Hemispherical harmonic oscillator parameter identification method

Abstract

The invention relates to a hemispherical harmonic oscillator parameter identification method. The method comprises the steps of self-excitation angular velocity application, gyroscope internal control force signal output, gyroscope error evolution model and harmonic oscillator parameter inverse solution identification model construction, single-axis forward and reverse rotation self-calibration and the like. A set of rate HRG control system simulation model with a self-excitation control module is constructed, and self-excitation angular velocity application, gyroscope error self-calibration and harmonic oscillator parameter autonomous identification under two inverse solution models can be completed. According to the method, the harmonic oscillator non-equal damping error amplitude and the main shaft deflection angle can be rapidly and autonomously identified by utilizing self-excitation in any stage of a full life cycle in a gyroscope working environment, and the method is a new method for rapidly and autonomously identifying the harmonic oscillator non-equal damping error amplitude and the main shaft deflection angle by utilizing various methods and means, such as self-excitation-based rate / rate integral HRG self-compensation (force compensation), non-equal damping error suppression and resonance mode drift error reduction. The output angular velocity / angular increment precision of the gyroscope is improved, application conditions are created, and a solution is provided.

Description

technical field [0001] The invention belongs to an inertial instrument and a hemispherical resonant gyroscope, and relates to a method for identifying parameters of a hemispherical resonator. Background technique [0002] The dynamic model of hemispherical resonance gyroscope (HRG) proposed by Lynch is: [0003] Among them, x and y represent the vibration displacement signals detected in the 0° and 45° directions of the hemispheric resonator, respectively, and f x , f y are the electrostatic driving force and electrostatic feedback force exerted by the driving electrodes in the x and y directions, respectively, and is the Coriolis force coupling term generated by the Coriolis effect, K is the precession factor, Ω is the excitation angular velocity; τ is the oscillation decay time constant, where τ 1 and τ 2 are the oscillation decay time constants of the harmonic oscillator on the maximum and minimum "damped normal axes", respectively, is the unequal damping err...

AI Technical Summary

Problems solved by technology

However, the difference between the working environment of the harmonic oscillator and the test environment will cause changes in the parameters of the harmonic oscillator. The high-precision measurement operation based on external equipment and strict engineering test methods is complicated, the equipment cost is high, and the time consumption is long. It is difficult to maintain the reliability of the measured parameters in the long-term operation of the gyro if it is not packaged into a gyro meter, which will seriously affect the high-precision maintaining ability of the gyroscope output in the whole life cycle

Images