Energy-coefficient-based resonant gyroscope driving efficiency correction method and system

Abstract

The present application relates to the technical field of inertial instrument control. Provided are an energy-coefficient-based resonant gyroscope driving efficiency correction method and system. The method comprises: acquiring vibration voltages of two electrodes of a resonator; on the basis of the vibration voltages, respectively extracting sine-cosine components; performing state calculation on the sine-cosine components on the basis of a dynamics equation, so as to obtain an error signal; performing control calculation on the error signal to obtain a loop control quantity; performing calculation on the basis of a frequency-stabilization control quantity and switching timing to obtain phase signals of electrode driving signals, so as to further calculate energy coefficients; performing synthesis and modulation on the loop control quantity, a standing-wave azimuth angle and the switching timing, so as to obtain driving analog quantities; performing signal scaling on the driving analog quantities on the basis of the energy coefficients, so as to obtain driving signals; and applying the driving signals to the two electrodes, so as to complete closed-loop control.

Description

A method and system for correcting the driving efficiency of a resonant gyroscope based on energy coefficient

[0001] Related applications

[0002] This application claims priority to the Chinese invention patent application with application number 202311347470.0 filed on October 18, 2023, and cites the entire contents disclosed in the above patent application as part of this application. Technical Field

[0003] The present application relates to the field of inertial instrument control technology, and in particular to a method and system for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient. Background Art

[0004] Resonator gyros, solid-state wave gyros based on the Coriolis effect, include quartz hemispherical resonator gyros, metal cylinder resonator gyros, nested ring gyros, and micro-hemispherical gyros. The performance of resonator gyros, especially in full-angle mode applications, is affected by factors such as drive-detection gain phase consistency and crosstalk coupling. Furthermore, environmental changes such as temperature cause errors to vary, further reducing the gyro's environmental adaptability.

[0005] The current control method for resonant gyroscopes requires AC drive, which is switched in time-sharing mode because the resonant gyroscope operates at a resonant frequency. This actually generates additional disturbances in the signal drive, thereby introducing additional instability in the force efficiency, thereby affecting the gyroscope's precision performance.

[0006] The efficiency issues introduced by time-sharing drive are essentially due to the fact that the frequency and start and end phases of the driving AC signal vary with each drive cycle, resulting in different total energy supplied. Due to factors such as temperature variations in resonant frequency, it is difficult to maintain a fixed multiple relationship between the switching frequency and the drive frequency, thus failing to achieve ideal correction results. While employing a switching frequency tracking method to maintain a fixed phase range for each drive detection cycle can ensure stable drive efficiency, the switching frequency directly affects the control frequency, causing additional interference to loop control, signal differentiation, and other factors.

[0007] Summary of the Invention

[0008] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application provides a method and system for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient.

[0009] The present application provides a method for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient, comprising:

[0010] S1: Acquire a first vibration digital quantity and a second vibration digital quantity of a resonator electrode placed in a detection state, wherein the first vibration digital quantity corresponds to the X electrode of the resonator electrode, and the second vibration digital quantity corresponds to the Y electrode of the resonator electrode;

[0011] S2: extracting a first sine and cosine component corresponding to the X electrode vibration signal according to the first vibration digital quantity, and extracting a second sine and cosine component corresponding to the Y electrode vibration signal according to the second vibration digital quantity;

[0012] S3: performing state calculation on the first sine and cosine components and the second sine and cosine components according to a dynamic equation to obtain an error signal, wherein the error signal includes a time delay phase of a frequency stabilization control loop, vibration energy of an amplitude stabilization control loop, a normal deviation of an orthogonal control loop, and a standing wave azimuth of a standing wave control loop;

[0013] S4: performing control calculation on the error signal to obtain loop control variables, wherein the loop control variables include a frequency stabilization control variable, an amplitude stabilization control variable, an orthogonal control variable, and a standing wave control variable;

[0014] S5: Calculating a phase signal of the electrode drive signal within a drive cycle based on the frequency stabilization control amount and the switching timing of the resonator, the phase signal including a first start and end phase of the drive signal of the X electrode and a second start and end phase of the drive signal of the Y electrode; and calculating an energy coefficient within the current drive cycle based on the phase signal, the energy coefficient including a first energy parameter of the X electrode and a second energy parameter of the Y electrode;

[0015] S6: performing synthetic modulation on the loop control quantity in combination with the standing wave azimuth angle and the switching timing of the resonator to obtain a first driving analog quantity of the X electrode and a second driving analog quantity of the Y electrode;

[0016] S7: performing signal scaling on the first driving analog quantity and the second driving analog quantity respectively through a programmable amplifier according to the energy coefficient to obtain a corrected first driving signal and a corrected second driving signal;

[0017] S8: Applying the first driving signal to the X electrode and applying the second driving signal to the Y electrode to perform closed-loop control on the resonator.

[0018] According to a resonant gyroscope driving efficiency correction method based on energy coefficient provided by the present application, step S1 includes:

[0019] S11: Switching and controlling the timing of the resonator through a timing control unit;

[0020] S12: placing the electrodes of the resonator in a detection state;

[0021] S13: acquiring a first vibration analog quantity of the X electrode and a second vibration analog quantity of the Y electrode respectively through an I / V converter, and transmitting the first vibration analog quantity and the second vibration analog quantity to an analog-to-digital converter;

[0022] S14: Converting the first vibration analog quantity into a first vibration digital quantity and converting the second vibration analog quantity into a second vibration digital quantity by the analog-to-digital converter.

[0023] According to a resonant gyroscope driving efficiency correction method based on energy coefficient provided by the present application, the calculation formula of the phase signal in step S5 is:

[0024] in, is the starting phase in the phase signal, is the stop phase in the phase signal, is the initial phase at time 0 of the driving cycle, ω0 is the frequency control quantity, η C is the duty cycle of the timing control unit in the driving period, η r is the duty cycle of the timing control unit in the idle period, ω SW is the switching frequency of the timing control unit;

[0025] in, is the accumulated phase of this cycle, is the accumulated phase of the next cycle, and mod is the modulo operation.

[0026] According to a resonant gyroscope driving efficiency correction method based on energy coefficient provided by the present application, the energy coefficient in step S5 is calculated as follows:

[0027] Where k is the calculated energy coefficient, En min is the minimum driving energy ratio, En is the driving energy ratio; t DU =2πη C / ω SW ;

[0028] Among them, t DU is the driving duration.

[0029] According to a resonant gyroscope drive efficiency correction method based on energy coefficient provided by the present application, the calculation formula for demodulating the first sine and cosine components and the second sine and cosine components in step S2 is:

[0030] Wherein, D(k) is the gyro detection signal including the first vibration digital quantity and the second vibration digital quantity, D X (k) is the X-axis vibration amplitude of the oscillator, D Y (k) is the Y-axis vibration amplitude of the resonator, is the demodulation reference signal, θ * is the signal to be identified, e(k) is the process zero mean noise, ω0 is the frequency control quantity, M x is the DC component of the X-axis vibration amplitude of the resonator, M y is the DC component of the Y-axis vibration amplitude of the resonator, S x is the sine component in the first sine and cosine components, C x is the cosine component of the first sine and cosine components, S y is the sine component in the second sine and cosine components, C y is the cosine component of the second sine and cosine components.

[0031] According to a resonant gyroscope driving efficiency correction method based on energy coefficient provided by the present application, the expression of the dynamic equation in step S3 is: Q=2(C x S y -C y S x ); E=C x 2 +S x 2 +C y 2 +S y 2 ;

[0032] in, is the time delay phase, Q is the normal deviation, E is the vibration energy, and θ is the standing wave azimuth.

[0033] According to a method for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient provided by the present application, step S6 includes:

[0034] S61: Switching and controlling the timing of the resonator through a timing control unit;

[0035] S62: The signal modulation unit performs synthesis modulation based on the frequency stabilization control amount, the amplitude stabilization control amount, the orthogonal control amount, and the standing wave control amount, in combination with the standing wave azimuth angle and the switching timing, to obtain a first driving digital amount corresponding to the X electrode and a second driving digital amount corresponding to the Y electrode, and transmits the first driving digital amount and the second driving digital amount to a digital-to-analog converter;

[0036] S63: Convert the first driving digital quantity into a first driving analog quantity, and convert the second driving digital quantity into a second driving analog quantity by the digital-to-analog converter.

[0037] According to a resonant gyroscope drive efficiency correction method based on energy coefficient provided by the present application, the expression for synthesizing and modulating the loop control quantity in combination with the standing wave azimuth and the switching timing of the resonator in step S6 is: V X (t)=[C a cos2θ-C p sin2θ]sinω0t-C q sin2θcosω0t; V Y (t)=[C a sin2θ+C p cos2θ]sinω0t+C q cos2θcosω0t;

[0038] Among them, V X (t) is the first driving digital quantity, V Y (t) is the second driving digital quantity, C a is the amplitude stabilization control quantity, C p is the standing wave control quantity, ω0 is the frequency stabilization control quantity, θ is the standing wave azimuth, t is the time, C q is the orthogonal control variable.

[0039] According to a resonant gyroscope drive efficiency correction method based on energy coefficient provided by the present application, in step S7, the expression for performing signal scaling on the first drive analog quantity and the second drive analog quantity respectively through the programmable amplifier according to the energy coefficient is: E X (t) = k X ·V X (t); E Y (t) = k Y ·V Y (t);

[0040] Among them, E X (t) is the first driving signal obtained by correction, E Y (t) is the second driving signal obtained by correction, k X is the first energy parameter, k Y is the second energy parameter.

[0041] The present application further provides a resonant gyro drive efficiency correction system based on an energy coefficient, for executing any of the above resonant gyro drive efficiency correction methods based on an energy coefficient, comprising:

[0042] A timing control unit, used to switch and control the timing, wherein the timing controlled by the switching includes a driving period, a detection period, and an idle period;

[0043] An electrode time-sharing switching unit, configured to switch a working circuit state of the resonator electrode according to a switching sequence of the timing control unit, wherein the working circuit state includes a driving state, a detection state, and an idle state;

[0044] An I / V converter is used to convert a current signal caused by the vibration of the resonator into a voltage signal to obtain a first vibration analog value and a second vibration analog value;

[0045] an analog-to-digital converter, configured to convert the first vibration analog quantity into a first vibration digital quantity, and convert the second vibration analog quantity into a second vibration digital quantity;

[0046] a signal demodulation unit, configured to extract a first sine and cosine component based on the first vibration digital quantity, and extract a second sine and cosine component based on the second vibration digital quantity;

[0047] A state solving unit, configured to solve the state of the first sine and cosine components and the second sine and cosine components according to a dynamic equation;

[0048] A control calculation unit, used for performing control calculation on the error signal;

[0049] The energy coefficient calculation unit is used to calculate the phase signal of the electrode driving signal within the driving cycle according to the frequency stabilization control amount and the switching timing of the resonator, and calculate the energy coefficient within the grade driving cycle according to the micro-signal;

[0050] A signal modulation unit is used to synthesize and modulate the loop control quantity in combination with the standing wave azimuth angle and the switching timing of the resonator;

[0051] A digital-to-analog converter, configured to convert the first driving digital quantity into a first driving analog quantity, and convert the second driving digital quantity into a second driving analog quantity;

[0052] The programmable amplifier is used to perform signal scaling on the first drive analog quantity and the second drive analog quantity respectively according to the energy coefficient.

[0053] The present application provides a method and system for correcting the drive efficiency of a resonant gyroscope based on an energy coefficient. This method addresses the problem of fluctuations in the time-sharing drive efficiency of a resonant gyroscope by obtaining the initial phase and drive frequency of a single cycle of the time-sharing drive, calculating the energy coefficient of this drive based on the time-sharing switching sequence and duration, and applying the energy coefficient to the corresponding drive signal in the form of an additional gain, thereby achieving real-time correction of the drive efficiency. This reduces additional interference from the time-sharing drive, improves loop stability, and reduces output noise.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] FIG1 is a flow chart of a method for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient provided in a first embodiment of the present application.

[0057] FIG2 is a schematic diagram of the structure of a resonant gyroscope driving efficiency correction system based on energy coefficient provided in Example 1 of the present application.

[0058] Reference numerals:

[0059] 1. Resonator; 2. Electrode; 3. Timing control unit; 4. Electrode time-sharing switching unit; 5. I / V converter; 6. Analog-to-digital converter; 7. Signal demodulation unit; 8. State solution unit; 9. Control calculation unit; 10. Energy coefficient calculation unit; 11. Signal modulation unit; 12. Digital-to-analog converter; 13. Programmable amplifier. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The following embodiments are used to illustrate this application, but cannot be used to limit the scope of this application.

[0061] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0063] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0065] The following describes the first embodiment of the present application in conjunction with Figures 1 and 2.

[0066] The present application provides a method for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient, comprising:

[0067] S1: Acquire a first digital vibration value of an X-electrode of a resonator in a detection state and a second digital vibration value of a Y-electrode of the resonator.

[0068] Step S1 includes:

[0069] S11: Switching and controlling the timing of the resonator through the timing control unit;

[0070] S12: placing the electrodes of the resonator in a detection state;

[0071] S13: acquiring a first vibration analog value of the X electrode and a second vibration analog value of the Y electrode respectively through an I / V converter, and transmitting the first vibration analog value and the second vibration analog value to an analog-to-digital converter;

[0072] S14: Converting the first vibration analog quantity into a first vibration digital quantity and converting the second vibration analog quantity into a second vibration digital quantity through an analog-to-digital converter.

[0073] Furthermore, during the detection period, under the condition that the timing control unit switches the timing, the electrode of the resonator is placed in a detection state through the electrode time-sharing switching unit, and the vibration voltage analog signal (first vibration analog quantity) of the X electrode and the vibration voltage analog signal (first vibration analog quantity) of the Y electrode are obtained through the I / V converter and transmitted to the analog-to-digital converter, and the analog voltage signal is converted into a digital voltage signal through the analog-to-digital converter.

[0074] S2: extracting a first sine and cosine component corresponding to the X electrode vibration signal according to the first vibration digital quantity, and extracting a second sine and cosine component corresponding to the Y electrode vibration signal according to the second vibration digital quantity.

[0075] Furthermore, the signal demodulation unit extracts the sine component and cosine component of the X electrode vibration signal of the resonator in the digital voltage signal; and the signal demodulation unit extracts the sine component and cosine component of the Y electrode vibration signal of the resonator in the digital voltage signal.

[0076] The calculation formula for obtaining the first sine and cosine components and the second sine and cosine components by demodulation in step S2 is:

[0077] Wherein, D(k) is the gyro detection signal including the first vibration digital quantity and the second vibration digital quantity, D X (k) is the X-axis vibration amplitude of the oscillator, D Y (k) is the Y-axis vibration amplitude of the resonator, is the demodulation reference signal, θ * is the signal to be identified, e(k) is the process zero mean noise, ω0 is the frequency control quantity, M x is the DC component of the X-axis vibration amplitude of the resonator, M y is the DC component of the Y-axis vibration amplitude of the resonator, S x is the sine component in the first sine and cosine components, C x is the cosine component of the first sine and cosine components, S y is the sine component in the second sine and cosine components, and C y is the cosine component of the second sine and cosine components.

[0078] S3: Perform state calculation on the first sine and cosine components and the second sine and cosine components according to the dynamic equations to obtain an error signal, which includes the time delay phase of the frequency stabilization control loop, the vibration energy of the amplitude stabilization control loop, the normal deviation of the orthogonal control loop, and the standing wave azimuth of the standing wave control loop.

[0079] Furthermore, the state solving unit calculates the time delay phase of the frequency stabilization control loop, the vibration energy of the amplitude stabilization control loop, the normal deviation of the orthogonal control loop, and the standing wave azimuth of the standing wave control loop based on the sine component and cosine component of the X electrode vibration signal and the sine component and cosine component of the Y electrode vibration signal.

[0080] The expression of the kinetic equation in step S3 is: Q=2(C x S y -C y S x ); E=C x 2 +S x 2 +C y 2 +S y 2 ;

[0081] in, is the time delay phase, Q is the normal deviation, E is the vibration energy, θ is the standing wave azimuth, S x is the sine component in the first sine and cosine components, C x is the cosine component of the first sine and cosine components, S y is the sine component in the second sine and cosine components, and C y is the cosine component of the second sine and cosine components.

[0082] S4: Perform control calculation on the error signal to obtain loop control variables, which include frequency stabilization control variables, amplitude stabilization control variables, orthogonal control variables, and standing wave control variables.

[0083] Furthermore, through the control calculation unit, the frequency stabilization control amount, amplitude stabilization control amount, orthogonal control amount and standing wave control amount are calculated and generated accordingly based on the time delay phase of the frequency stabilization control loop, the vibration energy of the amplitude stabilization control loop, the normal deviation of the orthogonal control loop and the standing wave azimuth of the standing wave control loop.

[0084] S5: Calculate the phase signal of the electrode driving signal within the driving cycle according to the frequency stabilization control amount and the switching timing of the resonator, and calculate the energy coefficient within the current driving cycle according to the phase signal.

[0085] Furthermore, the phase signal includes a first start and end phase of the driving signal of the X electrode and a second start and end phase of the driving signal of the Y electrode, and the energy coefficient includes a first energy parameter of the X electrode and a second energy parameter of the Y electrode.

[0086] Furthermore, the energy coefficient calculation unit calculates the start and end phases of the X and Y electrode driving signals in the current driving cycle according to the frequency stabilization control amount and the switching timing, so as to further calculate the energy coefficients of the X and Y electrode driving signals in the current driving cycle.

[0087] Furthermore, in step S50, the process of calculating the energy coefficients of the driving signals of the X and Y electrodes by the energy coefficient calculation unit includes: calculating the start and end phases of the driving signals of the X and Y electrodes, as well as the driving duration, based on the frequency stabilization control amount provided by the control calculation unit and the switching frequency, duty cycle, and switching timing provided by the timing control unit; calculating the ratio of the energy of the driving of the two electrodes to the energy under the corresponding continuous driving based on the start and end phases and the driving duration of the two electrodes; and calculating the energy coefficients of the driving of the two electrodes based on the preset minimum driving energy ratio calculated from the minimum driving frequency and the minimum efficiency start and end phases.

[0088] Furthermore, the minimum driving energy ratio is pre-calculated based on the lowest driving efficiency that may occur in actual work. Therefore, it can be seen that the energy coefficient is not greater than 1. That is, in actual work, the signal is reduced to ensure that the driving signal does not exceed the power supply voltage range and cause signal clipping distortion.

[0089] The calculation formula of the phase signal in step S5 is:

[0090] in, is the starting phase in the phase signal, is the stop phase in the phase signal, is the initial phase at time 0 of the driving cycle, ω0 is the frequency control quantity, η C is the duty cycle of the timing control unit in the driving period, η r is the duty cycle of the timing control unit in the idle period, ω SW The switching frequency of the timing control unit.

[0091] in, is the accumulated phase of this cycle, is the accumulated phase of the next cycle, and mod is the modulo operation.

[0092] The calculation formula of the energy coefficient in step S5 is:

[0093] Where k is the calculated energy coefficient, En min is the minimum driving energy ratio, and En is the driving energy ratio. t DU =2πη C / ω SW ;

[0094] Where En is the driving energy ratio, ω SW The switching frequency of the timing control unit, ω0 is the frequency stabilization control quantity, t DU is the driving duration, is the starting phase in the phase signal, is the stop phase in the phase signal, and η C is the duty cycle of the timing control unit in the driving period.

[0095] S6: performing synthetic modulation on the loop control quantity in combination with the standing wave azimuth angle and the switching timing of the resonator to obtain a first driving analog quantity of the X electrode and a second driving analog quantity of the Y electrode.

[0096] Under the condition that the timing control unit switches the timing, the signal modulation unit performs synthesis modulation according to the frequency stabilization control amount, the amplitude stabilization control amount, the orthogonal control amount, and the standing wave control amount, and according to the standing wave azimuth angle and the switching timing square wave signal to obtain the digital amount of the X electrode modulated driving signal voltage and the digital amount of the Y electrode modulated driving signal voltage, which are converted into analog amounts (the analog amount of the X electrode modulated driving signal voltage and the analog amount of the Y electrode modulated driving signal voltage) by the digital-to-analog converter.

[0097] Step S6 includes:

[0098] S61: Switching and controlling the timing of the resonator through the timing control unit;

[0099] S62: The signal modulation unit performs synthesis modulation based on the frequency stabilization control amount, the amplitude stabilization control amount, the orthogonal control amount, and the standing wave control amount, in combination with the standing wave azimuth angle and the switching timing, to obtain a first driving digital amount corresponding to the X electrode and a second driving digital amount corresponding to the Y electrode, and transmits the first driving digital amount and the second driving digital amount to a digital-to-analog converter;

[0100] S63: Convert the first driving digital quantity into a first driving analog quantity, and convert the second driving digital quantity into a second driving analog quantity through a digital-to-analog converter.

[0101] In this embodiment, the expression for synthesizing and modulating the loop control variable in step S6 by combining the standing wave azimuth angle and the switching timing of the resonator is: X (t)=[C a cos2θ-C psin2θ]sinω0t-C q sin2θcosω0t; V Y (t)=[C a sin2θ+C p cos2θ]sinω0t+C q cos2θcosω0t;

[0102] Among them, V X (t) is the first driving digital quantity, V Y (t) is the second driving digital quantity, C a is the amplitude stabilization control quantity, C p is the standing wave control quantity, ω0 is the frequency stabilization control quantity, θ is the standing wave azimuth, t is the time, C q is the orthogonal control variable.

[0103] Furthermore, since the programmable amplifier reduces the driving signal in actual operation, the default gain of the programmable amplifier is the maximum gain.

[0104] S7: performing signal scaling on the first driving analog quantity and the second driving analog quantity respectively through a programmable amplifier according to the energy coefficient to obtain a corrected first driving signal and a corrected second driving signal.

[0105] Furthermore, the programmable amplifier performs signal scaling on the analog X and Y electrode drive signals provided by the digital-to-analog converter according to the energy coefficient of the X and Y electrode drive signals in the current drive cycle to generate corrected X and Y electrode drive signals.

[0106] In this embodiment, in step S7, the expressions for performing signal scaling on the first driving analog quantity and the second driving analog quantity by the programmable amplifier according to the energy coefficient are as follows: E X (t) = k X ·V X (t); E Y (t) = k Y ·V Y (t);

[0107] Among them, E X (t) is the first driving signal obtained by correction, E Y (t) is the second driving signal obtained by correction, k X is the first energy parameter, k Y is the second energy parameter, V X (t) is the first driving digital quantity, and V Y (t) is the second driving digital quantity.

[0108] S8: Applying the first driving signal to the X electrode and applying the second driving signal to the Y electrode to perform closed-loop control on the resonator.

[0109] Furthermore, through the electrode time-sharing switching unit, under the condition that the timing control unit switches the timing, the corrected X and Y electrode driving signals are applied to the electrodes of the resonator respectively, completing the corrected time-sharing drive of this cycle and realizing closed-loop control of the resonant gyroscope.

[0110] The present application further provides a resonant gyro drive efficiency correction system based on an energy coefficient, for executing any of the above resonant gyro drive efficiency correction methods based on an energy coefficient, comprising:

[0111] A timing control unit 3, configured to perform switching control on the timing, wherein the timing controlled by the switching control includes a driving period, a detection period, and an idle period;

[0112] Furthermore, the timing control unit is used to generate a switching timing signal to divide a working cycle of the resonant gyro closed-loop control into four working periods, including an X-electrode driving period, a Y-electrode driving period, an X-electrode vibration voltage signal detection period, and a Y-electrode vibration voltage signal detection period, and each working period has an idle period in the process of switching to the next working period.

[0113] The electrode time-sharing switching unit 4 is used to switch the working circuit state of the resonator electrode according to the switching sequence of the timing control unit. The working circuit state includes a driving state, a detection state and an idle state;

[0114] An I / V converter 5 is used to convert the current signal caused by the vibration of the resonator into a voltage signal to obtain a first vibration analog value and a second vibration analog value;

[0115] an analog-to-digital converter 6, configured to convert the first vibration analog quantity into a first vibration digital quantity, and convert the second vibration analog quantity into a second vibration digital quantity;

[0116] a signal demodulation unit 7, configured to extract a first sine and cosine component based on the first vibration digital quantity, and extract a second sine and cosine component based on the second vibration digital quantity;

[0117] A state solving unit 8 is used to solve the state of the first sine and cosine components and the second sine and cosine components according to the dynamic equation;

[0118] A control calculation unit 9 is used to perform control calculation on the error signal;

[0119] The energy coefficient calculation unit 10 is used to calculate the phase signal of the electrode driving signal within the driving cycle according to the frequency stabilization control amount and the switching timing of the resonator, and calculate the energy coefficient within the grade driving cycle according to the micro signal;

[0120] The signal modulation unit 11 is used to synthesize and modulate the loop control quantity in combination with the standing wave azimuth angle and the switching timing of the resonator;

[0121] a digital-to-analog converter 12, configured to convert the first driving digital quantity into a first driving analog quantity, and convert the second driving digital quantity into a second driving analog quantity; and

[0122] The programmable amplifier 13 is used to perform signal scaling on the first driving analog quantity and the second driving analog quantity respectively according to the energy coefficient.

[0123] In this embodiment, the energy coefficient-based resonant gyroscope drive efficiency correction system provided by this application also includes a resonator 1 and an electrode 2. As shown in Figure 2, the electrode 2 includes an X electrode and a Y electrode that are staggered. The resonator 1 is the core sensitive unit of the gyroscope. The shape of the resonator 1 is hemispherical, cylindrical, ring-shaped, or butterfly-wing-shaped. Depending on the application requirements and the level of precision, the material of the resonator 1 can be quartz, silicon-based, and metal. The electrode 2 is used to drive and detect the vibration of the resonator 1. The electrode 2 is contact or non-contact, and piezoelectric ceramics or capacitors can be used specifically.

[0124] The second embodiment of the present application is described below.

[0125] The resonator is hemispherical in shape, made of fused quartz, has a natural frequency of approximately 5.3kHz, and the electrode is a capacitor composed of a base coating and a metal coating on the inner surface of the resonator.

[0126] First, the time-sharing drive efficiency correction begins. The natural frequency vibration of the resonator causes the electrode spacing to undergo sinusoidal motion, causing its capacitance to change at the same frequency. According to the switching timing signal generated by the timing control unit, under the control of the electrode time-sharing switching unit, the resonator vibration signal is detected during the detection period. The corresponding electrode of the resonator works in the detection state and is connected to the I / V converter. During the detection period, the sinusoidal change of the electrode capacitance is equivalent to a charge source, generating a current output at the same frequency, which is converted into an analog voltage signal by the I / V converter. When the resonator vibration stabilizes, each control loop works normally. The amplitude stabilization loop is set to 4V, and the operating frequency is approximately 5312.486Hz. During the detection period, the gyroscope detection signal is subjected to the least squares identification of the signal demodulation unit. The expression is as follows:

[0127] The calculated sine and cosine components of the X and Y axes are: S x =-0.00019V; C x =4.00001V; S y =0.0001V; C y =-0.00005V;

[0128] Then solve the error of each control loop:

[0129] According to the control algorithm, the control quantity of each main control loop is calculated as:

[0130] Frequency stabilization control loop: ω0=33379.34655rad / s,

[0131] Amplitude stabilization control loop: C a =-108.6mV,

[0132] Orthogonal control loop: C q =-69.8mV,

[0133] Standing wave circuit: C p =-28mV;

[0134] The timing control unit sets the driving cycle time length to 40μs, the idle cycle time length to 10μs, the detection cycle time length to 150μs, and the total time length of a working cycle to 200μs. Therefore,

[0135] Switching frequency: ω SW =31415.9265rad / s,

[0136] Duty cycle: η C =10%,η D =37.5%, η r =1.25%;

[0137] Among them, η D The duty cycle of the timing control unit in the detection period;

[0138] According to the accumulated phase, the initial phase at time 0 of this driving cycle is:

[0139] Update the accumulated phase:

[0140] Calculate the start and end phases of the X and Y electrode drive signals as:

[0141] in, The phase of the X electrode drive signal, is the stop phase of the X electrode drive signal, The phase of the Y electrode drive signal, The stop phase of the Y electrode driving signal;

[0142] According to previous experiments, the minimum driving frequency is: ω min =33223.5rad / s;

[0143] Among them, ω min is the minimum driving frequency;

[0144] Then the preset minimum energy ratio can be obtained as:

[0145] Then the energy coefficients of the X electrode and the Y electrode can be obtained as follows:

[0146] Among them, En X is the driving energy ratio corresponding to the X electrode, En Y is the driving energy ratio corresponding to the Y electrode;

[0147] According to the control quantity of each loop and the standing wave azimuth, the driving signal of the X electrode and the Y electrode is calculated as: V X (t)=[C a cos2θ-C p sin2θ]sinω0t-C q sin2θcosω0t; V Y (t)=[C a sin2θ+C p cos2θ]sinω0t+C q cos2θcosω0t;

[0148] According to the energy coefficient, the driving signals of the X electrode and the Y electrode can be obtained as: E X (t) = k X ·V X (t)=0.18355×V X (t); E Y (t) = k Y ·V Y (t)=0.04411×V Y (t);

[0149] According to the timing switching signal, the driving signal voltage is applied to the corresponding electrodes during the driving cycle to realize the closed loop of the control loop after efficiency correction, so that each loop can operate stably.

[0150] The present application provides a resonant gyroscope efficiency correction method and system based on energy coefficient. The method calculates the energy coefficients of the X and Y electrodes in the current driving cycle in real time, scales the driving voltage signals applied to the two electrodes, corrects the efficiency fluctuations introduced by time-sharing driving, reduces additional instability, and improves the gyroscope stability index. No hardware changes are required, and no changes are required to the original control program and control algorithm, thus avoiding the introduction of additional errors. In addition, the correction method is implemented by adding an energy coefficient calculation unit to the software, without the need for hardware changes to the traditional time-sharing control circuit, and has good applicability and portability.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting the driving efficiency of a resonant gyroscope based on an energy coefficient, characterized in that: include: S1: Acquire the first vibration digital quantity of the X electrode of the resonator placed in the detection state and the second vibration digital quantity of the Y electrode of the resonator; S2: extracting a first sine and cosine component corresponding to the X electrode vibration signal according to the first vibration digital quantity, and extracting a second sine and cosine component corresponding to the Y electrode vibration signal according to the second vibration digital quantity; S3: performing state calculation on the first sine and cosine components and the second sine and cosine components according to a dynamic equation to obtain an error signal, wherein the error signal includes a time delay phase of a frequency stabilization control loop, a vibration energy of an amplitude stabilization control loop, a normal deviation of an orthogonal control loop, and a standing wave azimuth of a standing wave control loop; S4: performing control calculation on the error signal to obtain a loop control amount, wherein the loop control amount includes a frequency stabilization control amount, an amplitude stabilization control amount, an orthogonal control amount and a standing wave control amount; S5: calculating and obtaining a phase signal of the electrode driving signal within a driving cycle according to the frequency stabilization control amount and the switching timing of the resonator, and calculating an energy coefficient within the current driving cycle according to the phase signal; S6: performing synthetic modulation on the loop control quantity in combination with the standing wave azimuth and the switching timing of the resonator to obtain a first driving analog quantity of the X electrode and a second driving analog quantity of the Y electrode; S7: performing signal scaling on the first driving analog quantity and the second driving analog quantity respectively through a programmable amplifier according to the energy coefficient to obtain a corrected first driving signal and a second driving signal; as well as S8: applying the first driving signal to the X electrode and applying the second driving signal to the Y electrode to perform closed-loop control on the resonator.

2. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 1, characterized in that: Step S1 includes: S11: Switching and controlling the timing of the resonator through a timing control unit; S12: placing the electrodes of the resonator in a detection state; S13: acquiring the first vibration analog quantity of the X electrode and the second vibration analog quantity of the Y electrode respectively through an I / V converter, and transmitting the first vibration analog quantity and the second vibration analog quantity to an analog-to-digital converter; and S14: converting the first vibration analog quantity into a first vibration digital quantity and converting the second vibration analog quantity into a second vibration digital quantity through the analog-to-digital converter.

3. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 1, characterized in that: The calculation formula of the phase signal in step S5 is: in, is the starting phase in the phase signal, is the stop phase in the phase signal, is the initial phase at time 0 of the driving cycle, ω0 is the frequency control quantity, η C is the duty cycle of the timing control unit in the driving period, η r is the duty cycle of the timing control unit in the idle period, ω SW is the switching frequency of the timing control unit; in, is the accumulated phase of this cycle, is the accumulated phase of the next cycle, and mod is the modulo operation.

4. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 3, characterized in that: The calculation formula of the energy coefficient in step S5 is: Where k is the calculated energy coefficient, En min is the minimum driving energy ratio, En is the driving energy ratio; t DU =2π C / h SW ; Where En is the driving energy ratio, ω SW The switching frequency of the timing control unit, ω0 is the frequency stabilization control quantity, t DU is the driving duration, is the starting phase in the phase signal, is the stop phase in the phase signal, and η C is the duty cycle of the timing control unit in the driving period.

5. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 1, characterized in that: The calculation formula for obtaining the first sine and cosine components and the second sine and cosine components by demodulation extraction in step S2 is: Wherein, D(k) is the gyro detection signal including the first vibration digital quantity and the second vibration digital quantity, D X (k) is the X-axis vibration amplitude of the resonator, D Y (k) is the Y-axis vibration amplitude of the resonator, is the demodulation reference signal, θ * is the signal to be identified, e(k) is the process zero mean noise, ω0 is the frequency control quantity, M x is the DC component of the X-axis vibration amplitude of the resonator, M y is the DC component of the Y-axis vibration amplitude of the resonator, S x is the sine component in the first sine and cosine components, C x is the cosine component of the first sine and cosine components, S y is the sine component in the second sine and cosine components, C y is the cosine component of the second sine and cosine components.

6. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 5, characterized in that: The expression of the kinetic equation in step S3 is: Q=2(C x S y -C y S x ); E=C x 2 +S x 2 +C y 2 +S y 2 ; in, is the time delay phase, Q is the normal deviation, E is the vibration energy, θ is the standing wave azimuth, S x is the sine component in the first sine and cosine components, C x is the cosine component of the first sine and cosine components, S y is the sine component in the second sine and cosine components, and C y is the cosine component of the second sine and cosine components.

7. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 1, characterized in that: Step S6 includes: S61: Switching and controlling the timing of the resonator through a timing control unit; S62: Performing synthetic modulation by a signal modulation unit according to a frequency stabilization control amount, an amplitude stabilization control amount, an orthogonal control amount, and a standing wave control amount, in combination with a standing wave azimuth angle and a switching timing, to obtain a first driving digital amount corresponding to the X electrode and a second driving digital amount corresponding to the Y electrode, and transmitting the first driving digital amount and the second driving digital amount to a digital-to-analog converter; and S63: Convert the first driving digital quantity into a first driving analog quantity, and convert the second driving digital quantity into a second driving analog quantity by the digital-to-analog converter.

8. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 7, characterized in that: The expression for synthesizing and modulating the loop control quantity in step S6 in combination with the standing wave azimuth and the switching timing of the resonator is: X (t) = [C a cos2θ-C p sin2θ]sinω0t-C q sin2θcosω0t; V Y (t) = [C a sin2θ+C p cos2θ]sinω0t+C q cos2θcosω0t; Among them, V X (t) is the first driving digital quantity, V Y (t) is the second driving digital quantity, C a is the amplitude control quantity, C p is the standing wave control quantity, ω0 is the frequency stabilization control quantity, θ is the standing wave azimuth, t is the time, C q is the orthogonal control quantity.

9. The method for correcting the driving efficiency of a resonant gyroscope based on energy coefficient according to claim 8, characterized in that: In step S7, according to the energy coefficient, the expression for performing signal scaling on the first driving analog quantity and the second driving analog quantity through the programmable amplifier is: E X (t) = k X ·V X (t); E Y (t) = k Y ·V Y (t); Among them, E X (t) is the first driving signal obtained by correction, E Y (t) is the corrected second driving signal, k X is the first energy parameter, k Y is the second energy parameter, V X (t) is the first driving digital quantity, and V Y (t) is the second driving digital quantity.

10. A resonant gyro driving efficiency correction system based on energy coefficient, used to execute the resonant gyro driving efficiency correction method based on energy coefficient as claimed in any one of claims 1 to 9, characterized in that: include: A timing control unit, used to switch and control the timing, wherein the timing to be switched and controlled includes a driving period, a detection period and an idle period; An electrode time-sharing switching unit, used to switch the working circuit state of the resonator electrode according to the switching timing of the timing control unit, wherein the working circuit state includes a driving state, a detection state and an idle state; An I / V converter is used to convert a current signal caused by the vibration of the resonator into a voltage signal to obtain a first vibration analog value and a second vibration analog value; An analog-to-digital converter, used for converting the first vibration analog quantity into a first vibration digital quantity, and converting the second vibration analog quantity into a second vibration digital quantity; A signal demodulation unit, configured to extract a first sine and cosine component according to the first vibration digital quantity, and extract a second sine and cosine component according to the second vibration digital quantity; A state solving unit, used for solving the state of the first sine-cosine component and the second sine-cosine component according to the dynamic equation; A control calculation unit, used for performing control calculation on the error signal; The energy coefficient calculation unit is used to calculate the phase signal of the electrode driving signal in the driving cycle according to the frequency stabilization control amount and the switching timing of the resonator, and calculate the energy coefficient in the level driving cycle according to the micro signal; A signal modulation unit, used for synthesizing and modulating the loop control quantity in combination with the standing wave azimuth angle and the switching timing of the resonator; A digital-to-analog converter, used for converting the first driving digital quantity into a first driving analog quantity, and converting the second driving digital quantity into a second driving analog quantity; as well as The program-controlled amplifier is used to perform signal scaling on the first drive analog quantity and the second drive analog quantity respectively according to the energy coefficient.

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