CN116698084A - Real-time zero-bias drift suppression and zero-bias stability improvement method for symmetrical gyroscope - Google Patents
Real-time zero-bias drift suppression and zero-bias stability improvement method for symmetrical gyroscope Download PDFInfo
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Abstract
The invention discloses a method for restraining zero offset drift and improving zero offset stability of a symmetrical gyroscope in real time. The method is applied to the field of micro-electromechanical gyroscopes, and by skillfully combining the vibration mode deflection micro-electromechanical gyroscope damping shaft deflection angle error online identification and correction method with the traditional mode exchange technology of the gyroscope, the method does not need to introduce any physical mechanism, has no special requirements on the processing technology of the gyroscope, is easy to operate, stable and reliable, does not introduce additional testing and calibration steps, can realize real-time self calibration and self compensation of zero deflection output of the gyroscope, improves the zero deflection stability and the gyroscope repeatability of the gyroscope, and can effectively meet the requirements of the military and civil markets on the high-precision micro-electromechanical gyroscope.
Description
Technical Field
The invention relates to the technical field of micro-electromechanical gyroscopes, in particular to a method for restraining zero offset drift of a symmetrical gyroscope in real time and improving zero offset stability.
Background
In recent years, with the rapid development of MEMS technology, the micro-electromechanical gyroscope has unique advantages in the fields of precise guidance, unmanned platform and north-seeking orientation due to the inherent characteristics of small size, low weight, low power consumption, low cost and the like. However, the zero bias drift of the microelectromechanical gyroscope has become a bottleneck in the development of high-precision microelectromechanical gyroscopes.
Although the temperature compensation technology commonly adopted in the field at present can effectively compensate the drift of the micro-electromechanical gyroscope along with the temperature, the temperature compensation technology has no inhibition effect on the slow drift of the gyroscope along with the damping shaft, which is brought by the gyroscope structure at a fixed temperature. The on-chip temperature control technology can be used for inhibiting the temperature drift of the gyroscope, but an additional on-chip temperature control device is required to be introduced, and special requirements are also provided for the processing technology of the gyroscope, so that the cost of the gyroscope is greatly increased, and the method can only inhibit the temperature drift of the gyroscope, but cannot inhibit the structural drift of the gyroscope. The dynamic trimming and balancing technical method proposed by French racing corporation can effectively identify and compensate zero offset error of the micro-electromechanical gyroscope, but the method requires special processing technology requirements, increases the processing difficulty of the micro-electromechanical gyroscope, and is not beneficial to batch production and low cost of the micro-electromechanical gyroscope.
The modal exchange technology can perform real-time differential self-calibration on the zero offset error of the gyroscope structure along with the slow drift of the damping shaft, but the zero offset drift of the gyroscope structure in a full-temperature region is further inhibited because the damping shaft cannot be tracked in real time. The vibration mode deflection technology can strongly inhibit the temperature drift of the gyroscope, but the calibration of the damping angle is required to be performed offline at present, and the timeliness after calibration is not verified because the damping angle possibly changes along with environmental factors such as temperature and the like.
In summary, there is no method for on-line identification and correction of damping axis deflection angle errors of micro-electromechanical gyroscopes. Therefore, for the micro-electromechanical gyroscope, a method for realizing zero offset error identification and self-compensation of the micro-electromechanical gyroscope without additional structure and calibration steps is needed, and the system complexity of the micro-electromechanical gyroscope is effectively reduced while the precision of the micro-electromechanical gyroscope is improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for real-time inhibition and zero bias stability promotion of zero bias drift of a symmetrical gyroscope, which skillfully combines a vibration mode deflection micro-electromechanical gyroscope damping shaft bias angle error online identification and correction method with a gyroscope traditional mode exchange technology, does not need to introduce any physical mechanism, has no special requirements on a gyroscope processing technology, is easy to operate, is stable and reliable, does not introduce additional testing and calibration steps, can realize real-time self calibration and self compensation of zero bias output of the gyroscope, promotes the zero bias stability and gyroscope repeatability of the gyroscope, and can effectively meet the requirements of army and civilian markets on high-precision micro-electromechanical gyroscopes.
In order to achieve the above-mentioned purpose, the present invention provides a method for suppressing zero bias drift and improving zero bias stability of a symmetric gyroscope in real time, which periodically exchanges working modes of a microelectromechanical gyroscope after the microelectromechanical gyroscope is powered on, and identifies a damping angle in real time in the process of mode exchange, and then superimposes the damping angle on a vibration mode angle corresponding to the working modes after mode exchange, thereby suppressing zero bias drift error of the microelectromechanical gyroscope and improving zero bias stability of the microelectromechanical gyroscope.
In one embodiment, the microelectromechanical gyroscope has a first mode and a second mode in a force balance mode, wherein a mode shape angle of the first mode is alpha 1 The first step ofThe vibration mode angle of the two modes is alpha 2 ；
The method for restraining zero offset drift of the symmetrical gyroscope in real time and improving zero offset stability comprises the following steps:
step 1, after the micro-electromechanical gyroscope is electrified, controlling the micro-electromechanical gyroscope to work at a vibration mode angle alpha 1 Is in a force balance mode;
step 2, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 Precession to alpha 2 Damping angle theta in the process of (2) τ1 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 2 +θ τ1 Is in a force balance mode;
step 3, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 2 +θ τ1 Precession to alpha 1 And identifying the vibration mode angle from alpha 2 +θ τ1 Precession to alpha 1 Damping angle theta in the process of (2) τ2 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 1 +θ τ2 Is in a force balance mode;
step 4, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 +θ τ2 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 +θ τ2 Precession to alpha 2 Damping angle theta in the process of (2) τ1 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 2 +θ τ1 Is in a force balance mode;
and 5, repeating the steps 3 to 4, thereby realizing identification and self calibration of the damping shaft of the micro-electromechanical gyroscope and improving the zero-bias stability of the micro-electromechanical gyroscope.
In one embodiment, in the process of the vibration mode angle precession of the step 2 to the step 4, the damping angle is obtained by fitting a variation curve of the driving force of the micro-electromechanical gyroscope in the full-angle self-precession mode or the in-phase balance force of the gyroscope short shaft along with the vibration mode angle.
In one embodiment, in step 1 to step 5, the virtual rotation of the working mode of the microelectromechanical gyroscope is implemented by a rotation control module, and the rotation control module can be implemented by a closed-loop control circuit of the driving and detecting working modes of the microelectromechanical gyroscope through a virtual digital switch. The method can also be realized by controlling the micro-electromechanical gyro to drive and detect the rotation angle of the working mode through the virtual rotation closed-loop measurement and control circuit, and a physical rotation mechanism is not needed.
In one embodiment, a time sequence controller is adopted to periodically exchange the working modes of the micro-electromechanical gyroscope, and the zero offset error of the micro-electromechanical gyroscope is calculated and compensated. And adopting a vibration mode precession controller to perform vibration mode angle calculation on the vibration mode rotation of the micro-electromechanical gyroscope. The time sequence controller and the vibration type precession controller can be realized through computer programming.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the invention uses the mode exchange control technology based on the vibration mode deflection to self-compensate the zero deflection error of the micro-electromechanical gyroscope, does not need to introduce extra calibration steps and extra physical mechanisms, and is easy to miniaturize, portable, integrate and lower in cost;
2. the invention can realize the mode exchange control under the vibration mode deflection by utilizing the micro-electromechanical gyro measurement and control circuit, and has the advantages of simple operation, stability, reliability and convenient use.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control method of a method for real-time zero offset drift suppression and zero offset stability improvement of a symmetrical gyro according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a cellular MEMS gyroscope resonant structure in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a MEMS gyroscope driving mode in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a MEMS gyroscope detection mode in an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating frequency splitting of a MEMS gyroscope driving mode and a MEMS gyroscope detecting mode in an embodiment of the present invention;
FIG. 6 is a diagram illustrating the quality factor of a MEMS gyroscope driving mode in accordance with an embodiment of the present invention;
FIG. 7 is a diagram illustrating the quality factor of a MEMS gyroscope detection mode in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a two-degree-of-freedom equivalent system model of an error-free vibrating gyroscope in an embodiment of the invention;
FIG. 9 is a schematic diagram of a mode switching technique according to an embodiment of the present invention;
FIG. 10 is a schematic representation of orthogonal damping axes to which a harmonic oscillator is subjected and which are equivalent in an embodiment of the present invention, wherein: (a) A schematic diagram before equivalent simplification, (b) a schematic diagram after equivalent simplification;
FIG. 11 is a graph showing the results of testing the variation of the damping angle and the driving frequency of the gyro with temperature according to the embodiment of the present invention;
FIG. 12 is a schematic diagram of the principle of mode switching control under mode deflection in an embodiment of the present invention;
FIG. 13 is a schematic diagram of a timing controller in a mode switching control method under mode deflection according to an embodiment of the present invention;
fig. 14 is a schematic diagram of the working timing sequence principle of the method for on-line identification and correction of damping axis deflection angle errors of a microelectromechanical gyroscope based on mode deflection in an embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
The embodiment discloses a method for real-time suppression of zero offset drift and improvement of zero offset stability of a symmetrical gyroscope, which utilizes a vibration mode precession process of working mode switching during mode switching to complete real-time identification of a damping angle, and superimposes the damping angle obtained by identification on a driving vibration mode angle during the next mode switching, thereby realizing online identification and self-compensation of damping errors and real-time suppression of zero offset drift of a micro-electromechanical gyroscope. Specifically: after the micro-electromechanical gyroscope is electrified, the micro-electromechanical gyroscope is output in a force balance mode; vibration mode rotation and damping angle identification are carried out by adopting a full-angle self-precession mode, and damping angle information obtained by the driving force of precession or in-phase balance force of a gyro short shaft is solved; the time sequence controller is used for controlling the working modes of the micro-electromechanical gyroscope to perform periodic exchange, solving and compensating zero offset errors of the micro-electromechanical gyroscope, and the vibration mode precession controller is used for realizing damping angle identification of vibration mode deflection and periodic rotation of the vibration mode between modes of the mode exchange; the damping angle identification method comprises the steps of identifying the full angle self-precession mode output data obtained through vibration mode precession, entering a data register to carry out fitting operation, calculating damping angle information obtained through identification, and superposing the angle on a driving vibration mode angle in the next mode exchange.
The microelectromechanical gyroscope in this embodiment has a first mode and a second mode in a force balance mode, where a mode angle of the first mode is α 1 The second mode has a mode shape angle alpha 2 . The specific implementation process of the method for restraining zero offset drift and improving zero offset stability of the symmetrical gyroscope in real time comprises the following steps:
step 1, when the micro-electromechanical gyroscope is electrified, controlling the micro-electromechanical gyroscope to work at a vibration mode angle alpha 1 Is in a force balance mode;
step 2, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 Precession to alpha 2 Damping angle theta in the process of (2) τ1 And then controlling the micro electromechanical gyro to work at the vibration angle alpha 2 +θ τ1 Is in a force balance mode;
step 3, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 2 +θ τ1 Precession to alpha 1 And identifying the vibration mode angle from alpha 2 +θ τ1 Precession to alpha 1 Damping angle theta in the process of (2) τ2 And then controlling the micro electromechanical gyro to work at the vibration angle alpha 1 +θ τ2 Is in a force balance mode;
step 4, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 +θ τ2 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 +θ τ2 Precession to alpha 2 Damping angle theta in the process of (2) τ1 And then controlling the micro electromechanical gyro to work at the vibration angle alpha 2 +θ τ1 Is in a force balance mode;
and 5, repeating the steps 3 to 4, thereby realizing identification and self calibration of the damping shaft of the micro-electromechanical gyroscope and improving the zero-bias stability of the micro-electromechanical gyroscope.
In the process of the vibration mode angle precession of the step 2 to the step 4, a damping angle is obtained by fitting a driving force of the micro-electromechanical gyroscope in a full-angle self-precession mode or a change curve of in-phase balance force of a gyroscope short shaft along with the vibration mode angle. In the steps 1 to 5, virtual rotation of the micro-electromechanical gyroscope working mode is realized through a rotation control module or a virtual rotation closed-loop measurement and control circuit.
Referring to fig. 1, a schematic diagram of mode switching control based on mode deflection is shown, a microelectromechanical gyroscope outputs in a force balance mode, a full-angle self-precession mode is used for mode precession and damping angle identification, and damping angle information obtained by driving force of precession or in-phase balance force of a gyroscope short axis is resolved. The method mainly comprises the steps of controlling a micro-electromechanical gyroscope working mode to perform periodic exchange through a time sequence controller, resolving and compensating zero offset errors of the micro-electromechanical gyroscope, and realizing damping angle identification of vibration mode deflection and periodic rotation of inter-mode vibration modes of mode exchange through a vibration mode precession controller. The damping angle is identified, full-angle self-precession mode output data obtained through vibration mode precession is input into a data register to carry out fitting operation, damping angle information obtained through identification is calculated, and the angle is superimposed on a driving vibration mode angle in the next mode exchange.
The method for suppressing zero offset drift and improving zero offset stability of the symmetrical gyro in real time in this embodiment is described in detail below.
Referring to fig. 2, a schematic diagram of a honeycomb microelectromechanical gyroscope resonant structure is shown, wherein the resonant structure mainly comprises a central anchor point, spokes, a suspended mass block, an internal electrode and an external electrode. The bionic honeycomb topological structure can improve the overall processing symmetry and robustness of the resonance structure, and the quality factor Q of the resonance structure can be effectively improved through the design of the hanging mass block. Referring to fig. 3-7, the microelectromechanical gyroscope operates in a degenerate mode with n=2, with a drive mode resonant frequency of approximately 4374.5Hz, a sense mode resonant frequency of approximately 4374.7Hz, and two mode quality factors Q of approximately 57 tens of thousands. The initial frequency splitting of the operating mode is about 0.2Hz. Wherein the detection mode is equivalent to the first mode in the present embodiment, and the mode shape angle α thereof 1 =0°; the driving mode is the second mode in the present embodiment, and the mode angle α 2 ＝90°。
Referring to fig. 8, which is a schematic diagram of a two-degree-of-freedom equivalent system model of a vibrating gyroscope with errors, the dynamic model of the microelectromechanical gyroscope in this example can be simplified into a two-degree-of-freedom centralized mass vibration model, and the output of the gyroscope in a force balance mode is:
wherein alpha is the vibration mode angle of the driving mode and the detection mode, and x 0 To drive the modal vibration amplitude, ω x For driving mode working frequency, t is time, omega is external angular velocity output, k is angle gain factor, omega is average natural frequency, tau is average decay time constant, delta represents difference value, theta ω Is a rigidity simple axis, theta τ Is the damping simple axis, i.e. the damping angle. From equation (1), it can be seen that the zero bias drift of the micro-electromechanical gyroscope due to the uneven stiffness error Δω can be suppressed by the quadrature error control loop because of the phase relationship cos ω x t and angular velocity output sin omega x t has an orthogonal relationship. Therefore, equation (1) can be rewritten as:
G out (α)＝SF·Ω-B sin2(α-θ τ ) (2)
where SF is the scale factor and B is zero offset.
Referring to fig. 9, a schematic diagram of a mode switching technique is shown, and a vibration mode precession controller controls periodic switching of a vibration mode precession and driving control loop and a force balance loop. The mode switching controls the rotation of the mode angle α by the mode self-precession of the full angle mode. At this time, when the external input angular velocity is zero, it is possible to obtain:
G out (α)＝-B sin2(α-θ τ ) (3)
when the vibration mode reaches the next working mode, the damping angle theta is obtained by resolving the zero offset of the gyro during the precession τ1 Or theta τ2 And the working mode shape angle with the shape angles of the driving and detecting modes being 0 DEG and 90 DEG is overlapped as the working mode shape angle after the next vibration mode precession. When the driving and detecting mode vibration angles of the micro electromechanical gyroscope are respectively 0 degrees+theta τ2 And 90 DEG +theta τ1 When the following results are obtained:
G out (0°+θ τ2 )＝B sin2(θ τ2 -θ τ ) (4)
G out (90°+θ τ1 )＝-B sin2(θ τ1 -θ τ ) (5)
θ τ1 and theta τ2 Equal to damping angle theta of gyro at last moment τ Real-time tracking of the vibration mode angle of the gyroscope to the damping angle of the gyroscope is realized. At this time, both formulas (4) and (5) are approximate to zero, and the zero offset of the gyro is eliminated by tracking the damping angle in real time. And (3) adding the formulas (4) and (5) to realize differential further calibrating gyro output and inhibit gyro zero offset. The gyro zero rate output at this time can be expressed as:
G out (α)＝B sin2(θ τ2 -θ τ )-Bsin2(θ τ1 -θ τ )＝0 (6)
it can be seen that when the mode angle is superimposed by an angle θ τ1 And theta τ2 Exactly equal to the damping angle theta τ When the gyroscope is used, the zero-rate output error of the gyroscope is doubly restrained, and the gyroscope output is not sensitive to environmental factors such as temperature.
Referring to fig. 10, a schematic representation of the orthogonal damping axes to which the harmonic oscillator is subjected and which is equivalent. The motion form of the micro electromechanical gyro harmonic oscillator can be equivalent to the vibration of an elemental point in a two-dimensional plane, and the mass point can be practically subjected to the vibration including thermoelastic damping tau a Support loss τ b Surface loss τ c Air damping tau d Akhiezer damping τ e Damping constraints in a plurality of different directions, which can be equivalently regarded as a pair of virtual orthogonal damping constraints tau 1 And τ 2 . The pair of orthogonal damping constraints is defined as a main damping axis, corresponding to the maximum damping direction and the minimum damping direction of the resonator along the two axial directions, respectively. The damping difference in both directions determines the magnitude of the B zero offset in equations (2) - (6). When the resonator is influenced by larger driving force or environmental factors such as temperature change, various types of damping to which the resonator is subjected will change, which will lead to equivalent damping axis direction and dampingThe difference varies in magnitude, thereby causing zero offset drift. Therefore, the vibration mode angle is aligned to the current damping angle in real time, zero offset drift of the gyroscope can be restrained to the greatest extent, and better environmental adaptability and stability can be ensured.
Referring to fig. 11, a graph of the test results of the variation of the gyro damping angle and the driving frequency with temperature is shown. The damping angle changes by about 0.2 degrees in the temperature change range of 30-60 ℃ of the gyroscope, so that the real-time identification and online alignment of the damping angle are of great significance to zero offset drift inhibition of the gyroscope.
Referring to fig. 12, a schematic diagram of a mode switching control principle under mode deflection is shown. The vibration mode precession controller aims to realize the driving of the micro-electromechanical gyroscope and detect the mode vibration mode angle alpha at alpha 1 And alpha 2 Is provided. Wherein, the function of the vibration mode precession control module is to control alpha to perform vibration mode precession. The full-angle self-precession mode is adopted. In this mode, the x-axis and y-axis control forces f applied to the gyroscope by the drive, sense electrodes x And f y Will vary with the rotation of the mode angle α, and can be expressed as:
f x ＝F a cosα-F q sinα (7)
f y ＝F a sinα+F q cosα (8)
wherein F is a And F q The driving force and the orthogonal force actually applied to both the major axis a and the minor axis q in fig. 12, respectively. F (F) a And F q Can be expressed in terms of homophasors and orthophasors, as:
wherein f ac And f as Respectively F a Is equal to or orthogonal to the homophasor, f qc And f qs Respectively F q Is a sum of the same phasors and quadrature ones of (a). When the input angular velocity is zero, the in-phase balance force of the short shaft is:
f qs ＝B sin2(α-θ τ ) (11)
wherein B is zero offset, f qs Will change with the change of the vibration mode angle alpha, and can be fit f in the specific application process qs The damping angle theta is obtained by identifying the output curve changing along with alpha τ Is a value of (2).
Specifically, the driving force f in the full angle mode as In-phase balance force f with gyro stub qs Can be used for identifying the damping angle, and the embodiment adopts the in-phase balancing force f of the gyro short shaft because the driving force is more sensitive to temperature qs And identifying the damping angle. The identification principle is shown as a formula (11), and an objective function shown as a formula (12) is adopted to solve unknown parameters. Correlating equation (12) with the physical quantity in equation (11), y being characterized as f qs X is represented as alpha, a and b as parameters to be solved, the parameters a and b can be obtained by substituting data obtained in the vibration mode precession process into an objective function formula (12), and a damping angle theta can be obtained by referring to the formula (11) τ ＝b。
y＝a·sin[2(x-b)] (12)
Referring to fig. 13, a schematic diagram of a timing controller in a mode switching control method under mode deflection is shown. The time sequence controller is mainly responsible for controlling the periodical switching of the gyroscope between the working mode and the vibration mode precession mode, and controlling the identified damping angle to be the driving vibration mode angle of the next working mode. Thus, the mode exchange control of the micro-electromechanical gyroscope under the vibration mode deflection is completed. Referring to fig. 14, a schematic diagram of the working timing sequence principle of the method for on-line identification and correction of damping axis deflection angle errors of a microelectromechanical gyroscope based on vibration mode deflection is shown. After the gyroscope is electrified, the gyroscope works in a force balance mode with a vibration mode angle alpha of 0 degrees. After the set working time, the gyroscope works in a full angle mode, the vibration mode angle alpha precesses from 0 degrees to 90 degrees, and the zero offset identification of the process is utilized to obtain the gyroscope damping angle theta at the stage τ1 . Then the gyroscope works in a force balance mode, and the vibration mode angle is setIs 90 degrees+theta τ1 . After a set working time, the gyroscope is switched into a full-angle mode, and the vibration mode angle alpha is 90 degrees+theta τ1 Precession to 0 DEG, and obtaining the gyro damping angle theta at the stage by utilizing zero offset identification of the process τ2 . Subsequently, the gyro is operated in the force balance mode, and the mode angle is set to 0++θ τ2 . The four steps are repeated continuously, so that the identification and self-calibration of the damping shaft are realized.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (5)
1. A method for restraining zero offset drift of a symmetrical gyroscope in real time and improving zero offset stability is characterized in that after a micro-electromechanical gyroscope is electrified, working modes of the micro-electromechanical gyroscope are periodically exchanged, damping angles are obtained through real-time identification in the mode exchange process, and then the damping angles are superimposed on vibration mode angles of corresponding working modes after the mode exchange.
2. The method for real-time zero drift suppression and zero drift stability improvement of a symmetrical gyroscope according to claim 1, wherein the microelectromechanical gyroscope has a first mode and a second mode in a force balance mode, wherein a mode shape angle of the first mode is α 1 The second mode has a mode shape angle alpha 2 ；
The method for restraining zero offset drift of the symmetrical gyroscope in real time and improving zero offset stability comprises the following steps:
step 1, after the micro-electromechanical gyroscope is electrified, controlling the micro-electromechanical gyroscope to work at a vibration mode angle alpha 1 Is in a force balance mode;
step 2, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 Precession to alpha 2 Damping angle theta in the process of (2) τ1 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 2 +θ τ1 Is in a force balance mode;
step 3, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 2 +θ τ1 Precession to alpha 1 And identifying the vibration mode angle from alpha 2 +θ τ1 Precession to alpha 1 Damping angle theta in the process of (2) τ2 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 1 +θ τ2 Is in a force balance mode;
step 4, after the preset time, controlling the micro-electromechanical gyroscope to work in a full-angle self-precession mode, so that the vibration mode angle of the micro-electromechanical gyroscope is changed from alpha 1 +θ τ2 Precession to alpha 2 And identifying the vibration mode angle from alpha 1 +θ τ2 Precession to alpha 2 Damping angle theta in the process of (2) τ1 Then controlling the micro electromechanical gyroscope to work at a vibration mode angle alpha 2 +θ τ1 Is in a force balance mode;
and 5, repeating the steps 3 to 4, thereby realizing identification and self calibration of the damping shaft of the micro-electromechanical gyroscope and improving the zero-bias stability of the micro-electromechanical gyroscope.
3. The method for real-time zero offset drift suppression and zero offset stability improvement of a symmetrical gyroscope according to claim 2, wherein in the process of step 2 to step 4 of vibration mode angle precession, a damping angle is obtained by fitting a driving force of the micro-electromechanical gyroscope in a full angle self-precession mode or a change curve of in-phase balance force of a gyroscope short axis along with the vibration mode angle.
4. The method for real-time zero offset drift suppression and zero offset stability improvement of a symmetrical gyroscope according to claim 2, wherein in steps 1 to 5, virtual rotation of the micro-electromechanical gyroscope working mode is achieved through a rotation control module or a virtual rotation closed-loop measurement and control circuit.
5. The method for real-time zero drift suppression and zero drift stability improvement of a symmetrical gyroscope according to any one of claims 1 to 4, wherein a time sequence controller is used for periodically exchanging the working modes of the microelectromechanical gyroscope.
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| CN117109639B (en) * | 2023-10-24 | 2023-12-22 | 中国船舶集团有限公司第七〇七研究所 | Temperature drift error detection method and system of hemispherical resonator gyroscope |
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