基于自校准技术的半球谐振陀螺正交误差的辨识补偿  

Identification and Compensation of the Quadrature Error of Hemispherical Resonator Gyro Based on Self-Calibration Technique

作　　者：苏鹤鸣 陈朝春[1,2,3] 文路 肖凯 王灵草[1,2,3] 韩世川 王涵 林翠平[1,2,3] 刘东生 雷霆 SU Heming;CHEN Chaochun;WEN Lu;XIAO Kai;WANG Lingcao;HAN Shichuan;WANG Han;LIN Cuiping;LIU Dongsheng;LEI Ting(The 26th institute of China Electronics Technology Group Corporation,Chongqing 400060,China;Solid Inertial Technology Enterprise Engineering Technology Research Center of Chongqing City,Chongqing 401332,China;Solid Inertial Technology Engineering Laboratory of Chongqing City,Chongqing 401332,China)

机构地区：[1]中国电子科技集团第二十六研究所,重庆400060 [2]重庆市固态惯性技术企业工程技术研究中心,重庆401332 [3]重庆市固态惯性技术工程实验室,重庆401332

出　　处：《压电与声光》2023年第4期522-525,530,共5页Piezoelectrics & Acoustooptics

摘　　要：在静电刚度校正技术的基础上,结合自校准算法,该文提出了一种实时辨识补偿正交误差的理论模型,并在两件套平面电极的半球谐振陀螺上进行了理论仿真和实验验证。结果表明,该方法不仅适用于半球谐振陀螺的力平衡和全角两种工作模式,还适用于虚拟进动的情况。此外,该文提出的补偿方法不会影响正交环路的控制精度,且对陀螺检测和驱动电路的增益和相位误差不敏感。Based on the electrostatic stiffness calibration technique and combined with the self-calibration algorithm,a theoretical model for real-time identification and compensation of the quadrature error is proposed in this paper,and the theoretical simulation and experimental verification are carried out on a two-piece planer electrode hemispherical resonator gyro.The results show that this method is not only suitable for both the force-rebalance mode and the whole angle mode of the hemispherical resonator gyro,but also for the case of virtual precession.In addition,the compensation method proposed in this paper has no effect on the control accuracy of the quadrature loop,and it is insensitive to the gain and phase errors of the gyro detection and drive circuits.

关 键 词：半球谐振陀螺 正交误差 自校准技术 

分 类 号：TN384[电子电信—物理电子学]