CN104713539B - A kind of long control system of laser gyro cavity and control method - Google Patents
A kind of long control system of laser gyro cavity and control method Download PDFInfo
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- CN104713539B CN104713539B CN201310675655.4A CN201310675655A CN104713539B CN 104713539 B CN104713539 B CN 104713539B CN 201310675655 A CN201310675655 A CN 201310675655A CN 104713539 B CN104713539 B CN 104713539B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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Abstract
The invention belongs to laser gyro techniques, are related to a kind of method for laser gyro cavity length control.The present invention, which is grown using the beat signal that laser gyro exports after closing light into an actor's rendering of an operatic tune, to be controlled：Beat signal is subjected to magnitude demodulator, chamber length control signal is obtained after asking difference to amplify with reference voltage, is controlled by triangle test so that the signal stabilization is in maximum（The vertex of gain curve）, to realize the stabilization of chamber length.The present invention, which is grown using the beat signal of laser gyro economic cooperation light output into an actor's rendering of an operatic tune, to be controlled, without receiving photoelectric converter, Amici prism and the preamplifier of suitable, the counterclockwise light of gyro, only need 1 outgoing mirror, significantly reduce cost, it simplifies gyro adjustment process and significantly reduces cavity loss, to be conducive to the raising of Gyro Precision.
Description
Technical field
The invention belongs to laser gyro techniques, are related to a kind of method for laser gyro cavity length control.
Background technology
Laser gyro is a kind of optical gyroscope based on Sagnac effects.It is Ω when carrier has rotating speed relative to inertial space
Rotation when, laser gyro will will produce the output of beat frequency for being proportional to the rotating speed, such as（1）Shown in formula：
Wherein：Δ ν is beat frequency
The area that A is surrounded for annular light path
L is the optical path length of annular light path
Ω is rotational angular velocity
λ is laser work wavelength
K is the constant multiplier of laser gyro
Start many advantages, such as fast, wide dynamic range, the linearity are good, numeral output due to having, laser gyro is in many
Field has become the core sensor of modern Navigation, Guidance and Control system instead of traditional mechanical gyroes.
By（1）Formula is known, to obtain accurate angular velocity measurement and necessarily require constant multiplier highly stable.When environment temperature changes
When change, causes loop optical path length L to change, change so as to cause constant multiplier.Therefore chamber length control must be taken
（Frequency stabilization）Technology just can ensure that laser gyro works normally within the scope of total temperature, to obtain accurate angular velocity measurement, frequency stabilization
Precision is to determine one of the key factor of laser gyro performance level.
Traditional method is long come control chamber using piezoelectricity AC modulation, i.e., it is several to apply frequency on frequency stabilization piezoelectric ceramics
KHz ac voltage signals are modulated the chamber length of laser gyro, and photelectric receiver is received along light counterclockwise, is amplified through band logical
Summation obtains exchange light intensity, chamber length control error signal is obtained through phase demodulation, by closed-loop control so that the error signal is steady
It is scheduled on zero, to realize the stabilization of chamber length so that laser gyro is operated in the vertex of gain curve（Light intensity maximum）.
Fig. 1 is the long control principle drawing of piezoelectricity AC modulation chamber, as shown in Figure 1：ν0For the gain of q-th of longitudinal mode of laser gyro
The centre frequency of curve.Apply the sine sweep voltage that frequency is several KHz on frequency stabilization piezoelectric ceramics.When resonance endovenous laser work
Working frequency ν ＜ ν0When, i.e., when operating point is located at the left side of gain curve peak point, by photoelectric converter output signal be with
Scanning signal, with the voltage signal of phase, enters after summation amplification and bandpass filter in phase-sensitive detector with frequency, rectified
Device exports a positive DC voltage, and after PID controller, output control voltage is added on frequency stabilization piezoelectric element, drives piezoelectricity
Ceramics keep chamber length elongated, to drive operating point to be moved to the peak point of gain curve.As ν ＞ ν0When, it is defeated by photoelectric converter
The signal gone out is the voltage signal with scanning signal with same frequency and reversed-phase, and phase sensitive detection is entered after summation amplification and bandpass filter
In device, rectified device exports a negative DC voltage, and after PID controller, output control voltage is added to frequency stabilization piezoelectric element
On, driving piezoelectric ceramics makes chamber length shorten, to drive operating point to be moved to the peak point of Doppler gain curve.As ν ≈ ν0
When, the frequency of output signal is 2 times of scanning signal frequency, due to gating frequency and the scanning signal frequency one of bandpass filtering
It causes, therefore the signal cannot be added to by bandpass filter, thus without output voltage on piezo ceramic element, present operating point is exactly
The peak point of gain curve.
Invention content
The purpose of the present invention：A kind of method that laser gyro cavity length control can be carried out using beat signal is provided.
Technical scheme of the present invention：A kind of long control system of laser gyro cavity comprising laser gyroscope resonant cavity and control
Circuit, wherein laser gyroscope resonant cavity includes four and constitutes closure light path to corner reflector, wherein 3 are high reflective mirror, and 1 is
Outgoing mirror, and light-combining prism is set on outgoing mirror, optical signal of the control circuit one end through photoelectric converter reception light-combining prism, one
End is connected through voltage amplifier on the piezoelectric ceramics of two frequency stabilization spherical surface high reflective mirrors of control laser gyroscope resonant cavity.
The control circuit includes photoelectric converter connected in sequence, preamplifier, magnitude demodulator device, differential amplification
Device, PID controller and voltage amplifier.
For 3 high reflective mirrors in addition to two frequency stabilization spherical mirrors with piezoelectric ceramics, another high reflective mirror is plane mirror.
A kind of long control method of laser gyro cavity carries out amplitude inspection to the beat signal that laser gyro exports after closing light
Wave obtains chamber length control signal after asking difference to amplify with reference voltage, is controlled by triangle test so that the signal stabilization exists
Maximum reaches the stabilization of chamber length.
The long control method of the laser gyro cavity, is as follows：
Step 1：Resonator outgoing mirror output light generates beat signal after closing light
Light suitable in resonant cavity, counterclockwise is exported by outgoing mirror, and generates beat signal, the beat frequency through light-combining prism closing light
Signal is to be superimposed with AC compounent on direct current signal；
Step 2：Then direct current signal is filtered out by preamplifier, and AC signal is amplified；
Step 3：The amplitude of the AC signal is detected by magnitude demodulator device, and differential amplification, the width are carried out to the amplitude
Value can characterize operating point location of the laser gyro on gain curve；
Step 4：Using triangle test by stabilization of operating point in gain extreme value
Current frequency stabilization PZT voltage is set as 2, PZT voltage is increased into step to 3, the beat signal amplitude of output is A3,
PZT voltage is reduced into 2 × step to 1, the beat signal amplitude of output is A1, then PZT voltage increase step is returned back to 2, defeated
The beat signal amplitude gone out is A2, according to this 3 points of voltage swing relationship, determines that voltage of the load on PZT is to increase, reduce
Or remain unchanged, specially：
A3>A2>A1, then PZT=PZT+step；
A3<A2<A1, then PZT=PZT-step；
A2>A1 and A2>A3, PZT remain unchanged.
The advantages of the present invention are：It is grown and is controlled into an actor's rendering of an operatic tune using the beat signal of laser gyro economic cooperation light output
System, without used in the long control method of traditional chamber reception suitable, the counterclockwise light of gyro photoelectric converter and preamplifier,
Significantly reduce cost；It is grown and is controlled into an actor's rendering of an operatic tune using the beat signal of laser gyro economic cooperation light output, it is only necessary to 1 outgoing mirror
（Conventional method needs 2）, cavity loss is significantly reduced, the raising of Gyro Precision is conducive to；It is defeated through closing light using laser gyro
The beat signal gone out is grown into an actor's rendering of an operatic tune to be controlled, without needing the Amici prism used and opto-electronic conversion in the long control method of traditional chamber
Device simplifies gyro adjustment process.
Description of the drawings
Fig. 1 is the long control principle drawing of prior art piezoelectricity AC modulation chamber；
Fig. 2 is structure chart of the present invention for the method for laser gyro cavity length control；
Fig. 3 is schematic diagram of the present invention for the method for laser gyro cavity length control；
Wherein, 1- plane mirrors（Fractional transmission exports）, 2- plane mirrors, 3- spherical reflectors, 4 spheric reflections
Mirror, 5- frequency stabilizations piezoelectric element, 6- frequency stabilizations piezoelectric element, 7- light-combining prisms, the bis- optical window photoelectric converters of 8-, 9- preamplifiers,
10- magnitude demodulators device, 11- difference amplifiers, 12- reference voltages, 13-PID controllers, 14- voltage amplifiers.
Specific implementation mode
The present invention will be further described below with reference to the drawings：
Referring to Fig. 2, it is the structure chart of the long control system of laser gyro cavity of the present invention.Laser gyro cavity length control of the present invention
System processed is made of loop laser resonance cavity and control circuit.Loop laser resonance cavity includes four to corner reflector 1,2,3,4,
It constitutes and is closed light path.In 4 speculums, 3 are high reflective mirror, and no transmission light output, 1 is outgoing mirror, loop laser resonance cavity
The fraction energy of interior suitable, counterclockwise light is output to by the mirror outside resonant cavity, and light-combining prism 7 is equipped on the outgoing mirror,
The smooth, backlit closing light being output to outside resonant cavity is formed into interference fringe by the light-combining prism, is equipped on the light-combining prism
Double optical window photoelectric converters 8 are used for interference fringe（Optical signal）Be converted to electric signal.The preamplifier of control circuit connects
Voltage amplifier output to double optical window photoelectric converters, control circuit is connected on the piezoelectric ceramics of frequency stabilization piezoelectric element 5,6,
It is long with control chamber.Control circuit includes preamplifier 9 connected in sequence, magnitude demodulator device 10, difference amplifier 11, PID controls
Device 13 and voltage amplifier 14 processed.Reference voltage 12 is connected to difference amplifier.
Method of the present invention for laser gyro cavity length control carries out the beat signal that laser gyro exports after closing light
Magnitude demodulator obtains chamber length control signal after asking difference to amplify with reference voltage, is controlled by triangle test so that the signal
Stablize in maximum（The vertex of gain curve）, to reach the stabilization of chamber length.
Triangle test of the present invention obtain light intensity extreme value the specific steps are：
Step 1：Resonator outgoing mirror output light generates beat signal after closing light
Light suitable in resonant cavity, counterclockwise is exported by outgoing mirror, and generates beat signal, the beat frequency through light-combining prism closing light
Signal is to be superimposed with AC compounent on direct current signal；
Step 2：Then direct current signal is filtered out by preamplifier, and AC signal is amplified；
Step 3：The amplitude of the AC signal is detected by magnitude demodulator device, and differential amplification, the width are carried out to the amplitude
Value can characterize operating point location of the laser gyro on gain curve；
Step 4：Using triangle test by stabilization of operating point in gain extreme value
As shown in figure 3, setting current frequency stabilization PZT voltage as 2, PZT voltage is increased into step to 3, the beat frequency letter of output
Number amplitude is A3, PZT voltage is reduced 2 × step to 1, the beat signal amplitude of output is A1, then PZT voltage is increased step
2 are returned back to, the beat signal amplitude of output is A2, according to this 3 points of voltage swing relationship, determines voltage of the load on PZT
It is to increase, reduce or remain unchanged, specially：
A3>A2>A1, then PZT=PZT+step；
A3<A2<A1, then PZT=PZT-step；
A2>A1 and A2>A3, PZT remain unchanged.
The advantages of this patent method is：
1 grows control using the beat signal of laser gyro economic cooperation light output into an actor's rendering of an operatic tune, without in the long control method of traditional chamber
The photoelectric converter and preamplifier for reception suitable, the counterclockwise light of gyro used, significantly reduce cost.
2 grow control using the beat signal of laser gyro economic cooperation light output into an actor's rendering of an operatic tune, it is only necessary to 1 outgoing mirror（Tradition side
Method needs 2）, cavity loss is significantly reduced, the raising of Gyro Precision is conducive to.
3 grow control using the beat signal of laser gyro economic cooperation light output into an actor's rendering of an operatic tune, without in the long control method of traditional chamber
The Amici prism used and photoelectric converter are needed, gyro adjustment process is simplified.
Claims (5)
1. a kind of long control system of laser gyro cavity, which is characterized in that including laser gyroscope resonant cavity and control circuit, wherein
Laser gyroscope resonant cavity includes four and constitutes closure light path to corner reflector, wherein and 3 are high reflective mirror, and 1 is outgoing mirror, and
Light-combining prism is set on outgoing mirror, and control circuit one end receives the optical signal of light-combining prism through photoelectric converter, by beat signal
Amplitude grow control signal source as chamber, by triangle test by the amplitude stability of beat signal in maximum, the other end
On the piezoelectric ceramics for connecting two frequency stabilization spherical surface high reflective mirrors of control laser gyroscope resonant cavity through voltage amplifier.
2. the long control system of laser gyro cavity according to claim 1, which is characterized in that the control circuit includes sequentially
Photoelectric converter, preamplifier, magnitude demodulator device, difference amplifier, PID controller and the voltage amplifier of connection.
3. the long control system of laser gyro cavity according to claim 1, which is characterized in that 3 high reflective mirrors are carried except two
Outside the frequency stabilization spherical mirror of piezoelectric ceramics, another high reflective mirror is plane mirror.
4. a kind of long control method of laser gyro cavity, which is characterized in that based on laser gyro cavity described in claim 1 length control
System first carries out magnitude demodulator to the beat signal that laser gyro exports after closing light, after asking difference to amplify with reference voltage
Control signal is grown to chamber, is controlled by triangle test so that the signal stabilization reaches the stabilization of chamber length in maximum.
5. the long control method of laser gyro cavity according to claim 4, which is characterized in that be as follows：
Step 1：Resonator outgoing mirror output light generates beat signal after closing light
Light suitable in resonant cavity, counterclockwise is exported by outgoing mirror, and generates beat signal, the beat signal through light-combining prism closing light
To be superimposed with AC compounent on direct current signal；
Step 2：Then direct current signal is filtered out by preamplifier, and AC signal is amplified；
Step 3：The amplitude of the AC signal is detected by magnitude demodulator device, and differential amplification, the amplitude energy are carried out to the amplitude
Enough operating point location of the characterization laser gyro on gain curve；
Step 4：Using triangle test by stabilization of operating point in gain extreme value
Current frequency stabilization PZT voltage is set as 2, PZT voltage is increased into step to 3, the beat signal amplitude of output is A3, will
PZT voltage reduces 2 × step to 1, and the beat signal amplitude of output is A1, then PZT voltage increase step is returned back to 2, output
Beat signal amplitude be A2, according to this 3 points of voltage swing relationship, determine voltage of the load on PZT be increase, reduce or
It remains unchanged, specially：
A3>A2>A1, then PZT=PZT+step；
A3<A2<A1, then PZT=PZT-step；
A2>A1 and A2>A3, PZT remain unchanged.
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| CN114705175B (en) * | 2022-05-25 | 2022-09-02 | 湖南亿诺胜精密仪器有限公司 | Light combination and direct current frequency stabilization control integrated device of laser gyro readout optical system |
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