摘要
针对硅微陀螺仪数字控制系统,为了有效控制陀螺仪的驱动模态,采用离散域(Z域)分析方法,全面分析、研究并实现了基于数字锁相环(DPLL)和数字自动增益控制的(DAGC)驱动模态控制。分别建立了基于离散域分析的相位控制模型和幅度控制模型,给出了相应稳定控制的参数条件,并且进行了仿真验证。最后设计了一种基于FPGA的数字化双闭环驱动控制电路。试验结果表明,室温条件下,驱动检测幅度相对变化量小于2′10^(-5),在温度变化-40℃~60℃条件下,驱动频率与自然频率的最大相对误差为8′10-6数量级,频率跟踪特性和幅度控制稳定性均达到了良好的效果。试验验证了硅微陀螺仪驱动模态全数字化分析的可行性。该数字控制系统方案实现了陀螺驱动模态的高精度控制。
A discrete domain analysis method is adopted for effectively controlling the drive mode of silicon micromachined gyroscope. The mode controls are studied and implemented based on digital phase-locked loop（DPLL） and digital automatic gain control, respectively. Stability control parameters are given and verified. The digital double closed loops of driving circuit based on field programmable gate array are designed. Experiment results demonstrate that the amplitude accuracy of drive detection signal is less than 2′10^（-5）. Under the condition of -40℃–60℃, the maximum frequency tracking error between the drive frequency and the natural frequency is 8′10-6. Both frequency tracking characteristics and amplitude control stability achieve good effects. Simulation results verify the feasibility of full-digital analysis on the drive mode of silicon micromachined gyroscope, and show that high-precision control of the drive mode can be achieved by the digital control system.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2015年第6期780-785,共6页
Journal of Chinese Inertial Technology
基金
江苏省科技支撑计划项目(BE2014003-3)
预研基金资助项目(9140A09011313JW06119)
关键词
硅微陀螺仪
数字锁相环
数字自动增益控制
FPGA
离散域分析
silicon micromachined gyroscope
digital phase-locked loop
digital automatic gain control
FPGA
discrete domain analysis
