Design And Realization Of All Digital Rebalance Circuit For Gyroscope

Gyroscope is a very important measuring component in inertial navigation system, which senses the angular motion that vehicle relative to the inertial space. It is extremely widespread applied in the astronautics aviation, as well as other some domains. Liquid floated reactive rate gyro is one of the most widespread applied gyroscope, rebalance circuit and gyroscope working together could measure the angular velocity. So it is of great significance to design high precision and higher anti-disturbance rebalance circuit. This paper is based on this consideration to design the all-digital balance loop. Based on the gyroscope Dynamics Principle and the Kinematics Analysis Principle, the paper set up definitely indicated the input angle, the output angle, made dynamical analysis on rotor reference frames and case reference frames, deduced out the gyroscope open loop transfer function model, and analyzed its spectrum.;Based on a large number of study reports, The structural characteristics of analog and digital rebalance loop are analyzed. The advantages and shortcomings of two loops are compared. The study of pulse rebalance loop is determined according to the Liquid floated gyroscope structural characterization.The contents including:Analyzed the relevant content of active disturbances rejection controlling (ADRC), according to the framework of the ADRC,the paper give the function description of the tracking differentiator (TD) nonlinear emendation and the extended states observer (ESO) and then dive the function description of nonlinear emendation and We also analyze the characteristic of the parameters of TD, nonlinear emendation and ESO.We also analyze the characteristic of the parameters of TD, nonlinear emendation and ESO; Designed the rebalance circuit based on the ADRC, mainly including: the control scheme of stabilizing systems with ADRC is designed and the parameters of ADRC are settled. The simulations have shown that stabilizing system with ADRC has a good control capability; Analyzed the characteristic of the input signal of the rebalance circuit, using the under-sampling technique to process the rebalance signal ,and then design an IIR two order Butterworth low pass digital filer .By computer simulation with matlab, validate the feasibility of processing the signal by the under-sampling technique; It use TI Corporation TMS320F2812 DSP as the hardware electric circuit core to design a digital pulse rebalance loop, through the DSP control the A/D to sample the gyro signal, and realize digital ADRC control, then outputs two PWM to the gyroscope moment. It also has designed the DSP related software procedure.