Hemispherical resonant gyro fully differential control system and method based on time division multiplexing

Abstract

The invention relates to a hemispherical resonant gyro fully differential control system and control method based on time division multiplexing. The control system comprises an electrode driving detection time division switching module, a sensing signal amplitude-phase demodulation module, an error parameter identification module, a working mode switching module, a control parameter calculation module, a time sequence period calculation module, a mode switching calculation module, a driving signal modulation synthesis module and a measurement output module. The sensing signal amplitude-phase demodulation module and the error parameter identification module form an error signal resolving module. The control parameter calculation module, the time sequence period calculation module and the mode switching calculation module form a data calculation unit. By means of time-sharing switching and two-rotation sensing mode difference of driving detection electrodes, gyro output error terms can be counteracted and inhibited, and the control precision of each control loop and stability of the performance of a hemispherical resonant gyro can be guaranteed.

Description

technical field [0001] The invention belongs to the technical field of inertial instrument control, and relates to a hemispherical resonant gyroscope control technology, in particular to a hemispherical resonant gyroscope full differential control system and control method based on time division multiplexing. Background technique [0002] The hemispherical resonant gyroscope is a solid-wave principle gyroscope with long life, high reliability and high precision, and it has the tendency to replace various optical gyroscopes. France and the United States have applied quartz hemispherical resonant gyroscopes to navigation, aerospace, weapons and other fields. Its core sensitive element, the harmonic oscillator, has non-ideal characteristics such as uneven distribution of mass and stiffness and defects due to factors such as material, processing, and process imperfections; at the same time, the geometric and physical properties of the harmonic oscillator are affected by changes ...

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Problems solved by technology

[0004] Aiming at the problem that the solid wave / resonant gyroscope electrode gain error and cross damping error cause the accuracy of the gyroscope to decrease when it works for a long time and the external environment changes, it provides a hemispherical resonant gyroscope full differential control system and control method based on time division multiplexing , the present invention can offset and suppress the output error term of the gyroscope through the time-sharing switching of the drive detection electrode and the difference between the two rotation perception modes, and the present invention can ensure the control accuracy of each control loop and the stability of the performance of the hemispherical resonant gyroscope

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