Research On Detection And Control Of Vibrating Ring Gyroscope And Triaxial Integration Technology

With the advances of MEMS technologies,silicon micro-machined gyroscopes have developed rapidly.With the advantages of small size,light weight,low power consumption,easy integration,high reliability,good dynamic performance,etc.,it has wide application prospect in military and civilian fields.The measurement and control technology of vibrating ring gyroscope(VRG)and triaxial integration technology are the main research contents of this paper.The measurement and control technology of the single-axis gyroscope is the basis of the triaxial integrated design.The integration methods and coupling error are analyzed in the study of triaxial integration technology which can be used in the application of gyroscopes.The technologies about VRG such as excitation and detection,error analysis and compensation,mode reversal are studied and analyzed in this paper.Besides,the triaxial integration schemes are designed and coupling error is analyzed.The main research contents include:(1)The research of digital measurement and control technology of VRG.Based on the basic theories of VRG,the closed-loop systems of drive mode and sense mode are analyzed by average analysis method.The models of closed-loop excitation based on phase locked loop and automatic gain control and force feedback detection are built in Simulink.Then,measurement and control circuits have been designed and optimized in Printed Circuit Boards(PCB)and Field Programmable Gate Array(FPGA).The results of simulation and experiments show the system can meet requirements of detection and control of VRG.(2)The research of error analysis and drift-corrected technology.Based on analysis of errors of VRG,the error model is established.The relationship of zero bias output in mode reversal is verified and a method to remove zero bias drift based on mode reversal is proposed.Besides,the influence of temperature on zero bias output is analyzed.Temperature is the main factor to make zero bias output to drift.The zero bias temperature compensation model based on the least-square method is established.And experiments verify the effect of compensation.(3)The research of triaxial integration technology.Based on related researches,two kinds of triaxial integration schemes are designed.The solution to get the angular velocities in the integration scheme based on mode reversal is analyzed.Then,the coupling error in system is analyzed and coupling error model is established.The compensation coefficients can be obtained by calibration experiments.Last,the method was applicated in triaxial orthogonal gyroscopes and verified by experiments.(4)The performance test of gyroscopes.According to the test rules of domestic micromechanical gyroscope,the VRG was tested.The test results show that the digital measurement and control scheme designed in this paper realizes the function of vibrating ring gyroscope with scale factor of-0.6761 mV/°/s,zero-bias instability of 56.90 °/h and angle random walk of 96.33 °/h/?Hz.Because the research of VRG is still in the beginning stage in the laboratory,there are many works to do in structural design,packaging,measurement and control,error suppression and etc.It is hoped that the works in this paper will be worthy for further research.