动力调谐陀螺建模与数字化控制问题研究
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摘要
动力调谐陀螺仪(Dynamically Tuned Gyroscope)是一种二自由度挠性陀螺仪,用于敏感惯性空间的角速度。作为一种中高精度、成本低廉的惯性仪表,动力调谐陀螺仪已广泛应用于军事、航空、航天、航海、机器人、车辆导航、大地测量等领域,而且在一定时期之内仍是惯性测量的主要元件。本文以实现动力调谐陀螺的数字化控制为目标,主要研究陀螺新的建模方法,开发数字控制器快速设计和调试方法,在提高设计、调试效率的同时,提高动力调谐陀螺仪的动态性能、精度和可靠性,并在一定程度上提高陀螺系统工作的鲁棒性。
针对传统的传递函数分析陀螺结构模型的方法推导过程复杂、直观性不强、难以描述陀螺系统的整体工作过程和漂移误差等问题,论文研究了基于键合图原理的陀螺系统建模方法,利用所建立的陀螺模型进行了动力学分析,并与陀螺的开环传递函数进行了仿真对比,验证了陀螺键合图模型的有效性。
在所建立键合图模型的基础上进行了陀螺漂移误差机理的分析,结合八位置试验结果,建立了含有漂移参数的增广键合图模型,为陀螺数字控制器的设计及补偿算法的实现提供了依据。针对陀螺结构设计、制造与控制器设计、调试联系不紧密的问题,研究了陀螺系统结构与控制一体化的仿真方法,为提高设计效率,获得优化的系统整体性能奠定基础。
考虑到传统的陀螺控制器设计、调试周期长,难以满足科研和生产需求的问题,在分析了动力调谐陀螺控制器设计中几个关键问题的基础上,实现了基于半实物仿真系统的陀螺数字控制器快速设计方法,为陀螺仪的数字控制提供了较为规范的系统仿真、设计、调试和性能评价的方法。以此为基础设计了陀螺数字再平衡回路的H_∞鲁棒控制器,以克服陀螺制造误差引起的控制器通用性差的问题。
为提高陀螺离散控制系统的鲁棒性,针对在高采样率时z域离散引起的闭环极点靠近稳定边界的问题,探讨了基于δ算子的H_∞状态反馈控制器和输出反馈控制器设计。在状态不完全可测的情况下,利用δ算子的H_∞输出反馈控制设计了再平衡回路的鲁棒控制器,使得在高采样率时离散系统的闭环特性接近连续域。
最后针对传统的模拟控制器线路复杂、调试效率不高、接口通用性不好的问题,设计并实现了基于DSP的动力调谐陀螺数字控制系统,其中包括三相陀螺电机电源、传感器励磁电源和数字再平衡回路的硬件。设计了系统控制软件的结构及程序流程,最后进行了整个系统的性能测试。
Dynamically tuned gyroscope (DTG) is a 2-DOF(degree of freedom) inertial sensor with a flexible joint, it is used to measure the angular velocity in inertial space. As a medium-high precision and low cost inertial sensor, DTG has been widely used in military, aviation, spaceflight, navigation, robot, land vehicle navigation and earth gauging, and it is the most important component of intertial measurement for a long time in the future. The goal of this paper is to realize the digital control of DTG, new modeling method of DTG is studied and the rapid design and debug method is developed to improve the design and debug efficiency, to improve the dynamic performance, pricision, and reliability of DTG, and to improve the robustness of the DTG system to a certian extent.
The modeling analysis method of traditional transfer function method has complex deduction and the transfer function model is intuitionless, it is difficult to describe the whole working process and drift error of DTG. Aiming at these problems, modeling method of DTG using bond graph principle is studied. Dynamics of DTG is analyzed using the built bond graph model, which is compared with the open-loop transfer function using simulation, and the validity of the bond graph model is proved.
The DTG drift error source is analyzed on the basis of DTG bond graph model, the augmented bond graph model with drift error is derived according to the 8-position experiment of DTG model, which provides the basis of realization of the rebalance loop and compensation algrithms. The integrative simulation method of structure and controller is analyzed to solve the problems of incompact interconnection between DTG structure design, manufacture and controller design, debug, which form the basis of improving design efficiency and getting the optimized system performance of DTG.
Considering the traditional DTG controller has long period of design and debug, it is difficult to meet the demand of research and production, the several key problems of DTG controller design are analyzed, based on which, rapid design method of the DTG digital controller is realized using HIL(Hardware-in-LOOP) simulation, which provides the canonical method of simulation, design, debug and performance evaluation for the DTG digital controller design. The robust controller is designed according to the rapid design method, which will ovecome the bad interchangeability of the controller caused by manufacture error.
In order to improve the robustness of DTG discrete control system, and to solve the problem that the close loop pole is too close to the stability edge with high sample rate when discrete in z domain, the H_∞state feedback and output feedback robustcontroller design usingδoperator are discussed. Then, under the condition of not completely detectable of the system states, the robust controller of DTG rebalance loop using H_∞output feedback design based onδoperator is discussed, which makes theclose loop performance of discrete system close to the that of continuous system when sampled with high rate.
The analog rebalance loop has complex circuit, inefficient debugging, and bad interchangeability of interface. To avoid these problems, the digital control system based on DSP is designed, including the 3-phase power source of motor, excitation power source of pickoffs and the hardware of digital rebalance loop. The structure of the system control software and its program flow are designed. At last, the performance of the whole DTG system is tested.
针对传统的传递函数分析陀螺结构模型的方法推导过程复杂、直观性不强、难以描述陀螺系统的整体工作过程和漂移误差等问题,论文研究了基于键合图原理的陀螺系统建模方法,利用所建立的陀螺模型进行了动力学分析,并与陀螺的开环传递函数进行了仿真对比,验证了陀螺键合图模型的有效性。
在所建立键合图模型的基础上进行了陀螺漂移误差机理的分析,结合八位置试验结果,建立了含有漂移参数的增广键合图模型,为陀螺数字控制器的设计及补偿算法的实现提供了依据。针对陀螺结构设计、制造与控制器设计、调试联系不紧密的问题,研究了陀螺系统结构与控制一体化的仿真方法,为提高设计效率,获得优化的系统整体性能奠定基础。
考虑到传统的陀螺控制器设计、调试周期长,难以满足科研和生产需求的问题,在分析了动力调谐陀螺控制器设计中几个关键问题的基础上,实现了基于半实物仿真系统的陀螺数字控制器快速设计方法,为陀螺仪的数字控制提供了较为规范的系统仿真、设计、调试和性能评价的方法。以此为基础设计了陀螺数字再平衡回路的H_∞鲁棒控制器,以克服陀螺制造误差引起的控制器通用性差的问题。
为提高陀螺离散控制系统的鲁棒性,针对在高采样率时z域离散引起的闭环极点靠近稳定边界的问题,探讨了基于δ算子的H_∞状态反馈控制器和输出反馈控制器设计。在状态不完全可测的情况下,利用δ算子的H_∞输出反馈控制设计了再平衡回路的鲁棒控制器,使得在高采样率时离散系统的闭环特性接近连续域。
最后针对传统的模拟控制器线路复杂、调试效率不高、接口通用性不好的问题,设计并实现了基于DSP的动力调谐陀螺数字控制系统,其中包括三相陀螺电机电源、传感器励磁电源和数字再平衡回路的硬件。设计了系统控制软件的结构及程序流程,最后进行了整个系统的性能测试。
Dynamically tuned gyroscope (DTG) is a 2-DOF(degree of freedom) inertial sensor with a flexible joint, it is used to measure the angular velocity in inertial space. As a medium-high precision and low cost inertial sensor, DTG has been widely used in military, aviation, spaceflight, navigation, robot, land vehicle navigation and earth gauging, and it is the most important component of intertial measurement for a long time in the future. The goal of this paper is to realize the digital control of DTG, new modeling method of DTG is studied and the rapid design and debug method is developed to improve the design and debug efficiency, to improve the dynamic performance, pricision, and reliability of DTG, and to improve the robustness of the DTG system to a certian extent.
The modeling analysis method of traditional transfer function method has complex deduction and the transfer function model is intuitionless, it is difficult to describe the whole working process and drift error of DTG. Aiming at these problems, modeling method of DTG using bond graph principle is studied. Dynamics of DTG is analyzed using the built bond graph model, which is compared with the open-loop transfer function using simulation, and the validity of the bond graph model is proved.
The DTG drift error source is analyzed on the basis of DTG bond graph model, the augmented bond graph model with drift error is derived according to the 8-position experiment of DTG model, which provides the basis of realization of the rebalance loop and compensation algrithms. The integrative simulation method of structure and controller is analyzed to solve the problems of incompact interconnection between DTG structure design, manufacture and controller design, debug, which form the basis of improving design efficiency and getting the optimized system performance of DTG.
Considering the traditional DTG controller has long period of design and debug, it is difficult to meet the demand of research and production, the several key problems of DTG controller design are analyzed, based on which, rapid design method of the DTG digital controller is realized using HIL(Hardware-in-LOOP) simulation, which provides the canonical method of simulation, design, debug and performance evaluation for the DTG digital controller design. The robust controller is designed according to the rapid design method, which will ovecome the bad interchangeability of the controller caused by manufacture error.
In order to improve the robustness of DTG discrete control system, and to solve the problem that the close loop pole is too close to the stability edge with high sample rate when discrete in z domain, the H_∞state feedback and output feedback robustcontroller design usingδoperator are discussed. Then, under the condition of not completely detectable of the system states, the robust controller of DTG rebalance loop using H_∞output feedback design based onδoperator is discussed, which makes theclose loop performance of discrete system close to the that of continuous system when sampled with high rate.
The analog rebalance loop has complex circuit, inefficient debugging, and bad interchangeability of interface. To avoid these problems, the digital control system based on DSP is designed, including the 3-phase power source of motor, excitation power source of pickoffs and the hardware of digital rebalance loop. The structure of the system control software and its program flow are designed. At last, the performance of the whole DTG system is tested.
引文
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