Research And Implementation Of Whole Angle Mode Control Technology Of Hemispherical Resonator Gyro

Hemispherical resonant gyroscope have the advantages of simple structure,high precision,high reliability and long life,and is widely used in military and civilian fields such as aerospace,marine compass,strategic navigation,and oil exploration.The whole-angle mode hemispherical resonant gyroscope is a rate-integrating gyroscope that can directly measure the input rotation angle with excellent performance.In this thesis,the hemispherical resonator gyro is taken as the research object,and the whole-angle mode control technology of hemispherical resonator gyro is studied.The problem that proportional-integral(PI)controller can’t achieve static-error-free control in each control loop is analyzed,and the proportional-integral-resonant(PIR)controller is proposed to design the whole-angle mode control system.On this basis,the time-sharing multiplexing excitation/readout control system is designed,and the identification and suppression algorithm of frequency cracking is designed according to the output of PIR controller,and relevant simulation and experimental verification are carried out.The main research contents of this thesis include:(1)Analysis of basic structure and working principle of hemispherical resonator gyroscope.According to the thin shell theory of hemispherical resonator,the second-order system model is established,the dynamic equation of all-angle mode of hemispherical resonator gyroscope is deduced by the average method,and the control requirements of all-angle mode are analyzed.The principle of electrostatic excitation and capacitance detection of planar electrode of hemispherical resonator gyroscope is analyzed.(2)Research on whole-angle mode control system of hemispherical resonator gyroscope.According to the control requirements,the overall framework of the whole-angle mode control system is designed.In this thesis,the problem that all control loops in whole-angle mode can’t realize static-error-free control is analyzed,and PIR controller is used to design amplitude and quadrature loops and verify them by simulation.On this basis,the digital control system is implemented based on FPGA,and relevant experimental tests are carried out.(3)Research on time-division multiplexing excitation/readout control system of hemispherical resonator gyroscope in whole-angle mode.Based on the continuous control system,the time-sharing control system is designed and tested according to the characteristics of the harmonic oscillator and the whole-angle working mode.(4)Research on angle-dependent bias suppression technology.The source of angledependent bias is analyzed by the dynamic equation,and the online identification of frequency cracking error is studied based on the output of proportional-integral-resonant controller,and the identification algorithm is verified by simulation.After modeling the frequency cracking error,the error suppression technology is studied by using the technical principle of electrostatic negative stiffness effect.Based on this,the control loop is designed and verified by experiments.(5)Performance test of the whole machine.Test the scale factor and zero bias of continuous control system and time-sharing control system respectively.The test results show that both the continuous control system and the time-sharing control system have realized the basic functions of whole-angle mode,which is feasible.