| 摘要: |
| 介绍了在信号处理的过程中，施加对波腹点、波节点的控制以及谐振频率实时跟踪，从而在谐振振型实时进动的情况下保证谐振振型的稳定，降低陀螺敏感误差；同时对两路相互正交的谐振子谐振信号进行提取和信号处理，得到谐振滞后角度以及陀螺所在载体的转动角度。对该方法进行了数值建模仿真，验证了该方法的可行性。 |
| 关键词: 半球谐振陀螺 全角模式 波腹点控制 波节点控制 频率跟踪 |
| DOI： |
|
| 基金项目:上海市科技人才计划项目（18XD1421700） |
|
| Signal Processing and Control Method of Whole Angle Mode Hemispherical Resonator Gyros |
| ZHANG Lan-xin,ZHAO Wan-liang,LI Shao-liang,CHENG Yu-xiang,WANG Wei |
| (Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;Shanghai Engineer Research Center of Inertia, Shanghai 201109, China) |
| Abstract: |
| In the method proposed by this paper, by the control of antinode and wave node and the real-time tracking of resonant frequency in the process of signal processing, the stability of resonant mode is ensured and the error of gyroscope is reduced during real-time precession.And the resonance signal of two orthogonal harmonic oscillator is extracted and processed, the resonance lagging angle of the resonator vibrating pattern as well as the rotation angle of the gyro carrier are obtained.A numerical simulation is performed and the simulation results show the feasibility of the proposed method. |
| Key words: HRG Whole angle mode Antinode control Wave node control Frequency tracking |
