CN-122015911-A - Hemispherical resonator gyroscope error harmonic identification method and device

CN122015911ACN 122015911 ACN122015911 ACN 122015911ACN-122015911-A

Abstract

The application provides a method and a device for identifying error harmonic waves of a hemispherical resonator gyroscope. The hemispherical resonator gyro comprises a hemispherical resonator and electrodes for vibration excitation and vibration displacement detection, wherein the electrodes of the hemispherical resonator gyro are electrically excited, displacement relations between the working modes and the coupling modes of the standing wave shaft vibration of the hemispherical resonator under a preset circumferential angle are obtained through detection and resolution of electric signals of different electrodes, the standing wave shaft of the hemispherical resonator gyro is enabled to traverse the whole circumference through control of the working modes of the hemispherical resonator gyro, the displacement relations between the working modes and the coupling modes under different circumferential angles are obtained, and error harmonic size and circumferential azimuth information of the hemispherical resonator gyro are extracted through the displacement relations between the working modes and the coupling modes under different circumferential angles.

Inventors

ZHANG RUIXUE
ZHANG RONG
YANG JUN
ZHOU BIN
WEI QI

Assignees

清华大学

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (14)

1. The method for identifying error harmonic waves of hemispherical resonator gyroscopes is characterized by comprising hemispherical resonators and electrodes for vibration excitation and vibration displacement detection, and comprises the following steps: Applying an electrical stimulus to an electrode of the hemispherical resonator gyroscope; detecting and resolving electric signals of different electrodes to obtain a displacement relation between a working mode and a coupling mode of the standing wave shaft vibration of the hemispherical harmonic oscillator under a preset circumferential angle; The standing wave shaft of the hemispherical resonator traverses the whole circumference by controlling the working mode of the hemispherical resonator gyroscope so as to obtain the displacement relation between the working mode and the coupling mode under different circumferential angles; and extracting the magnitude and circumferential azimuth information of the hemispherical resonator gyro error harmonic wave through displacement relations between the working mode and the coupling mode under different circumferential angles.
2. The identification method of claim 1 wherein the coupling modes include a radial plane oscillation mode and an axial translation mode, The detection and the resolution of the electric signals of different electrodes are carried out to obtain the displacement relation between the working mode and the coupling mode of the standing wave shaft vibration of the hemispherical harmonic oscillator under different circumferential angles, wherein the displacement relation comprises the following steps: the displacement relation between the radial plane swinging mode and the working mode and the displacement relation between the axial translation mode and the working mode of the standing wave shaft vibration of the hemispherical harmonic oscillator under different circumferential angles are respectively obtained by detecting and resolving the electric signals of different electrodes, The extracting the magnitude and circumferential azimuth information of the hemispherical resonator gyro error harmonic through the displacement relation between the working mode and the coupling mode under different circumferential angles comprises the following steps: extracting the magnitude and circumferential azimuth information of first and third error harmonics of the hemispherical resonator gyroscope through displacement relations between the radial plane swing mode and the working mode under different circumferential angles; And extracting the size and circumferential azimuth information of the second error harmonic of the hemispherical resonator gyroscope through displacement relations between the axial translation modes and the working modes under different circumferential angles.
3. The identification method of claim 2, wherein the extracting the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonator gyroscope by the displacement relationship between the radial plane oscillation mode and the operation mode at different circumferential angles comprises: Extracting the magnitude and circumferential orientation information of the first and third error harmonics of the hemispherical resonator gyroscope by least square fitting the displacement relationship between the radial plane swing mode and the working mode at different circumferential angles, The extracting the second error harmonic size and circumferential orientation information of the hemispherical resonator gyroscope through the displacement relation between the axial translation mode and the working mode under different circumferential angles comprises the following steps: And extracting the size and circumferential azimuth information of the second error harmonic of the hemispherical resonator gyroscope by performing least square fitting on the displacement relation between the axial translation mode and the working mode under different circumferential angles.
4. The identification method as claimed in claim 1, wherein the method comprises: and the electric excitation and the electric signal detection of the hemispherical harmonic oscillator under different circumferential angles are completed through different combination logics of the electrodes.
5. The identification method of claim 4, wherein the electrical excitation and electrical signal detection of the hemispherical resonator at different circumferential angles by different combinational logic of electrodes comprises: applying electric excitation to the electrode of the hemispherical harmonic oscillator, which vibrates at a certain circumferential angle, through the electrode combination logic of the driving stage; Performing electric signal detection and resolution on the working mode of the hemispherical harmonic oscillator under the circumferential angle through electrode combination logic in a first detection stage; Performing electric signal detection and displacement calculation on the radial plane swing mode of the hemispherical resonator under the circumferential angle through electrode combination logic in a second detection stage; The electrode combination logic of the third detection stage is used for carrying out electric signal detection and displacement calculation on the axial translation mode of the hemispherical harmonic oscillator under the circumferential angle, The driving stage has an electrode combination related to one of the working mode, the radial plane swing mode and the axial translation mode, the first detection stage has an electrode combination related to the working mode, the second detection stage has an electrode combination related to the radial plane swing mode, and the third detection stage has an electrode combination related to the axial translation mode.
6. The identification method of claim 5, wherein when the driving stage has an electrode combination related to the operation mode, switching of the electrode combination logic is performed at each predetermined circumferential angle according to the following timing: Switching electrode combination logic according to the time sequence of the driving stage, the first detection stage and the second detection stage until vibration signals of the whole circumference are obtained; and switching electrode combination logic according to the time sequence of the driving stage, the first detection stage and the third detection stage until a vibration signal of the whole circumference is obtained.
7. The identification method of claim 5, wherein when the driving stage has an electrode combination related to the operation mode, switching of the electrode combination logic is performed at each predetermined circumferential angle according to the following sequence: And switching electrode combination logic according to the time sequence of one of the driving stage, the first detection stage, the second detection stage and the third detection stage and the other of the second detection stage and the third detection stage until a vibration signal of the whole circumference is obtained.
8. The identification method as claimed in claim 5, wherein when the driving stage has electrode combinations related to the radial plane swing mode, switching of the electrode combination logic is performed at each predetermined circumferential angle according to the following timing: Switching electrode combination logic according to the time sequence of the driving stage, the second detection stage and the first detection stage until a vibration signal of the whole circumference is obtained; When the driving stage has the electrode combination related to the axial translation mode, the electrode combination logic is switched at each circumferential angle according to the following time sequence: and switching electrode combination logic according to the time sequence of the driving stage, the third detection stage and the first detection stage until a vibration signal of the whole circumference is obtained.
9. An identification method as claimed in any one of claims 5 to 8, wherein the electrical excitation and detection of electrical signals of the hemispherical resonator at different circumferential angles by different combinational logic of electrodes comprises: And through time-sharing multiplexing of the electrodes, the electric excitation and the electric signal detection of the hemispherical harmonic oscillator under different circumferential angles are completed by utilizing different combination logics of the same group of electrodes.
10. The identification method according to claim 9, wherein the electrodes include at least eight electrodes including a first electrode, a second electrode, a third electrode, a fourth electrode, a fifth electrode, a sixth electrode, a seventh electrode and an eighth electrode which are sequentially and uniformly spaced apart in a circumferential direction, The electrode combination related to the working mode comprises an ith 1 electrode and an ith 5 electrode which are used for connecting a first interface, an ith 3 electrode and an ith 7 electrode which are used for connecting a second interface, An ith 8 electrode and an ith 4 electrode for connecting a third interface, and an ith 2 electrode and an ith 6 electrode for connecting a fourth interface, wherein the ith 1 electrode comprises any one of the first electrode to the eighth electrode, between the ith 1 electrode and the ith 5 electrode, Between the ith 3 electrode and the ith 7 electrode, The circumferential angles between the ith 8 electrode and the ith 4 electrode and between the ith 2 electrode and the ith 6 electrode are 180 degrees different, the circumferential angles between the ith 1 electrode and the ith 3 electrode and between the ith 8 electrode and the ith 2 electrode are 90 degrees different, and the circumferential angles between the ith 1 electrode and the ith 8 electrode and between the ith 2 electrode and the ith 3 electrode are 45 degrees different; The electrode combination related to the radial plane swing mode comprises a j 1 electrode used for connecting the first interface, a j 2 electrode used for connecting the second interface, a j 3 electrode used for connecting the third interface and a j 4 electrode used for connecting the fourth interface, wherein the j 1 electrode comprises any one electrode or a combination of two adjacent electrodes from the first electrode to the eighth electrode, the circumferential angles between the j 1 electrode and the j 2 electrode and between the j 3 electrode and the j 4 electrode are different by 180 degrees, and the circumferential angles between the j 1 electrode and the j 3 electrode and between the j 2 electrode and the j 4 electrode are different by 90 degrees; The electrode combination associated with the axial translation modality includes all electrodes and is adapted to be connected to the first interface; In the driving stage, the first interface, the second interface, the third interface and the fourth interface are respectively a first driving interface, a second driving interface, a third driving interface and a fourth driving interface, wherein the first driving interface and the second driving interface are used for receiving a group of differential excitation signals on a standing wave main shaft; In the detection stage, the first interface, the second interface, the third interface and the fourth interface are respectively a first detection interface, a second detection interface, a third detection interface and a fourth detection interface, wherein the first detection interface and the second detection interface are used for receiving a group of differential electric signals on different vibration spindles, and the third detection interface and the fourth detection interface are used for receiving a group of differential electric signals on different vibration orthogonal axes.
11. The identification method of claim 10, wherein the electrode combination logic associated with the operating mode of the drive phase includes connecting the second and sixth electrodes to the first drive interface, connecting the fourth and eighth electrodes to the second drive interface, connecting the first and fifth electrodes to the third drive interface, and connecting the third and seventh electrodes to the fourth drive interface; Electrode combination logic of the drive phase associated with the radial plane oscillation mode includes connecting the third electrode to the first drive interface, the seventh electrode to the second drive interface, the first electrode to the third drive interface, and the fifth electrode to the fourth drive interface; electrode combination logic of the driving stage related to the axial translation mode comprises the steps of connecting all electrodes to the first driving interface, and grounding the second driving interface, the third driving interface and the fourth driving interface; the electrode combination logic of the first detection stage includes connecting the second electrode and the sixth electrode to the first detection interface, connecting the fourth electrode and the eighth electrode to the second detection interface, connecting the first electrode and the fifth electrode to the third detection interface, and connecting the third electrode and the seventh electrode to the fourth detection interface; The electrode combination logic of the second detection stage includes connecting the third electrode to the first detection interface, the seventh electrode to the second detection interface, the first electrode to the third detection interface, and the fifth electrode to the fourth detection interface; The electrode combination logic of the third detection stage includes connecting all electrodes to the first detection interface, and grounding the second detection interface, the third detection interface, and the fourth detection interface.
12. The identification method of claim 1, wherein traversing the standing wave axis of the hemispherical resonator through the entire circumference comprises: The hemispherical resonator gyroscope is controlled to work in a multi-position force feedback working mode within a circumferential range, so that the standing wave shaft of the hemispherical resonator traverses the whole circumference in sequence according to the form of equal intervals of circumferential angles.
13. The identification method of claim 1, wherein the traversing the standing wave axis of the hemispherical resonator gyroscope through the entire circumference by controlling the operation mode of the hemispherical resonator gyroscope comprises: And continuously traversing the standing wave shaft of the hemispherical resonator through controlling the hemispherical resonator gyroscope to work in a full-angle working mode of virtual precession.
14. The device for identifying error harmonic waves of the hemispherical resonator gyroscope is characterized by comprising the hemispherical resonator gyroscope, an excitation module, a switch module, a displacement resolving module, a control module and a processing module, wherein, The hemispherical resonator gyroscope comprises hemispherical resonators and electrodes for vibration excitation and vibration displacement detection; the excitation module is used for applying electric excitation to the electrodes of the hemispherical resonator gyroscope; The control module is used for controlling the working mode of the hemispherical resonator gyroscope to enable the standing wave shaft of the hemispherical resonator gyroscope to traverse the whole circumference, and the control module is used for controlling the electrode to have different electrode combination logics in different working phases through the switch module; the displacement resolving module is used for detecting and resolving electric signals of different electrodes to obtain displacement relations between working modes and coupling modes of the standing wave shaft vibration of the hemispherical harmonic oscillator under different circumferential angles; The processing module is used for extracting the magnitude and circumferential direction information of the hemispherical resonator gyro error harmonic wave through displacement relations between the working mode and the coupling mode under different circumferential angles.

Description

Hemispherical resonator gyroscope error harmonic identification method and device Technical Field The application relates to the technical field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator gyroscope error harmonic identification method and a hemispherical resonator gyroscope error harmonic identification device. Background The hemispherical resonator gyro is a vibrating gyro which measures the rotation of the shell by utilizing the precession of the vibrating standing wave of the hemispherical resonator structure along the circumferential direction, and has the advantages of few components, low power consumption, small volume, low cost, high precision, high dynamic performance, high reliability, long service life and the like. The hemispherical resonator is used as a core component of the hemispherical resonator gyro, and the processing precision of the hemispherical resonator gyro is critical to the acquisition of the hemispherical resonator gyro with high precision. Ideally, the hemispherical resonator has the characteristic of circumferential isotropy, and a stable centroid can be maintained in an elliptical working mode with n=2. However, geometric defects and material defects are inevitably introduced in the manufacturing process, and the defects can cause physical properties such as quality, rigidity, damping and the like of the hemispherical resonator to present the characteristic of circumferential non-uniformity, influence the vibration characteristic of the hemispherical resonator and further reduce the performance precision of the hemispherical resonator gyroscope. The circumferential non-uniformity of hemispherical resonators is typically represented by a mathematical expansion of the fourier series, also known as the error harmonic of hemispherical resonator gyroscopes. In an elliptic working mode of the hemispherical resonator, wherein n=2 (N represents the vibration wave number of the hemispherical resonator, and represents that the spatial distribution form of the hemispherical resonator during vibration is 2 symmetrical wave crests and 2 symmetrical wave troughs), the rigidity, damping and other physical properties of the hemispherical resonator are most influenced by four-time error harmonic waves before the hemispherical resonator is processed into defects. The fourth harmonic mainly influences the rigidity nonuniformity of the harmonic oscillator, and the first, second and third harmonic mainly influences the damping nonuniformity of the harmonic oscillator. The identification technology of the fourth error harmonic of the machining defect is mature at present, but the identification of the first, second and third error harmonics is still a hot spot problem which is focused and strived to overcome by researchers in the field. When the first three times of error harmonic wave identification work is carried out, the existing partial schemes generally need to build a huge and complex optical system test platform, are complex in scheme and high in cost, and the partial schemes put forward special requirements on the configuration design of the hemispherical resonator or the electric substrate, and carry out error identification by measuring the deformation displacement of the extension type support rod or the elastic base, but increase the complexity of the process and are not beneficial to the flexibility expansion of the gyro structure design. Disclosure of Invention An object of the embodiments of the present application is to provide a method and an apparatus for identifying error harmonics of a hemispherical resonator gyroscope, which can solve at least one technical problem mentioned in the prior art. The application provides a method for identifying error harmonics of a hemispherical resonator gyroscope. The hemispherical resonator gyroscope comprises a hemispherical resonator and electrodes for vibration excitation and vibration displacement detection, wherein the electrodes of the hemispherical resonator gyroscope are electrically excited, displacement relations between the working modes and the coupling modes of the standing wave shaft vibration of the hemispherical resonator gyroscope under a preset circumference angle are obtained through detection and calculation of electric signals of different electrodes, the standing wave shaft of the hemispherical resonator gyroscope traverses the whole circumference through controlling the working modes of the hemispherical resonator gyroscope to obtain the displacement relations between the working modes and the coupling modes under different circumference angles, and the size and the circumference azimuth information of error harmonics of the hemispherical resonator gyroscope are extracted through the displacement relations between the working modes and the coupling modes under different circumference angles. Further, the coupling modes comprise a radial plane swinging mode and an axial translation mo