CN-116989759-B - Variable period time-sharing demodulation and control method for hemispherical resonator gyroscope

CN116989759BCN 116989759 BCN116989759 BCN 116989759BCN-116989759-B

Abstract

A variable period time-sharing demodulation and control method for a hemispherical resonator gyroscope belongs to the technical field of inertia. The invention solves the problem of long transient process of filtering in the traditional time-sharing scheme. The invention carries out time sharing according to the complete resonance period of the gyro vibration signal, and keeps the time sharing period the same as the gyro resonance period. The zero crossing position of the gyro vibration signal is judged through the control chip, the zero crossing position is used as the basis for starting and ending a complete resonance period, the multi-way switch is controlled to be switched into a driving mode after the vibration signal passes through the complete resonance period, the driving force is applied to the gyro, then the gyroscope is switched into a detection mode again, and short idle time is passed between the modes, and the gyroscope is cycled and reciprocated. The detection signals in each detection period are closer to continuous signals after being spliced, so that the demodulation filtering process is more similar to the continuous filtering process, and the filtering transient time in the demodulation process is greatly shortened. The method can be applied to the technical field of inertia.

Inventors

WANG CHANGHONG
LI HANSHI
XIE WEINAN
XI BOQI
YI GUOXING

Assignees

哈尔滨工业大学

Dates

Publication Date: 20260505
Application Date: 20230803

Claims (8)

1. The variable period time-sharing demodulation and control method for the hemispherical resonator gyroscope is characterized by comprising the following steps of: The method comprises the steps that firstly, the moment when the whole period of a detection signal starts is recorded as T 0 , at the moment of T 0 , a detection electrode is connected to a buffer amplifying circuit through a multi-way switch, a driving electrode is disconnected from a control circuit, the working state of a hemispherical resonator gyroscope enters a detection mode, and an X-path vibration signal and a Y-path vibration signal are detected; The moment when the whole period of the detection signal is ended is marked as T 1 , and the period of T 0 ~T 1 is regarded as a detection period; when the whole period of the detection signal is finished, the connection between the detection electrode and the buffer amplifying circuit is cut off through a multi-way switch, and the drive electrode and the control circuit are kept to be disconnected until the moment T 2 ; Step two, in a detection period T 0 ~T 1 , harmonic oscillator state parameters E, Q, R, S and L for hemispherical resonator gyro control are calculated according to the detected X-path vibration signals and Y-path vibration signals; step three, updating the amplitude driving force according to the harmonic oscillator state parameters E, Q, R, S and L Orthogonal driving force Frequency of vibration Phase of demodulated signal Standing wave azimuth angle theta; step four, according to 、、、 And theta calculation of control force of X electrode And control force of Y electrode ; Step five, starting from the moment T 2 , connecting a driving electrode with a control circuit through a multiway switch, enabling the working state of the hemispherical resonator gyroscope to enter a driving mode, and enabling the control force calculated in the step four to be calculated And The amplitude control and the quadrature control are carried out on the half-sphere resonance gyroscope by applying the amplitude control and the quadrature control to the driving electrode; The T 2 ~ T 3 period is referred to as a driving period; Step six, at the moment of T 3 , disconnecting the driving electrode from the control circuit through a multi-way switch, keeping the detecting electrode disconnected from the buffer amplifying circuit, enabling the working state of the hemispherical resonator gyroscope to enter an idle period again, and waiting for the next complete period of the detecting signal; Step seven, judging the moment T 4 when the detection signal starts to enter the next complete period through detecting the zero crossing position, connecting a detection electrode with a buffer amplifying circuit through a multi-way switch at the moment T 4 , and returning the working state of the hemispherical resonator gyroscope to the detection mode of the step one; the detected signal within each detection period is closer to a continuous signal after splicing, so that the demodulated filtering process is closer to the continuous filtering process.
2. The method for variable period time-sharing demodulation and control of hemispherical resonator gyro according to claim 1, wherein the X-path vibration signal and the Y-path vibration signal are as follows: Wherein, the Is used for the X-path vibration signal, Is a Y-path vibration signal, Representing the principal wave antinode of the wave, Representing the azimuth of the standing wave, Representing the frequency of the vibration, The time is represented by the time period of the time, Representing the initial phase of the vibration signal, Representing an orthogonal antinode.
3. The variable period time-sharing demodulation and control method for the hemispherical resonator gyroscope according to claim 2, wherein the specific process of the second step is as follows: Wherein, the 、、 And Is a slow variable.
4. A variable period time-sharing demodulation and control method for hemispherical resonator gyro according to claim 3, characterized in that the slowly varying amount 、、 And Obtained by I/Q demodulation.
5. The method for variable period time-sharing demodulation and control of a hemispherical resonator gyroscope of claim 4, wherein the slowly varying amount 、、 And The method comprises the following steps: Wherein, the And In order to demodulate the reference signal(s), Representing low pass filtering.
6. The method for variable period time-sharing demodulation and control of a hemispherical resonator gyroscope of claim 5, wherein the demodulation reference signal And The method comprises the following steps: Wherein, the For demodulating the phase of the reference signal.
7. The method for variable period time-sharing demodulation and control of hemispherical resonator gyro according to claim 6, wherein the third step adopts a closed loop feedback mode for calculation.
8. The method for variable period time-sharing demodulation and control of hemispherical resonator gyro according to claim 7, wherein the specific process of the fourth step is as follows: 。

Description

Variable period time-sharing demodulation and control method for hemispherical resonator gyroscope Technical Field The invention belongs to the technical field of inertia, and particularly relates to a variable period time-sharing demodulation and control method for a hemispherical resonator gyroscope. Background The hemispherical resonator gyroscope has the advantages of high precision, long service life, simple structure, good reliability and the like, meets the development requirements of a plurality of application fields, becomes one of the mainstream inertial devices, and has great competitiveness and development prospect. The basic principle of the hemispherical resonator gyroscope is that vibration energy is maintained and orthogonal errors are eliminated through a driving electrode by detecting the vibration state of an electrode sensitive harmonic oscillator, when external angular velocity is input, a standing wave azimuth angle can precess along the opposite direction relative to the harmonic oscillator, and external angular velocity input information can be obtained through detecting precession angle information. The two-piece flat electrode hemispherical resonator gyro uses the lip edge of the common harmonic oscillator as one side polar plate of the circumferential capacitor, so that when the detection and the driving of the vibration state of the harmonic oscillator are performed simultaneously, the two mutually interfere, thereby reducing the detection precision and the driving efficiency, and the detection and the driving are required to be performed in a time-sharing way. In the conventional time-sharing scheme, the time-sharing period is fixed, so that the obtained detection signal is discontinuous, and the transient process of filtering when demodulation is performed in each detection period is long, so that available information is reduced, and the demodulation and driving are negatively influenced. Disclosure of Invention The invention aims to solve the problem of long filtering transient process of the traditional time-sharing scheme, and provides a variable period time-sharing demodulation and control method for a hemispherical resonator gyroscope. The technical scheme adopted by the invention for solving the technical problems is as follows: The variable period time-sharing demodulation and control method for the hemispherical resonator gyroscope specifically comprises the following steps of: The method comprises the steps that firstly, the moment when the whole period of a detection signal starts is recorded as T 0, at the moment of T 0, a detection electrode is connected to a buffer amplifying circuit through a multi-way switch, a driving electrode is disconnected from a control circuit, the working state of a hemispherical resonator gyroscope enters a detection mode, and an X-path vibration signal and a Y-path vibration signal are detected; the moment when the whole period of the detection signal is ended is marked as T 1, and the period of T 0～T1 is regarded as a detection period; when the whole period of the detection signal is finished, the connection between the detection electrode and the buffer amplifying circuit is cut off through a multi-way switch, and the drive electrode and the control circuit are kept to be disconnected until the moment T 2; Step two, in a detection period T 0～T1, harmonic oscillator state parameters E, Q, R, S and L for hemispherical resonator gyro control are calculated according to the detected X-path vibration signals and Y-path vibration signals; step three, updating amplitude driving force F a, orthogonal driving force F q, vibration frequency omega, phase psi of demodulation signals and standing wave azimuth angle theta according to harmonic oscillator state parameters E, Q, R, S and L; Calculating a control force F x of the X electrode and a control force F y of the Y electrode according to F a、Fq, omega, phi and theta; step five, starting from the moment T 2, connecting a driving electrode with a control circuit through a multiway switch, enabling the working state of the hemispherical resonator gyroscope to enter a driving mode, applying the control forces F x and F y calculated in the step four to the driving electrode, and performing amplitude control and quadrature control on the hemispherical resonator gyroscope; The T 2～T3 period is referred to as a driving period; Step six, at the moment of T 3, disconnecting the driving electrode from the control circuit through a multi-way switch, keeping the detecting electrode disconnected from the buffer amplifying circuit, enabling the working state of the hemispherical resonator gyroscope to enter an idle period again, and waiting for the next complete period of the detecting signal; And step seven, judging the moment T 4 when the detection signal starts to enter the next complete period through detecting the zero crossing position, connecting the detection electrode with the buffer amplifying ci