Research On Force To Rebalance Control System Of Hemispherical Resonance Gyroscope Based On PCB Planar Electrode

Hemispherical resonant gyro(HRG)has the advantages of simple structure,small mechanical loss,convenient maintenance,radiation and impact resistance,long life and high reliability.It has a wide range of applications in aerospace and military fields.Northrop Grumman and Safran,the major hemispherical resonant gyro producers abroad,have imposed embargoes on China.The independent development of the hemispherical resonator gyro is of strategic importance to the development of China's aerospace industry.Reducing manufacturing costs contributes to the promotion of hemispherical resonant gyros in the civilian sector.At present,domestic quartz hemispherical resonator gyros mainly use space electrodes,and planar electrodes are used for driving detection of micro gyros.In this paper,the planar electrode scheme of quartz hemispherical resonator gyro is demonstrated,and a simple assembly test method based on PCB planar electrode is proposed,which can greatly reduce the manufacturing cost.The existing hemispherical resonant gyro drive detection mode is mainly in-phase drive detection.This paper analyzes the principle of capacitive differential detection through a ring diode,and derives the formula for the voltage transformation of the small deformation and differential detection of the resonator.The modeling and simulation analysis of the force balance control system of the hemispherical resonant gyro is given.The main vibration mode selects the self-excited oscillation control mode,which has the advantages of simple implementation,easy modification of parameters,fast start-up and strong robustness.Design a hemispherical resonant gyro analog measurement and control circuit.According to the module debugging circuit function,the relationship between the main vibration type detection signal and the different amplitude and the same amplitude and different frequency driving voltage are given,and the feasibility of the planar electrode control scheme is verified.The main work of the thesis is as follows:(1)For the vibration mode simulation,select the appropriate working mode and give the influence of the key structural parameters of the harmonic oscillator on the resonant frequency.The precession analysis of the dynamic model of the hemispherical resonant gyro is carried out,and the two working modes of full angle and force balance are introduced.(2)Demonstrate the characteristics of the space electrode and planar electrode scheme,and simulate the harmonic response of the out-of-plane motion of the harmonic oscillator,which proves the rationality of the planar electrode scheme.An assembly scheme based on PCB planar electrodes is proposed.The principle of capacitance detection and electrostatic force driving of plane electrode is given.The principle of capacitance differential detection by ring diode is analyzed.The formula of the small deformation of the harmonic oscillator and the detection voltage value is derived.(3)The system model of the main mode of the hemispherical resonant gyro is controlled by closed-loop control and self-oscillation based on phase-locked loop.The stability analysis of the two control modes is performed by the averaging method.Establish a control model for the orthogonal control loop and the force balance control loop from the mode control.The simulation verification of the above loop is completed.(4)Design 90 o precision phase shifting,full-wave rectification,low-pass filtering,bandpass filtering,AC amplification and DC high-voltage driving circuit in the hemispherical resonant gyro analog measurement and control circuit,and verify the circuit function through Simulation.(5)Mounting tests on the head and circuit of the hemispherical resonator gyro.Design the circuit PCB to determine the direction of the signal and the physical connection.The debugging of each circuit module completes the function verification of the control circuit.A hemispherical resonator gyro is assembled.The relationship between the main mode detection signal and the driving voltage of different amplitudes and the driving voltage of different frequencies is given,and the feasibility of the control scheme under the plane electrode is verified.