Servo Control System Of Liquid Floated Gyro Based On FPGA

Liquid floated gyroscope is a angular velocity sensor developed by rotating rigid body with fixed axis.Since the beginning of last century,it has become the main axis of research and development to improve sensitivity,accuracy,reliability and life.Because of its high accuracy,high sensitivity,small volume,easy integration,mature and reliable technology and other advantages..In this paper,the working principle,classification,design,error analysis,error reduction measures,gyro test and data processing of the liquid buoyancy feedback rate gyroscope are studied.Discussed focuses on the signal modulation and detection method of liquid floated rate gyro feedback design,sensor,actuator,and a control loop and its related key technology,laid the foundation for the detailed design to carry out the type of fog.The specific research objectives are as follows: 1.servo circuit and the power converter and gyro head form the gyro combination to complete the system test.2.complete the design of gyro digital rebalance loop.3.FPGA each module programming,debugging and simulation.4.complete the design of FPGA function module.In the FPGA hardware language,we should do: 1.,hardware language design modular.2.each task module statement is concise.3.program statement written to meet the requirements of GJB-5000 A in the preparation of military software.The method of processing the output signal of the signal is studied.The output voltage signal corresponding to the gyro's angular velocity is demodulated by the signal demodulation circuit.The gyro torque device consists of a set of coils,driven by the current,to select the power amplifier driver.Considering the small surface area of printed boards,the integrated power amplifier is used instead of transistors and operational amplifiers to build the current driving stage and the signal amplifying part.The expression of the scale factor of the torque converter is derived,and the measures of the calibration factor of the torque converter are given.By calculating the resistance value of the sampling resistance,the gyro output signal can be obtained,and the gyro scale factor can be calculated,and the sensitivity of the gyro angular velocity can be measured.The rebalance loop of liquid buoyancy feedback rate gyroscope is designed,which uses proportional integral integration control,inertial correction and parameter optimization.Aiming at the system design of liquid buoyancy feedback rate gyroscope,the gyroscope is introduced into the systemThe theoretical sensitivity and error analysis are given.The error of gyro is determined by acceleration error,inertial error and frame inertia product error,Finally,the main technical parameters and test methods of liquid buoyancy feedback rate gyroscope are introduced.Simulation and test results show that the gyroscope achieves the required performance parameters,and can meet the application requirements.