基于虚拟科氏力的半球谐振陀螺带宽电学自标定方法  

An Electric Self-Calibration Method for Bandwidth of Hemispherical Resonator Gyroscope Based on Virtual Coriolis Force

作　　者：李天元 李崇[1] 潘瑶[2] 唐兴缘 LI Tianyuan;LI Chong;PAN Yao;TANG Xingyuan(Micro-System and Precision Control Laboratory,Ocean University of China,Qingdao 266000,China;State Key Lab.of Electronic Thin Films and Integrated Devices,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]中国海洋大学微系统及精密控制实验室,山东青岛266000 [2]国防科技大学前沿交叉学科学院,湖南长沙410073

出　　处：《压电与声光》2023年第4期526-530,共5页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(62171420);中央高校基本科研业务基金资助项目(202262004)。

摘　　要：半球谐振陀螺是一种高精度的惯性器件,在航空航天等领域有着重要的应用,但其本征带宽较低,对其力平衡控制回路及带宽测试方法要求较高。该文提出一种新型的基于虚拟科里奥利力的半球陀螺带宽电学快速测试方法,可代替角振动台等昂贵仪器对半球陀螺进行迅速自标定,从而为半球陀螺的高性能控制回路设计方法和批量化测试提供一种新的技术解决方案。首先在基础理论层面分析半球谐振陀螺动力学方程,建立起本征带宽系统模型,为虚拟电旋转的引入和自标定方法提供了理论基础。随后设计了基于虚拟科氏力的电旋转激励信号,并将其集成到陀螺接口电路系统中。最后设计了力平衡控制回路,并对该电学自标定方法进行了实验验证。实验结果表明,虚拟电旋转法能在不借助外部设备的情况下,有效准确地对半球陀螺带宽进行测试和标定,从而有效地促进高性能力平衡控制方法的开发和提高半球陀螺带宽测试效率。The hemispherical resonator gyroscope(HRG)is a high-precision inertial device with important applications in aerospace and other fields,but its intrinsic bandwidth is narrow,and there are high requirements for the force-to-rebalance(FTR)control loop and bandwidth testing methods.In this paper,a new fast electric testing method for the bandwidth of the hemispherical gyroscope based on the virtual Coriolis force is proposed,which can replace the expensive instruments such as angular vibration table to carry out rapid self-calibration of hemispherical gyroscope,thereby providing a new technical solution for the design method and batch testing of hemispherical gyroscope.Firstly,the dynamic equation of the hemispheric resonant gyroscope is analyzed at the basic theoretical level,and the intrinsic bandwidth system model is established,which provides a theoretical basis for the introduction of virtual electric rotation and self-calibration method.Then,the electric rotation excitation signal based on the virtual Coriolis force was designed and integrated into the gyroscope interface circuit system.Finally,the force-to-rebalance(FTR)control loop was designed and was verified by experiment.The experimental results show that the virtual electric rotation method can effectively and accurately test and calibrate the bandwidth of the hemispherical gyroscope without help of external equipment,thereby effectively promoting the development of high-performance force-to-rebalance control methods and improving the efficiency of hemispherical gyroscope bandwidth testing.

关 键 词：半球谐振陀螺 动力学模型 虚拟电旋转 力平衡控制 系统辨识 

分 类 号：TN384[电子电信—物理电子学]