平台系统精密离心机测试方法研究
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摘要
平台系统的精密离心机测试技术是提高导弹系统使用精度的重要手段,是未来惯性测试技术的一个重要发展方向。针对该测试技术,文中以建立平台系统离心机试验的误差系数观测方程为逻辑主线,研究了平台系统离心机试验各方面的内容,主要工作如下:
给出了惯性器件在台体上的安装方式,然后介绍了陀螺加速度计的工作原理,最后给出了平台系统的误差模型。其次对离心机误差进行了分类,依次分析了各种不确定性的来源及其对离心机加速度偏差的影响,并给出了各种不确定性的衡量标准,最后给出了离心机不确定性对输出加速度的综合影响。
建立了平台系统离心机受力分析所需的坐标系,给出了各坐标系的定义,并分有无反转台两种情况研究了各坐标系间的转换关系。其次推导了平台基座在离心机上的受力表达式,并分有无离心机误差两种情况给出了惯性器件所受比力的表达式,最后分析了惯性器件在离心机上的运动轨迹。
按建立观测方程时选用观测量的不同,给出了两种试验方案并设计了平台系统误差系数的多位置标定方案;最后分析了平台失准角对标定结果的影响,并给出了一种迭代算法用来消除此影响。
分析了两种试验方案对平台系统误差系数标定结果的影响,发现采用平台框架角和加速度计输出作为观测量的试验方案略好;并研究了试验参数和离心机误差对标定精度的影响,发现这两者对标定精度的影响都较大。
介绍了试验设计的目的和意义,结合本论文研究的回归试验设计给出了几种常用试验设计方法,并对其特点进行了说明。对典型相关分析进行了简介,并应用该方法分析了试验参数与标定精度之间的联系,得出在文中仿真条件下采样时间对标定结果影响最大的结论。
本文所做工作可为平台系统精密离心机试验提供理论支承,对其它相关领域的研究亦具有一定的参考价值。
The precision centrifuge testing of inertial platform provides an important method for improving missile guidance precision and it is one of inertial testing trends in the future. The error coefficient equation of inertial platform is discussed in detail, and all phases of testing are included, beginning with error model of inertial platform, and it ends with the application of canonical correlation analysis. The main parts of the thesis are:
A discussion of model equations is provided, both for the inertial platform and for the centrifuge, each with the complexity needed to accommodate the various identified characteristics and error sources in each. The principle of Pendulous Integrating Gyroscope Accelerometer (PIGA) is clarified and error models of other inertial sensors are presented. The radius uncertainty, angular velocity uncertainty and alignment uncertainty are three main error souses for centrifuge testing, each of them is offered in the paper.
The basic coordinate systems utilized in describing the measured acceleration of the inertial platform are detailed in this paper, and the acceleration formula of the inertial platform is deduced both for the centrifuge with counter-rotating platform and for the one without counter-rotating platform. In the end the trajectory of inertial sensor in centrifuge is analyzed.
According to different parameter used in error coefficient equation, two error coefficient equations are presented and a multi-position calibration plan is designed. The impact on platform calibration precision caused by platform drift is analyzed and an iterative algorithm is developed to reduce this impact.
The simulation of the precision centrifuge testing is analyzed and the error coefficient equation using accelerometers and platform gimbals output can reach a subtle better platform calibration precision. The simulation also founds that both of the test parameter and the centrifuge error could have a great impact on platform calibration precision.
Based on regression equation, the method and meaning of experiment design is discussed. Using canonical correlation analysis method, the relation between test parameters and platform calibration precision is analyzed. A conclusion is drawn that the sampling time has a most effect on platform calibration precision in the given simulation setting, and the conclusion is validated by a simulation.
This thesis will provide the theoretical support to the precision centrifuge testing of inertial platform, and it is also a good reference of other correlated subjects.
给出了惯性器件在台体上的安装方式,然后介绍了陀螺加速度计的工作原理,最后给出了平台系统的误差模型。其次对离心机误差进行了分类,依次分析了各种不确定性的来源及其对离心机加速度偏差的影响,并给出了各种不确定性的衡量标准,最后给出了离心机不确定性对输出加速度的综合影响。
建立了平台系统离心机受力分析所需的坐标系,给出了各坐标系的定义,并分有无反转台两种情况研究了各坐标系间的转换关系。其次推导了平台基座在离心机上的受力表达式,并分有无离心机误差两种情况给出了惯性器件所受比力的表达式,最后分析了惯性器件在离心机上的运动轨迹。
按建立观测方程时选用观测量的不同,给出了两种试验方案并设计了平台系统误差系数的多位置标定方案;最后分析了平台失准角对标定结果的影响,并给出了一种迭代算法用来消除此影响。
分析了两种试验方案对平台系统误差系数标定结果的影响,发现采用平台框架角和加速度计输出作为观测量的试验方案略好;并研究了试验参数和离心机误差对标定精度的影响,发现这两者对标定精度的影响都较大。
介绍了试验设计的目的和意义,结合本论文研究的回归试验设计给出了几种常用试验设计方法,并对其特点进行了说明。对典型相关分析进行了简介,并应用该方法分析了试验参数与标定精度之间的联系,得出在文中仿真条件下采样时间对标定结果影响最大的结论。
本文所做工作可为平台系统精密离心机试验提供理论支承,对其它相关领域的研究亦具有一定的参考价值。
The precision centrifuge testing of inertial platform provides an important method for improving missile guidance precision and it is one of inertial testing trends in the future. The error coefficient equation of inertial platform is discussed in detail, and all phases of testing are included, beginning with error model of inertial platform, and it ends with the application of canonical correlation analysis. The main parts of the thesis are:
A discussion of model equations is provided, both for the inertial platform and for the centrifuge, each with the complexity needed to accommodate the various identified characteristics and error sources in each. The principle of Pendulous Integrating Gyroscope Accelerometer (PIGA) is clarified and error models of other inertial sensors are presented. The radius uncertainty, angular velocity uncertainty and alignment uncertainty are three main error souses for centrifuge testing, each of them is offered in the paper.
The basic coordinate systems utilized in describing the measured acceleration of the inertial platform are detailed in this paper, and the acceleration formula of the inertial platform is deduced both for the centrifuge with counter-rotating platform and for the one without counter-rotating platform. In the end the trajectory of inertial sensor in centrifuge is analyzed.
According to different parameter used in error coefficient equation, two error coefficient equations are presented and a multi-position calibration plan is designed. The impact on platform calibration precision caused by platform drift is analyzed and an iterative algorithm is developed to reduce this impact.
The simulation of the precision centrifuge testing is analyzed and the error coefficient equation using accelerometers and platform gimbals output can reach a subtle better platform calibration precision. The simulation also founds that both of the test parameter and the centrifuge error could have a great impact on platform calibration precision.
Based on regression equation, the method and meaning of experiment design is discussed. Using canonical correlation analysis method, the relation between test parameters and platform calibration precision is analyzed. A conclusion is drawn that the sampling time has a most effect on platform calibration precision in the given simulation setting, and the conclusion is validated by a simulation.
This thesis will provide the theoretical support to the precision centrifuge testing of inertial platform, and it is also a good reference of other correlated subjects.
引文
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