Digital rate integrating gyroscope control method based on parametric excitation and platform

Abstract

The invention relates to a digital rate integrating gyroscope control method based on parametric excitation and a platform. The method comprises the steps that 1, rate integrating gyroscope syntropy reference quantity, an orthogonal reference quantity initial value, and a rate integrating gyroscope vibration energy preset value are set; 2, rate integrating gyroscope X and Y axis motion output voltage digital quantities are collected and detection component error correction is performed; 3, the corrected X and Y axis motion output voltage digital quantities are subjected to 0 and 90-degree phase-sensitive demodulation; 4, intermediate variables are calculated; 5, phase-sensitive demodulation reference signals, parametric excitation drive voltage phase reference signals and drive voltage phase reference signals are calculated; 6, X and Y axis parametric excitation drive voltage digital quantities are calculated; 7, a sine value and a cosine value of the gyroscope vibration angle are calculated; 8, X and Y axis drive voltage digital quantities are calculated; 9, the phase-sensitive demodulation reference signals are subjected to 0 and 90-degree phase conversion to be adopted as the syntropy reference quantity and the orthogonal reference quantity of a next sampling moment, and the step 2 is executed.

Description

technical field [0001] The invention belongs to the technical field of sensor detection and control, and in particular relates to a parameter excitation-based digital rate-integrating gyroscope control method and platform with an error correction function. Background technique [0002] Due to its small size, low power consumption, and low cost, the Coriolis vibrating gyroscope has become a very popular technical field and has been widely used. At present, there are two main development trends of Coriolis vibrating gyroscopes, one is a mass-market low-cost type for the mass consumer market, and the other is a high-precision type for the military field. For the second requirement of the development of the Coriolis vibrating gyroscope, it is necessary to explore methods to improve the accuracy of the Coriolis vibrating gyroscope. [0003] Coriolis vibrating gyroscopes can be divided into rate gyroscopes and rate-integrating gyroscopes according to the output physical quantity....

AI Technical Summary

Problems solved by technology

However, due to the uncertainty of material properties and processing, gyroscopes have non-ideal properties such as anisotropic elasticity and anisotropic damping.

In a rate-integrating gyro, the harmonic oscillator vibrates freely, making the measurement accuracy susceptible to gyro non-idealities and presenting control challenges

Among them, anisotropic elasticity and anisotropic damping are the two main error sources of the rate-integrating gyroscope, and anisotropic elasticity and anisotropic damping will cause a quadrature vibration with a phase orthogonal to the main vibration of the gyroscope, resulting in an angular output error, And if the anisotropic elasticity and anisotropic damping are too large, the rate integral mode will also fail

In addition, the error of the motion detection part of the gyro structure, the error of the drive part and the error of the circuit gain will further cause the output error of the rate integrating gyro

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