石英音叉陀螺多频率激励自启动算法

Multi-frequency excitation self-starting algorithm of quartz tuning fork gyroscope

针对不同微石英音叉陀螺适配性差、频率定位精度与稳定性低的问题,提出了多频率激励自启动算法。通过分析驱动信号频率精度对陀螺工作性能的影响,引入频率跟踪算法,提出一种基于跳频法预处理的粒子群多频率激励算法,实现精确定位陀螺谐振频率。实验验证了跳频法和跳频与粒子群结合两种方法均可实现自启动。实验结果进一步表明:跳频与粒子群结合算法较跳频法频率稳定性提高了一倍,频率定位精度更高,可达0.5 Hz以内。

Focusing on the problem of poor adaptability,low frequency positioning accuracy and low stability of micro quartz tuning fork gyroscopes,a multi-frequency excitation algorithm is proposed.Firstly,the influence of the frequency accuracy of the driving signal on the performance of the gyroscope is analyzed.Secondly,the frequency tracking algorithm is introduced.Then,the multi-frequency excitation algorithm is proposed to accurately locate the resonant frequency of the gyroscope.At last,the frequency scanning method and the combination method of frequency scanning and particle swarm optimization are experimented.The experimental results show that,by the combination method,the stability of frequency location is doubled,the position accuracy is improved,and the frequency deviation is less than 0.5Hz.