【摘要】：現(xiàn)階段的導(dǎo)航系統(tǒng)以衛(wèi)星導(dǎo)航為主體,但衛(wèi)星導(dǎo)航系統(tǒng)的固有缺陷和易受人為干擾等缺點(diǎn)已不能滿足日益增長的對導(dǎo)航系統(tǒng)精度、可靠性等方面的要求,因此需要高性能的自主導(dǎo)航定位系統(tǒng)來補(bǔ)充甚至在某些領(lǐng)域取代衛(wèi)星導(dǎo)航系統(tǒng)。以陀螺和加速度計(jì)為主體的慣性導(dǎo)航系統(tǒng)是補(bǔ)充甚至取代衛(wèi)星導(dǎo)航系統(tǒng)的絕佳選擇。隨著MEMS技術(shù)的發(fā)展,微機(jī)械陀螺已經(jīng)成為陀螺技術(shù)的發(fā)展趨勢之一。目前國外公司已經(jīng)成功完成了陀螺的產(chǎn)品化,并把持著世界陀螺市場,而國內(nèi)鮮少有能與之比肩的陀螺產(chǎn)品。當(dāng)前國內(nèi)的一些高校和科研機(jī)構(gòu)在陀螺結(jié)構(gòu)和模擬外圍接口電路的研究方面已經(jīng)取得了優(yōu)異的成果,但是模擬的陀螺接口電路具有模擬電路固有的附加噪聲、溫度漂移和難自檢測、難自校準(zhǔn)等缺點(diǎn)。使用數(shù)字電路可以解決上述的問題。因此開展陀螺接口電路數(shù)字化的工作是十分必要的。由于驅(qū)動(dòng)電路的ASIC實(shí)現(xiàn)周期較長,本課題設(shè)計(jì)了一種基于單片機(jī)的微機(jī)械硅陀螺的數(shù)字化驅(qū)動(dòng)電路作為驅(qū)動(dòng)電路設(shè)計(jì)方案可行性的驗(yàn)證,用于確保驅(qū)動(dòng)電路ASIC實(shí)現(xiàn)的成功率。本文所設(shè)計(jì)的電路包括相位控制和幅值控制兩個(gè)回路,相位控制回路用于跟蹤、控制陀螺驅(qū)動(dòng)信號和電荷放大器輸出信號之間的相位,使陀螺驅(qū)動(dòng)頻率跟蹤其驅(qū)動(dòng)模態(tài)的固有頻率,從而在檢測方向獲得最大的靈敏度;幅值控制回路用于控制驅(qū)動(dòng)環(huán)路的振幅,使驅(qū)動(dòng)環(huán)路保持穩(wěn)定。本文主要設(shè)計(jì)驅(qū)動(dòng)電路中的DDS模塊、相位差計(jì)算模塊、信號幅值計(jì)算模塊、幅值控制環(huán)路和相位控制環(huán)路的PID模塊,并對上述模塊分別進(jìn)行了simulink建模和仿真。在此基礎(chǔ)上搭配陀螺表頭的simulink模型對整個(gè)陀螺系統(tǒng)進(jìn)行了simulink仿真,仿真結(jié)果滿足設(shè)計(jì)要求。在simulink仿真的基礎(chǔ)上進(jìn)行了PCB板的繪制,搭建了該系統(tǒng)的硬件電路,分別對各個(gè)模塊和陀螺系統(tǒng)整體進(jìn)行測試,測試結(jié)果證明了該設(shè)計(jì)方案實(shí)現(xiàn)了對相位和幅值的跟蹤控制。其中DDS模塊能正常輸出8kHz的正弦信號,其頻率分辨率小于0.1Hz,相位差誤差小于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 擄.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TN96
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本文編號：2182389