| 摘要: |
| 介绍了半球谐振陀螺全角模式的工作机理及其技术特点。对全角模式下振型的控制进行了理论分析，采用乘法相干解调对陀螺振型参数进行提取，并采用参数激励方法对谐振子进行驱动和控制。设计了数字电路进行实验，结果表明该全角模式控制技术实现了半球谐振陀螺的角速率积分功能，能够0°~360°全角度敏感输出，测得的角速度测量值超过300(°)/s，角度测量线性度优于10-4，与传统的力平衡模式相比，半球谐振陀螺的动态特性得到大幅提升。 |
| 关键词: 全角模式 参数激励 速率积分 |
| DOI： |
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| 基金项目:上海市优秀学术/技术带头人计划资助(18XD1421700) |
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| Study on Whole Angle Mode Control Method of Hemispherical Resonator Gyros |
| ZHAO Wan-liang,YANG Hao,WANG Wei,LI Shao-liang,CHENG Yu-xiang,SONG Li-jun |
| (Nanjing University of Science and Technology, Nanjing 210094, China; Shanghai Aerospace Control Technology Institute, Shanghai 201109, China; Shanghai Engineering Research Center of Inertia, Shanghai 201109, China;Xi'an University of Architecture and Technology, Xi'an 710055, China) |
| Abstract: |
| The working mechanism and technical characteristics of the whole-angle mode of the hemispherical resonantor gyro are introduced. The control metheod of whole-angle mode are analyzed theoretically. The coherent demodulation is used to extract the gyro mode parameters, and the parametric excitation method is used to realize the vibration standing wave control. The digital circuit is designed and tested. The results show that the whole-angle mode control technology realizes the angular rate integration function, achieving 0°~360° whole-angle sensitive output, measured angular velocity measurement exceeds 300(°)/s, and angle linearity is better than 10-4. Compared with the traditional force-to-balance mode, the dynamic characteristics of the hemispherical resonator gyro are greatly improved. |
| Key words: Whole-angle mode Parametric excitation Rate integration |
