Design Of A Digital Rebalance Loop For A Dynamically Tuned Gyroscope

Gyroscope is a very important measuring component in inertial navigation system.Dynamically tuned gyroscope (DTG) is a two degree-of-freedom inertial sensor with aflexible joint, it is used to measure the angular motion that vehicle relative to the inertialspace. As a medium-high precision and low cost inertial sensor, DTG that is one of the mostwidespread applied gyroscope，has been widely used in military，aviation，spaceflight，navigation，land vehicle navigation and earth gauging.Rebalance circuit and gyroscope working together could measure the angularvelocity．So it is of great significance to design high precision and higher anti-disturbancerebalance circuit．The structural characteristics of analog and digital rebalance loop areanalyzed. The advantages and shortcomings of two loops are compared．To overcome theproblems caused by the controller compensation and temperature compensation in the analogrebalance loop, the method and implementation of the digital control of DTG were researchedfor improving the dynamic performance the higher static quality, and anti-interference．Themain contents of this papers are follows：1.The paper introduce the DTG on structure and principle on working in details，andderived of the kinetic model of DTG，deduced out the DTG open loop transfer functionmodel，study of situation of coupling of gyroscopes，and then analyzed the principle on therebalance loop decoupling contro1, get the matrix of control by using of diagonal matrices．2.Based on decoupled model of DTG，frequency field control theory are studied andapplied in the compensation of the rebalance loop in order to improve the characteristic ofdynamic response. By computer simulation with matlab，validate the feasibility of thedead-beat control．3.Combining with the design theory of digital rebalance loop, the digital control systembased on TI Corporation TMS320F2812DSP as the hardware electric circuit core isdesigned。through the DSP control the A／D to sample the gyro signal，and realize digitalcontrol. Combining with the design theory of digital rebalance loop，the circuit including thesignal amplification, appraise demodulation and filtering is designed according to restraincondition as,sampling frequency, quantization error，and choosing and distribute of loopgain，when design the rebalance loop．4.The structure of the system control software and its program flow are designed．At last，theperformance of the whole DTG system is tested．...