| The metal cylindrical gyroscope has the advantages of high precision,small size,long life,and can maintain the performance under extreme conditions.It is suitable for aerospace,precision guided weapons and other cutting-edge fields.The research on metal cylindrical gyroscope in China has experienced a process from scratch,from backward to advanced,and has made great progress under the efforts of many researchers.However,there is still a certain gap with the international leading level.Therefore,it is of great significance to carry out research on metal cylindrical gyroscope technology and improve the ability of independent innovation.The working mode of the existing metal cylindrical gyroscope is usually the working mode of n = 2,which is because the n = 2 mode usually has a larger angular gain and the lowest resonant frequency.However,the metal cylindrical gyroscope with n = 2 mode processed by conventional technology will cause the gyroscope to produce larger frequency splitting and smaller mechanical sensitivity.This paper focuses on a n = 3 mode metal cylindrical gyroscope based on piezoelectric effect and n = 3 working mode.The control system is designed and established by digital measurement and control circuit.The key performance parameters of the n = 3 mode metal cylindrical are tested.In this paper,the control system of the n = 3 mode metal cylindrical gyroscope developed by the research group is studied.The corresponding digital measurement and control circuit is designed and tested.The main work is as follows:(1)Firstly,the research status of the control system of the cylindrical-shaped vibratory gyroscope is described.(2)Secondly,the working principle of the resonator is introduced.Finally,the dynamic model of the n = 3 mode cylindrical gyroscope is analyzed.The dynamic equations of the resonator under ideal conditions and the resonator with error coupling term are derived.The test method of the relative position of the rigid axis,damping axis and driving axis of the resonator is described.(3)The drive closed-loop system and the quadrature correction closed-loop control system based on digital measurement and control circuit are designed.The phase-locked loop and the robust automatic gain control loop are used to provide a stable drive signal for the gyroscope.The specific solution method of the amplitude and phase of the drive displacement and the overall design method of the quadrature correction control system are provided.The composition of the gyroscope output signal is described.Finally,the drive closed-loop circuit and the quadrature correction system are tested.The experimental results show that the overall system has a stable control effect.(4)The test system of the gyroscope is built,and a series of parameters of the scale factor and bias of the gyroscope are measured.During the heating process from-40 °C to 60 °C,the driving amplitude can remain stable,always maintained at about 0.5 V,and the fluctuation does not exceed 2 m V;before adding the orthogonal correction closed-loop control,the detection output has 150 m V;after the orthogonal closed-loop control,the detection output is reduced to8.9 m V.Before and after the orthogonal correction,the detection output amplitude is reduced by 141.2 m V,the scale factor is reduced from 21 m V/°/s to 20 m V/°/s,the angle random walk is reduced from 0.1902 °/√h to 0.1310 °/√h,and the bias instability is reduced from 1.914 °/h to 1.327 °/h.The experimental results show that the n = 3 mode metal cylindrical gyroscope and its measurement and control system designed in this paper have strong stability and low output noise. |
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