用于数字陀螺系统中驱动环路电路设计与实现
发布时间：2018-08-14 09:13
【摘要】：现阶段的导航系统以卫星导航为主体,但卫星导航系统的固有缺陷和易受人为干扰等缺点已不能满足日益增长的对导航系统精度、可靠性等方面的要求,因此需要高性能的自主导航定位系统来补充甚至在某些领域取代卫星导航系统。以陀螺和加速度计为主体的惯性导航系统是补充甚至取代卫星导航系统的绝佳选择。随着MEMS技术的发展,微机械陀螺已经成为陀螺技术的发展趋势之一。目前国外公司已经成功完成了陀螺的产品化,并把持着世界陀螺市场,而国内鲜少有能与之比肩的陀螺产品。当前国内的一些高校和科研机构在陀螺结构和模拟外围接口电路的研究方面已经取得了优异的成果,但是模拟的陀螺接口电路具有模拟电路固有的附加噪声、温度漂移和难自检测、难自校准等缺点。使用数字电路可以解决上述的问题。因此开展陀螺接口电路数字化的工作是十分必要的。由于驱动电路的ASIC实现周期较长,本课题设计了一种基于单片机的微机械硅陀螺的数字化驱动电路作为驱动电路设计方案可行性的验证,用于确保驱动电路ASIC实现的成功率。本文所设计的电路包括相位控制和幅值控制两个回路,相位控制回路用于跟踪、控制陀螺驱动信号和电荷放大器输出信号之间的相位,使陀螺驱动频率跟踪其驱动模态的固有频率,从而在检测方向获得最大的灵敏度;幅值控制回路用于控制驱动环路的振幅,使驱动环路保持稳定。本文主要设计驱动电路中的DDS模块、相位差计算模块、信号幅值计算模块、幅值控制环路和相位控制环路的PID模块,并对上述模块分别进行了simulink建模和仿真。在此基础上搭配陀螺表头的simulink模型对整个陀螺系统进行了simulink仿真,仿真结果满足设计要求。在simulink仿真的基础上进行了PCB板的绘制,搭建了该系统的硬件电路,分别对各个模块和陀螺系统整体进行测试,测试结果证明了该设计方案实现了对相位和幅值的跟踪控制。其中DDS模块能正常输出8kHz的正弦信号,其频率分辨率小于0.1Hz,相位差误差小于1°。
[Abstract]:At present, satellite navigation is the main part of navigation system. However, the inherent defects of satellite navigation system, such as its inherent defects and vulnerability to human interference, can no longer meet the increasing requirements for the accuracy and reliability of navigation systems. Therefore, high performance autonomous navigation and positioning systems are needed to supplement and even replace satellite navigation systems in some fields. Inertial navigation system with gyroscope and accelerometer as the main body is an excellent choice to supplement or even replace satellite navigation system. With the development of MEMS technology, micromachined gyroscope has become one of the developing trends of gyroscope technology. At present, foreign companies have successfully finished the production of gyroscope and hold the world gyroscope market, but few gyroscope products can be compared with it in China. At present, some universities and scientific research institutions in our country have made outstanding achievements in the research of gyroscope structure and analog peripheral interface circuit, but the analog gyroscope interface circuit has the inherent additional noise of analog circuit. Temperature drift and difficult self-detection, difficult self-calibration and other shortcomings. The above problems can be solved by using digital circuits. So it is necessary to digitize the interface circuit of gyroscope. Because the ASIC realization period of the driving circuit is long, a kind of digital driving circuit of micromachined silicon gyroscope based on single chip microcomputer is designed as the feasibility of the design scheme of the drive circuit, which is used to ensure the success rate of the realization of the driving circuit ASIC. The circuit designed in this paper includes two circuits: phase control and amplitude control. The phase control circuit is used to track and control the phase between the gyro driving signal and the charge amplifier output signal. The gyroscope drive frequency is used to track the natural frequency of its driving mode, and the maximum sensitivity is obtained in the detection direction. The amplitude control loop is used to control the amplitude of the driving loop to keep the driving loop stable. This paper mainly designs the DDS module, the phase difference calculation module, the signal amplitude calculation module, the amplitude control loop and the phase control loop PID module in the driving circuit, and carries on the simulink modeling and the simulation to the above module respectively. On this basis, the simulink model with gyroscope head is used to simulate the whole gyroscope system by simulink, and the simulation results meet the design requirements. On the basis of simulink simulation, the PCB board is drawn, the hardware circuit of the system is built, and the whole module and gyroscope system are tested respectively. The test results show that the design scheme realizes the tracking control of the phase and amplitude. The DDS module can output sinusoidal signal of 8kHz normally, its frequency resolution is less than 0.1 Hz, and the phase difference error is less than 1 掳.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN96
，
本文编号：2182389
[Abstract]:At present, satellite navigation is the main part of navigation system. However, the inherent defects of satellite navigation system, such as its inherent defects and vulnerability to human interference, can no longer meet the increasing requirements for the accuracy and reliability of navigation systems. Therefore, high performance autonomous navigation and positioning systems are needed to supplement and even replace satellite navigation systems in some fields. Inertial navigation system with gyroscope and accelerometer as the main body is an excellent choice to supplement or even replace satellite navigation system. With the development of MEMS technology, micromachined gyroscope has become one of the developing trends of gyroscope technology. At present, foreign companies have successfully finished the production of gyroscope and hold the world gyroscope market, but few gyroscope products can be compared with it in China. At present, some universities and scientific research institutions in our country have made outstanding achievements in the research of gyroscope structure and analog peripheral interface circuit, but the analog gyroscope interface circuit has the inherent additional noise of analog circuit. Temperature drift and difficult self-detection, difficult self-calibration and other shortcomings. The above problems can be solved by using digital circuits. So it is necessary to digitize the interface circuit of gyroscope. Because the ASIC realization period of the driving circuit is long, a kind of digital driving circuit of micromachined silicon gyroscope based on single chip microcomputer is designed as the feasibility of the design scheme of the drive circuit, which is used to ensure the success rate of the realization of the driving circuit ASIC. The circuit designed in this paper includes two circuits: phase control and amplitude control. The phase control circuit is used to track and control the phase between the gyro driving signal and the charge amplifier output signal. The gyroscope drive frequency is used to track the natural frequency of its driving mode, and the maximum sensitivity is obtained in the detection direction. The amplitude control loop is used to control the amplitude of the driving loop to keep the driving loop stable. This paper mainly designs the DDS module, the phase difference calculation module, the signal amplitude calculation module, the amplitude control loop and the phase control loop PID module in the driving circuit, and carries on the simulink modeling and the simulation to the above module respectively. On this basis, the simulink model with gyroscope head is used to simulate the whole gyroscope system by simulink, and the simulation results meet the design requirements. On the basis of simulink simulation, the PCB board is drawn, the hardware circuit of the system is built, and the whole module and gyroscope system are tested respectively. The test results show that the design scheme realizes the tracking control of the phase and amplitude. The DDS module can output sinusoidal signal of 8kHz normally, its frequency resolution is less than 0.1 Hz, and the phase difference error is less than 1 掳.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN96
，
本文编号：2182389
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