基于频率解调的半球谐振陀螺控制系统设计  

Design of Hemispherical Resonator Gyro Control System Based on Frequency Demodulation

作　　者：关泽源 魏振楠[1] 孙一为 王瑞祺 伊国兴[1] GUAN Zeyuan;WEI Zhennan;SUN Yiwei;WANG Ruiqi;YI Guoxing(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,黑龙江哈尔滨150080

出　　处：《压电与声光》2023年第4期494-498,共5页Piezoelectrics & Acoustooptics

摘　　要：与力平衡模式相比,半球谐振陀螺的全角模式具有测量范围大及线性度高等优点。该文针对现有全角模式解调方案里驻波方位角计算过程中存在的精度损失,以及输出对温度变化敏感等问题,以行波线性叠加原理为基础,提出基于顺时针、逆时针行波同步频率解调的半球谐振子驻波信息解算方法。设计基于频率解调的全角模式半球谐振陀螺多回路控制方法,实现驻波的频率、幅度及正交控制。针对现场可编程门阵列(FPGA)电路算法优化难及浮点运算精度低等问题,设计并实现了现场可编程门阵列+数字信号处理(FPGA+DSP)双核心半球谐振陀螺数字控制电路。通过实物实验验证了该文提出的控制方案及数字控制电路的有效性。实验结果表明,此方法可减小由温度波动引起的谐振频率改变对陀螺输出的影响。Compared with the force-to-rebalance mode,the whole angle mode of the hemispherical resonator gyro has the advantages of large measurement range and high linearity.In order to address the problems that the accuracy loss during the calculation of standing wave azimuth angle in the existing whole angle mode demodulation scheme and the sensitivity of the output to temperature change,based on the principle of linear superposition of traveling waves,the paper proposes a standing wave information solution method of hemispherical resonator gyro based on clockwise and counterclockwise traveling wave synchronous frequency demodulation.A multi-loop control method based on frequency demodulation for whole angle mode hemispherical resonator gyro is designed to achieve frequency,amplitude,and orthogonal control of standing waves.In response to the difficulties in optimizing FPGA circuit algorithms and low floating-point accuracy,a“FPGA+DSP”dual core hemispherical resonator gyro digital control circuit is designed and implemented.The effectiveness of the control scheme and digital control circuit proposed in this paper is verified through physical experiments.The experimental results show that this scheme can reduce the influence of resonant frequency changes caused by temperature fluctuations on the output of the gyroscope.

关 键 词：半球谐振陀螺 全角模式 频率解调 多回路控制 

分 类 号：TN384[电子电信—物理电子学]