CN117330044A - Hemispherical harmonic oscillator standing wave output electric signal demodulation method of hemispherical harmonic oscillator - Google Patents
Hemispherical harmonic oscillator standing wave output electric signal demodulation method of hemispherical harmonic oscillator Download PDFInfo
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- 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
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- 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
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/567—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode
- G01C19/5691—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using the phase shift of a vibration node or antinode of essentially three-dimensional vibrators, e.g. wine glass-type vibrators
Abstract
The invention discloses a hemispherical harmonic oscillator standing wave output electric signal demodulation method of a hemispherical harmonic oscillator, which comprises the following steps: the output signal on the detection electrode is amplified by the amplifier and then is input into the first filter for filtering to obtain a standing wave output signal; constructing a demodulation reference signal according to the characteristics of the working state of the harmonic oscillator; inputting the standing wave output signal and the demodulation reference signal into a multiplier to obtain an amplitude component signal; inputting the amplitude component signal into a second filter for filtering, and inputting the amplitude component signal filtered by the second filter into an operation circuit for calculating the amplitude component signal to obtain phase difference information; and calculating azimuth angles through the phase difference information, and obtaining the angular speed input by the external interface through inversion. The invention can reduce interference, more accurately detect the change of standing waves of the harmonic oscillator, output purer electric signals and improve the accuracy of the detection result of the two-piece hemispherical resonator gyroscope.
Description
Technical Field
The invention relates to the field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator standing wave output electric signal demodulation method of a hemispherical resonator gyroscope.
Background
Classical gyroscopes are made by exploiting the dead-axis and precession of the mass rotating at high speed, conservation of angular momentum according to a main principle. Such gyroscopes are structurally subject to rotor and frame support and thus create various additional errors to the gyroscope. To avoid additional errors caused by moving parts and mechanical friction, new types of optical gyroscopes, resonant gyroscopes and piezoelectric crystal gyroscopes have been developed. Among them, the resonant gyroscopes are becoming more and more important with their unique advantages, and hemispherical resonant gyroscopes are a new type of gyroscopes that are only developed in the 60 s of the 20 th century. Compared with the traditional mechanical gyro and optical gyro, the hemispherical resonator gyro has the advantages of no high-speed rotor and no movable part, no need of preheating and short starting time; the high-quality quartz resonator has the characteristics of high Q value, and even if a driving electrode fails, the hemispherical resonator gyro of the high-quality quartz resonator can still keep the working time of more than 20 minutes; meanwhile, quartz glass has intrinsic radiation resistance, so that the hemispherical resonator gyroscope is commonly used for attitude determination and navigation of a space spacecraft and military navigation.
When the hemispherical harmonic oscillator works, a standing wave vibration mode is generated through excitation, and when rotation exists outside, the coriolis force causes standing wave precession. When the external rotation angle frequency is far smaller than the resonance frequency of the harmonic oscillator, the precession angle of the mode is considered to be proportional to the external rotation angle. In the full angle mode, the coriolis force can cause the vibration antinode of the harmonic oscillator to precess, and the diagonal speed can be measured by measuring the magnitude of the precession angle.
The current mainstream hemispherical resonator gyro has two configurations, one is a traditional three-piece hemispherical resonator gyro, and mainly comprises three parts: harmonic oscillator, drive shell and sensitive base. The three-piece hemispherical resonator gyro is partially applied in China at present, in the three-piece structure, the vibration starting driving, detection and control of the harmonic oscillator are respectively realized by the inner spherical electrode and the outer spherical electrode of the harmonic oscillator, and the excitation capacitor and the detection capacitor are isolated by the harmonic oscillator, so that the electric driving and the electric detection of the vibration signal of the harmonic oscillator can be simultaneously realized. However, the complex manufacturing process and high-precision assembly requirements of the three-piece hemispherical resonator gyro limit the mass production of the gyro. The other is a two-piece hemispherical resonator gyroscope which is rising in recent years, and the two-piece hemispherical resonator gyroscope has the advantages of simple structure, stable performance, high reliability, easy maintenance and the like. The two-piece hemispherical resonator gyro structure based on the flat plate electrode structure greatly simplifies the manufacturing process of the hemispherical resonator gyro, but in the two-piece hemispherical resonator gyro structure, the electric detection and control are realized by the end surface electrodes of the harmonic oscillator, namely, the driving capacitor and the detection capacitor share the same electrode plate, which means that the real-time detection can not be performed while the driving is performed, a complex time-division frequency-division multiplexing circuit is required to be designed for multiplexing the electrode plates so as to maintain the working mode of the harmonic oscillator, which can cause the standing wave output electric signal of the harmonic oscillator to have larger basic low interference and easily cause the standing wave signal demodulation to be wrong.
Disclosure of Invention
The invention aims to provide a hemispherical harmonic oscillator standing wave output electric signal demodulation method of a hemispherical harmonic oscillator so as to solve the problem that the standing wave output electric signal of a two-piece hemispherical harmonic oscillator is easy to interfere, and the signal demodulation is wrong.
The invention is realized by the following technical scheme, and the hemispherical harmonic oscillator standing wave output electric signal demodulation method of the hemispherical harmonic oscillator gyro can comprise the following steps:
the output signal on the detection electrode is amplified by the amplifier and then is input into the first filter for filtering to obtain a standing wave output signal; constructing a demodulation reference signal according to the characteristics of the working state of the harmonic oscillator; inputting the standing wave output signal and the demodulation reference signal into a multiplier to obtain an amplitude component signal; inputting the amplitude component signal into a second filter for filtering, and inputting the amplitude component signal filtered by the second filter into an operation circuit for calculating the amplitude component signal to obtain phase difference information; and calculating azimuth angles through the phase difference information, and obtaining the angular speed input by the external interface through inversion.
It should be noted that, the common two-piece hemispherical resonator gyro has simplified the traditional three-piece structure, and only retains the readout base and the resonator. Due to the limitation of the structure, the two-piece hemispherical resonator gyroscope generally combines a driving capacitor and a detecting capacitor, and the two capacitors share the same electrode plate and are simultaneously arranged on the horizontal plane of the reading base. The common uniform electrode plate causes driving difficulty because the driving electrode cannot be made large. Meanwhile, the vibration starting driving and the electric detection are required to be specially designed so as to achieve isolation frequency division, time division and electrode multiplexing, so that mutual interference between driving signals and detection signals is avoided, and the circuit design difficulty is increased. Meanwhile, multiplexing of the electrodes means that real-time detection cannot be performed while driving is performed, meanwhile, a plurality of interferences are introduced to cause unstable output signals of the detection electrodes, standing wave output signals of the harmonic oscillator cannot be accurately determined, great interference is caused to subsequent signal demodulation, and finally accurate external input angular speed cannot be obtained. In order to improve the detection accuracy of the two-piece type resonant gyroscope, the applicant separates the driving electrode and the detection electrode on the basis of retaining the original two-piece type structure, avoids the complexity of circuit design caused by sharing the same electrode in driving detection, simplifies the circuit design while retaining the simple structure of the two-piece type hemispherical resonant gyroscope, realizes independent detection of standing waves by the detection electrode, can effectively reduce interference, and improves the accuracy of final output angular velocity.
Further, detecting the output signal on the electrode may comprise the sub-steps of: 8 detection electrodes are arranged on the horizontal plane of the gyro base, the 8 detection electrodes are divided into 4 groups, and a signal amplifier is arranged at each group of signal output ends; the electric signal amplified by the signal amplifier is input to the first filter.
Further, the grouping of 8 detection electrodes into 4 groups may include that the 8 detection electrodes are mounted on the gyro base level at 45 ° intervals toxThe detection electrode arranged in the positive direction of the shaft at 0 DEG is a first detection electrode; the device comprises a first detection electrode, a second detection electrode, a third detection electrode, a fourth detection electrode, a fifth detection electrode, a sixth detection electrode, a seventh detection electrode and an eighth detection electrode, wherein the first detection electrode is positioned in the direction of 45 degrees, the second detection electrode is positioned in the direction of 90 degrees, the fourth detection electrode is positioned in the direction of 135 degrees, the fifth detection electrode is positioned in the direction of 180 degrees, the sixth detection electrode is positioned in the direction of 225 degrees, the seventh detection electrode is positioned in the direction of 270 degrees, and the eighth detection electrode is positioned in the direction of 315 degrees; wherein the first detection electrode and the fifth detection electrode are a first group, the second detection electrode and the sixth detection electrode are a second group, the third detection electrode and the seventh detection electrode are a third group, and the fourth detection electrode and the eighth detection electrode areAnd a fourth group.
It should be noted that, in the present application, by setting the boss on the base, the driving electrode and the detecting electrode are separately set, the driving electrode is distributed on the side surface of the boss of the base at an interval of 45 °, and the detecting electrode is distributed on the horizontal surface of the base at an interval of 45 °. The circuit design structure is simplified on the basis of not changing the basic structure of the two-piece hemispherical resonator gyro, the frequency division, time division and electrode multiplexing schemes which are complex to design in the traditional two-piece hemispherical resonator gyro are solved, the circuit structure is simplified, and the reliability of the two-piece hemispherical resonator gyro is improved. Meanwhile, due to the fact that complex frequency division, time division and electrode multiplexing schemes are removed, interference can be effectively reduced, the detection electrode can accurately detect the change of standing waves of the harmonic oscillator, pure electric signals can be output more stably, and subsequent signal demodulation is facilitated.
Further, the first filter may be an adaptive filter.
Further, the second filter may be a low pass filter.
Further, the working state of the harmonic oscillator can be a second-order resonance mode.
Further, constructing the demodulation reference signal may include:
，
wherein,f x is thatxAxial demodulation reference signal, dimensionless;f y is thatyAxial demodulation reference signal, dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;as the initial phase, the initial phase may be set to 0, dimensionless;θis of precession angle, noDimension is shown;f 0 is the natural frequency of the harmonic oscillator, hz;kis a precession factor of a harmonic oscillator, and has no dimension;μthe angular velocity applied to the outside is dimensionless;nthe working state of the harmonic oscillator is dimensionless.
Further, the amplitude component signal may be obtained by:
，
wherein,xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axis, dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;θis a precession angle and is dimensionless.
Further, the phase difference information may be composed ofxAmplitude component sum in axial directionyThe amplitude component on the axis is compared and then the inverse tangent is obtained.
Further, the azimuth angle calculated from the phase difference information is obtained by:wherein, f is azimuth, dimensionless;xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axis, dimensionless.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the base of the two-piece hemispherical resonator gyroscope is redesigned, the driving electrode and the detecting electrode are separated, so that the problem of complex circuit design caused by sharing the same electrode for driving and detecting in the traditional two-piece hemispherical resonator gyroscope is avoided, interference can be reduced, the change of standing waves of the harmonic oscillator can be detected more accurately, purer electric signals are output, and the accuracy of the detection result of the two-piece hemispherical resonator gyroscope is improved;
2. according to the invention, the demodulation reference signal is constructed to be used as the contrast of signal demodulation, so that the accuracy of signal demodulation is improved;
3. according to the invention, the driving electrode and the detecting electrode are separated, so that the real-time detection of the vibration state of the two-piece hemispherical resonator gyroscope is realized, and meanwhile, the complex frequency division, time division and electrode multiplexing circuits are removed, so that the reaction speed of the two-piece hemispherical resonator gyroscope is improved, and the change of the angular speed of the external interface input can be calculated more quickly according to the change of the external world.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
fig. 1 is a structural cross-sectional view of a conventional two-piece hemispherical resonator gyro according to an embodiment of the present invention.
Fig. 2 is a structural cross-sectional view of a two-piece hemispherical resonator gyro according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a vibration state of a lower lip edge of a harmonic oscillator in a second-order mode according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a standing wave precession variation according to an embodiment of the present invention.
Fig. 5 is a flowchart provided in an embodiment of the present invention.
Fig. 6 is a schematic distribution diagram of a planar detection electrode according to an embodiment of the present invention.
The reference numerals are represented as follows: the gyroscope comprises a 11-gyroscope shell, a 12-hemispherical harmonic oscillator, a 13-flat multiplexing electrode, a 14-electrical signal pin, a 15-gyroscope shell, a 16-gyroscope system circuit, a 23-base vertical surface, a 24-gyroscope base, a 31-harmonic oscillator, a 32-antinode, a 33-node, a 41-standing wave, a 42-standing wave precession, a 43-shell precession, a lower lip edge of a 61-harmonic oscillator, a 62-detection electrode, a P1-first detection electrode, a P2-second detection electrode, a P3-third detection electrode, a P4-fourth detection electrode, a P5-fifth detection electrode, a P6-sixth detection electrode, a P7-seventh detection electrode and a P8-eighth detection electrode.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "parallel," "perpendicular," and the like, do not denote that the components are required to be absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" merely means that the directions are more parallel than "perpendicular" and does not mean that the structures must be perfectly parallel, but may be slightly tilted.
Examples:
hemispherical resonator gyroscopes are essentially solid coriolis vibrating gyroscopes whose core structure is a sensitive resonator structure made of fused quartz. The sensitive resonance structure of the hemispherical resonance gyro is a rotationally symmetrical shell structure, and the common three-piece hemispherical resonance gyro is generally composed of an outer base, a harmonic oscillator and an inner base. A metal thin layer is sprayed on the surface of the harmonic oscillator to form one polar plate of the electrode. The inner side of the outer base is provided with 16 excitation electrodes for controlling the vibration frequency, the amplitude, the vibration mode angle and the orthogonal vibration of the harmonic oscillator; the outer side of the inner base is provided with 8 detection electrodes for reading the states of resonance frequency, amplitude, vibration mode angle and the like of the harmonic oscillator, and excitation and detection electrodes are uniformly distributed in the whole circumference.
The three-piece hemispherical resonator gyro has higher precision requirements for processing and assembling, the manufacturing cost is too high, the application market of the hemispherical resonator gyro is limited, the two-piece hemispherical resonator gyro simplifies the device structure, the assembling difficulty and the manufacturing cost are reduced, and the development and the popularization of the application field of the hemispherical resonator gyro with higher precision are facilitated. However, the two-piece hemispherical resonator gyro has the advantages that the structure of the device is simplified, and meanwhile, a new problem is brought, and due to the simplification of the structure, the same electrode is required to be shared for driving and detection, so that time division multiplexing, frequency division multiplexing and electrode multiplexing circuits with complex designs are required, and the vibration starting and detection of the harmonic oscillator are realized by using the same electrode.
Fig. 1 shows a structural cross-section of a conventional two-piece hemispherical resonator gyro. As can be seen from the figure, the conventional two-piece hemispherical resonator gyro includes a gyro case 11, a hemispherical resonator 12, a flat multiplexing electrode 13, an electric signal pin 14, a gyro case 15, and a gyro system circuit 16.
According to the embodiment, on the basis of not changing the general structure of the two-piece hemispherical resonator gyroscope, the original base is provided with the boss by changing the structure of the original base, and the driving electrode and the detecting electrode are separately arranged by the boss. The driving electrode is arranged on the vertical surface of the boss and forms a capacitor together with the inner side of the harmonic oscillator. With such a configuration, the area of the driving electrode can be enlarged, so that a higher voltage and current can be output, and a larger driving force can be provided with an increase in the contact area, so that the resonator can vibrate more rapidly.
Fig. 2 is a cross-sectional view showing the structure of the two-piece hemispherical resonator gyro according to the present embodiment, and it can be seen from the figure that, compared with the structure of the conventional two-piece hemispherical resonator gyro, the two-piece hemispherical resonator gyro provided in this example includes a gyro case 11, a hemispherical resonator 12, a vertical base surface 23, a gyro base 24, a gyro housing 15, and a gyro system circuit 16 by providing a boss on the base to separate the driving electrode and the detecting electrode. The structure shown in the drawings is only schematic, and 8 driving electrodes are distributed on the vertical surface 23 of the base at intervals of 45 °.
Generally, two-piece hemispherical resonator gyroscopes have two modes of operation, namely a force balance mode or a full angle mode. In the force balance mode, the free precession of the vibration mode is controlled by applying a feedback force, so that the vibration mode is as if the vibration mode is bound on a fixed electrode, the feedback force and the externally applied rotating speed form a certain proportional relation, and the change of the azimuth angle is solved by the feedback force. The full-angle mode directly reads the rotating angle of the carrier by resolving the precession angle of the resonant vibration mode in real time by utilizing the physical characteristic that the precession angle of the harmonic oscillator standing wave is in direct proportion to the rotating angle of the carrier, thereby meeting the application requirements of directly reading the rotating angle at present and not introducing accumulated errors. Meanwhile, in the full-angle working mode, the resonance vibration mode is always in a free precession state, so that a larger dynamic range can be obtained compared with the force balance mode, and the dynamic range of the hemispherical resonance gyro is obviously improved. The working mode of the hemispherical resonator gyro provided by the embodiment is a full angle mode.
Specifically, the mode of vibration of the harmonic oscillator in the full angle mode freely precesses under the action of the external input angular velocity, the precession angular velocity is in direct proportion to the input angular velocity, and the vector control mode is required to obtain the external input angular velocity through inversion by resolving the azimuth angle of the mode of vibration of the harmonic oscillator on the basis of guaranteeing stability of antinodes and nodes. It can be seen from the above that resolving the azimuth angle of the standing wave has an important role in improving the accuracy of the gyroscope.
Meanwhile, the hemispherical resonators have different circumferential wave numbers and harmonic frequencies under different vibration modes, and the number of the circumferential waves is differentnThe larger the resonance frequency is, the higher. Number of ring waves of harmonic oscillatornWhen the number is 2, the resonators are repeatedly deformed on mutually orthogonal axes. The purpose of the drive circuit is to provide a drive signal such that it is harmonicThe vibrator can start vibrating and simultaneously provides a stable ground voltage signal after the vibrator starts vibrating so that the vibrator is modulated on a corresponding resonant frequency to maintain a resonant state.
In general, the harmonic oscillator has 4 resonance modes, and when the harmonic oscillator resonates in the 0-order resonance mode, the resonance frequency is 4651Hz; when the resonant frequency is in a 1 st order resonant mode, the resonant frequency is 4918Hz; when in a 2 nd order resonance state, the resonance frequency is 12174Hz; the 3 rd order resonance state is 30569Hz.
The larger the harmonic mode order of the harmonic oscillator is, the larger the corresponding resonant frequency is. However, too high a resonant frequency increases the accuracy requirement of the post-digitization sampling circuit, and too high a resonant frequency also results in an increase in the demodulation difficulty of the standing wave output signal. The difficulty in designing the standing wave sampling and processing circuit of the circuit part is increased. And along withnThe circumferential vibration mode of the harmonic oscillator is more complex, the increase of the circumferential wave number increases the assembly difficulty of the reading and driving signal electrodes, and the position deviation is easy to occur during the assembly, so that the self precision of the harmonic oscillator is influenced. When (when)nWhen the frequency bandwidth of the excitation voltage is smaller than 2, the frequency bandwidth requirement of the excitation voltage is increased, and the resonance frequency which is too small needs a correspondingly narrow working bandwidth to obtain the required signal-to-noise ratio. Only when the harmonic oscillator is in the 2-order working mode, the resonance frequency of the harmonic oscillator can be based on a wide signal input bandwidth, and meanwhile the harmonic oscillator has the cost problem. In the embodiment, a second-order resonance mode with the circumferential wave number of 2 is selected as a working state of stable starting of the harmonic oscillator.
When the vibration mode of the hemispherical harmonic oscillator is at second ordern=2), the 2-order degenerate vibrational mode of the harmonic oscillator is periodically moved according to the following four phases: in the first stage of resonance, the lip edge of the harmonic oscillator is changed from a circular shape to an elliptical shape; in the second phase of resonance, the lip edge of the harmonic oscillator returns to a circular shape; in the third phase of resonance, the lip edge of the harmonic oscillator becomes elliptical, but the major axis and the minor axis of the ellipse are interchanged compared with the first phase; in the fourth phase of resonance, the original circular shape is restored. The waveform at resonance produces a standing wave with four equally spaced antinodes and nodes. The antinode is the four points furthest from the center that the standing wave may reach, and the wave node is the follow-upThe position of the four points is always kept unchanged along with the vibration of the standing wave.
FIG. 3 shows that the vibration mode in this embodiment is at second ordern=2), the change relationship between the antinode 32 and the node 33 of the vibration state of the resonator 31 can be seen from the diagram.
The main mode is generally a standing wave obtained by applying a driving voltage to a driving electrode by a driving circuit to generate a resonant frequency of a resonator and maintaining the resonant state. When no external angular rate is input, the mode of the hemispherical harmonic oscillator is the main mode. However, the hemispherical resonator rotates around the center of the hemispherical resonator during vibration, and then a new vibration mode is sensitive from the vibration mode direction, and the vibration mode direction is geometrically 45 degrees from the main vibration mode direction. Since the node point of the main mode is exactly the antinode point of the secondary mode, the vibration signal of the main mode cannot be detected in the antinode direction of the secondary mode. Similarly, since the node of the secondary mode is exactly the antinode of the primary mode, the vibration signal of the secondary mode cannot be detected in the antinode direction of the primary mode. In summary, the secondary vibration mode and the primary vibration mode are independent from each other. The superposition of the main vibration mode and the auxiliary vibration mode forms a new vibration mode, namely a new vibration mode generated after the hemispherical harmonic oscillator rotates around the central axis. Or, the actual vibration mode of any hemispherical harmonic oscillator can be decomposed along the directions of the main vibration mode and the auxiliary vibration mode.
From the above, it is clear that the antinode and the node are stable with respect to the housing in the absence of the external interface input rotation speed, i.e., in the stationary state. Under the excitation action of the output voltage of the driving electrode, the hemispherical harmonic oscillator maintains stable second-order four-antinode oscillation. When a certain rotating speed is applied to the outer interface, the hemispherical harmonic oscillator generates a God effect when rotating around the central axis, so that the standing wave position moves reversely relative to the shell. FIG. 4 shows a schematic diagram of the precession change of the standing wave when a certain rotational speed is applied to the external interface, from which it can be seen that the harmonic oscillator 31, antinode 32 and node 33 maintain the standing wave 41 unchanged in the second order vibration mode when no motion is applied to the external interface, and the resonant gyro when a certain rotational speed is applied to the external interfaceThe hemispherical shell generates precession, which is generated by the resonant mode of the harmonic oscillator relative to the harmonic oscillator 31, and can be divided into a standing wave precession 42 and a shell precession 43, wherein the precession angle of the standing wave precession 42 isθThe method comprises the steps of carrying out a first treatment on the surface of the The precession angle of the housing precession 43 isΦSpecifically, the precession angle of the housing precession 43ΦWhen the resonator 31 is rotated by a certain angle around the central axis in the inertial space, the standing wave precession 42 and the case precession 43 have the following relationship:θ=kΦwhereinkThe precession factor is expressed and is related to the material from which the hemispherical resonator is made.
From the foregoing, it can be seen that, for the hemispherical resonator gyro, demodulation of the standing wave output electric signal detected by the detection electrode is related to accuracy of the output result of the hemispherical resonator gyro, for this embodiment, a hemispherical resonator standing wave output electric signal demodulation method of the hemispherical resonator gyro is provided, and fig. 5 shows a flowchart of this embodiment. Specifically, the method comprises the following steps:
and step 1, amplifying an output signal on the detection electrode by an amplifier, and inputting the amplified signal into the adaptive filter for filtering to obtain a standing wave output signal.
Specifically, detecting the output signal on the electrode may comprise the sub-steps of: 8 detection electrodes are arranged on the horizontal plane of the gyro base, the 8 detection electrodes are divided into 4 groups, and a signal amplifier is arranged at each group of signal output ends; the electric signal amplified by the signal amplifier is input to the first filter.
In this embodiment, 8 detection electrodes are provided on the horizontal plane of the base of the hemispherical resonator gyro. Fig. 6 shows a schematic distribution diagram of the planar detection electrodes in this embodiment, in which the positional relationship between the lower lip 61 of the resonator and the detection electrodes 62 can be seen, and P1 to P8 represent 8 detection electrodes placed at different angles. As shown in the figure, toxThe detection electrode having the positive direction of the axis set at 0 ° in this direction is the first detection electrode P1, and 8 detection electrodes are mounted on the gyro base horizontal plane at 45 ° intervals. The second detection electrode P2 positioned in the 45-degree direction, the third detection electrode P3 positioned in the 90-degree direction, the fourth detection electrode P4 positioned in the 135-degree direction and the fifth detection electrode P4 positioned in the 180-degree direction are sequentially arranged in a counter-clockwise mannerAn electrode P5, a sixth detection electrode P6 at 225 °, a seventh detection electrode P7 at 270 °, and an eighth detection electrode P8 at 315 °. According to the second-order four-antinode oscillation characteristics of the harmonic oscillator, two detection electrodes 62 with 180 degrees of angle difference have the same output signals, and the two detection electrodes 62 with 180 degrees of angle difference are divided into the same group to share one output end signal amplifier. Therefore, simplification of an amplifying circuit is realized, and detection efficiency is improved. The first detection electrode P1 and the fifth detection electrode P5 may be a first group, the second detection electrode P2 and the sixth detection electrode P6 may be a second group, the third detection electrode P3 and the seventh detection electrode P7 may be a third group, and the fourth detection electrode P4 and the eighth detection electrode P8 may be a fourth group.
It should be noted that, in the present application, by setting the boss on the base, the driving electrode and the detecting electrode are separately set, the driving electrode is distributed on the side surface of the boss of the base at an interval of 45 °, and the detecting electrode is distributed on the horizontal surface of the base at an interval of 45 °. The circuit design structure is simplified on the basis of not changing the basic structure of the two-piece hemispherical resonator gyro, the frequency division, time division and electrode multiplexing schemes which are complex to design in the traditional two-piece hemispherical resonator gyro are solved, the circuit structure is simplified, and the reliability of the two-piece hemispherical resonator gyro is improved. Meanwhile, due to the fact that complex frequency division, time division and electrode multiplexing schemes are removed, interference can be effectively reduced, the detection electrode can accurately detect the change of standing waves of the harmonic oscillator, pure electric signals can be output more stably, and subsequent signal demodulation is facilitated.
Specifically, the adaptive filter in the present embodiment may be an LMS adaptive filter. The LMS adaptive filter, as an adaptive digital filter based on a least mean square algorithm, is capable of adaptively adjusting the filter coefficients to accommodate time-varying and nonlinear variations of the input signal. Hemispherical resonator gyroscopes are commonly used in the military and aerospace fields, and are typically subjected to harsh operating conditions, which necessarily result in a significant amount of external input noise. The self-adaptive filter can continuously update the self-adaptive filter by adjusting the parameters of the filter according to the real-time error, so as to optimize the signal to be filtered output by the detection electrode.
And 2, constructing a demodulation reference signal according to the characteristics of the working state of the harmonic oscillator.
Specifically, constructing the demodulation reference signal may include:
，
wherein,f x is thatxAxial demodulation reference signal, dimensionless;f y is thatyAxial demodulation reference signal, dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;as the initial phase, the initial phase may be set to 0, dimensionless;θis a precession angle and is dimensionless;f 0 is the natural frequency of the harmonic oscillator, hz;kis a precession factor of a harmonic oscillator, and has no dimension;μthe angular velocity applied to the outside is dimensionless;nthe working state of the harmonic oscillator is dimensionless.
And step 3, inputting the standing wave output signal and the demodulation reference signal into a multiplier to obtain an amplitude component signal.
Specifically, the amplitude component signal may be obtained by:
，
wherein,xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axis, dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;θis a precession angle and is dimensionless.
And 4, inputting the amplitude component signal into a low-pass filter for filtering, and inputting the amplitude component signal filtered by the low-pass filter into an operation circuit for resolving the amplitude component signal to obtain phase difference information.
Specifically, the low-pass filter blocks the high-frequency signal by allowing the low-frequency signal to pass therethrough, thereby achieving the effect of screening out the high-frequency portion. In some extreme cases adaptive filters are prone to high frequency interference, resulting in high frequency distortion of the output signal. In order to ensure the accuracy of the output signal, the embodiment filters the output signal of the adaptive filter by arranging a low-pass filter behind the adaptive filter, thereby ensuring the stability of the signal. While the phase difference information can be obtained byxAmplitude component sum in axial directionyThe amplitude component on the axis is compared and then the inverse tangent is obtained.
And 5, calculating azimuth angles through the phase difference information, and obtaining the angular speed input by the external interface through inversion.
Specifically, the azimuth angle calculated from the phase difference information is obtained by:wherein, f is azimuth, dimensionless;xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axis, dimensionless.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The hemispherical harmonic oscillator standing wave output electric signal demodulation method of the hemispherical harmonic oscillator is characterized by comprising the following steps of:
the output signal on the detection electrode is amplified by the amplifier and then is input into the first filter for filtering to obtain a standing wave output signal;
constructing a demodulation reference signal according to the characteristics of the working state of the harmonic oscillator;
inputting the standing wave output signal and the demodulation reference signal into a multiplier to obtain an amplitude component signal;
inputting the amplitude component signal into a second filter for filtering, and inputting the amplitude component signal filtered by the second filter into an operation circuit for calculating the amplitude component signal to obtain phase difference information;
and calculating azimuth angles through the phase difference information, and obtaining the angular speed input by the external interface through inversion.
2. The hemispherical resonator gyro hemispherical resonator standing wave output electric signal demodulation method according to claim 1, wherein the output signal on the detection electrode comprises the following sub-steps:
8 detection electrodes are arranged on the horizontal plane of the gyro base, the 8 detection electrodes are divided into 4 groups, and a signal amplifier is arranged at each group of signal output ends;
the electric signal amplified by the signal amplifier is input to the first filter.
3. The method for demodulating an output electric signal of a hemispherical resonator standing wave of a hemispherical resonator gyro according to claim 2, wherein the grouping of 8 detection electrodes into 4 groups comprises mounting 8 detection electrodes on a gyro base horizontal plane at 45 ° intervals toxThe detection electrode arranged in the positive direction of the shaft at 0 DEG is a first detection electrode;
the device comprises a first detection electrode, a second detection electrode, a third detection electrode, a fourth detection electrode, a fifth detection electrode, a sixth detection electrode, a seventh detection electrode and an eighth detection electrode, wherein the first detection electrode is positioned in the direction of 45 degrees, the second detection electrode is positioned in the direction of 90 degrees, the fourth detection electrode is positioned in the direction of 135 degrees, the fifth detection electrode is positioned in the direction of 180 degrees, the sixth detection electrode is positioned in the direction of 225 degrees, the seventh detection electrode is positioned in the direction of 270 degrees, and the eighth detection electrode is positioned in the direction of 315 degrees;
the first detection electrode and the fifth detection electrode are in a first group, the second detection electrode and the sixth detection electrode are in a second group, the third detection electrode and the seventh electrode are in a third group, and the fourth detection electrode and the eighth detection electrode are in a fourth group.
4. The method for demodulating an output electrical signal of a hemispherical resonator standing wave of a hemispherical resonator gyroscope according to claim 1, wherein the first filter is an adaptive filter.
5. The method for demodulating an output electrical signal of a hemispherical resonator standing wave of a hemispherical resonator gyro according to claim 1, wherein the second filter is a low-pass filter.
6. The method for demodulating a hemispherical resonator standing wave output electric signal of a hemispherical resonator gyro according to claim 1, wherein the operating state of the resonator is a second-order resonance mode.
7. The method for demodulating a hemispherical harmonic oscillator standing wave output electric signal of a hemispherical resonator gyro according to claim 1, wherein the constructing a demodulation reference signal comprises:
，
wherein,f x is thatxAxial demodulation reference signal, dimensionless;f y is thatyAxial demodulation reference signal, dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;the initial phase is set to be 0 and is dimensionless;θto get inAngle of motion, dimensionless;f 0 is the natural frequency of the harmonic oscillator, hz;kis a precession factor of a harmonic oscillator, and has no dimension;μthe angular velocity applied to the outside is dimensionless;nthe working state of the harmonic oscillator is dimensionless.
8. The hemispherical resonator gyro hemispherical resonator standing wave output electric signal demodulation method according to claim 1, wherein the amplitude component signal is obtained by the following formula:
，
wherein,xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axis, dimensionless;athe long half shaft is a harmonic oscillator resonance mode, and is dimensionless;qthe short half shaft is a harmonic oscillator resonance mode, and is dimensionless;ωas the angular velocity of the harmonic oscillator,rad/ s；tin order to be able to take time,s；ωtangle of rotation for circular motion of harmonic oscillator, °;θis a precession angle and is dimensionless.
9. The method for demodulating an output electric signal of a hemispherical resonator standing wave of a hemispherical resonator gyro according to claim 1, wherein the phase difference information is obtained byxAmplitude component sum in axial directionyThe amplitude component on the axis is compared and then the inverse tangent is obtained.
10. The method for demodulating an output electric signal of a hemispherical resonator standing wave of a hemispherical resonator gyro according to claim 1, wherein the azimuth angle calculated by the phase difference information is obtained by:
，
wherein, f is azimuth angle, dimensionless;xis thatxAmplitude component in axial direction, dimensionless;yis thatyAmplitude component on axisAnd the method is dimensionless.
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