Research On Related Technology Of Digital Detection And Control Circuit Of Micro Hemispherical Resonator Gyroscope Based On FPGA

Gyroscope is an important inertial device which is used to detect angular velocity or angle.The hemispherical resonator gyroscope(HRG)has advantages of high detection accuracy,high reliability,high stability and long service life.Due to the influence of the processing technology and the working environment,the micro hemispherical resonator gyroscope is difficult to work in an ideal vibrating state,which makes its performance decline.Therefore,circuit compensation has become necessary.The digital circuit is less affected by the environment than the analog circuit.And it can also lay the foundation for the future of the system in ASIC.For the micro hemispherical resonator gyroscope,design of all-digital detection and control system based on FPGA is mainly studied in this thesis,including circuit system level design,digital simulation and verification,and the turntable test experiment.The circuit system is realized with limited resources.The main achievements are as follows:(1)The basic working principle of the micro HRG is introduced.Then the finite element modal simulation analysis and impedance sweeping frequency test of the piezoelectric resonator structure of the micro HRG are performed.And the working vibrating mode and resonant frequency of the micro piezoelectric HRG are determined.According to the parameters obtained from the test and the characteristics of the HRG material,the transfer function of the HRG is determined by theoretical derivation.(2)The system-level design of the detection and control circuit of the micro HRG for the force balance mode detection scheme is presented.And system modeling and simulation based on Simulink is realized.(3)The design and hardware implementation of the all-digital closedloop detection and control system with the method of the force balance mode based on FPGA are performed with limited resources.(4)The all-digital system designed in this thesis is simulated and verified based on the Spartan-6 FPGA platform.And related experiment is realized.(5)Through gyroscope turntable test experiment of the system,the sensitivity of the gyroscope is obtained to be 1.428 mV/(°/s).The work in this thesis will provide reference and support for the practical research of the digital detection and control circuit of the micro HRG.