阅读说明：本技术 一种基于离散电极的轴对称谐振陀螺参数激励方法 (Axisymmetric resonant gyro parameter excitation method based on discrete electrode ) 是由 赵万良 刘付成 杨浩 李绍良 王伟 成宇翔 于 2020-06-01 设计创作，主要内容包括：本发明公开了一种基于离散电极的轴对称谐振陀螺参数激励方法,该方法包含：步骤1,提供n个间隔布置在半球谐振陀螺上的激励电极,方位设置满足：<Image he="172" wi="642" file="DDA0002518758090000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>步骤2,对激励电极施加直流偏置电压以及激励电压进行参数激励,激励电压的频率为谐振子振动信号的两倍；施加在第i个激励电极的电压为：V<Sub>i</Sub>＝V<Sub>bias</Sub>V<Sub>0</Sub>cos2ω<Sub>λ</Sub>t；步骤3,调节激励电压的频率和激励电压的幅度,使激励电压和激励电压的频率达到参数激励的最小电压和谐振频率,使激励电压的幅度为谐振子参数激励下稳定边界电压的最小值。本发明通过离散电极激励,振幅最大的地方将获得最多的能量补充,此时能量补充不影响驻波方位,避免现有位置激励方式引起的驻波方位绑定现象,提高了轴对称谐振陀螺的精度和性能。(The invention discloses an axisymmetric resonant gyro parameter excitation method based on discrete electrodes, which comprises the following steps: step 1, providing n excitation electrodes which are arranged on a hemispherical resonance gyroscope at intervals, wherein the azimuth setting satisfies the following conditions: step 2, applying direct-current bias voltage and excitation voltage to the excitation electrode for parameter excitation, wherein the frequency of the excitation voltage is twice of that of the harmonic oscillator vibration signal; the voltage applied to the ith excitation electrode was: v i ＝V bias V 0 cos2ω λ t; and 3, adjusting the frequency of the excitation voltage and the amplitude of the excitation voltage to enable the frequency of the excitation voltage and the frequency of the excitation voltage to reach the minimum voltage and the resonant frequency of the parameter excitation, and enabling the amplitude of the excitation voltage to be the minimum value of the stable boundary voltage under the parameter excitation of the harmonic oscillator. The invention is excited by the discrete electrodes, and the place with the maximum amplitude can obtain the most energy supplement, and the energy supplement does not influence the standing waveAnd the azimuth avoids the standing wave azimuth binding phenomenon caused by the existing position excitation mode, and improves the precision and the performance of the axisymmetric resonance gyroscope.)

1. An axisymmetric resonant gyro parameter excitation method based on discrete electrodes is characterized by comprising the following steps:

step 1, providing n excitation electrodes which are arranged on a hemispherical resonator gyroscope at intervals, wherein the orientation of the excitation electrodes meets the following mathematical relationship:the angular orientation of the i-th excitation electrodeWherein n is a positive integer;

step 2, applying direct current bias voltage and excitation voltage to the excitation electrode to carry out parameter excitation so as to enable the harmonic oscillator to generate parameter resonance; the frequency of the excitation voltage is twice of the vibration signal of the harmonic oscillator; the voltage applied to the ith excitation electrode was: v_i＝V_biasV₀cos2ω_λt, wherein V_biasIs a DC bias voltage, V₀For the excitation voltage, ω_λT represents time, which is the frequency of the excitation voltage;

and 3, adjusting the frequency of the excitation voltage and the amplitude of the excitation voltage to enable the frequency of the excitation voltage and the frequency of the excitation voltage to reach the minimum voltage and the resonant frequency of the parameter excitation, and enabling the amplitude of the excitation voltage to be the minimum value of the stable boundary voltage under the parameter excitation of the harmonic oscillator.

2. The method of exciting parameters of an axisymmetric resonant gyroscope based on discrete electrodes of claim 1, wherein said step 3 comprises:

step 3.1, starting vibration of the harmonic oscillator to a set energy value by using an AMP electrode through a position excitation method, and detecting a vibration signal X, Y of the harmonic oscillator;

step 3.2, demodulating the vibration signal X, Y by using a reference signal generated by a phase-locked loop, and performing low-pass filtering to obtain Xc, Xs, Yc and Ys respectively, wherein the reference signal consists of a sine signal and a cosine signal;

step 3.3, judging whether the signal Xs × Xc + Ys × Yc is equal to 0 or not through a phase-locked loop;

if not equal to 0, adjusting the frequency of the excitation voltage: disconnecting the oscillation starting signal, carrying out 2-frequency multiplication processing on the reference signal generated by the phase-locked loop to obtain the excitation voltage applied to the excitation electrode and the frequency of the excitation voltage, and repeating the steps 3.1-3.3;

if the frequency is equal to 0, the frequency of the excitation voltage meets the requirement, and the next step is carried out;

step 3.4, adjusting the amplitude of the excitation voltage: judging Xc²+Xs²+Yc²+Ys²Whether it is equal to the set amplitude; if not, the excitation voltage is adjusted until the excitation voltage is equal, so that the parametric excitation of the harmonic oscillator vibration is realized.

3. The discrete electrode-based parametric excitation method for an axisymmetric resonator gyroscope of claim 2, wherein said phase-locked loop is capable of automatically adjusting the frequency of the excitation voltage such that Xs × Xc + Ys × Yc equals 0.

4. The method as claimed in claim 2, wherein the vibration signals X, Y of the harmonic oscillator are detected by detecting electrodes at 45 ° to each other.

5. The discrete electrode-based parametric excitation method for an axisymmetric resonator gyroscope of claim 4, wherein the vibration signal of the harmonic oscillator contains amplitude, frequency and phase information.

6. The method as claimed in claim 1, wherein the minimum value of the stable boundary voltage is: if the excitation voltage is less than the value, the total vibration energy is attenuated; if the excitation voltage is larger than the value, the total vibration energy is increased; if the excitation voltage is equal to this value, the total energy of the vibration is stabilized.

Technical Field

The invention relates to an inertia technology, in particular to an axisymmetric resonance gyro parameter excitation method based on discrete electrodes.

Background

The axisymmetric resonance gyroscope is a high-precision novel gyroscope instrument, and the basic principle of detecting the angular speed is as follows: the harmonic oscillator generates resonant standing waves under the excitation of the same-frequency electrostatic energy of the excitation electrode. If the gyro body rotates relative to the inertial system, the standing wave will precess in the opposite direction, and the rotation angle of the gyro body relative to the inertial system can be calculated by detecting the precession angle.

An axisymmetric resonator gyroscope generally includes three parts, namely an excitation electrode, a harmonic oscillator and a detection electrode. The excitation electrodes are used for amplitude control, quadrature control and force balance control. Currently, for amplitude control, a position excitation mode is adopted. At the moment, the standing wave of the harmonic oscillator is bound, the precession characteristic cannot be completely expressed, and the theoretical precision, scale factor and dynamic range of the axisymmetric resonance gyroscope are all limited.

The current mainstream axisymmetric resonance gyroscope adopts a new system two-piece electrode configuration, an excitation cover in the traditional three-piece configuration is removed from the two-piece configuration axisymmetric resonance gyroscope, and an excitation electrode and a detection electrode are all concentrated on a base, so that the processing difficulty, the cost, the volume and the like of the axisymmetric resonance gyroscope are greatly reduced, but all the electrodes are discrete electrodes, and the existing scheme can only adopt a position excitation mode.

Therefore, a new excitation method needs to be designed.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an axisymmetric resonant gyroscope excitation method based on discrete electrodes.

In order to achieve the above object, the present invention provides an axisymmetric resonator gyro parameter excitation method based on discrete electrodes, comprising:

step 1, providing n excitation electrodes which are arranged on a hemispherical resonator gyroscope at intervals, wherein the orientation of the excitation electrodes meets the following mathematical relationship:the angular orientation of the i-th excitation electrodeWherein n is a positive integer;

step 2, applying direct current bias voltage and excitation voltage to the excitation electrode to carry out parameter excitation so as to enable the harmonic oscillator to generate parameter resonance; the frequency of the excitation voltage is twice of the vibration signal of the harmonic oscillator; the voltage applied to the ith excitation electrode was: v_i＝V_biasV₀cos2ω_λt, wherein V_biasIs a DC bias voltage, V₀For the excitation voltage, ω_λT represents time, which is the frequency of the excitation voltage;

and 3, adjusting the frequency of the excitation voltage and the amplitude of the excitation voltage to enable the frequency of the excitation voltage and the frequency of the excitation voltage to reach the minimum voltage and the resonant frequency of the parameter excitation, and enabling the amplitude of the excitation voltage to be the minimum value of the stable boundary voltage under the parameter excitation of the harmonic oscillator. When the frequency of the excitation voltage reaches the resonance frequency, the harmonic oscillator is in an ideal resonance state, and the required control voltage is minimum, so that the power supply pressure is reduced.

Preferably, the step 3 comprises:

step 3.1, starting vibration of the harmonic oscillator to a set energy value by using an AMP electrode through a position excitation method, and detecting a vibration signal X, Y of the harmonic oscillator;

step 3.2, demodulating the vibration signal X, Y by using a reference signal generated by a phase-locked loop, and performing low-pass filtering to obtain Xc, Xs, Yc and Ys respectively, wherein the reference signal consists of a sine signal and a cosine signal;

step 3.3, judging whether the signal Xs × Xc + Ys × Yc is equal to 0 or not through a phase-locked loop;

if not equal to 0, adjusting the frequency of the excitation voltage: disconnecting the oscillation starting signal, performing 2-frequency multiplication processing on a reference signal generated by the phase-locked loop (in order to enable the harmonic oscillator to generate parameter resonance, the frequency of the excitation voltage is twice of the oscillation signal of the harmonic oscillator), obtaining the excitation voltage applied to the excitation electrode and the frequency of the excitation voltage, and repeating the steps 3.1-3.3;

if the frequency is equal to 0, the frequency of the excitation voltage meets the requirement, and the next step is carried out;

step 3.4, adjusting the amplitude of the excitation voltage: judging Xc²+Xs²+Yc²+Ys²Whether it is equal to the set amplitude; if not, the excitation voltage is adjusted until the excitation voltage is equal, so that the parametric excitation of the harmonic oscillator vibration is realized.

Preferably, the phase locked loop is capable of automatically adjusting the frequency of the excitation voltage such that Xs × Xc + Ys × Yc equals 0.

Preferably, the vibration signals X, Y of the harmonic oscillators are detected by detecting electrodes at 45 ° to each other.

Preferably, the vibration signal of the harmonic oscillator includes amplitude, frequency and phase information.

Preferably, the minimum value of the stable boundary voltage is: if the excitation voltage is less than the value, the total vibration energy is attenuated; if the excitation voltage is larger than the value, the total vibration energy is increased; if the excitation voltage is equal to this value, the total energy of the vibration is stabilized.

The invention realizes the amplitude control of the harmonic oscillator by designing a novel parameter excitation method based on discrete electrodes. Specifically, applying direct current bias and excitation voltage on a plurality of pairs of electrodes with azimuth angles meeting a certain mathematical relation, wherein in order to enable the harmonic oscillator to generate parameter resonance, the frequency of the excitation voltage is twice of the vibration signal of the harmonic oscillator; the amplitude is the minimum value of the stable boundary voltage under the excitation of the harmonic oscillator parameters, at the moment, the harmonic oscillator is in an ideal resonance state, the required control voltage is minimum, and therefore the power supply pressure is reduced. Through the excitation of the discrete electrodes, the maximum energy supplement is obtained at the place with the maximum amplitude (namely the standing wave azimuth), and at the moment, the energy supplement does not influence the standing wave azimuth, so that the standing wave azimuth binding phenomenon caused by the existing position excitation mode is avoided, and the precision and the performance of the axisymmetric resonant gyroscope are improved.

Drawings

Fig. 1 shows the electrode distribution of discrete electrodes.

FIG. 2 is a schematic diagram of a parametric excitation frequency tracking loop.

Fig. 3 is a frequency characteristic under parametric excitation.

FIG. 4 is a parametric excitation flow diagram.

Fig. 5 is a diagram showing the result of energy control of the harmonic oscillator.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The "discrete electrodes" as used herein refer to excitation electrodes that are discontinuously distributed on the axisymmetric hemispherical resonator gyro.

The terms "drive voltage" and "excitation voltage" are used interchangeably herein.

The meanings of "drive frequency" and "frequency of excitation voltage" and "excitation frequency" described herein are interchangeable.

The invention is illustrated below with reference to specific examples:

the positions of n parameter exciting electrodes arranged on a Hemispherical Resonator Gyroscope (HRG) satisfy the following relation (n represents the number of the parameter exciting electrodes, and takes an integer larger than 0, n is larger than or equal to i and larger than 0, and i takes an integer and represents the ith):

in the formulaThe angular orientation of the electrodes is excited for the ith parameter. In some embodiments, it may be desirable

As shown in fig. 1, illustrating electrodes and their orientation for applying a parametric excitation voltage, Q0, Q1 are the excitation electrodes.

Performing parametric excitation on discrete electrodes by using n parametric excitation electrodes, and applying voltage V to ith electrode_iIs composed of

V_i＝V_biasV₀cos2ω_λt

Wherein, V_biasIs a DC bias voltage, V₀For the excitation voltage, ω_λClose to the operating frequency of e.g. a harmonic oscillator, t represents time.

In order to make the excitation voltage and the excitation frequency reach the minimum voltage and the resonance frequency of the parameter excitation, after the electrode layout and the excitation mode are determined, the excitation voltage V is₀And excitation frequency omega_λThe regulation process of (2) is as follows:

the first step is as follows: starting the harmonic oscillator to a set energy value by using an AMP electrode in FIG. 1 through a position excitation method; the AMP electrode is used for controlling the vibration amplitude of the harmonic oscillator;

the second step is that: using detection electrodes (arranged in HRG) forming an angle of 45 ° with each other to obtain vibration signals X, Y (including amplitude, frequency and Phase information) of the harmonic oscillator, as shown in fig. 2, wherein a Phase-Locked Loop (PLL) (hereinafter referred to as PLL) is used to obtain a frequency required by parameter excitation;

the third step: demodulating X, Y vibration signals by using a reference signal generated by a PLL, and performing low-pass filtering to obtain Xc, Xs, Yc and Ys respectively; the reference signal comprises a cosine signal cos and a sine signal sin (the frequency is consistent with the vibration signal), and Xc and Xs signals are obtained by demodulating X and Yc and Ys signals are obtained by demodulating Y respectively. The reference signal is generated by a control system, and the reference signal can realize the tracking of the vibration signal through a phase-locked loop, so that the frequency of the excitation voltage is consistent with that of the vibration signal;

the fourth step: determining whether the signal Xs × Xc + Ys × Yc is equal to 0:

if not, the driving frequency is adjusted (the PLL is a phase locked loop, and the driving frequency can be automatically adjusted so that Xs × Xc + Ys × Yc is equal to 0), thereby realizing tracking of the resonant frequency. Fig. 2 shows a schematic diagram of a parameter excitation frequency tracking loop, in which a vibration signal X, Y detected by an HRG is demodulated and low-pass filtered by reference signals (sine signal and cosine signal) obtained by PLL, to obtain signals Xc, Xs, Yc, Ys, respectively; judging whether the signal Xs Xc + Ys Yc is equal to 0 or not through a logic judgment element built in the PLL; if not equal to 0, the PLL automatically adjusts the frequency of the excitation voltage: turning off the oscillation starting signal, performing 2-fold frequency processing on the reference signal generated by the PLL (in order to make the harmonic oscillator generate parameter resonance, the frequency of the excitation voltage is twice of the harmonic oscillator oscillation signal), obtaining the excitation voltage applied to the excitation electrodes (Q0 and Q1) and the frequency of the excitation voltage, detecting the oscillation signal again, and demodulating the oscillation signal until the judgment that Xs + Ys is Yc is 0;

fig. 3 is used to show the variation of Xs Xc + Ys Yc at different excitation frequencies, and two curves indicate that there is cracking in the harmonic oscillator, and if there is no frequency cracking, there is only one curve. The excitation frequency is the harmonic oscillator frequency if and only if Xs Xc + Ys Yc is 0.

If the frequency is equal to 0, the frequency of the driving voltage meets the requirement, and then the amplitude of the driving voltage is adjusted.

The fifth step: comparing whether E ═ Xc ^2+ Xs ^2+ Yc ^2+ Ys ^2 is equal to a set amplitude E0 or not through a comparison unit of the control loop; if not, the driving voltage is adjusted, so that the parametric excitation of the harmonic oscillator vibration is realized, as shown in fig. 4.

Fig. 5 shows a graph of the energy control result of the harmonic oscillator, wherein when the excitation voltage is insufficient, the vibration is attenuated (a in the graph), and when the voltage exceeds, the amplitude is increased (c in the graph), and the driving voltage meets the parameter excitation requirement (b in the graph, the amplitude is stable) by using the principle.

After the harmonic oscillator realizes parameter excitation, the vibration standing wave of the harmonic oscillator can freely precess in an inertial space, and the precision, scale factor linearity and dynamic range of the gyroscope are greatly improved.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.