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