CN111141267B - Anti-interference method for jitter control system of mechanically jittered laser gyroscope - Google Patents
Anti-interference method for jitter control system of mechanically jittered laser gyroscope Download PDFInfo
- Publication number
- CN111141267B CN111141267B CN201911424478.6A CN201911424478A CN111141267B CN 111141267 B CN111141267 B CN 111141267B CN 201911424478 A CN201911424478 A CN 201911424478A CN 111141267 B CN111141267 B CN 111141267B
- Authority
- CN
- China
- Prior art keywords
- jitter
- signal
- control system
- interference
- laser gyroscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention provides an anti-interference method for a jitter control system of a mechanically jittered laser gyroscope, which comprises the following steps: collecting a jitter feedback signal, and performing inverse transformation according to a transfer function of a jitter mechanism, a sensor and an amplifying circuit in a jitter control system to obtain an input signal of the jitter mechanism; and removing the driving signal in the input signal to obtain an interference signal, and superposing a reverse interference signal in the driving signal to eliminate the influence of the interference signal. By the scheme, the problem that the precision of a laser gyroscope jitter control system is reduced when the laser gyroscope jitter control system is interfered is solved, the influence of interference signals can be reduced, and the accuracy of resonant frequency scanning and the control precision of jitter amplitude are improved.
Description
Technical Field
The invention relates to the technical field of inertial sensors, in particular to an anti-interference method for a jitter control system of a mechanically jittered laser gyroscope.
Background
The mechanical-vibration type laser gyroscope overcomes the lock area by adopting an alternating mechanical vibration frequency offset mode, and is the most widely applied laser gyroscope at present. The jitter control system is an important component of the mechanically jittered laser gyroscope and is the key for realizing jitter offset frequency and overcoming lock regions. The jitter control system adopts a jitter mechanism to drive a resonant cavity of the laser gyroscope to perform alternating mechanical jitter, scans the resonant frequency of the jitter mechanism through a control circuit, tracks the resonant frequency and performs closed-loop control on the jitter amplitude.
The traditional control method only carries out closed-loop control on the jitter amplitude at the resonance frequency, when external interference is strong or the frequency of an interference signal is close to the resonance frequency of a jitter structure, a jitter control system is influenced, and particularly under the condition that the quality factor of a jitter mechanism is not high, the control precision of the laser gyro jitter control system is reduced.
Disclosure of Invention
In view of this, the embodiment of the present invention provides an anti-interference method for a jitter control system of a mechanically jittered laser gyroscope, so as to solve the problem of accuracy reduction when the existing jitter control system of the laser gyroscope is interfered.
In a first aspect of the embodiments of the present invention, an anti-interference method for a jitter control system of a mechanically jittered laser gyroscope is provided, including:
collecting a jitter feedback signal, and performing inverse transformation according to a transfer function of a jitter mechanism, a sensor and an amplifying circuit in a jitter control system to obtain an input signal of the jitter mechanism;
and removing the driving signal in the input signal to obtain an interference signal, and superposing a reverse interference signal in the driving signal to eliminate the influence of the interference signal.
In one embodiment, the transfer functions of the units in the dither control system are obtained by calibration.
In the embodiment of the invention, a jitter feedback signal is collected, and inverse transformation is carried out according to a transfer function among a jitter mechanism, a sensor and an amplifying circuit in a jitter control system to obtain an input signal of the jitter mechanism; and removing the driving signal in the input signal to obtain an interference signal, and superposing a reverse interference signal in the driving signal to eliminate the influence of the interference signal. The accuracy of resonant frequency scanning and the control precision of jitter amplitude can be improved, the influence of external interference on the jitter control system is reduced, the problem that the control precision of the laser gyro jitter control system can be reduced under the condition that the quality factor of a jitter mechanism is not high when the external interference is strong or the interference signal frequency is close to the resonant frequency of a jitter structure is solved, the external interference is effectively eliminated, and the control precision of the jitter control system is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for anti-jamming of a jitter control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention;
fig. 2 is a schematic view of an anti-interference working principle of a dithering control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a response curve of a dithering mechanism in a dithering control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control circuit of an anti-interference method for a jitter control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons skilled in the art without any inventive work shall fall within the protection scope of the present invention, and the principle and features of the present invention shall be described below with reference to the accompanying drawings.
The terms "comprises" and "comprising," when used in this specification and claims, and in the accompanying drawings and figures, are intended to cover non-exclusive inclusions, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements.
Referring to fig. 1, fig. 1 is a schematic flow chart of an anti-interference method for a jitter control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention, including:
s101, collecting a jitter feedback signal, and performing inverse transformation according to a transfer function of a jitter mechanism, a sensor and an amplifying circuit in a jitter control system to obtain an input signal of the jitter mechanism;
the jitter feedback of the laser gyroscope is determined according to the output of the laser gyroscope and the input of the external rotating speed, specifically, the jitter feedback signal is collected, and the input signal of the jitter mechanism can be obtained through calculation based on the transfer functions of the jitter mechanism, the sensor and the amplifying circuit.
In one embodiment, the transfer functions of the units in the dither control system are obtained by calibration. In the calibration stage, the transfer function of each unit processing link of the jitter control system can be obtained through calibration and measurement. The transfer function is the ratio of the laplace transform of the output quantity of the linear system to the laplace transform of the output quantity, and the transfer function of a general signal processing circuit can be obtained in a calibration stage.
S102, removing the driving signal in the input signal to obtain an interference signal, and superposing a reverse interference signal in the driving signal to eliminate the influence of the interference signal.
The input signals comprise driving signals and interference signals, and the influence of external interference signals can be counteracted by superposing the reverse interference signals in the driving signals input later, so that the influence of the external interference on the jitter control system is reduced.
And carrying out zero-crossing comparison, RMS/DC conversion and PID control processing on the response signal of the jitter mechanism to obtain a driving signal, wherein the driving signal is also a control signal of the jitter mechanism.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 2 is a schematic working diagram of an anti-interference method for a jitter control system of a mechanically dithered laser gyroscope according to an embodiment of the present invention, as shown in the figure:
in the figure, r (t) represents the interference signal acting on the jitter control system, c (t) represents the drive signal in the jitter control system, and two signals are superimposed on the input signal of the jitter mechanism 201 representing the jitter mechanism.
The transfer function of the dithering mechanism 201 is:
in the formula, K1And K2Obtained by calibration. In general, the frequency response curve of the dithering mechanism is shown in FIG. 3, ω0Is a resonance frequencyRate at ω0The response amplitude is the largest, the quality factor of the jitter system is high, and the amplitude-frequency response curve is sharper. In engineering practice, the quality factor of a dither system cannot be infinite, and therefore, at ω0The nearby dithering mechanism is also responsive.
The response signal of the dithering mechanism is acquired through the angular rate sensor 202 and converted into a digital signal through the signal amplifier 203 and the analog-to-digital converter 204. The transfer function of the angular rate sensor 202 is:
the transfer functions of the signal amplifier 203 are: g3(s)＝K4In the formula K3And K4Obtained by calibration.
It should be noted that quantization errors in the a/D conversion stage can be ignored, and the analog-to-digital conversion is considered as a scale-up with a gain of 1.
the output of the signal reduction unit 205 is r (t) + c (t), and is considered as a result of discretization r (t) + c (t) by approximation.
The amplitude adjustment unit 206 represents an amplitude adjustment process for scaling up a signal, with a transfer function of:
wherein, K6The transfer function representing the driving amplification unit 213 can be obtained by calibration. For the signal output by the amplitude adjustment unit 106, removing the driving signal therein can obtain:
the inverted signal is superimposed on the generated control signal, and the directional interference signal is obtained through the D/a conversion unit 212 and the driving amplification unit 213. Wherein the D/a conversion unit 212 is approximately a proportional amplification process with a gain of 1, and the driving amplification unit 213 may be a proportional amplification process with a gain of K6The process of scaling up.
The response signal of the jitter mechanism is obtained by the angular rate sensor 202, amplified by the signal amplifier 203, processed by the zero-crossing comparison unit 208, subjected to phase control by the phase PID control unit 210, processed by the RMS/DC conversion unit 207, and subjected to amplitude control by the amplitude PID control unit 209, and two control signals obtained by the phase PID control unit 210 and the amplitude PID control unit 209 are transmitted to the control signal generation unit 211 to obtain a control signal or a driving signal of the jitter mechanism.
The reverse phase interference signal is superposed with the driving signal, and the final driving signal is u (t + delta t) · K6R (t), which includes the signal with the same amplitude and opposite phase as r (t), so as to cancel the effect of the interference signal on the jitter control system.
In another embodiment of the present invention, a schematic diagram of a control circuit of a mechanical-vibration laser gyroscope control system is further provided, as shown in fig. 4, including a magnetic induction coil 301, a meter amplifier circuit 302, an ARM processor 303, a zero-crossing comparator circuit 304, an RMS/DC converter circuit 305, a serial memory 306, a multiplier 307, an adder 308, and a driving amplifier circuit 309.
The signal amplified by the instrument amplifying circuit 302 is processed by an RMS/DC conversion circuit 305, an effective value in the signal is converted into a direct current voltage, the direct current voltage is collected by an analog-to-digital converter ADC2 in the ARM processor 303 and used as an input of an amplitude PID control 3013, the amplitude PID control 3013 is a software module in the ARM processor 303, the module compares the signal 3012 with a set value, a difference value is used as an error signal, and an amplitude control signal is obtained through a digital PID algorithm. In order to eliminate the dynamic lock area of the laser gyro, the signal output by the amplitude PID control 3013 is loaded and processed by the noise adding module 3011, and is output by the digital-to-analog converter 3008 in the ARM processor 303, and the amplitude of the output sinusoidal driving signal is adjusted by the multiplier 307, so as to realize the closed-loop control of the jitter amplitude.
The signal amplified by the meter amplifying circuit 302 is also converted into a square wave signal by the zero comparison circuit 304, the timer 3009 in the ARM processor 303 captures the edge of the square wave signal, compares the edge with the phase of the locally-grown sinusoidal signal, and sends the phase difference as an error signal to the phase PID control module 3010. The phase PID control 3010 is a software module inside the ARM processor 303, which uses the phase-frequency characteristic of the jitter control system, and when the phase difference is 180 °, the frequency of the driving signal is the same as the resonant frequency; when the phase difference is less than 180 degrees, the frequency of the driving signal is less than the resonance frequency; when the phase difference is greater than 180 °, the frequency of the driving signal is greater than the resonance frequency. Accordingly, the frequency of the driving signal can be adjusted to maintain the phase difference at 180 °. According to the output result of the PID control, the phase PID control 2010 adjusts the overflow frequency of the timer 3007, and triggers the DMA controller 3005 to transmit the data in the sine table 3004 to the digital-to-analog converter 3006, so as to generate a sine signal with the same resonance frequency, thereby realizing the tracking of the resonance frequency.
After the signal amplified by the meter amplifying circuit 202 is directly transmitted to the analog-to-digital converter ADC2, the signal is processed by the calculation processing module 3002, converted by the digital-to-analog converter 3003, transmitted to the adder 308, added to the output of the multiplier 307, and amplified by the driving amplifying circuit 309 to obtain a driving signal. The calculation processing module 3002 performs calculation processing on the amplified input signal, the signal subjected to the noise adding processing by the noise adding module 3011, and the signal data in the DMA controller 3005.
ADC1 and ADC2 correspond to analog-to-digital converter 3001 and analog-to-digital converter 3012, DAC1, DAC2, and DAC3 correspond to digital-to-analog converter 3003, digital-to-analog converter 3006, and digital-to-analog converter 3008, respectively. The serial memory 306 is used for storing relevant parameters of the transfer function of each link of the jitter control system.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those skilled in the art can understand that all or part of the steps in the method of the above embodiments can be completed by controlling the related hardware through a program, and the program can be run on an ARM, a single chip, a DSP, or a similar controller.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (2)
1. An anti-interference method for a jitter control system of a mechanically jittered laser gyroscope is characterized by comprising the following steps:
collecting a jitter feedback signal, and carrying out inverse transformation according to transfer functions of a jitter mechanism, an angular rate sensor and an amplifying circuit in a jitter control system to obtain an input signal of the jitter mechanism;
and removing the driving signal in the input signal to obtain an interference signal, and superposing a reverse interference signal in the driving signal to eliminate the influence of the interference signal.
2. The method of claim 1, wherein before the acquiring the jitter feedback signal and performing inverse transformation according to the transfer function among the jitter mechanism, the angular rate sensor and the amplifying circuit in the jitter control system to obtain the input signal of the jitter mechanism, the method further comprises:
and obtaining the transfer function of each unit in the jitter control system through calibration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911424478.6A CN111141267B (en) | 2019-12-31 | 2019-12-31 | Anti-interference method for jitter control system of mechanically jittered laser gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911424478.6A CN111141267B (en) | 2019-12-31 | 2019-12-31 | Anti-interference method for jitter control system of mechanically jittered laser gyroscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111141267A CN111141267A (en) | 2020-05-12 |
| CN111141267B true CN111141267B (en) | 2021-10-22 |
Family
ID=70523160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911424478.6A Active CN111141267B (en) | 2019-12-31 | 2019-12-31 | Anti-interference method for jitter control system of mechanically jittered laser gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111141267B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112665585B (en) * | 2020-11-26 | 2024-05-17 | 泰斗微电子科技有限公司 | Method and device for eliminating periodic vibration interference of vehicle and terminal equipment |
| CN113188535A (en) * | 2021-05-27 | 2021-07-30 | 湖南二零八先进科技有限公司 | Laser gyroscope jitter offset frequency control device and method based on frequency modulation |
| CN113567781A (en) * | 2021-07-17 | 2021-10-29 | 深圳市志奋领科技有限公司 | Anti-interference method and system for photoelectric sensor |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0652173B2 (en) * | 1989-03-23 | 1994-07-06 | 日本航空電子工業株式会社 | Hikari Watanabe |
| KR960706629A (en) * | 1993-11-29 | 1996-12-09 | 그레고리 에이. 브런스 | Modular Laser Gyro |
| US7872758B2 (en) * | 2007-01-22 | 2011-01-18 | The Charles Stark Draper Laboratory, Inc. | Determining and compensating for modulator dynamics in interferometric fiber-optic gyroscopes |
| CN102042828A (en) * | 2009-10-10 | 2011-05-04 | 北京理工大学 | Coupling signal suppression circuit in quartz tuning fork gyroscope |
| JP5530159B2 (en) * | 2009-11-30 | 2014-06-25 | ローム株式会社 | Motor control circuit, control method, and electronic apparatus with imaging function using the same |
| CN201688849U (en) * | 2010-04-23 | 2010-12-29 | 北京自动化控制设备研究所 | Circuit capable of simultaneously sampling and simulating pseudorandom noise injection used for mechanically dithered ring laser gyroscope |
| CN202229762U (en) * | 2011-07-04 | 2012-05-23 | 北京自动化控制设备研究所 | Laser gyro digital machine shaking control circuit |
| CN106153029B (en) * | 2016-08-17 | 2019-02-12 | 中国船舶重工集团公司第七0七研究所 | Two frequency machine shaking laser gyroscope shaking signal cancellation devices |
| CN107132763B (en) * | 2017-05-11 | 2019-12-03 | 北方电子研究院安徽有限公司 | A kind of MEMS gyroscope close-loop driven automatic gain control circuit |
| CN110940330B (en) * | 2019-12-06 | 2021-09-14 | 中国船舶重工集团公司第七一七研究所 | Self-adaptive matching method and device for control parameters of laser gyroscope dithering mechanism |
-
2019
- 2019-12-31 CN CN201911424478.6A patent/CN111141267B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111141267A (en) | 2020-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111141267B (en) | Anti-interference method for jitter control system of mechanically jittered laser gyroscope | |
| US9160488B2 (en) | Apparatus and method for compensating output signals of magnetic encoder using digital phase-locked loop | |
| KR101075672B1 (en) | Vibration compensating control circuit and imaging pickup apparatus | |
| US8004434B2 (en) | RD converter and angle detecting apparatus | |
| CN101464611A (en) | Image stabilization control circuit and imaging device having image stabilization control circuit | |
| Nguyen et al. | An adaptive linear-neuron-based third-order PLL to improve the accuracy of absolute magnetic encoders | |
| US10429208B2 (en) | Position sensor device and method for providing a filtered position signal | |
| WO2015029427A1 (en) | Angular position detection device | |
| CN104655116A (en) | Detection device, sensor, electronic apparatus, and moving object | |
| CN112271970A (en) | Permanent magnet synchronous motor vector control method, equipment and storage medium | |
| JPH10311741A (en) | Output signal processing device of encoder | |
| CN113819898B (en) | Error suppression method for small-frequency-difference quartz gyroscope of orthogonal force feedback closed loop | |
| JP4515120B2 (en) | Resolver digital angle conversion apparatus and method, and program | |
| Nguyen et al. | Auto-calibration and noise reduction for the sinusoidal signals of magnetic encoders | |
| CN111555688A (en) | High-bandwidth current loop digital control method and system | |
| Karabeyli et al. | Enhancing the accuracy for the open-loop resolver to digital converters | |
| JP2000337924A (en) | R/d converter | |
| JP2014122885A (en) | Angle detector | |
| KR101468079B1 (en) | Controlling apparatus of a cyclotron rf signal and method thereof | |
| EP3401643B1 (en) | Encoder, electric machine, encoder data processing method and storage medium | |
| JP4710634B2 (en) | Motor control device | |
| JP2001296142A (en) | Rotating position detector and rotating speed detector | |
| JP2016090244A (en) | Resolver angle position detection device | |
| JP2002054948A (en) | Resolver conversion device | |
| CN113629751B (en) | Phase-locked loop phase compensation method and system for high-frequency oscillation control of flexible direct system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |