| The hemispherical resonant gyro is a new type of vibrating gyro,which has the characteristics of high precision,high reliability and long life.The whole-angle mode hemispherical resonant gyro has the advantage of a wide range of angular rate output,which can meet the requirements of accurate positioning,high-speed cruise,and precision strikes for aerospace weapons in the national defense field.Compared with traditional mechanical gyro and optical gyro,its two-piece structure is simpler,smaller and lighter.Its manufacturing process is more suitable for mass production,and can provide the necessary guarantee for the mass production of equipment such as space satellite,aeronautical weapon,ship,and submersible.However,due to the immature manufacturing process of the whole-angle mode hemispherical resonant gyro,there are few people research the whole-angle mode hemispherical resonant gyroscope control circuit.This subject proposes a set of control schemes for the whole-angle mode hemispherical resonant gyro,and designs and implements a complete control circuit.The subject research content is as follows:Establish the dynamic model of the hemispherical resonator gyroscope in an ideal state according to the thin shell theory and elastic mechanics theory,and finally give a more detailed dynamic model after adding the elastic axis and the damping axis error influence in turn.Based on the principle of equivalent capacitor,the detection mechanism and driving mechanism of the whole-angle mode hemispheric resonant gyro are deduced and analyzed.According to the detection signal demodulation method of the hemispherical resonant gyro proposed by Lv Zhiqing,the whole-angle mode hemispherical resonant gyro control scheme is designed,and three control loops are designed: frequency-phase tracking loop,amplitude control loop,and quadrature control loop.And designed an infinite impulse response filter according to the demand,and finally gave the overall control logic block diagram.According to the well-designed control scheme,the DSP+FPGA dual-core architecture control circuit board is designed and implemented.Use high-precision floating-point number DSP to complete signal calculation,PID control,etc.,use FPGA to complete the control of the hemispherical resonant gyro.And realize the programming of DSP,FPGA,give the program flow chart finally,give the main code of the program in the appendix.Built a test platform for the hemispherical resonant gyro,and tested various performances of the control circuit,such as: DSP data processing speed,DSP power consumption,FPGA power consumption,AD/DA circuit power consumption,etc.Various indicators of the hemispherical resonant gyro system were tested,such as the gyro start-up time,zero-drift stability,random walk,etc. |
