A rapid diagnostic and compensation method for phase imbalance errors in hemispherical resonator gyroscopes
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摘要:
针对半球谐振陀螺测控系统中两轴检测回路存在的相位不均衡误差，提出基于驻波自进动的陀螺相位不均衡误差快速诊断与补偿方法。通过观察恒速自进动时的正交控制力常值耦合量，得到共有相位误差补偿值，通过观察不同自进动速率下的正交控制力残差，得到差异相位误差补偿值，调整了两轴检测回路解调量的相位不均衡误差补偿值，消除了检测模态下控制力的相互耦合，使谐振子重新工作于谐振状态，降低了陀螺角度相关性零偏(ADB)峰峰值。实验表明：陀螺ADB峰峰值由15.56 (°)/h减小至0.71 (°)/h，降低了约22倍，验证了所提方法的有效性和正确性。
Abstract:Based on standing wave precession, a quick diagnosis and compensation method for phase imbalance faults in two-axis detection loops of hemispherical resonator gyroscopes was suggested. The common phase error compensation value was obtained by observing the constant coupling of orthogonal control forces during constant-speed precession. The differential phase error compensation value was derived by analyzing the residual orthogonal control forces at varying precession rates. The mutual coupling of control forces in the detection mode was eliminated by adjusting the phase imbalance error compensation values for the demodulation quantities of the two-axis detection loops. This restored the resonator to its resonant state and reduced the peak-to-peak value of the angle-dependent bias (ADB). Experimental results showed that the ADB peak-to-peak value decreased from 15.56 (°)/h to 0.71 (°)/h, a reduction of approximately 22 times, validating the effectiveness and correctness of the proposed method.
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图 1 半球谐振陀螺全角控制模型
Figure 1. Full-angle control model of hemispherical resonator gyroscope
图 2 不同$ {\text{δ}} {\varphi }_{{\mathrm{cmp}}} $下的正交控制力均值
Figure 2. Mean value of orthogonal control forces under varying $ {\text{δ}} {\varphi }_{{\mathrm{cmp}}} $
图 3 不同$ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $下的正交控制力
Figure 3. Orthogonal control forces at different $ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $
图 4 不同$ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $下的正交控制力残差
Figure 4. Residuals of orthogonal control forces at different $ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $
图 5 不同$ {\text{δ}} {\varphi }_{{\mathrm{cmp}}} $下陀螺的正交控制力均值
Figure 5. Mean of orthogonal control forces of gyroscope at different $ {\text{δ}} {\varphi }_{{\mathrm{cmp}}} $
图 6 不同$ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $下陀螺的正交控制力残差
Figure 6. Residuals of gyroscope’s orthogonal control forces at different $ {\varepsilon }_{{\mathrm{p}}\_ {\mathrm{cmp}}} $
图 7 相位不均衡误差补偿前后ADB
Figure 7. Comparison of ADB before and after phase imbalance error compensation
图 8 相位不均衡误差补偿前后高动态环境下ADB
Figure 8. ADB in high-dynamic environments before and after phase imbalance error compensation
表 1 仿真参数设置
Table 1. Configuration of simulation parameters
参数 数值 高阻尼轴Q值 1.3485 ×107低阻尼轴Q值 1.3651 ×107频率裂解值$ \Delta \omega $/ mHz 0.3 谐振频率$ \omega $ / Hz 7630.7 采样率/ Hz 100 x轴相位延迟/(°) 10 y轴相位延迟/(°) 5 
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