金属筒形谐振振陀螺的电电磁修调调方法
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摘要
针对金属筒形谐振陀螺的频率修调时,传统的微量去重调质量的方法需要高精度工艺技术,并且无法实现在线的正交控制的问题,提出了一种针对于合金钢谐振子的电磁调刚度方法。首先建立了环形谐振子的刚度修调理论模型,基于该模型,将对准谐振环的电磁头等效为带负刚度的"径向弹簧",进而得到了金属谐振子的电磁修调算法。在该算法指导下,研究了一套电磁修调方法,并搭建修调系统进行修调实验。实验表明,该方法成功将谐振子的频率裂解从2Hz左右修调至0.02Hz,验证了电磁修调方法的实用性,有望应用于在线的正交控制。
In view that traditional method of micro-deregulation mass for frequency tuning of metal cylindrical resonator gyroscope requires high-precision process technology and cannot realize the on-line orthogonal control, an electromagnetically tuned stiffness method for alloy steel resonators is proposed. Firstly, the theoretical model of the stiffness tuning of the ring resonator is established. Based on this model, the electromagnetic head aligned with the resonance ring is made equivalent to the "radial spring" with negative stiffness, and then the electromagnetic modification algorithm of the metal resonator is obtained. Under the guidance of this algorithm, a set of electromagnetic tuning methods is studied, and the trimming system is built to carry out the trimming experiment. The experimental results show that this method successfully adjusts the frequency splitting of the resonator from about 2 Hz to 0.02 Hz, which verifies the practicability of the electromagnetic tuning method. The proposed method is expected to be applied to the online orthogonal control.
In view that traditional method of micro-deregulation mass for frequency tuning of metal cylindrical resonator gyroscope requires high-precision process technology and cannot realize the on-line orthogonal control, an electromagnetically tuned stiffness method for alloy steel resonators is proposed. Firstly, the theoretical model of the stiffness tuning of the ring resonator is established. Based on this model, the electromagnetic head aligned with the resonance ring is made equivalent to the "radial spring" with negative stiffness, and then the electromagnetic modification algorithm of the metal resonator is obtained. Under the guidance of this algorithm, a set of electromagnetic tuning methods is studied, and the trimming system is built to carry out the trimming experiment. The experimental results show that this method successfully adjusts the frequency splitting of the resonator from about 2 Hz to 0.02 Hz, which verifies the practicability of the electromagnetic tuning method. The proposed method is expected to be applied to the online orthogonal control.
引文
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[2]Fox C H J.A simple theory for the analysis and correction of frequency splitting in slightly imperfect rings[J].Journal of Sound and Vibration,1990,142(2):227-243.
[3]Challoner A D,Ge H,Liu J.Boeing disc resonator gyroscope[C]//IEEE/ION Position,Location&Navigation Symposium.Monterey,CA,USA,2014:504-514.
[4]寇志伟,刘俊,曹慧亮,等.MEMS环形谐振陀螺的结构设计与振动特性分析[J].中国惯性技术学报,2018,26(2):275-280.Kou Z,Liu J,Cao H,et al.Structure design and vibration characteristics analysis of MEMS vibrating ring gyroscope[J].Journal of Chinese Inertial Technology,2018,26(2):275-280.
[5]Xi X,Wu X,Zhang Y,et al.A study on Q factor of the trimmed resonator for vibratory cupped gyroscopes[J].Sensors&Actuators A:Physical,2014,218:23-32.
[6]Schwartz D,Kim D,Stupar P,et al.Modal parameter tuning of an axisymmetric resonator via mass perturbation[J].Journal of Microelectromechanical Systems,2015,24(3):545-555.
[7]Joubert S V,Shatalov M Y,Coetzee C E.Using Fourier series to analyze mass imperfections in vibratory gyroscopes[J].Journal of Symbolic Computation,2014,61-61:116-127.
[8]Ma X,Su Z.Analysis and compensation of mass imperfection effects on 3-D sensitive structure of bell-shaped vibratory gyro[J].Sensors&Actuators A:Physical,2015,224:14-23.
[9]Xiao D,Yu D,Zhou X,et al.Frequency tuning of a disk resonator gyroscope via stiffness perturbation[J].IEEESensors Journal,2017,PP(99):1-1.
[10]于得川,何汉辉,周鑫,等.嵌套环式MEMS振动陀螺的静电修调算法[J].传感器与微系统,2017,36(7):134-137.Yu D,He H,Zhou X,et al.Algorithm for electrostatic tuning of disk resonator MEMS vibration gyroscope[J].Transducer and Microsystem Technologies,2017,36(7):134-137.