CN110597129A - Digital demodulation method for output signal of flexible gyroscope - Google Patents
Digital demodulation method for output signal of flexible gyroscope Download PDFInfo
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- CN110597129A CN110597129A CN201910893399.3A CN201910893399A CN110597129A CN 110597129 A CN110597129 A CN 110597129A CN 201910893399 A CN201910893399 A CN 201910893399A CN 110597129 A CN110597129 A CN 110597129A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a digital demodulation method of output signals of a flexible gyroscope, which comprises the flexible gyroscope, a DSP processor, a filter amplifier, a band-pass filter and an A/D converter, and is characterized in that: the square wave signal output by the DSP is sent to a filter amplifier, and the filter amplifier filters and amplifies the square wave signal and then transmits the square wave signal to the flexible gyroscope to provide an excitation source for the flexible gyroscope; in system applications the flexible gyroscope must operate in a closed loop state; when the input angular velocity acts on the gyroscope, the signal generated by the flexible gyroscope annunciator is transmitted to the band-pass filter, and the band-pass filter filters the signal generated by the flexible gyroscope annunciator, transmits the filtered signal to the A/D converter, converts the filtered signal into a digital signal and transmits the digital signal to the DSP processor for digital demodulation; A/D converter collects alternating voltage signal x output by flexible gyroscope annunciator at equal time intervalsnThe DSP processor computes X: x ═ X0 2+x1 2+x2 2+……+xn‑1 2Voltage signal xnThe number of times N is calculatedThe effective value U, the operation formula is as follows:
Description
Technical Field
The invention relates to a digital demodulation method of an output signal of a flexible gyroscope.
Background
As an important circuit of the gyro rebalance circuit, the phase-sensitive demodulation not only needs to demodulate a gyro measurement signal (dc signal) from an ac signal, but also needs to correspond to a specific phase, i.e., the positive and negative polarities of the dc signal. And the output direct-current voltage signal corresponding to the rotor deflection angle is used as an amplitude modulation on the sine excitation signal. The basic principle of phase-sensitive demodulation is to demodulate a direct current output signal which is in a linear relation with a signal peak value from a sinusoidal alternating current amplitude modulation input signal and recover the deflection angle information of a gyro rotor. Meanwhile, the input signal is compared with a demodulation reference signal (excitation signal) in phase with the input signal to obtain the positive and negative polarities of the direct current signal. The positive and negative polarities of the signals correspond to different directions of the deflection angle of the gyro rotor. When the analog circuit is used for realizing the function, the charge-discharge relation of the capacitor is usually utilized to be matched with the switch, the circuit form is complex, and the adjustment is difficult. Therefore, a digital demodulation technology is provided, and a powerful digital processor is used for completing the function of phase-sensitive demodulation in a gyro rebalance loop. Therefore, the invention provides a digital demodulation method of the output signal of the flexible gyroscope, which has various characteristics superior to the phase-sensitive demodulation realized by an analog circuit.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the digital demodulation method of the output signal of the flexible gyroscope, which has the advantages of flexible use, low cost, easy parameter adjustment, flexible algorithm design, good long-term working stability and easy compensation. The technical scheme adopted by the invention is as follows:
a digital demodulation method of output signals of a flexible gyroscope comprises the flexible gyroscope, a DSP processor, a filter amplifier, a band-pass filter and an A/D converter, and is characterized in that: the square wave signal output by the DSP is sent to a filter amplifier, and the filter amplifier filters and amplifies the square wave signal and then transmits the square wave signal to the flexible gyroscope to provide an excitation source for the flexible gyroscope; in system applications the flexible gyroscope must operate in a closed loop state; when the input angular velocity acts on the gyroscope, the signal generated by the flexible gyroscope annunciator is transmitted to the band-pass filter, and the band-pass filter filters the signal generated by the flexible gyroscope annunciator, transmits the filtered signal to the A/D converter, converts the filtered signal into a digital signal and transmits the digital signal to the DSP processor for digital demodulation;
A/D converter collects alternating voltage signal x output by flexible gyroscope annunciator at equal time intervalsnAnd the voltage signals are transmitted to a DSP processor, and the DSP processor performs the following operation processing on the voltage signals to obtain a numerical value X:
X＝x0 2+x1 2+x2 2+……+xn-1 2
then according to the voltage signal x collected at equal time intervalsnAnd calculating an effective value U by the times N, wherein the operation formula is as follows:
i.e. a continuously slowly varying dc-component is demodulated, which indirectly reflects the information of the input angular velocity.
Furthermore, the square wave signal output to the flexible gyroscope by the DSP is used as a reference signal to determine the positive and negative polarities of the direct current quantity.
The invention has the beneficial effects that: the invention provides a digital demodulation method of the output signal of the flexible gyroscope, which has the advantages of convenient parameter adjustment, simple debugging, flexible use, low cost and higher reliability. Meanwhile, the temperature drift of the analog device is avoided, and the design parameter change caused by aging of the analog device after a long time is avoided, so that the precision of the angular rate is influenced.
Drawings
Fig. 1 is a hardware block diagram of a digital demodulation method for an output signal of a flexible gyroscope according to the present invention.
Detailed Description
The hardware adopted by the digital demodulation method of the output signal of the flexible gyroscope shown in fig. 1 comprises: flexible gyroscope, DSP treater, filtering amplifier, band-pass filter, AD converter, its characterized in that: the square wave signal output by the DSP processor is sent to a filter amplifier, and the filter amplifier filters and amplifies the square wave signal and then transmits the square wave signal to the flexible gyroscope to provide an excitation source for the flexible gyroscope. In system applications, the gyroscope must operate in a closed loop state. When the input angular velocity acts on the gyroscope, the signal generated by the flexible gyroscope annunciator is transmitted to the band-pass filter, and the band-pass filter filters the signal generated by the flexible gyroscope annunciator, transmits the filtered signal to the A/D converter, converts the filtered signal into a digital signal and transmits the digital signal to the DSP processor for digital demodulation;
because the output signal of the spirometer annunciator is an alternating voltage signal, a digital demodulation algorithm realized by using a true effective value digital measurement method is written in the DSP processor.
The digital measurement method of true effective value is a basic measure of the amplitude of the alternating signal and can be defined from a practical point of view and a mathematical point of view, respectively. From a practical point of view the definition is: the true effective value of an ac signal is equal to the amount of dc required to produce the same amount of heat on the same load. For example, a 1V true-value ac signal generates the same amount of heat on the same resistor as a 1V dc signal. Mathematically defined as: the true effective value of the voltage is defined as follows:
the demodulation process of the flexible gyroscope by the hardware is as follows: when the flexible gyroscope rotates along the input shaft at a certain angular rate, the rotation shaft of the gyroscope rotor generates a deflection angle relative to the driving shaft of the gyroscope motor, the gyroscope annunciator detects the deflection angle and outputs an alternating voltage signal with a certain amplitude, the amplitude is in direct proportion to the deflection angle, and the frequency is the same as the frequency of a sine excitation power supply signal of the gyroscope annunciator. The alternating voltage signal is filtered by a band-pass filter circuit, so that interference signals except the frequency of the sine excitation power supply signal can be filtered, and a relatively pure output signal of the annunciator is obtained. The A/D converter collects alternating current voltage signals output by the band-pass filter, when a rising edge triggers, the collected voltage sign is unchanged, and when a falling edge triggers, the collected voltage sign is reversed. Then, the deflection angle signal modulated on the sine excitation power supply signal carrier is demodulated out through the demodulation algorithm calculation realized by the digital measurement method of the true effective value of the alternating current signal written into the DSP processor, and a direct current voltage signal is formed. The magnitude of the signal is proportional to the magnitude of the alternating voltage signal output by the gyro annunciator, namely, proportional to the deflection angle of the rotation axis of the gyro rotor relative to the driving shaft of the gyro motor. When the flexible gyroscope rotates clockwise, the demodulation reference signal and the output signal of the band-pass filter are in the same phase, and the digitally demodulated data is a positive value. When the flexible gyroscope rotates in a counter-clock mode, the data output by digital demodulation is negative in the same way.
The DSP controls the A/D converter to collect the AC voltage signal output by the band-pass filter, and adopts the digital measurement method of the true effective value of the AC signal, and the basic calculation process is first square, then average (integral) and finally square. At an interval TsAC voltage signal x output to gyroscopenContinuously sampling at equal intervals to obtain a discrete sequence { x (nT)s) (hereinafter, abbreviated as { x (n) }, n takes a value of 0,2,3 …, n-1, and is marked as x0,x1,x2,…,xN-1) Sending the collected N data to DSP processor, calculating the square sum of N data in each period by program in DSP processor, and recording as X, then
X＝x0 2+x1 2+x2 2+……+xn-1 2
Then dividing the sum of squares by the number of sampling points N, and then squaring to obtain the effective value of the alternating current signal, and recording the effective value as U, then
U is a continuously slowly-changed direct current quantity obtained by demodulation. From the above results, the true effective value of the gyro signal is calculated to obtain the direct current quantity, which is always a positive value, and when the input reference axis of the gyro is rotated clockwise (forward rotation) when the input reference axis of the gyro is forward and vertical to the horizontal plane, the output of the gyro is positive, and at this time, the direct current signal after demodulation should be positive; when the counter clock rotates (rotates in the reverse direction), the gyro output is negative, and the demodulated dc signal should be negative. Therefore, it is necessary to determine the positive and negative polarities of a continuously and slowly modulated dc value.
The positive and negative polarities of the DC quantity are determined by judging the phases of the demodulation reference signal and the output signal of the band-pass filter. When the flexible gyroscope rotates clockwise (positive rotation), the demodulation reference signal and the output signal of the band-pass filter are in phase, and the direct current value obtained by digital demodulation is a positive value. When the flexible gyroscope rotates counterclockwise (rotates in the opposite direction), the dc value of the digital demodulation output is negative as can be seen from the same principle.
The digital demodulation method for the output signal of the flexible gyroscope is convenient to adjust the parameter of the flexible gyroscope, simple to debug, flexible to use, low in cost and higher in reliability. Meanwhile, the temperature drift of the analog device is avoided, and the design parameter change caused by aging of the analog device after a long time is avoided, so that the precision of the angular rate is influenced.
The above are only embodiments of the present invention, and it should be noted that, for those skilled in the art, modifications can be made without departing from the digital demodulation method proposed by the present invention, but these all fall into the protection scope of the present invention.
Claims (2)
1. A digital demodulation method of output signals of a flexible gyroscope comprises the flexible gyroscope, a DSP processor, a filter amplifier, a band-pass filter and an A/D converter, and is characterized in that: the square wave signal output by the DSP is sent to a filter amplifier, and the filter amplifier filters and amplifies the square wave signal and then transmits the square wave signal to the flexible gyroscope to provide an excitation source for the flexible gyroscope; in system application, the flexible gyroscope works in a closed-loop state; when the input angular velocity acts on the gyroscope, the signal generated by the flexible gyroscope annunciator is transmitted to the band-pass filter, and the band-pass filter filters the signal generated by the flexible gyroscope annunciator, transmits the filtered signal to the A/D converter, converts the filtered signal into a digital signal and transmits the digital signal to the DSP processor for digital demodulation;
A/D converter collects alternating voltage signal x output by flexible gyroscope annunciator at equal time intervalsnAnd the voltage signals are transmitted to a DSP processor, and the DSP processor performs the following operation processing on the voltage signals to obtain a numerical value X:
X＝x0 2+x1 2+x2 2+……+xn-1 2
then according to the voltage signal x collected at equal time intervalsnAnd calculating an effective value U by the times N, wherein the operation formula is as follows:
i.e. a continuously slowly varying dc-component is demodulated, which indirectly reflects the information of the input angular velocity.
2. The method of claim 1, wherein the method further comprises the steps of: the square wave signal output to the flexible gyroscope by the DSP is used as a reference signal to determine the positive and negative polarities of the direct current quantity.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112880916A (en) * | 2020-11-26 | 2021-06-01 | 九江精密测试技术研究所 | Dynamic unbalance amount measuring circuit of dynamically tuned gyroscope |
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| US20100154542A1 (en) * | 2005-05-31 | 2010-06-24 | Innalabs Technologies, Inc. | Sensing element of coriolis force gyroscope |
| CN202304840U (en) * | 2011-11-10 | 2012-07-04 | 河北汉光重工有限责任公司 | Flexible gyroscope rebalancing loop board |
| CN203104396U (en) * | 2013-01-08 | 2013-07-31 | 陕西航天导航设备有限公司 | Servo loop of flexible gyroscope |
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- 2019-09-20 CN CN201910893399.3A patent/CN110597129A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100154542A1 (en) * | 2005-05-31 | 2010-06-24 | Innalabs Technologies, Inc. | Sensing element of coriolis force gyroscope |
| CN202304840U (en) * | 2011-11-10 | 2012-07-04 | 河北汉光重工有限责任公司 | Flexible gyroscope rebalancing loop board |
| CN203104396U (en) * | 2013-01-08 | 2013-07-31 | 陕西航天导航设备有限公司 | Servo loop of flexible gyroscope |
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| 李文杰: "《挠性陀螺仪数字控制回路关键技术研究》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
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Application publication date: 20191220 |