A NMR Gyro Adaptive Dynamic and Static Closed-loop Control Method

Abstract

A nuclear magnetic resonance gyro self-adaptive dynamic and static closed-loop control method, including gyro dynamic work and static work adaptive discrimination strategy, dynamic work closed-loop parameter adaptive adjustment method, static work closed-loop parameter adaptive adjustment method and self-adaptive integral method. The invention performs mean square statistics on the long-term input closed-loop error, and then divides the dynamic working state and the static working state of the gyroscope through the setting of the soft threshold, which has a high degree of confidence and is beneficial to the gyroscope closed-loop output in different situations. More precise closed-loop control. In addition, through the dynamic adjustment of the closed-loop coefficient, the static and dynamic response ability is improved. Finally, the present invention performs selective input control on the integral quantity of the closed-loop control, which can play the role of the integral term in the closed-loop control, and can effectively avoid the influence of long-term noise accumulation on the drift of the gyro output.

Description

technical field [0001] The invention belongs to the field of nuclear magnetic resonance gyroscope closed-loop control, in particular to a nuclear magnetic resonance gyroscope adaptive dynamic and static closed-loop control method. Background technique [0002] Atomic gyroscope is a new type of gyroscope that appeared after rotor gyroscope, optical gyroscope and MEMES gyroscope. Field, temperature field and other manipulation means to obtain the motion state of atoms, and thus indirectly obtain the motion state of the carrier. [0003] The current atomic gyroscopes are mainly divided into nuclear magnetic resonance gyroscopes, SERF gyroscopes and atomic interference gyroscopes. Among them, nuclear magnetic resonance gyroscopes can meet the requirements of high precision and small size, and have a higher degree of engineering. Research priorities and hotspots in the field of inertial technology. [0004] As an angular velocity measurement sensor, the nuclear magnetic resonan...

AI Technical Summary

Problems solved by technology

The closed-loop output of the nuclear magnetic resonance gyroscope is realized by PI control. In the ordinary PI control, the coefficients of each control variable are fixed, which cannot well meet the working characteristics of the nuclear magnetic resonance gyroscope in different motion states. , so how to change the control coefficient in real time according to the motion state of the gyro to achieve excellent PI control is the key to improving the performance of the gyro

[0005] The long-term static stability of the gyroscope is closely related to the integral term of the PI control, and this integral term is a long-term accumulation result of the real-time closed-loop feedback error of the gyroscope. These noises come from the comprehensive effect of optical components, magnetic field environment, structure and circuit, and generally do not belong to common symmetrical distributions such as Gaussian or uniform. This bias will be reflected in the integral term, causing long-term drift in the static characteristics of the gyroscope, which will seriously affect the use

Moreover, when the gyro is working, it is impossible to regularly correct this drift offline or online, so how to eliminate the drift caused by long-term accumulation of noise is a very important issue

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