CN-121977545-A - Gyro spacing adjusting device and adjusting method for mining hemispherical resonance inertial navigation

CN121977545ACN 121977545 ACN121977545 ACN 121977545ACN-121977545-A

Abstract

The invention discloses a gyro spacing adjusting device and method for mining hemispherical resonance inertial navigation, and belongs to the technical field of inertial navigation, wherein the device comprises a base component, a dual-mode cooperative adjusting unit, a temperature compensation module, an intrinsic safety control unit and an intelligent cooperative calibration unit; the top of base subassembly is equipped with the bimodulus and cooperates the adjusting unit, bimodulus is cooperated the adjusting unit and is coupled with temperature compensation module direct, and temperature compensation module includes double-circuit temperature sensor, miniature heating film hole PID temperature control circuit, and intelligent cooperation calibration unit is through the cooperation of improved generation dual closed loop PID algorithm drive bimodulus cooperation adjusting unit and temperature compensation module linkage. The adjustment device and the adjustment method for the spacing of the gyroscopes of the mining hemispherical resonator inertial navigation are adopted to realize the real-time dynamic adjustment of the hemispherical resonators and the nano sensors and the hemispherical resonators and the nano-scale precision of the detection capacitors, simultaneously meet the requirements of intrinsic safety authentication and adapt to the use requirements of multiple scenes.

Inventors

CHEN XIANGYUAN
ZHANG XIAOFENG
LIU ZHE

Assignees

北京中航天佑科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260303

Claims (10)

1. A gyro spacing adjusting device for mining hemispherical resonance inertial navigation is characterized by comprising a base component, a dual-mode cooperative adjusting unit, a temperature compensation module, an intrinsic safety control unit and an intelligent cooperative calibration unit, wherein the dual-mode cooperative adjusting unit is arranged at the top of the base component and comprises an optical spacing adjusting module and a capacitance spacing adjusting module, the dual-mode cooperative adjusting unit is directly coupled with the temperature compensation module, the temperature compensation module comprises a dual-path temperature sensor, a micro heating film and a PID temperature control circuit, and the intelligent cooperative calibration unit drives the dual-mode cooperative adjusting unit to be linked with the temperature compensation module through an improved dual-closed-loop PID algorithm.
2. The device for adjusting the spacing of the gyros by mining hemispherical resonance inertial navigation according to claim 1, wherein the optical spacing adjusting modules are symmetrically arranged on two sides of the capacitance spacing adjusting module, the capacitance spacing adjusting modules are circumferentially arranged around the hemispherical resonators and comprise arc-shaped piezoelectric actuators and eddy-current displacement sensors, the arc-shaped piezoelectric actuators are connected with detection capacitance plates through piezoelectric ceramics, and the eddy-current displacement sensors and the detection capacitance plates are coaxially arranged.
3. The device for adjusting the spacing of the gyros by hemispherical resonance inertial navigation for mines according to claim 2, wherein the optical spacing adjusting module comprises a multilayer PZT piezoelectric ceramic driver, a capacitive nano sensor and a pre-tightening mechanism, and the pre-tightening mechanism is arranged between the multilayer PZT piezoelectric ceramic driver and the capacitive nano sensor and comprises a pre-tightening spring and an adjusting bolt.
4. The mining hemispherical resonator inertial navigation gyro distance adjusting device according to claim 3, wherein the two-way temperature sensor is respectively embedded into the capacitive nano sensor and the detection capacitor and collects temperature data of the capacitive nano sensor and the detection capacitor, and the base component comprises an explosion-proof base, an insulating support column and a double-shaft precise adjusting table with the horizontal adjusting precision of 0.1 μm; The intelligent cooperative calibration unit comprises a DSP processor, a signal conditioning circuit and an optical-capacitive coupling fusion module, wherein the optical-capacitive coupling fusion module receives a two-way displacement sensor feedback signal of the dual-mode cooperative adjustment unit, a capacitance value signal of the capacitance measurement circuit and temperature data of the temperature compensation module, and outputs a cooperative control instruction through an improved dual-closed-loop PID algorithm.
5. The gyro spacing adjusting device for mining hemispherical resonance inertial navigation according to claim 4, wherein the improved double-closed-loop PID algorithm is specifically as follows: calculating a temperature feedforward compensation amount: ; ; optical spacing ring improved PID: ; ; Capacitance spacing ring improved PID: ; ; Wherein, the Representing the optical spacing temperature feedforward compensation quantity; representing the optical spacing temperature compensation coefficient; indicating a temperature deviation; Representing the temperature feedforward compensation quantity of the capacitor spacing; Representing a capacitor spacing temperature compensation coefficient; Representing the driving signal quantity output to the PZT piezoelectric ceramic driver at the moment k; Representing the ratio coefficient of the optical spacing ring; the deviation between the optical spacing set value and the measured value at the time k is shown; representing the optical spacing ring integration time constant; Indicating the deviation between the optical spacing set value and the actual measurement value at the moment i; Representing a sampling period; Representing the driving signal quantity output to the arc piezoelectric actuator at the moment k; Representing the optical spacing ring differential time constant; Representing the differential term after optical filtering at the moment k; representing differential filter coefficients; representing the actual measurement value of the optical spacing at the time k; representing a priority weight coefficient; representing the ratio coefficient of the capacitor spacing ring; the deviation between the capacitance interval set value and the actual measurement value at the moment k is shown; representing the capacitance spacing ring integration time constant; The deviation between the capacitance interval set value and the actual measurement value at the moment i is shown; Representing the differential time constant of the capacitor spacing ring; Representing a differential term after capacitive filtering at the moment k; And the actual measurement value of the capacitance spacing at the time k is shown.
6. The mining hemispherical resonator inertial navigation gyro spacing adjustment device according to claim 5, wherein the intrinsic safety control unit is specially designed for the power requirement of the dual-mode cooperative adjustment unit and comprises a current-limiting protection circuit, a voltage-limiting protection circuit, a reinforced isolation module and an explosion-proof shell; The current limiting protection circuit adopts a fusing resistor and an overcurrent detection chip to limit the maximum current of a loop to be less than or equal to 100mA, clamps the working voltage of a piezoelectric driver to be 0-15V through a diode and is lower than the voltage upper limit of an intrinsic safety circuit, and the reinforced isolation module is a photoelectric coupler, and the insulation resistance is more than or equal to 100MΩ.
7. The adjustment method of the gyro spacing adjustment device for mining hemispherical resonance inertial navigation according to any one of claims 1 to 6, comprising the steps of: S1, calibrating a dual-mode initial stage; s2, real-time cooperative adjustment; s3, abnormal protection and intrinsic safety control.
8. The adjustment method of the gyro spacing adjustment device for mining hemispherical resonance inertial navigation according to claim 7, wherein the step S1 is specifically: s101, driving a double-shaft precise adjustment table, and aligning the full reflection surface of the capacitive nano sensor, the detection capacitor polar plate and the center of the hemispherical harmonic oscillator through a microscopic vision system; S102, calibrating a capacitance distance, starting a dual-mode cooperative adjustment unit, driving an arc piezoelectric actuator by a capacitance distance adjustment module, acquiring a displacement value when a capacitance value is stabilized in a target range, setting an initial capacitance distance, adjusting a distance between the capacitance distance and a harmonic oscillator, and stopping after a proper initial measurement position is reached; S103, calibrating the optical spacing, wherein the optical spacing adjusting module drives the PZT piezoelectric ceramic driver, acquires a displacement value corresponding to a light intensity signal peak value, sets an initial optical spacing, adjusts the spacing between the capacitive nano sensor and the harmonic oscillator, and stops after reaching a proper initial measuring position.
9. The adjustment method of the gyro spacing adjustment device for mining hemispherical resonance inertial navigation according to claim 7, wherein the step S2 is specifically: S201, temperature compensation adjustment, wherein a two-way temperature sensor collects temperature, when the temperature is more than +/-0.1 ℃, a temperature control circuit adjusts the displacement of a piezoelectric device, the optical spacing compensation precision is less than or equal to 0.05 mu m, and the capacitance spacing compensation precision is less than or equal to 0.02 mu m; s202, closed-loop adjustment of capacitance spacing, wherein when feedback deviation of an eddy current sensor exceeds 0.05nm or fluctuation of capacitance value exceeds +/-1%, an arc actuator is driven to adjust, and fluctuation amplitude is less than or equal to 0.03nm; S203, optical spacing closed-loop adjustment, wherein when the feedback deviation of a displacement sensor exceeds 0.1nm or the fluctuation of light intensity exceeds +/-0.5%, a PID algorithm drives a PZT driver to adjust, and the response time is less than 1ms; s204, cooperatively controlling, wherein when the environmental vibration exceeds 500Hz, the fusion module preferentially compensates the optical spacing and synchronously corrects the capacitance spacing.
10. The adjustment method of the gyro spacing adjustment device for mining hemispherical resonance inertial navigation according to claim 7, wherein the step S3 is specifically: S301, space protection, namely stopping the work of the piezoelectric device and alarming when the optical space is less than 0.15 mu m or more than 10 mu m and the capacitance space is less than 3 mu m or more than 20 mu m; s302, collision protection, namely when the light intensity suddenly drops by more than 50dB or the capacitance suddenly increases by more than 20pF, the driving device rapidly pulls the distance; s303, intrinsically safe protection, namely triggering emergency stop when the current limit circuit detects current of more than 80mA or the voltage limit circuit detects voltage of more than 12V, cutting off a driving power supply, and simultaneously keeping normal monitoring of a control signal loop.

Description

Gyro spacing adjusting device and adjusting method for mining hemispherical resonance inertial navigation Technical Field The invention relates to the technical field of inertial navigation, in particular to a gyro spacing adjusting device and method for mining hemispherical resonance inertial navigation. Background The Hemispherical Resonator Gyro (HRG) is used as a high-precision inertial sensor, and is widely focused in the technical field of inertial navigation by virtue of the advantages of strong anti-interference capability, high stability, long service life and the like, and the core working principle is that angular velocity measurement is realized by utilizing the vibration mode change of the hemispherical resonator under the action of Coriolis force. The traditional HRG adopts a capacitance detection mode to measure the vibration of the hemispherical harmonic oscillator, but the mode has the problems of mechanical contact risk, electromagnetic interference sensitivity, detection accuracy limited by the gap between the electrode and the harmonic oscillator and the like, and the optical detection scheme based on the light tunnel effect can break through the limitations and needs to accurately control the distance between the nano sensor and the harmonic oscillator. The light tunnel effect depends on the evanescent field to realize high-precision displacement sensing, the detection sensitivity of the light tunnel effect is directly related to the distance between the hemispherical resonator and the nano sensor, namely, the too large distance can cause the coupling efficiency of the evanescent field to be too low, the signal strength is insufficient, and the too small distance can easily cause mechanical collision to damage devices. Meanwhile, in a capacitance detection mode, the distance between the hemispherical harmonic oscillator and a detection capacitor needs to be stabilized within the range of 5-20 mu m, and the fluctuation of the distance can directly cause the capacitance value drift to influence the measurement accuracy. In the prior art, the space adjustment of the hemispherical resonator gyroscope has three defects, namely, the adjustment object is single, the adjustment object is designed for only one space in optical detection or capacitance detection, the dual-mode space cooperative adjustment is not realized, the adjustment precision and the dynamics are insufficient, the mechanical adjustment is only in a micron level, the multi-degree-of-freedom piezoelectric platform cannot dynamically compensate the environmental interference, the intrinsic safety design is lacking, the use requirements of explosive environments such as coal mines, oil gas and the like cannot be met, and the application of the HRG in the industrial explosion-proof field is limited. In addition, the existing scheme does not design a special adjusting mechanism aiming at the electric field distribution requirements of the conductivity characteristics and capacitance detection of the hemispherical harmonic oscillator, so that electric field distortion is easy to cause in the adjusting process, and the detection precision is further reduced. Therefore, a solution integrating dual-mode pitch adjustment, nanoscale accuracy, real-time compensation and compliance with intrinsic safety certification is needed. Disclosure of Invention The invention aims to provide a device and a method for adjusting the space between gyroscopes by mining hemispherical resonance inertial navigation, which realize the real-time dynamic adjustment of the nanometer precision of hemispherical resonators and nano sensors and hemispherical resonators and detection capacitors, meet the requirements of intrinsic safety certification and adapt to the use requirements of multiple scenes. The invention provides a gyro spacing adjusting device for mining hemispherical resonance inertial navigation, which comprises a base component, a dual-mode cooperative adjusting unit, a temperature compensation module, an intrinsic safety control unit and an intelligent cooperative calibration unit, wherein the dual-mode cooperative adjusting unit is arranged at the top of the base component and comprises an optical spacing adjusting module and a capacitance spacing adjusting module, the dual-mode cooperative adjusting unit is directly coupled with the temperature compensation module and dynamically counteracts the influence of temperature drift on dual spacing, the limitation of the prior art of non-targeted temperature compensation is broken through, the temperature compensation module comprises a dual-path temperature sensor, a micro heating film and a PID temperature control circuit, and the intelligent cooperative calibration unit drives the dual-mode cooperative adjusting unit to be linked with the temperature compensation module through an improved dual-closed-loop PID algorithm. Preferably, optical distance adjusting modules are symmetrically arranged on two