棱镜式激光陀螺稳频控制系统优化
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摘要
针对棱镜式激光陀螺稳频精度较低的现象,系统地研究了棱镜式激光陀螺稳频控制系统特性。理论分析了光强调谐曲线及稳频执行机构的特征,建立了棱镜式激光陀螺稳频控制系统数学模型。进一步分析了系统稳态性能及动态性能,分析结果表明,系统在定温及慢变温作用下具有不同程度的稳态误差且调节时间过长,从而导致稳频精度下降。优化控制器参数使二阶系统具有最佳阻尼比及快速性,采用按温度补偿的前馈控制系统,实现了对温度所引起的稳频误差的全补偿,提高了系统的稳频精度。实验结果表明,优化后的稳频控制系统比原稳频控制系统的稳频精度提高一个数量级,陀螺精度提高30%以上。
In view of the low frequency stabilization accuracy of prism laser gyros,the characteristics of frequency stabilization control system of prism laser gyros are systematically studied.The light intensity tuning curve and the frequency stabilizing actuator are analyzed theoretically.The mathematical model of the frequency stabilization control system of the prism laser gyros is established.The steady state performance and dynamic performance of the system are further analyzed.The analysis results show that the system has different steady-state errors and the adjustment time is too long under the influence of constant temperature and slow temperature change,which leads to the decline of the stability frequency accuracy.We optimize the controller parameters to provide optimal damping ratio and rapidity for second-order system.And the feedforward control system with temperature compensation is adopted to realize the full compensation of the frequency stability error caused by the temperature and improve the frequency stability accuracy of the system.The experimental results show that the optimized frequency stabilization control system can improve the frequency stability accuracy by one order of magnitude compared with the original frequency stabilization control system,and the gyro accuracy can be improved by more than 30%.
In view of the low frequency stabilization accuracy of prism laser gyros,the characteristics of frequency stabilization control system of prism laser gyros are systematically studied.The light intensity tuning curve and the frequency stabilizing actuator are analyzed theoretically.The mathematical model of the frequency stabilization control system of the prism laser gyros is established.The steady state performance and dynamic performance of the system are further analyzed.The analysis results show that the system has different steady-state errors and the adjustment time is too long under the influence of constant temperature and slow temperature change,which leads to the decline of the stability frequency accuracy.We optimize the controller parameters to provide optimal damping ratio and rapidity for second-order system.And the feedforward control system with temperature compensation is adopted to realize the full compensation of the frequency stability error caused by the temperature and improve the frequency stability accuracy of the system.The experimental results show that the optimized frequency stabilization control system can improve the frequency stability accuracy by one order of magnitude compared with the original frequency stabilization control system,and the gyro accuracy can be improved by more than 30%.
引文
[1]Bakin Y V,Ziouzev G N,Lioudomirski M B.Laser gyros with total reflection prisms[M].Moscow:Moscow Bauman State Technical University,2003:1-34.
[2]Yao C K,Zeng X D,Cao C Q.Intensity properties of output light in prisms laser gyro with mechanical dither bias[J].Acta Physica Sinica,2012,61(9):094216.姚呈康,曾晓东,曹长庆.机械抖动棱镜式激光陀螺出射光强度特性[J].物理学报,2012,61(9):094216.
[3]Liu J N,Jiang J B,Shi S X,et al.Analysis of total reflection prism ring laser′s output characteristi and gyroscope′s accuracy[J].Chinese Journal of Lasers,2013,40(1):0102002.刘健宁,蒋军彪,石顺祥,等.全反射棱镜式环形激光器合光输出及陀螺精度特性分析[J].中国激光,2013,40(1):0102002.
[4]Chow W W.The ring laser gyro[J].Reviews of Modern Physics,1985,57(1):61-104.
[5]Menegozzi L N,Lamb W E.Theory of a ring laser[J].Physical Review A,1973,8(4):2103-2125.
[6]Jiang Y N.Ring laser gyro[M].Beijing:Tsinghua University Press,1985:214-216.姜亚南.环形激光陀螺[M].北京:清华大学出版社,1985:214-216.
[7]Zhao D Y,Shi S X,Li J L.Temperature effect of ring laser with total reflection prisms[J].Acta Photonica Sinica,2006,35(11):1627-1631.赵东洋,石顺祥,李家立.全反射棱镜式环形激光器的温度效应[J].光子学报,2006,35(11):1627-1631.
[8]Liu J N,Jiang J B,Shi S X,et al.Optimization analysis of frequency stabilization servo system of prisms laser gyro[J].Acta Armamentarii,2013,34(7):821-827.刘健宁,蒋军彪,石顺祥,等.棱镜式激光陀螺稳频伺服系统优化分析[J].兵工学报,2013,34(7):821-827.
[9]Ma J J,Jiang J B,Liu J N.Frequency stabilization technique of total reflection prism laser gyros with double longitudinal modes[J].Chinese Journal of Lasers,2014,41(9):0902011.马家君,蒋军彪,刘健宁.全反射棱镜式激光陀螺双纵模稳频技术[J].中国激光,2014,41(9):0902011.
[10]Ma J J,Jiang J B,Liu J N.Adaptive frequency stabilization technique for total reflection prism laser gyros[J].Acta Optica Sinica,2015,35(3):0314002.马家君,蒋军彪,刘健宁.全反射棱镜式激光陀螺自适应稳频技术[J].光学学报,2015,35(3):0314002.
[11]Ma J J,Jiang J B.Research on the frequency stabilization properties of total reflection prism laser gyros[J].Chinese Journal of Lasers,2015,42(1):0102002.马家君,蒋军彪.全反射棱镜式激光陀螺稳频特性研究[J].中国激光,2015,42(1):0102002.
[12]Luo H,Guo S J,Hu S M,et al.Research and design on high-precision frequency-stability measurement system of ring laser gyroscope[J].Journal of Chinese Inertial Technology,2005,13(6):86-89.罗晖,郭少军,胡绍民,等.激光陀螺仪频率稳定度高精度测量系统的研制[J].中国惯性技术学报,2005,13(6):86-89.
[13]Ma Y H,Yu W D,Quan B X,et al.Influence of path length control mirror on dynamic stability of ring laser gyro[J].Chinese Journal of Lasers,2017,44(6):0601001.马仰华,于文东,权冰心,等.腔长控制镜对激光陀螺动态特性的影响[J].中国激光,2017,44(6):0601001.
[14]Liang K,Li L,Chen L F,et al.Experimental study on optimal transmittance of mirror in laser gyro[J].Chinese Journal of Lasers,2017,44(4):0401003.梁可,李龙,陈林峰,等.激光反射镜最佳透射率实验研究[J].中国激光,2017,44(4):0401003.
[2]Yao C K,Zeng X D,Cao C Q.Intensity properties of output light in prisms laser gyro with mechanical dither bias[J].Acta Physica Sinica,2012,61(9):094216.姚呈康,曾晓东,曹长庆.机械抖动棱镜式激光陀螺出射光强度特性[J].物理学报,2012,61(9):094216.
[3]Liu J N,Jiang J B,Shi S X,et al.Analysis of total reflection prism ring laser′s output characteristi and gyroscope′s accuracy[J].Chinese Journal of Lasers,2013,40(1):0102002.刘健宁,蒋军彪,石顺祥,等.全反射棱镜式环形激光器合光输出及陀螺精度特性分析[J].中国激光,2013,40(1):0102002.
[4]Chow W W.The ring laser gyro[J].Reviews of Modern Physics,1985,57(1):61-104.
[5]Menegozzi L N,Lamb W E.Theory of a ring laser[J].Physical Review A,1973,8(4):2103-2125.
[6]Jiang Y N.Ring laser gyro[M].Beijing:Tsinghua University Press,1985:214-216.姜亚南.环形激光陀螺[M].北京:清华大学出版社,1985:214-216.
[7]Zhao D Y,Shi S X,Li J L.Temperature effect of ring laser with total reflection prisms[J].Acta Photonica Sinica,2006,35(11):1627-1631.赵东洋,石顺祥,李家立.全反射棱镜式环形激光器的温度效应[J].光子学报,2006,35(11):1627-1631.
[8]Liu J N,Jiang J B,Shi S X,et al.Optimization analysis of frequency stabilization servo system of prisms laser gyro[J].Acta Armamentarii,2013,34(7):821-827.刘健宁,蒋军彪,石顺祥,等.棱镜式激光陀螺稳频伺服系统优化分析[J].兵工学报,2013,34(7):821-827.
[9]Ma J J,Jiang J B,Liu J N.Frequency stabilization technique of total reflection prism laser gyros with double longitudinal modes[J].Chinese Journal of Lasers,2014,41(9):0902011.马家君,蒋军彪,刘健宁.全反射棱镜式激光陀螺双纵模稳频技术[J].中国激光,2014,41(9):0902011.
[10]Ma J J,Jiang J B,Liu J N.Adaptive frequency stabilization technique for total reflection prism laser gyros[J].Acta Optica Sinica,2015,35(3):0314002.马家君,蒋军彪,刘健宁.全反射棱镜式激光陀螺自适应稳频技术[J].光学学报,2015,35(3):0314002.
[11]Ma J J,Jiang J B.Research on the frequency stabilization properties of total reflection prism laser gyros[J].Chinese Journal of Lasers,2015,42(1):0102002.马家君,蒋军彪.全反射棱镜式激光陀螺稳频特性研究[J].中国激光,2015,42(1):0102002.
[12]Luo H,Guo S J,Hu S M,et al.Research and design on high-precision frequency-stability measurement system of ring laser gyroscope[J].Journal of Chinese Inertial Technology,2005,13(6):86-89.罗晖,郭少军,胡绍民,等.激光陀螺仪频率稳定度高精度测量系统的研制[J].中国惯性技术学报,2005,13(6):86-89.
[13]Ma Y H,Yu W D,Quan B X,et al.Influence of path length control mirror on dynamic stability of ring laser gyro[J].Chinese Journal of Lasers,2017,44(6):0601001.马仰华,于文东,权冰心,等.腔长控制镜对激光陀螺动态特性的影响[J].中国激光,2017,44(6):0601001.
[14]Liang K,Li L,Chen L F,et al.Experimental study on optimal transmittance of mirror in laser gyro[J].Chinese Journal of Lasers,2017,44(4):0401003.梁可,李龙,陈林峰,等.激光反射镜最佳透射率实验研究[J].中国激光,2017,44(4):0401003.