Research On Damping Compensation Method Of Rate Integrating Vibratory Gyroscope Based On Virtual Modulation

Hemispherical Resonator Gyroscope(HRG)is a solid vibratory gyroscope based on the Coriolis effect.It obtains the rotation information of the outside world by measuring the position of the precession angle of the standing wave of the harmonic oscillator.The hemispherical resonator gyroscope has been a research hotspot in the field of inertial navigation devices in recent years due to its ultra-high accuracy,ultra-long mean time between failures,easy maintenance and easy miniaturization.Among them,the hemispherical resonator gyroscope in the full-angle mode is more valued by researchers at home and abroad because of its larger dynamic range and more accurate scaling factor.In this paper,starting from the vibration model of the hemispherical resonator gyroscope,the ideal and non-ideal elliptic parameter equations of the hemispherical resonator gyroscope are derived.According to the elliptic parameter equation of the hemispherical resonator gyroscope under non-ideal conditions,the error of wave amplitude and precession angle is analyzed and simulated.The results show that the asymmetry of harmonic oscillator damping is the main source of error of the current full-angle hemispherical resonator gyroscope.The asymmetry of harmonic oscillator damping will cause fluctuations in the main wave amplitude and quadrature wave amplitude of the full-angle hemispherical resonator gyroscope.At the same time,it will cause regular gyro precession angles.Angle drift phenomenon,by analyzing the angle drift error frequency,it is found that the angle drift error frequency caused by damping asymmetry is four times the precession angle frequency.Therefore,the angle drift error caused by damping asymmetry is called quadruple frequency error.Secondly,the damping asymmetry error parameters of the hemispherical resonator gyroscope are studied.This paper proposes to use the recursive least squares algorithm,the least mean square algorithm and the extended Kalman filter algorithm to quantify the damping asymmetry parameters of the hemispherical resonator gyroscope for subsequent follow-up.Error analysis and compensation.This article analyzes the principles of the three algorithms,and then conducts modeling and simulation based on the characteristics of different algorithms.Based on the convergence speed of the algorithm,the accuracy of the algorithm estimation and the complexity of the algorithm,it is judged that the recursive least squares algorithm is the most suitable algorithm for the identification of the damping asymmetry parameters of the hemispherical resonator gyroscope.Then,the control scheme of the full-angle hemispherical resonator gyroscope is introduced.On the basis of the existing control scheme,the virtual modulation technology is proposed to compensate the asymmetry of the hemispherical resonator gyroscope damping.The compensation process can be described as:First,use the parameter identification algorithm to identify the damping asymmetry parameters of the hemispherical resonator gyroscope,and then set the virtual modulation force so that the size of the virtual rotation can eliminate the angle drift caused by the asymmetry of the hemispherical resonator gyroscope’s resonator.Error,and finally verify the feasibility of the compensation scheme by building a complete simulation model in Simulink.Finally,a rate integrating hemispherical resonator gyroscope experiment platform was built to test the damping error form,parameter identification results and damping compensation effect of the hemispherical resonator gyroscope.The test results show that the hypothesis of the damping asymmetry of the hemispherical resonator gyroscope is reasonable;the damping anisotropy parameter identification algorithm proposed in this paper can accurately identify the damping anisotropy parameters of the harmonic oscillator;the virtual-based The damping compensation method of modulation technology can reduce the overall angular drift error of the rate integrating hemispherical resonator gyroscope by 41.9%,and reduce the fourth harmonic of the rate integrating hemispherical resonator gyroscope by 96%.