速率积分半球谐振陀螺双通道同步测控系统

吴洪博; 魏振楠; 伊国兴; 王宁; 关泽源

doi:10.15892/j.cnki.djzdxb.2024.05.007

弹箭与制导学报 >

2024 , Vol. 44 >Issue 5: 54 - 62

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.05.007

速率积分半球谐振陀螺双通道同步测控系统

吴洪博 ,
魏振楠 ,
伊国兴 ,
王宁 ,
关泽源

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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

魏振楠(1992—),男,讲师,博士,研究方向:惯性传感器、惯性导航、组合导航。

吴洪博(2000—),男,硕士研究生,研究方向:半球谐振陀螺仪。

收稿日期: 2024-07-27

网络出版日期: 2024-12-18

基金资助

黑龙江省博士后面上资助项目(LBH-Z22134)

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Rate-integrating Hemispherical Resonator Gyro Dual-channel Synchronous Measurement and Control System

WU Hongbo ,
WEI Zhennan ,
YI Guoxing ,
WANG Ning ,
GUAN Zeyuan

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Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150080, Heilongjiang, China

Received date: 2024-07-27

Online published: 2024-12-18

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摘要

半球谐振子驻波精准矢量检测与激励是实现速率积分半球谐振陀螺的关键。文中提出了一种基于正交方位振动信号同步检测激励的速率积分半球谐振陀螺双通道同步测控方案,并通过实物实验对该方案的有效性进行了验证。首先,优化了谐振子驻波解调方案;其次,设计了适用于双通道同步测控模式的速率积分半球谐振陀螺多回路控制方法,实现了驻波的频率跟踪和幅度、正交控制,并加入角位置预测方案,保证了检测、驱动的同步性;然后,针对FPGA浮点数运算能力弱及参数调试和算法优化困难等问题,设计并实现了基于“FPGA+DSP”的双数字核心架构半球谐振陀螺控制电路。该电路在保证测控系统时序特性的同时,提高了系统的运算精度和编译效率;最后,利用实物实验对所设计的半球谐振陀螺多回路控制方法进行了验证。实验结果表明,文中设计的双通道同步测控系统有效实现了半球谐振陀螺速率积分控制模式,陀螺角速率输出噪声标准差达到0.001 °/s以下,标度因数非线性度达到1.298×10^-5量级。

关键词： 半球谐振陀螺; 速率积分模式; 双通道同步测控; 驻波控制; 模数混合电路

本文引用格式

吴洪博 , 魏振楠 , 伊国兴 , 王宁 , 关泽源 . 速率积分半球谐振陀螺双通道同步测控系统[J]. 弹箭与制导学报, 2024 , 44(5) : 54 -62 . DOI: 10.15892/j.cnki.djzdxb.2024.05.007

Abstract

Accurate detection and excitation of standing wave vector on hemispherical resonator are crucial for achieving rate-integrating hemispherical resonator gyro (RI-HRG). In this work, a dual-channel synchronous measurement and control scheme based on synchronous detection and excitation of orthometric azimuth vibration signals is proposed for RI-HRG and the effectiveness of this scheme has been verified with experiment. Firstly, the demodulation scheme for the standing wave on resonator is optimized. Secondly, a multi-loop control method suitable for the dual-channel synchronous measurement and control mode of RI-HRG is designed, achieving frequency tracking, amplitude and quadrature control of the standing wave,and an angular position prediction scheme is involved to ensure the synchronization of detection and driving. Then, to overcome the weak capabilities of FPGA floating-point computation and the difficulties in parameter debugging and algorithm optimization, a dual-digital-core control circuit based on “FPGA+DSP” is designed and implemented. The dual-digital-core control circuit greatly enhances computational accuracy and compilation efficiency while ensuring the timing characteristics of the synchronous measurement and control system. Finally, the proposed multi-loop control method for the RI-HRG is validated with experiments. The experimental results show that the rate-integrating control mode of the HRG is implemented effectively with dual-channel synchronous measurement and control system designed in this paper, and the performances of gyro, such as angular rate output noise and scale factor nonlinearity, has been improved. The gyro's angular rate output noise standard deviation reaches below 0.001°/s, and the scale factor nonlinearity reaches 1.298×10^-5.

Key words： hemispherical resonator gyro; rate-integrating mode; dual-channel synchronous measurement and control; standing wave control; mixed-signal circuits

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