力平衡模式下半球谐振陀螺正交误差控制  

Quadrature drift control of hemispherical resonator gyro under force-to-rebalance mode

作　　者：王旭[1] 吴文启[1] 方针 罗兵[1] 李云[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073 [2]压电与声光技术研究所,重庆400060

出　　处：《仪器仪表学报》2012年第4期936-941,共6页Chinese Journal of Scientific Instrument

基　　金：国家863计划(2006AA12Z319)资助项目

摘　　要：针对力平衡半球谐振陀螺的正交漂移问题,对半球谐振陀螺的漂移机理进行了理论建模与分析。引起半球谐振陀螺漂移的主要因素是谐振子的频率裂解以及周向振元衰减时间常数不一致。谐振子振元衰减时间常数不一致主要导致陀螺产生同相漂移;而谐振子频率裂解主要导致陀螺产生正交漂移。同相漂移由于和外界输入角速率所产生的哥氏力相位相同,因此无法从陀螺的输出中剔除,只能通过标定进行补偿。正交漂移则可通过正交控制回路改变谐振子不同方位角上的刚度系数予以消除。为了将谐振子的频率裂解抑制到最小,将陀螺正交漂移项作为正交回路的误差反馈量,实现了基于FPGA的全数字控制方案。实验结果表明,此控制方案可以有效地降低谐振子的频率裂解,抑制半球谐振陀螺的正交漂移。Aiming at the quadrature drift problem in hemispherical resonator gyro（HRG）,theoretical modeling and analysis of the drift mechanism in the HRG were carried out.The main factors that induce the drift of HRG outputs are frequency split and inhomogeneous damping.The inhomogeneous damping mainly introduces in-phase drift,while the frequency split mainly introduces quadrature drift.The in-phase drift,which is in phase with the Coriolis signal,can not be eliminated from the output of HRG,but only can be compensated through calibration.The quadrature drift can be eliminated with the method that changes the boundary stiffnesses of the resonator through introducing a quadrature control loop.In order to minimize the frequency split,the quadrature drift is taken as the feedback signal and an FPGA based digital control scheme was implemented.Experiment results show that the frequency split could be eliminated effectively through using the proposed method and the quadrature drift is suppressed.

关 键 词：半球谐振陀螺 正交漂移 正交控制回路 

分 类 号：U666.1[交通运输工程—船舶及航道工程]