阅读说明：本技术 一种动力调谐陀螺仪安装误差角补偿方法及电路 (Installation error angle compensation method and circuit of dynamically tuned gyroscope ) 是由 杨丽 汤继兵 罗麟经 牛红燕 于 2021-08-03 设计创作，主要内容包括：本发明提供了一种动力调谐陀螺仪安装误差角补偿方法及电路,动力调谐陀螺仪的再平衡电路包括X通道、Y通道,该方法将X通道功率放大器输出电压分压后接入Y通道功率放大器输入端,调节分压电压使得Y通道再平衡电路输出电压为0；将Y通道功率放大器输出电压分压后接入X通道功率放大器输入端,调节分压电压使得X通道再平衡电路输出电压为0。本发明通过补偿电路修正陀螺仪再平衡电路输出电压值,达到安装误差角补偿的目的,提高陀螺仪在系统使用中的精度。(The invention provides a method and a circuit for compensating an installation error angle of a dynamically tuned gyroscope, wherein a rebalance circuit of the dynamically tuned gyroscope comprises an X channel and a Y channel, the method divides the output voltage of an X channel power amplifier and then accesses the input end of the Y channel power amplifier, and the divided voltage is adjusted to enable the output voltage of the Y channel rebalance circuit to be 0; and dividing the output voltage of the Y-channel power amplifier, connecting the divided voltage to the input end of the X-channel power amplifier, and adjusting the divided voltage to enable the output voltage of the X-channel rebalance circuit to be 0. The invention corrects the output voltage value of the rebalance circuit of the gyroscope through the compensation circuit, achieves the purpose of compensating the installation error angle, and improves the precision of the gyroscope in the use of the system.)

1. A method for compensating an installation error angle of a dynamically tuned gyroscope is characterized in that a rebalance circuit of the dynamically tuned gyroscope comprises an X channel and a Y channel, the output voltage of an X channel power amplifier is divided and then connected to the input end of a Y channel power amplifier, and the divided voltage is adjusted to enable the output voltage of the Y channel rebalance circuit to be 0; and dividing the output voltage of the Y-channel power amplifier, connecting the divided voltage to the input end of the X-channel power amplifier, and adjusting the divided voltage to enable the output voltage of the X-channel rebalance circuit to be 0.

2. The method of claim 1, wherein the X-channel voltage division coefficient K is a coefficient of variation_YThe calculation method is as follows

Wherein, alpha is an X-axis installation error angle, K_tx，K_tyScale factors for X-axis and Y-axis gyroscopes, respectively, K₁-voltage amplification of gyroscope X-axis power amplifier;

y channel partial pressure coefficient K_XThe calculation method is as follows

Wherein beta is a Y-axis installation error angle, K₂-voltage amplification of gyroscope Y-axis power amplifier.

3. The method of claim 2, wherein the voltage divider coefficient is positive when α, β are positive values and negative when α, β are negative values.

4. A dynamically tuned gyroscope installation error angle compensation circuit is characterized in that a rebalance circuit comprises an X channel and a Y channel which are respectively connected with a sensor and a torquer of an X axis and a Y axis of a gyroscope to form a closed loop; the rebalancing circuit includes a power amplifier; the output voltage of the X-channel power amplifier is communicated with the input end of the Y-channel power amplifier through the voltage division component, and the output voltage of the Y-channel power amplifier is communicated with the input end of the X-channel power amplifier through the voltage division component.

5. The dynamically tuned gyroscope installation error angle compensation circuit of claim 4, wherein each closed loop connects, in sequence, a sensor, a rebalancing circuit, a torquer, and a gyroscope rotor motion module.

6. The dynamically tuned gyroscope installation error angle compensation circuit of claim 4, wherein the power amplifier of the rebalance circuit further comprises a preamplifier, a phase sensitive demodulator, a low pass filter, a 1N trap, and a corrector, all of which are connected in sequence.

7. The dynamically tuned gyroscope installation error angle compensation circuit of claim 4, wherein said voltage divider component is a voltage divider resistor.

8. The dynamically tuned gyroscope installation error angle compensation circuit of claim 4, wherein the X channel voltage divider component voltage divider coefficient K_YThe calculation method is as follows

Wherein, alpha is an X-axis installation error angle, K_tx，K_tyScale factors for X-axis and Y-axis gyroscopes, respectively, K₁-voltage amplification of gyroscope X-axis power amplifier;

partial pressure coefficient K of Y-channel partial pressure component_XThe calculation method is as follows

Wherein beta is a Y-axis installation error angle, K₂-voltage amplification of gyroscope Y-axis power amplifier.

Technical Field

The invention belongs to the technical field of gyroscopes, and particularly relates to a method and a circuit for compensating an installation error angle of a dynamically tuned gyroscope, which are applied to a rebalance circuit of the dynamically tuned gyroscope.

Background

The installation error angle is the misalignment of the electrical output shaft of the gyroscope and the sensitive shaft of the shell, and is generated by the manufacturing and assembling errors of the sensor assembly and the torquer assembly in the gyroscope. At present, the installation error angle of the dynamically tuned gyroscope can be compensated in a system through software, the mode needs a system-level product to add a computer circuit board, a calibration test, software debugging, system verification and the like, and the compensation mode is large in workload, high in cost and low in efficiency.

Disclosure of Invention

The invention aims to provide a method and a circuit for compensating the installation error angle of a dynamically tuned gyroscope.

The technical scheme adopted by the invention for realizing the aim is as follows:

the invention provides a method for compensating an installation error angle of a dynamically tuned gyroscope, wherein a rebalance circuit of the dynamically tuned gyroscope comprises an X channel and a Y channel, the output voltage of an X channel power amplifier is divided and then connected to the input end of a Y channel power amplifier, and the divided voltage is adjusted to enable the output voltage of the Y channel rebalance circuit to be 0; and dividing the output voltage of the Y-channel power amplifier, connecting the divided voltage to the input end of the X-channel power amplifier, and adjusting the divided voltage to enable the output voltage of the X-channel rebalance circuit to be 0.

Further, the X channel partial pressure coefficient K_YThe calculation method is as follows

Wherein, alpha is an X-axis installation error angle, K_tx、K_tyScale factors for X-axis and Y-axis gyroscopes, respectively, K₁-voltage amplification of gyroscope X-axis power amplifier;

y channel partial pressure coefficient K_XThe calculation method is as follows

Wherein beta is a Y-axis installation error angle, K₂-voltage amplification of gyroscope Y-axis power amplifier.

Further, when α and β are positive values, the voltage division coefficient is positive, and when α and β are negative values, the voltage division coefficient is negative.

The invention also provides a dynamically tuned gyroscope installation error angle compensation circuit, wherein the rebalance circuit comprises an X channel and a Y channel which are respectively connected with the sensors of the X axis and the Y axis of the gyroscope and the torquer to form a closed loop; the rebalancing circuit includes a power amplifier; the output voltage of the X-channel power amplifier is communicated with the input end of the Y-channel power amplifier through the voltage division component, and the output voltage of the Y-channel power amplifier is communicated with the input end of the X-channel power amplifier through the voltage division component.

Furthermore, each closed loop is sequentially connected with the sensor, the rebalance circuit, the torquer and the gyro rotor motion module.

Furthermore, the power amplifier of the rebalance circuit also comprises a preamplifier, a phase sensitive demodulator, a low-pass filter, a 1N wave trap and a corrector which are sequentially communicated.

Further, the voltage dividing component is a voltage dividing resistor.

Further, the X channel partial pressure component partial pressure coefficient K_YThe calculation method is as follows

Wherein, alpha is an X-axis installation error angle, K_tx、K_tyScale factors for X-axis and Y-axis gyroscopes, respectively, K₁-voltage amplification of gyroscope X-axis power amplifier;

partial pressure coefficient K of Y-channel partial pressure component_XThe calculation method is as follows

Wherein beta is a Y-axis installation error angle, K₂-voltage amplification of gyroscope Y-axis power amplifier.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a method for compensating the installation error angle of a dynamically tuned gyroscope, which divides the output voltage of a power amplifier of one channel and then accesses the input of the power amplifier of the other channel, corrects the output voltage of a rebalance circuit of two output shafts, corrects the electrical output shaft of the gyroscope to a sensitive shaft of a shell, and realizes that the output shafts of the gyroscope and the sensitive shaft of the shell are overlapped and the two output shafts are orthogonal. The invention does not need additional calibration of the system, and has the advantages of simple circuit, easy control, good real-time property, low cost and high efficiency. The invention realizes the compensation of the installation error angle at the gyroscope component level, and is beneficial to improving the precision of the gyroscope in the use of the system.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic block diagram of a typical dynamically tuned gyroscope rebalance circuit;

fig. 2 is a schematic block diagram of a dynamically tuned gyroscope mounting error angle compensation circuit according to an embodiment of the present invention.

Detailed Description

The following provides a detailed description of specific embodiments of the present invention. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps closely related to the scheme of the present invention are shown in the drawings, and other details not so related to the present invention are omitted.

The installation error angle compensation method of the dynamically tuned gyroscope is realized in a rebalance circuit, as shown in figure 1, the rebalance circuit of the dynamically tuned gyroscope comprises X, Y two channels, each channel is respectively connected with an X-axis sensor, a Y-axis sensor and a torquer of the gyroscope to form a closed loop, and voltage values in direct proportion to input angular rates of an X axis and a Y axis of the gyroscope are respectively output. The channels of the rebalance circuit X, Y each include a preamplifier, phase sensitive demodulation, low pass filtering, 1N notch, a calibration element, a power amplifier, and the like.

The principle of the installation error angle compensation of the dynamically tuned gyroscope is that the output voltage of a rebalance circuit of two output shafts is corrected by dividing the output voltage of a power amplifier of one channel and then connecting the divided output voltage of the power amplifier of the other channel to the input of the power amplifier of the other channel, and the electric output shaft of the gyroscope is corrected to a shell sensitive shaft, so that the output shaft of the gyroscope is overlapped with the shell sensitive shaft, and the two output shafts are orthogonal.

The invention provides a method for compensating the installation error angle of a dynamically tuned gyroscope.A rebalance circuit of the dynamically tuned gyroscope comprises an X channel and a Y channel, the output voltage of a power amplifier of the X channel is divided and then connected to the input end of the power amplifier of the Y channel, and the divided voltage is adjusted to enable the output voltage of the rebalance circuit of the Y channel to be 0; and dividing the output voltage of the Y-channel power amplifier, connecting the divided voltage to the input end of the X-channel power amplifier, and adjusting the divided voltage to enable the output voltage of the X-channel rebalance circuit to be 0. Due to the existence of the installation error angle of the dynamically tuned gyroscope, the X-axis or Y-axis electric output shaft of the gyroscope has voltage components relative to the Y-axis or X-axis shell sensitive shaft, and the voltage components can be eliminated by adopting the method, so that the electric output shaft and the shell sensitive shaft are superposed.

According to the installation error angle compensation circuit of the dynamically tuned gyroscope, the compensation circuit is added in the rebalance circuit of the gyroscope to correct the output voltage of the rebalance circuit, so that the installation error angle compensation of the dynamically tuned gyroscope is realized. As shown in FIG. 1, the X channel and Y channel of the rebalancing circuit include a preamplifier, a phase sensitive demodulator, a low pass filter, a 1N trap, a calibration unit, and a power amplifier, and the output voltages of the rebalancing circuit are V_XOAnd V_YOThe voltage values are respectively related to the input angular rate omega of the gyroscope_XAnd Ω_YIs in direct proportion.

The invention provides a dynamically tuned gyroscope installation error angle compensationThe circuit is shown in fig. 2, the rebalance circuit comprises an X channel and a Y channel which are respectively connected with the sensors of the X axis and the Y axis of the gyroscope and the torquer to form a closed loop; the rebalancing circuit includes a power amplifier; the output voltage of the X-channel power amplifier is communicated with the input end of the Y-channel power amplifier through a voltage division component, and the output voltage of the Y-channel power amplifier is communicated with the input end of the X-channel power amplifier through the voltage division component. The sensors of the X channel and the Y channel receive the X-axis and Y-axis input angular rates omega of the gyroscope_XAnd Ω_YAnd outputs an output voltage V in front of the power amplifier of the X channel and the Y channel_XOAnd V_YO. The voltage division component is controlled to enable the output voltage of the X channel and the output voltage of the Y channel to be 0, and error compensation is carried out on the two output shafts.

The connection mode of each closed loop is a sensor, a rebalance circuit, a torquer and a gyro rotor motion module. The power amplifier of the rebalance circuit also comprises a preamplifier, a phase sensitive demodulator, a low-pass filter, a 1N wave trap and a corrector which are sequentially communicated. The input signal is amplified, demodulated, filtered, corrected, etc.

The voltage division coefficients of the voltage division parts of the rebalance circuit are respectively K_YAnd K_XThe output voltage of the X-channel power amplifier passes through K_YThe voltage is divided and then is connected with the input end of a Y-channel power amplifier, and the output voltage K of the Y-channel power amplifier_XAfter voltage division, the power amplifier is connected with the input end of the X-channel power amplifier. By adjusting the partial pressure coefficient K_YAnd K_XThe value is large, so that the output voltage of the X channel and the output voltage of the Y channel are 0, and error compensation is carried out on the two output shafts.

For the convenience of control, the voltage division component adopts a voltage division resistor.

The dynamic tuning gyroscope installation error angle compensation circuit voltage division coefficient K_YAnd K_XThe calculation method is as follows:

setting the X-axis installation error angle of the gyroscope as alpha, and outputting the output voltage V of the X-axis power amplifier_XThe partial pressure is carried out, and the coefficient of partial pressure is K_YWhen alpha is positive value, the voltage dividing coefficient is positive, when alpha is negative value, the voltage dividing coefficient is negative, and the voltage dividing coefficient K is calculated_YTo make the output voltage V of the rebalancing circuit_YOZero, i.e. the gyro Y-axis electrical output shaft is coincident with the shell sensitive shaft, and the X-channel voltage division coefficient K_YThe calculation formula is as follows:

in the formula:

K_tx，K_ty-gyroscope X-axis and Y-axis moment machine scale factors, (°/h)/mA, respectively;

K₁-voltage amplification of gyroscope X-axis power amplifier.

Setting the Y-axis installation error angle of the gyroscope as beta, and outputting the output voltage V of the Y-axis power amplifier_YThe partial pressure is carried out, and the coefficient of partial pressure is K_XWhen beta is a positive value, the voltage division coefficient is positive, when beta is a negative value, the voltage division coefficient is negative, and the voltage division coefficient K is calculated_XTo make the output voltage V of the rebalancing circuit_XOZero, i.e. the gyro X-axis electrical output shaft and the shell sensitive shaft are superposed, and the Y-channel voltage division coefficient K_XThe calculation formula is as follows:

in the formula:

K₂-voltage amplification of gyroscope Y-axis power amplifier.

The invention corrects the output voltage value of the gyro rebalance circuit through the compensation circuit in the gyro rebalance circuit, realizes the purpose of gyro installation error angle compensation, realizes the installation error angle compensation at the gyro component level, and is beneficial to improving the precision of the gyro in the use of a system.

Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

The invention has not been described in detail and is in part known to those of skill in the art.