control signal from digital control information to analog control information, and send the analog control information to the driving force application module 21 so that the driving force application module 21 applies the analog control information to the hemispherical gyroscope for a set duration.

[0108] Optionally, such as Figure 2 As shown, the control system also includes:

[0109] The basic control module 30 includes an amplitude stabilization loop, a frequency stabilization loop, and a quadrature loop. The basic control module 30 calculates the controlled and control quantities required for the frequency stabilization loop using phase and amplitude information, ensuring that the frequencies of the excitation and reference signals remain consistent with the resonant frequency of the resonator. The basic control module 30 can also calculate the controlled and control quantities required for the amplitude stabilization loop, enabling the resonator to maintain a constant energy amplitude during vibration. Simultaneously, the basic control module 30 can also calculate the standing wave control quantities and quadrature control quantities required for the sensitive mode motor based on normal mode deviation information, thereby compensating for frequency fragmentation of the resonator.

[0110] The control system of the hemispherical gyroscope provided in this embodiment of the invention executes the detection method of circumferential standing wave drift of the hemispherical gyroscope described in the above embodiment. Therefore, it has the same technical features as the detection method of circumferential standing wave drift of the hemispherical gyroscope provided in the above embodiment, and can solve the same technical problems and achieve the same technical effects.

[0111] Figure 3This is a schematic diagram of the structure of a control device for a hemispherical gyroscope according to an embodiment of the present invention. This control device for the hemispherical gyroscope is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0112] like Figure 3 As shown, the control device 10 of the hemispherical gyroscope includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the control device 10 of the hemispherical gyroscope. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] Multiple components in the control device 10 of the hemispherical gyroscope are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0114] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for detecting circumferential standing wave drift of a hemispherical gyroscope.

[0115] In some embodiments, the method for detecting circumferential standing wave drift of a hemispherical gyroscope can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the control device 10 of the hemispherical gyroscope via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for detecting circumferential standing wave drift of a hemispherical gyroscope described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for detecting circumferential standing wave drift of a hemispherical gyroscope by any other suitable means (e.g., by means of firmware).

[0116] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] The computer program for implementing the method for detecting circumferential standing wave drift of a hemispherical gyroscope according to the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0119] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0120] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0121] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0122] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is made herein.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting circumferential standing wave drift of a hemispherical gyroscope, characterized in that, The detection method includes: Step 1: When the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold, the control stabilizing force drive module outputs a fixed stabilizing force. Step 2: Apply the fixed stabilizing force to the hemispherical gyroscope for a set duration, and use PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold. Step 3: Disconnect the PID closed-loop control and acquire the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state. The circumferential standing wave drift data includes at least the drift angle and the drift angular rate. Step 4: Update the target position based on the set step angle, and repeat the actions of Step 1 to Step 3 until the hemispherical gyroscope completes the set number of circumferential traversals. Step 5: Store all the circumferential standing wave drift data of the acquired hemispherical gyroscopes for later use.

2. The method for detecting circumferential standing wave drift of a hemispherical gyroscope according to claim 1, characterized in that, Determining that the difference between the current standing wave position of the hemispherical gyroscope and the target position is greater than a set threshold includes: Obtain the current standing wave position of the hemispherical gyroscope; The difference is obtained by subtracting the current standing wave position from the target position; The difference is compared with the set threshold to determine whether the difference is greater than the set threshold, wherein the set threshold is 1°.

3. The method for detecting circumferential standing wave drift of a hemispherical gyroscope according to claim 1, characterized in that, The duration for which the fixed stabilizing force is applied to the hemispherical gyroscope includes: The fixed stabilizing force is modulated and synthesized into a timing control signal; The timing control signal is converted into analog control information; The driving force application module applies the analog control information to the hemispherical gyroscope for a set duration.

4. The method for detecting circumferential standing wave drift of a hemispherical gyroscope according to claim 2, characterized in that, Obtaining the current standing wave position of the hemispherical gyroscope includes: Acquire the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope; The X electrode signal and the Y electrode signal are demodulated into sine and cosine components, respectively. The current standing wave position is determined based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal.

5. The method for detecting circumferential standing wave drift of a hemispherical gyroscope according to claim 4, characterized in that, Before demodulating the X electrode signal and the Y electrode signal into sine and cosine components, the method further includes: The X electrode signal and Y electrode signal are converted into digital signals.

6. The method for detecting circumferential standing wave drift of a hemispherical gyroscope according to claim 4, characterized in that, The detection method further includes: Based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal, the phase information and amplitude information of the driving mode electrode terminals of the hemispherical gyroscope, the normal deviation information and standing wave angle information of the sensitive mode motor terminals are obtained. The controlled and control quantities required for the frequency stabilization circuit are calculated based on the phase and amplitude information of the driving mode electrode. The required standing wave control quantity and orthogonal control quantity for the sensitive mode motor are calculated based on the normal deviation information at the sensitive mode motor end. Based on the controlled and control quantities required by the frequency stabilization circuit, the standing wave control quantity and orthogonal control quantity required by the sensitive mode motor end are used to achieve basic control of the hemispherical gyroscope.

7. A control system for a hemispherical gyroscope, characterized in that, The control system performs the method for detecting circumferential standing wave drift of a hemispherical gyroscope as described in any one of claims 1-6, and the control system includes: The stabilizing force drive module is used to output a fixed stabilizing force when the difference between the current standing wave position and the target position of the hemispherical gyroscope is greater than a set threshold. The driving force application module is used to apply the fixed stabilizing force to the hemispherical gyroscope for a set duration, and use PID closed-loop control to correct the current standing wave position of the hemispherical gyroscope so that the difference between the current standing wave position and the target position is less than or equal to the set threshold. The signal acquisition module is used to acquire the circumferential standing wave drift data of the hemispherical gyroscope in the PID open-loop state when the stabilizing force drive module disconnects the PID closed-loop control, wherein the circumferential standing wave drift data includes at least the drift angle and the drift angular rate. The storage module is used to store the circumferential standing wave drift data of all the acquired hemispherical gyroscopes for later use.

8. The control system for the hemispherical gyroscope according to claim 7, characterized in that, The control system further includes: The time-division detection and excitation module is used to acquire the X-electrode signal and Y-electrode signal of the hemispherical gyroscope, wherein the X-electrode signal is the vibration signal of the driving mode electrode of the hemispherical gyroscope, and the Y-electrode signal is the vibration signal of the sensitive mode electrode of the hemispherical gyroscope. An A / D conversion module is used to convert the X electrode signal and the Y electrode signal into digital signals; The signal demodulation module is used to demodulate the X electrode signal and the Y electrode signal into sine and cosine components, respectively. The state information calculation module is used to determine the current standing wave position based on the sine and cosine components of the X electrode signal and the sine and cosine components of the Y electrode signal.

9. A control device for a hemispherical gyroscope, characterized in that, The control device for the hemispherical gyroscope includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for detecting circumferential standing wave drift of a hemispherical gyroscope as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for detecting circumferential standing wave drift of a hemispherical gyroscope as described in any one of claims 1-6.

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