CN114006616A - Self-adaptive phase alignment circuit, debugging method and gyroscope measurement and control circuit - Google Patents
Self-adaptive phase alignment circuit, debugging method and gyroscope measurement and control circuit Download PDFInfo
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- H—ELECTRICITY
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- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
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- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
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Abstract
An adaptive phase alignment circuit, comprising: the digital control phase shifter comprises a digital control phase shifter, a phase-locked loop and a phase discriminator, wherein the digital control phase shifter is used for adjusting the phase of a first signal, the phase-locked loop is used for performing phase-locked filtering on the phase-shifted first signal and acquiring a second signal from the first signal, the phase discriminator is used for comparing the phases of the second signal and a third signal to acquire the phase difference between the second signal and the third signal, a specific phase alignment relation exists between the second signal and the third signal, the signal conversion module is used for converting the phase difference into a digital quantity, and the adder is used for calculating the phase adjustment control quantity of the first signal and adjusting the phase of the first signal to be aligned with the third signal based on the phase adjustment. Based on the circuit, the invention also provides a gyroscope measurement and control circuit, which carries out 90-degree phase alignment on the orthogonal error of the gyroscope and the carrier signal thereof through the self-adaptive phase alignment circuit so as to facilitate the coherent demodulator to accurately extract the Coriolis displacement and further calculate the angular velocity of the gyroscope by utilizing the Coriolis displacement.
Description
Technical Field
The disclosure relates to the technical field of gyroscopes, in particular to a self-adaptive phase alignment circuit, a debugging method and a gyroscope measurement and control circuit.
Background
Compared with the traditional gyroscope, the silicon MEMS gyroscope has the remarkable advantages of low cost, low power consumption, small size, light weight, high reliability and the like, and has been widely applied to the fields of consumer electronics, automobiles, industrial control and the like.
Typically, MEMS gyroscopes are vibratory gyroscopes, which are based on the coriolis effect for sensing angular velocity. If the gyroscope is driven to oscillate stably in the X axis, if a rotational angular velocity is input in the Z axis, a coriolis displacement is generated in the Y axis (detection axis), and the input angular velocity can be obtained by detecting the displacement. In order to improve the anti-interference capability of the MEMS gyroscope, the MEMS gyroscope generally operates in a low-pass region rather than a mode matching region, which causes the coriolis displacement to be very weak. Due to non-ideal factors of the micro-machining process, the driving displacement of the MEMS gyroscope may deviate from the X-axis by an angle, so that a component of the driving displacement is coupled to the detection axis, resulting in a quadrature error. The phase of the quadrature error lags the coriolis displacement by 90 degrees and the magnitude of the quadrature error is much larger than the coriolis displacement. Usually, a coherent demodulation method is used to extract the coriolis displacement, thereby completing the angular velocity detection.
Disclosure of Invention
The disclosure provides a self-adaptive phase alignment circuit, a debugging method and a gyroscope measurement and control circuit, which are used for solving the technical problems.
The present disclosure provides an adaptive phase alignment circuit, comprising: the numerical control phase shifter is used for adjusting the phase of the first signal; the phase-locked loop is used for performing phase-locked filtering on the phase-shifted first signal and acquiring a second signal from the first signal; the phase discriminator is used for comparing the phases of the second signal and a third signal to obtain the phase difference of the second signal and the third signal, and a specific phase alignment relation exists between the second signal and the third signal; the signal conversion module is used for converting the phase difference into a digital quantity; and the adder is used for calculating the sum of the digital quantity and a preset digital quantity to obtain a phase adjustment control quantity of the first signal, and transmitting the phase adjustment control quantity to the numerical control phase shifter, so that the numerical control phase shifter adjusts the phase of the first signal to be aligned with the phase of the third signal by 90 degrees.
Optionally, the digitally controlled phase shifter comprises: the circuit comprises an operational amplifier, a first resistor, a second resistor and a numerical control pole adjusting point sub-circuit; one end of the first resistor is connected with the input end of the first signal, and the other end of the first resistor is connected with the negative input end of the operational amplifier; one end of the second resistor is connected with the negative input end of the operational amplifier, and the other end of the second resistor is connected with the output end of the operational amplifier; and a first port of the numerical control pole adjusting point sub-circuit is connected with the input end of the first signal, a second port of the numerical control pole adjusting point sub-circuit is connected with the positive input end of the operational amplifier, and a third port of the numerical control pole adjusting point sub-circuit is connected with the input end of an external digital signal.
Optionally, the digitally controlled pole-adjusting sub-circuit at least includes a digitally controlled adjustable resistor or a digitally controlled adjustable capacitor, and the digitally controlled adjustable resistor or the digitally controlled adjustable capacitor is controlled by the external digital signal and is used for adjusting the pole position of the digitally controlled phase shifter, so that the phase of the first signal changes correspondingly.
Optionally, the signal conversion module includes: the phase discriminator is used for converting the phase difference into a voltage control signal; the charge pump is used for converting the voltage control signal into a current signal; a loop filter for converting the current signal to a voltage signal; and the analog-to-digital converter is used for converting the voltage signal into the digital quantity.
Optionally, the phase-locked loop is provided with an input signal threshold, and only a part of the first signal higher than the input signal threshold is input into the phase-locked loop.
Optionally, after the phase-locked loop performs the phase-locked filtering process on the first signal, the output second signal is in phase with the first signal.
A second aspect of the present disclosure provides a debugging method for an adaptive phase alignment circuit, applied to the adaptive phase alignment circuit according to the first aspect, including: s1, disconnecting the connecting line between the loop filter and the analog-to-digital converter; s2, fixing the voltage of the analog-to-digital converter to Vref/2, wherein Vref is the range of the input voltage of the analog-to-digital converter; s3, inputting a first signal to the numerical control phase shifter; s4, adjusting the preset digital quantity to make the output second signal of the phase locked loop 212 achieve about 90 degrees phase alignment with the third signal; s5, fixing the preset digital quantity; and S6, connecting the loop filter and the analog-to-digital converter to complete debugging.
Another aspect of the present disclosure provides a gyroscope measurement and control circuit, including an adaptive phase alignment circuit as described in the first aspect, including: the driving circuit is used for driving the gyroscope to work and acquiring a carrier signal required by a coherent demodulator of the gyroscope; and the detection circuit comprises the self-adaptive phase alignment circuit and is used for performing 90-degree phase alignment on the orthogonal error signal generated in the working process of the gyroscope and the carrier signal, so that the Coriolis displacement signal of the gyroscope can smoothly pass through the coherent demodulator, and the orthogonal error signal of the gyroscope cannot pass through the coherent demodulator, thereby completing the detection of the angular velocity.
Optionally, the detection circuit comprises: a first C/V conversion circuit, configured to convert a differential detection signal generated during an operation of the gyroscope into a first signal, where the first signal at least includes the quadrature error signal and the coriolis displacement signal; the self-adaptive phase alignment circuit is used for adjusting the phase of the quadrature error signal and enabling the phase of the quadrature error signal to be aligned with the phase of the carrier signal by 90 degrees; a coherent demodulator, configured to coherently demodulate the first signal after the phase shift of the quadrature error signal and the carrier signal, to obtain the coriolis shift signal; and the filtering and converting circuit is used for filtering the Coriolis displacement signal and converting the Coriolis displacement signal into a required signal type.
Optionally, the filter converting circuit includes: a low-pass filter converter for filtering noise in the Coriolis displacement signal; a first analog-to-digital converter for converting the coriolis displacement signal into a digital signal, the digital signal being used to calculate an angular velocity of the gyroscope.
Optionally, the driving circuit comprises: the second C/V conversion circuit is used for converting the capacitance variation of the gyroscope into an electric signal; the phase-locked loop is used for phase-locking and filtering the electric signal to obtain the carrier signal, and the carrier signal is in phase with the electric signal; an amplitude detector for detecting an amplitude of the electrical signal; the comparator is used for comparing the amplitude with a preset amplitude to obtain the adjustment quantity of the carrier signal; and the variable gain amplifier is used for amplifying the carrier signal according to the adjustment quantity and outputting the carrier signal to the gyroscope.
Drawings
For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
FIG. 1 schematically illustrates a schematic diagram of a disclosed MEMS vibratory gyroscope circuit;
fig. 2 schematically illustrates a schematic diagram of a gyroscope measurement and control circuit provided by an embodiment of the present disclosure;
fig. 3 schematically illustrates a schematic diagram of a numerically controlled phase shifter provided by an embodiment of the present disclosure;
fig. 4 schematically illustrates a schematic diagram of a numerically controlled phase shifter provided by an embodiment of the present disclosure;
fig. 5 schematically illustrates a schematic diagram of a numerically controlled phase shifter provided by an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
The phase relationship between the driving displacement and the Coriolis displacement of the MEMS vibrating gyroscope depends on the relationship between the resonant frequencies of the driving mode and the detection mode of the gyroscope, and when the resonant frequency of the driving mode is respectively greater than, less than or equal to the resonant frequency of the detection mode, different phase relationships exist between the driving displacement and the Coriolis displacement. However, the phase relationship between the quadrature error and the coriolis displacement is constant and is not affected by the relationship between the two modal resonant frequencies of the gyroscope. With this, a coherent demodulation system based on quadrature error alignment can be designed to acquire the coriolis shift.
As shown in FIG. 1, the driving circuit of the system is composed of a MEMS gyroscope, a C/V conversion circuit, a filter, a phase shifter, a phase-locked loop, a resistor divider and a filter. The task of the drive circuit is to drive the device to a stable oscillation state in preparation for subsequent detection of the input angular velocity information. In the driving circuit, since the output of the phase locked loop leads the input by 90 degrees, a phase shifter is added after the C/V conversion circuit. Since the output of the C/V conversion circuit contains a lot of broadband noise, a filter is added after the circuit. In order to ensure that the device works safely and the output frequency spectrum of the device is better, the output of the phase-locked loop is subjected to resistance voltage division and low-pass filtering. The detection circuit of the system consists of a C/V conversion circuit, an adjustable phase shifter, a frequency mixer, a low-pass filter and an analog-to-digital converter. The carrier of the mixer comes from the phase-locked loop of the driving circuit instead of the output of the C/V conversion circuit, so that a purer demodulation carrier can be obtained, and meanwhile, the decoupling of the carrier and the driving displacement is realized. The phase of the quadrature error lags the carrier by 90 degrees by adjusting the adjustable phase shifter of the detection circuit, thus automatically realizing the in-phase alignment of the Coriolis displacement and the carrier. Considering that the magnitude of the quadrature error is much larger than the coriolis displacement, the system achieves phase alignment based on the quadrature error rather than the coriolis displacement. By utilizing the system, the MEMS gyroscope realizes normal driving and correct detection, the scale factor is 1.415mV/°/s, and the zero-offset instability degree is 108 °/h.
The zero bias instability of the MEMS gyroscope system is high, and the circuit system has the following problems: (1) the stability of the driving displacement amplitude is low, and the amplitude stability control on the driving displacement is not directly carried out; (2) the driving circuit comprises a filter and a phase shifter, so that the circuit complexity is increased, and the electrical noise is introduced; (3) the quadrature error of the detection circuit has phase jitter, the precision of phase alignment is not high, and the demodulation effect is poor; (4) the phase alignment error is easily caused by manually observing whether the phases are aligned and manually adjusting the phase shift amount of the phase shifter. This error, coupled with temperature, can creep, which degrades the performance of coherent demodulation.
Fig. 2 schematically illustrates a schematic diagram of a gyroscope measurement and control circuit provided in an embodiment of the present disclosure, in which a self-adaptive phase alignment circuit 210 provided in an embodiment of the present disclosure is included.
As shown in fig. 2, an embodiment of the present disclosure provides an adaptive phase alignment circuit 210, including: the digital control phase shifter 211, the phase-locked loop 212, the phase detector 213, the signal conversion module 214 and the adder 215.
A digitally controlled phase shifter 211 for adjusting the phase of the first signal.
The phase-locked loop 212 is configured to perform phase-locked filtering on the phase-shifted first signal and obtain a second signal from the first signal.
The phase detector 213 is configured to compare phases of the second signal and the third signal to obtain a phase difference between the second signal and the third signal, where a specific phase alignment relationship exists between the second signal and the third signal.
And a signal conversion module 214, configured to convert the phase difference into a digital quantity.
The adder 215 is configured to calculate a sum of the digital quantity and the preset digital quantity to obtain a phase adjustment control quantity of the first signal, and transmit the phase adjustment control quantity to the digitally controlled phase shifter 211, so that the digitally controlled phase shifter 211 adjusts the phase of the first signal to be aligned with the third signal.
In the embodiment of the present disclosure, assuming that the second signal is a quadrature error of the gyroscope and the third signal is a demodulation carrier of the gyroscope, the adaptive phase alignment circuit 210 may be utilized to achieve a phase alignment of the quadrature error and the demodulation carrier by 90 °, so as to separate the coriolis displacement of the gyroscope from the demodulation carrier.
Alternatively, the first signal and the third signal may be various types of signals such as a voltage signal, a current signal, a differential signal, and the like.
In the embodiment of the present disclosure, the digitally controlled phase shifter 211 includes: the circuit comprises an operational amplifier, a first resistor, a second resistor and a numerical control pole adjusting point sub-circuit.
One end of the first resistor is connected with the input end of the first signal, and the other end of the first resistor is connected with the negative input end of the operational amplifier; one end of the second resistor is connected with the negative input end of the operational amplifier, and the other end of the second resistor is connected with the output end of the operational amplifier; a first port of the numerical control pole adjusting point sub-circuit is connected with an input end of a first signal, a second port of the numerical control pole adjusting point sub-circuit is connected with a positive input end of an operational amplifier, and a third port of the numerical control pole adjusting point sub-circuit is connected with an external digital signal input end.
The numerical control pole-adjusting point sub-circuit at least comprises a numerical control adjustable resistor or a numerical control adjustable capacitor, and the numerical control adjustable resistor or the numerical control adjustable capacitor is controlled by the external digital signal and is used for adjusting the pole position of the numerical control phase shifter so as to enable the phase of the first signal to change correspondingly.
Fig. 3 schematically illustrates a schematic diagram of a digitally controlled phase shifter 211 provided by an embodiment of the present disclosure.
As shown in FIG. 3, AMP denotes an operational amplifier, R4 denotes a first resistor, R6 denotes a second resistor, a digitally controlled tunable resistor denoted by R5 and a grounded capacitor denoted by C3 constitute a digitally controlled tuning point sub-circuit, and V is a reference voltageiRepresenting a first signal, VoRepresenting the second signal. The movementThe phase shifter is based on an operational amplifier AMP, and realizes a lag phase shift of 0 DEG to-180 DEG by negative feedback of R4 and R6, and a digitally controlled adjustable resistor R5 and a fixed capacitor C3.
When the feedback resistors R4 and R6 are equal, the transfer function of the phase shifter is:
fig. 4 and 5 respectively provide a variation of the digitally controlled phase shifter 211 for the embodiment of the present disclosure, in which the digitally controlled tuning point sub-circuit in fig. 4 is composed of a resistor R5 and a digitally controlled tunable capacitor C3, and the digitally controlled tuning sub-circuit in fig. 5 is composed of a digitally controlled tunable resistor and a digitally controlled tunable capacitor. The three numerical control phase shifters 211 shown in fig. 3 to 5 can be controlled by an external digital signal to adjust a numerical control adjustable resistor or a numerical control adjustable capacitor inside the numerical control phase shifter 211, so that a pole of the numerical control phase shifter 211 changes, and phase shifting of different phases of a first signal input to the numerical control phase shifter 211 is further achieved.
In the disclosed embodiment, the signal conversion module 214 includes: a charge pump 2141, a loop filter 2142, and an analog-to-digital converter 2143.
The charge pump 2141 converts the phase difference into a current signal.
The loop filter 2142 converts the current signal into a voltage signal.
The analog-to-digital converter 2143 converts the voltage signal into a digital quantity.
Since the numerical control phase shifter 211 is adopted to adjust the first signal in the embodiment of the present disclosure, after the phase-locked filtering is performed on the phase-shifted first signal by the phase-locked loop 212 and the phase difference is calculated by the phase detector 213, before the phase difference is fed back to the numerical control phase shifter 211, the phase difference is converted into a digital signal by the signal conversion module 214 for adjusting the numerical control phase shifter 211, the phase of the second signal contained in the first signal is correspondingly adjusted, and the phase alignment of 90 degrees between the second signal and the third signal is realized by this feedback mechanism. Therefore, in this process, the phase difference signal should be converted into a digital signal through the charge pump 2141, the loop filter 2142, the analog-to-digital converter 2143, and the like according to actual requirements. The analog-to-digital converter 2143 may be a high-precision ADC with more than 16 bits, so as to implement high-precision adjustment of the phase shift of the first signal in cooperation with the digitally controlled phase shifter.
In the disclosed embodiment, the phase-locked loop 212 is provided with an input signal threshold, and only a part of the first signal above the input signal threshold is input into the phase-locked loop 212. Taking the first signal as a differential detection signal of the gyroscope as an example, the signal includes signals such as an orthogonal error, coriolis displacement, noise, and the like, and since the amplitude of the coriolis displacement is much smaller than the orthogonal error, the threshold of the input signal of the phase-locked loop 212 is set at a higher potential, so that the phase-locked loop 212 captures and locks only the orthogonal error, i.e., obtains a second signal, and then compares the orthogonal error with the phase of a carrier (i.e., a third signal) through the phase discriminator 213, so as to achieve 90-degree phase alignment of the orthogonal error and the carrier, so as to obtain the coriolis displacement of the gyroscope. The phase-locked loop 212 enables the phase jitter of the quadrature error to be lower, improves the accuracy of phase alignment, and also improves the performance of coherent demodulation.
In the embodiment of the disclosure, after the phase-locked loop 212 performs the phase-locked filtering process on the first signal, the output second signal is in phase with the first signal. In this manner, the phase-locked loop 212 can extract and filter the quadrature error without changing its phase, which greatly improves the accuracy of the phase alignment.
The self-adaptive phase alignment circuit 210 provided by the embodiment of the disclosure can be applied to the phase alignment of the quadrature error of the vibrating gyroscope and the carrier, the phase adjustment of the quadrature error is realized through the numerical control phase shifter, the precision is higher, and the coherence adjustment performance is strong. It is understood that the adaptive phase alignment circuit 210 provided by the present disclosure is not limited thereto, and may also be applied to other application scenarios requiring phase calibration and phase alignment.
The embodiment of the present disclosure further provides a debugging method applied to the adaptive phase alignment circuit 210, which includes steps S1 to S2.
S1, the connection line between the loop filter 2142 and the analog-to-digital converter 2143 is disconnected.
S2, fixing the voltage of the adc 2143 to Vref/2, where Vref is the range of the input voltage of the adc 2143.
S3, inputting the first signal to the digitally controlled phase shifter.
S4, the amount of the preset number is adjusted so that the output second signal of the phase locked loop 212 is phase aligned with the third signal by about 90 degrees.
And S5, fixing the preset digital quantity.
S6, connect the loop filter 2142 and the analog-to-digital converter 2143, and complete the debugging.
In steps S1 to S4, since the connection line between the loop filter 2142 and the analog-to-digital converter 2143 is disconnected, the adaptive phase alignment circuit 210 is an open loop circuit, wherein the output voltage range of the loop filter 2142 is 0 to Vref, the input signal range of the analog-to-digital converter 2143 is also 0 to Vref, the voltage of the analog-to-digital converter 2143 is fixed to Vref/2, and when the phase alignment between the output second signal and the output third signal of the phase locked loop 212 is about 90 degrees, the output dc voltage of the loop filter 2142 is also about Vref/2, which can be used to realize the phase alignment between the second signal and the third signal. The preset digital quantity is adjusted by taking the voltage value of the analog-to-digital converter 2143 as Vref/2, so as to maximize the adjustable range of the output voltage of the loop filter 2142, and also maximize the dynamic adjustment range of the adaptive feedback loop. After the preset digital quantity is fixed, the loop filter 2142 and the analog-to-digital converter 2143 are connected to restore the adaptive phase alignment circuit to a closed loop, and the adaptive phase alignment circuit 210 can self-align the second signal and the third signal by 90 degrees, and can track the alignment in real time according to the environmental change.
It should be noted that the method is not only suitable for achieving the 90-degree phase alignment between the second signal and the third signal, but also can achieve the different-degree phase alignment between the second signal and the third signal according to the actual situation.
As shown in fig. 2, the gyroscope measurement and control circuit provided by the present disclosure includes the detection circuit 220 of the adaptive phase alignment circuit 210 as described above, and includes the driving circuit 230.
And the driving circuit 230 is used for driving the gyroscope to work and acquiring a carrier signal of a coherent demodulator of the gyroscope.
The detection circuit 220 includes an adaptive phase alignment circuit 210 for performing 90-degree phase alignment of the quadrature error signal generated during the operation of the gyroscope with the carrier signal, so that the coherent demodulator can accurately extract the coriolis displacement signal.
In the embodiment of the present disclosure, the driving circuit 230 is used to make the driving gyroscope operate stably, and at the same time, obtains a carrier signal required by a coherent demodulator of the gyroscope, and in addition, the carrier signal is used for 90-degree phase calibration of a quadrature error of the gyroscope in the detection circuit 220. The carrier signal is a third signal input to the adaptive phase alignment circuit 210, and a differential detection signal or a single-ended detection signal of the gyroscope detected in the detection circuit 220 is a first signal.
It will be appreciated that to accommodate the conversion of signal types, the gyroscope's differential detection signal or single-ended detection signal detected in detection circuit 220 may be converted to a signal type acceptable to adaptive phase alignment circuit 210.
Referring to fig. 2, the detection circuit 220 includes: a first C/V conversion circuit 221, an adaptive phase alignment circuit 210, a coherent demodulator 222, and a filter conversion circuit 223.
The first C/V conversion circuit 221 is configured to convert a differential detection signal generated during an operation of the gyroscope into a first signal, where the first signal includes at least a quadrature error signal and a coriolis displacement signal.
An adaptive phase alignment circuit 210 is used to adjust the phase of the quadrature error signal such that the phase of the quadrature error signal is aligned with the phase of the carrier signal by 90 degrees.
The coherent demodulator 222 is configured to coherently demodulate the carrier signal and the first signal after the phase shift of the quadrature error signal, so as to obtain a coriolis shift signal.
And a filter converting circuit 223 for filtering the coriolis displacement signal and converting the coriolis displacement signal into a desired signal type.
It is understood that the signal of the gyroscope acquired by the first C/V conversion circuit 221 is not limited to the differential detection signal or the single-ended detection signal, and may be information including other signals such as a quadrature error signal and a coriolis shift signal.
Alternatively, each block in the detection circuit 220 may be implemented by using a digital circuit.
In the embodiment of the present disclosure, the first C/V conversion circuit 221 converts the differential detection signal obtained from the gyroscope into a first signal, the adaptive phase alignment circuit 210 performs 90 ° phase alignment of the quadrature error signal and the carrier signal, the coherent demodulator 222 separates the coriolis displacement signal from the first signal, and the filter conversion circuit 223 filters noise in the coriolis displacement signal and converts the coriolis displacement signal into a signal type required for the next step, for example, into a digital signal for calculating the angular velocity of the gyroscope.
Referring to fig. 2, in the embodiment of the present disclosure, the filter converting circuit 223 includes: a low pass filter converter, a first analog-to-digital converter.
And the low-pass filtering converter is used for filtering noise in the Coriolis displacement signal.
And the first analog-to-digital converter is used for converting the Coriolis displacement signal into a digital signal, and the digital signal is used for calculating the angular velocity of the gyroscope.
Referring to fig. 2, the detailed working flow of the detection circuit 220 provided by the embodiment of the disclosure is as follows:
the first C/V conversion circuit 221 converts a differential detection signal (containing information such as quadrature error, coriolis displacement, noise, and the like) of the gyroscope into a voltage, performs differential operation and phase adjustment to a single-ended signal, and then amplifies the single-ended signal to an appropriate voltage value to output the single-ended signal as a first signal; the digitally controlled phase shifter 211 performs a lagging phase shift on the phase of the first signal according to the input digital control amount, and supplies the phase-shifted first signal to the phase-locked loop 212 and the coherent demodulator 222; the phase locked loop 212 locks and filters the first signal and outputs a second signal in phase with the first signal to the phase detector 213; the phase detector 213 compares the phase of the second signal (i.e., the quadrature error) with the carrier, converts the phase difference information thereof into a voltage signal, and then supplies the voltage signal to the charge pump 2141; the charge pump 2141 converts the voltage signal into an error current, and supplies the error current to the loop filter 2142; the loop filter 2142 converts the error current into an error voltage; the error voltage is converted into a digital control quantity by the analog-to-digital converter 2143, and is output to the adder 215 to be added with a preset digital quantity, so as to control the numerical control phase shifter 211, and the quadrature error and the carrier wave realize accurate phase alignment of 90 degrees; the coherent demodulator 222 performs coherent demodulation on the phase-shifted first signal and the carrier to obtain a coriolis displacement signal, and outputs the coriolis displacement signal to the low-pass filter; the low-pass filter filters out high-frequency components of the Coriolis displacement signals, and direct-current components are left and supplied to the first analog-to-digital converter; the first analog-to-digital converter quantizes and encodes the direct-current component, converts the direct-current component into a digital signal, and supplies the digital signal to a subsequent system for use.
Referring to fig. 2, in the embodiment of the present disclosure, the driving circuit 230 includes: a second C/V conversion circuit 231, a phase locked loop 233, a magnitude detector 232, a comparator (not shown), and a variable gain amplifier 234.
And a second C/V conversion circuit 231 for converting a capacitance variation amount of the gyroscope into an electric signal.
And the phase-locked loop 233 is used for phase-locking and filtering the electric signal to obtain a carrier circuit, wherein the carrier signal is in phase with the electric signal.
The amplitude detector 232 is used for detecting the amplitude of the electrical signal.
The comparator is used for comparing the amplitude with a preset amplitude, outputting error information and further controlling the gain adjustment quantity of the variable gain amplifier;
and the variable gain amplifier 234 is used for amplifying the output voltage of the phase-locked loop according to the adjustment quantity, forming an excitation voltage, and driving the gyro device to form a stable working state.
Referring to fig. 2, in the present embodiment, the second C/V conversion circuit 231 converts the capacitance variation of the gyroscope into a voltage signal, performs corresponding phase adjustment and amplitude amplification, and transmits the voltage signal to the amplitude detector 232 and the phase-locked loop 233; the amplitude detector 232 obtains the amplitude information of the voltage, and compares the amplitude information with the preset amplitude in the comparator to obtain the adjustment quantity of the voltage signal, which is used for adjusting the gain of the variable gain amplifier 234; the phase locked loop 233 captures and locks the voltage signal, filters the voltage signal, and obtains a carrier signal, which is in phase with the electrical signal; the carrier signal is transmitted to the coherent demodulator 222 in the detection circuit 220 and the variable gain amplifier 234 of the driving circuit 230, respectively. The driving circuit 230 excites the driving mode of the gyroscope to form frequency-stabilizing amplitude-stabilizing oscillation, so as to provide a basic guarantee for the normal operation of the detection circuit, and also provides the detection circuit 220 with a reference signal for correcting the phase of the quadrature error signal, and provides a carrier signal for the coherent demodulator.
In the embodiment of the present disclosure, the amplitude detector and the driving displacement amplitude-stabilizing control circuit formed by the variable gain amplifier 234 make the amplitude of the driving displacement keep constant; the phase-locked loop 233 used by the driving circuit 230 of the measurement and control scheme is different from the phase-locked loop in the technical scheme provided by fig. 1, and compared with the phase-locked loop in the technical scheme of fig. 1, the phase of the output of the phase-locked loop is advanced by 90 degrees with respect to the phase of the input of the phase-locked loop, when the phase-locked loop 233 is locked, the phase of the output is strictly in phase with the phase of the input, so that the complexity of the driving circuit is greatly reduced, and the electrical noise of the driving circuit is also reduced. In addition, compared with the circuit provided in fig. 1, the driving circuit 230 provided in the embodiment of the present disclosure does not need to use a phase shifter or a filter.
Optionally, the first C/V conversion circuit 221 and the second C/V conversion circuit 231 used in the embodiment of the present disclosure may be other converters or conversion circuits such as a transimpedance amplification circuit.
The gyroscope measurement and control circuit provided by the disclosure has the following beneficial effects: firstly, the stable amplitude mechanism of the driving circuit 230 ensures the constancy of the driving displacement, which is helpful for the stability of the coriolis signal of the detection circuit 220; secondly, the circuit complexity and the electrical noise of the driving circuit 230 are low, and the reliability is high; thirdly, the detection circuit 220 uses the phase-locked loop 212 and reasonably sets the threshold of the input signal, so that the phase jitter of the quadrature error is lower, the precision of phase alignment is improved, and the performance of coherent demodulation is also improved; fourthly, the detection circuit 220 uses the high-precision self-adaptive phase alignment circuit 210, so that errors caused by manual relative alignment are avoided, and error creep caused by factors such as temperature is also avoided, thereby improving coherent demodulation performance.
It should be noted that the use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element, nor do they represent the order of an element and another element, or the order of fabrication methods, and are used merely to distinguish one element having a certain name from another element having a same name. Furthermore, the word "comprising" or "comprises" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in the relevant apparatus according to embodiments of the present disclosure. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
Claims (11)
1. An adaptive phase alignment circuit, comprising:
the numerical control phase shifter is used for adjusting the phase of the first signal;
the phase-locked loop is used for performing phase-locked filtering on the phase-shifted first signal and acquiring a second signal from the first signal;
the phase discriminator is used for comparing the phases of the second signal and a third signal to obtain the phase difference of the second signal and the third signal, and a specific phase alignment relation exists between the second signal and the third signal;
the signal conversion module is used for converting the phase difference into a digital quantity;
and the adder is used for calculating the sum of the digital quantity and a preset digital quantity to obtain a phase adjustment control quantity of the first signal, and transmitting the phase adjustment control quantity to the numerical control phase shifter, so that the numerical control phase shifter adjusts the phase of the first signal to be aligned with the phase of the third signal by 90 degrees.
2. The circuit of claim 1, further characterized in that the digitally controlled phase shifter comprises:
the circuit comprises an operational amplifier, a first resistor, a second resistor and a numerical control pole adjusting point sub-circuit;
one end of the first resistor is connected with the input end of the first signal, and the other end of the first resistor is connected with the negative input end of the operational amplifier; one end of the second resistor is connected with the negative input end of the operational amplifier, and the other end of the second resistor is connected with the output end of the operational amplifier; and a first port of the numerical control pole adjusting point sub-circuit is connected with the input end of the first signal, a second port of the numerical control pole adjusting point sub-circuit is connected with the positive input end of the operational amplifier, and a third port of the numerical control pole adjusting point sub-circuit is connected with the input end of an external digital signal.
3. The circuit of claim 2, further characterized in that the digitally controlled tuning point sub-circuit comprises at least a digitally controlled tunable resistor or a digitally controlled tunable capacitor controlled by the external digital signal for adjusting the position of the pole of the digitally controlled phase shifter to cause a corresponding change in the phase of the first signal.
4. The circuit of claim 1, wherein the signal conversion module comprises:
a charge pump for converting the phase difference into a current signal;
a loop filter for converting the current signal to a voltage signal;
and the analog-to-digital converter is used for converting the voltage signal into the digital quantity.
5. The circuit of claim 1, wherein the phase-locked loop has an input signal threshold, and wherein only a portion of the first signal that is above the input signal threshold is input into the phase-locked loop.
6. The circuit of claim 5, wherein the phase-locked loop phase-locked filters the first signal to output the second signal in phase with the first signal.
7. The debugging method of the adaptive phase alignment circuit, which is applied to the adaptive phase alignment circuit of claims 1 to 6, is characterized by comprising the following steps:
s1, disconnecting the connecting line between the loop filter and the analog-to-digital converter;
s2, fixing the voltage of the analog-to-digital converter to Vref/2, wherein Vref is the range of the input voltage of the analog-to-digital converter;
s3, inputting a first signal to the numerical control phase shifter;
s4, adjusting the preset digital quantity to make the output second signal of the phase locked loop 212 achieve about 90 degrees phase alignment with the third signal;
s5, fixing the preset digital quantity;
and S6, connecting the loop filter and the analog-to-digital converter to complete debugging.
8. The gyroscope measurement and control circuit comprising the adaptive phase alignment circuit of claims 1-6, comprising:
the driving circuit is used for driving the gyroscope to work and acquiring a carrier signal of a coherent demodulator of the gyroscope;
and the detection circuit comprises the self-adaptive phase alignment circuit and is used for carrying out 90-degree phase alignment on the quadrature error signal generated in the working process of the gyroscope and the carrier signal so as to obtain a Coriolis displacement signal of the gyroscope.
9. The circuit of claim 8, further characterized in that the detection circuit comprises:
a first C/V conversion circuit, configured to convert a differential detection signal generated during an operation of the gyroscope into a first signal, where the first signal at least includes the quadrature error signal and the coriolis displacement signal;
an adaptive phase alignment circuit for adjusting the phase of the quadrature error signal to perform 90-degree phase alignment of the phase of the quadrature error signal with the carrier signal;
a coherent demodulator, configured to coherently demodulate the first signal after the phase shift of the quadrature error signal and the carrier signal, to obtain the coriolis shift signal;
and the filtering and converting circuit is used for filtering the Coriolis displacement signal and converting the Coriolis displacement signal into a required signal type.
10. The circuit of claim 9, wherein the filter conversion circuit comprises:
a low-pass filter converter for filtering noise in the Coriolis displacement signal;
a first analog-to-digital converter for converting the coriolis displacement signal into a digital signal, the digital signal being used to calculate an angular velocity of the gyroscope.
11. The circuit of claim 8, wherein the driver circuit comprises:
the second C/V conversion circuit is used for converting the capacitance variation of the gyroscope into an electric signal;
the phase-locked loop is used for phase-locking and filtering the electric signal to obtain the carrier signal, and the carrier signal is in phase with the electric signal;
an amplitude detector for detecting an amplitude of the electrical signal;
the comparator is used for comparing the amplitude with a preset amplitude to obtain the gain adjustment quantity of the variable gain amplifier;
and the variable gain amplifier is used for amplifying the carrier signal according to the adjustment quantity and outputting the carrier signal to the gyroscope.
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