陀螺仪漂移检测系统的研究
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摘要
陀螺仪是飞机、导弹、舰船等运载体及惯性导航系统不可缺少的重要元件。随着航海、航空事业的发展,对运载体的控制和导航精度的要求越来越高。由于陀螺的漂移误差是整个控制和导航系统的重要误差源,所以,对陀螺仪漂移的测试及补偿技术的研究具有越来越重要的意义。
本文首先简要介绍了陀螺仪的发展历程以及漂移的概念。并对液浮力反馈速率陀螺仪的工作原理和产生漂移的原因进行了概述。分析了液浮力反馈速率陀螺的静态漂移误差和动态测量误差。把漂移误差分为与比力无关、与一次方成比例和与二次方成比例三类。建立了陀螺静态漂移误差模型和动态漂移误差模型。然后介绍了陀螺仪漂移测试的主要方法,阐明了力反馈法和伺服转台法各自的特点,重点介绍了力反馈法的基本原理和方法。
在进行理论分析的基础上,重点论述了力反馈回路的设计。用Matlab分析了陀螺本体传递函数的波德图,然后通过采用比例-积分控制和迟后-超前校正及参数优化、系统仿真,使陀螺系统的固有频率得到显著提高。为满足导航系统对供电电源波纹度的要求,设计了直流电源,通过测试及数据分析验证了电源的可靠性。
最后介绍了利用VB语言设计陀螺漂移测试的软件系统。给出了系统的流程框图。介绍了各模块的功能以及软件实现。
Gyroscope is indispensable in the control systems and inertial navigation systems on the carriers, such as the plane,the missile,the ship ect. With the development of navigation and aviation, the demand for the control of the carrier and the precision of navigation is becoming higher and higher. So the drift error of gyro is always the main source of error in the control and navigation system,the study of technology of measurement and compensation plays more and more important part in this field.
A brief introduction of gyro’s development process and conception of drift is presented on the paper. Then the gyro’s working theory and cause of drift are summarized. The static drift error and dynamic test error of liquid floated reactive rate gyro are analyzed also. Its static error is categorized into three types: irrelative with the specific force,relative with the first-order of specific force and relative with the square of specific force. Mathematic expressions of static drift error and dynamic test error are formulated. And the basically methods of gyro’s drift testing are introduced. The characteristics of force feedback method and servo turntable method are clarified. And the basic principle and method of feedback are emphasized.
The design of force feedback loop is emphasized on the base of theory analysis.Then proportional-integral controller and lag-lead compensator are designed to improve dynamic performance of this kind of gyro. The main work includes optimizing parameters and system simulation. The DC power is designed to meet the demand of navigation system for supply power ripple,and the stability of power is proved by analyzing the collection date.
The software system of gyro drift testing is introduced and it is carried out by VB finally. The flow chart is presented. Each function module and how to carry out are introduced.
本文首先简要介绍了陀螺仪的发展历程以及漂移的概念。并对液浮力反馈速率陀螺仪的工作原理和产生漂移的原因进行了概述。分析了液浮力反馈速率陀螺的静态漂移误差和动态测量误差。把漂移误差分为与比力无关、与一次方成比例和与二次方成比例三类。建立了陀螺静态漂移误差模型和动态漂移误差模型。然后介绍了陀螺仪漂移测试的主要方法,阐明了力反馈法和伺服转台法各自的特点,重点介绍了力反馈法的基本原理和方法。
在进行理论分析的基础上,重点论述了力反馈回路的设计。用Matlab分析了陀螺本体传递函数的波德图,然后通过采用比例-积分控制和迟后-超前校正及参数优化、系统仿真,使陀螺系统的固有频率得到显著提高。为满足导航系统对供电电源波纹度的要求,设计了直流电源,通过测试及数据分析验证了电源的可靠性。
最后介绍了利用VB语言设计陀螺漂移测试的软件系统。给出了系统的流程框图。介绍了各模块的功能以及软件实现。
Gyroscope is indispensable in the control systems and inertial navigation systems on the carriers, such as the plane,the missile,the ship ect. With the development of navigation and aviation, the demand for the control of the carrier and the precision of navigation is becoming higher and higher. So the drift error of gyro is always the main source of error in the control and navigation system,the study of technology of measurement and compensation plays more and more important part in this field.
A brief introduction of gyro’s development process and conception of drift is presented on the paper. Then the gyro’s working theory and cause of drift are summarized. The static drift error and dynamic test error of liquid floated reactive rate gyro are analyzed also. Its static error is categorized into three types: irrelative with the specific force,relative with the first-order of specific force and relative with the square of specific force. Mathematic expressions of static drift error and dynamic test error are formulated. And the basically methods of gyro’s drift testing are introduced. The characteristics of force feedback method and servo turntable method are clarified. And the basic principle and method of feedback are emphasized.
The design of force feedback loop is emphasized on the base of theory analysis.Then proportional-integral controller and lag-lead compensator are designed to improve dynamic performance of this kind of gyro. The main work includes optimizing parameters and system simulation. The DC power is designed to meet the demand of navigation system for supply power ripple,and the stability of power is proved by analyzing the collection date.
The software system of gyro drift testing is introduced and it is carried out by VB finally. The flow chart is presented. Each function module and how to carry out are introduced.
引文
1 任德民,陈效真.面对WTO的中国惯性技术,导航与控制,2002,2:1～5
2 马青枝.速率陀螺技术的发展历程,惯导与仪表,2001,1:38
3 陈心中,徐润君.陀螺惯性制导及其军事应用,大学物理,2004,23(3):46～50
4 张树侠,孙枫.平台罗经,国防工业出版社,1990,41～64
5 Hao.Wang,Tian, Weifeng. Modeling the random drift of micro-machined gyroscope with neural network, Neural Processing Letters, v 22, n 3, December, 2005, p 235-247
6 Bencze, William Joseph. Gyroscope Spin Axis Direction Control for the Gravity Probe B Satellite. Dissertation Abstracts International, 1997,57(11): 7115~7210
7 Akcayir, Yusuf. Ilker, Ozkazanc, Yakup. Gyroscope Drift Estimation Analysis in Land Navigation Systems. IEEE Conference on Control Applications – Proceedings,2003,2: 1488-1491
8 Miao.Ling-Juan, Zhang.Fang-Sheng, Shen.Jun, Liu.Wei. Data Analysis and Modeling of Fiber Optic Gyroscope Drift, Journal of Beijing Institute of Technology 2002,11(1):50-55
9 王文立,李立新.捷联惯导系统快速测漂技术研究,鱼雷技术,2001,9(4):17～
20
10 姜璐,于远治.陀螺仪在导航中的应用及其比较, 船舶工程, 2004, 2(2): 10~13
11 胡恒章.陀螺仪漂移测试原理及其试验技术.国防工业出版社.1983,4~58
12 马 云 峰 . 陀 螺 仪 漂 移 测 试 与 补 偿 系 统 的 研 制 , 系 统 工 程 与 电 子 技术,2001,23(2):67~70
13 王广龙,祖静,张文栋.微机械陀螺以及其应用研究.1999,13(2):30~34
14 梅硕基,郭秀中,徐鹤年.惯性仪器测试与数据处理.西北工业大学出版社. 1991,16~31,147~176
15 翁海娜,李滋刚,万德钧.液浮陀螺漂移的试验建模研究,中国惯性技术学报. 1999,7(2):30~35
16 钟万登.液浮惯性器件.宇航出版社,1994,2~72,118~199,401~439,512~516
17 熊海林,邓方林.陀螺静态漂移系数的两种估算.上海航天. 2002,1:39~40
18 Ohshima, Yoshimi. Analysis and Testing of Gyroscope Performance for the Gravity Probe B Relativity Mission.Dissertation Abstracts International. 2000 61(11): 5980~5994
19 Jiang Hong,Yang Weiqin,Yang Yangtang.state Space Modeling of Random Drift Rate in High-Precision Gyro.IEEE Transactions on Aerospace and Electronics Svstems,1996,32(3);1138-1143
20 陈熙源,万德钧,程向红.船用陀螺漂移误差模型辨识及其应用.船舶工程.1998,3:48~51
21 吴光裕. 一种实用的陀螺漂移系数测试方法. 航空控制. 1998,3:62~66
22 Qin.Xinhua, Data Reduction Analysis for the Stanford Relativity Gyroscope Experiment. Dissertation Abstracts International. 1991,52: 4849~4853.
23 Walter, Todd. A Gyroscope Clock for a Null Gravitational Redshift Experiment. Dissertation Abstracts International. 1994,54(12): 6245~6251
24 Crawford, James MacKenzie. Ground Testing and Model Updating for Flexible Space Structures. Dissertation Abstracts International,2001,62(11): 5214~5311
25 Takahashi, Masanobu Tai, Shuichi, Kyuma, Kazuo. Effect of Reflections on the Drift Characteristics of a Fiber-optic Passive Ring-resonator Gyroscope, Journal of Lightwave Technology,1990,8 (5): 811-816
26 钟平,金光,刘延斌.一种新型陀螺动态漂移检测系统的设计,光学技术,2004,30(1):61～64
27 吴本寿,万德钧,周百令.国外动调陀螺仪再平衡技术的发展,中国惯性技术学报,1996,4(2):52~57
28 章燕申, 袁曾任等.控制系统的设计与实践.清华大学出版社.1992,58~85
29 V.J. Lapps, W.H.Steyn, C.I.Underwood. Torque Amplification of Control Moment Gyroscope, Electronics Letters. 2002,38:837~839
30 Kasdin, N. Jeremy,Gauthier, Christian. Gravity Gradient Gyroscope Drifts in the NASA Relativity Mission/Gravity Probe B experiment,Journal of the Astronautical Sciences,1996,44( 2):129-147
31 顾冬晴,秦永元,徐景硕.速率偏频激光陀螺载体角增量信息解调与陀螺漂移调制原理分析.弹箭与制导学报,2004,1:16～18
32 姚晓峰.力反馈陀螺解调线路设计,战术导弹控制技术,2005,03:70~73
33 林娟,陆寿茂.相敏信号解调电路设计分析. 遥测遥控. 2001,23(1):58~64
34 林浩,牛全民,卢飞星,王荣. 一种抗干扰无惯性快速相敏解调器. 空军雷达学院学报.2001,15(2):65~67
35 张学龙,陈德智.相敏检波技术测量微弱信号的原理与方法.测试技术学报. 1997,11(2):25~28
36 Carrara, Sidney. Drift Caused By Phase Modulator Non-linearities in Fiber Gyroscopes,The International Society for Optical Engineering,1990,1267: 187-191
37 Alekseev, Bazarov, Gerasimov, Gubin. Influence of Photodetector Dichroism on the Zero Drift of a Fiber-optic Gyroscope, Technical Physics Letters,1995,
21(10): 777~786
38 苏志彬,曹桂兴.一种新颖的数字移相电路.空间电子技术. 2004,1:33~36
39 Ge.Zheng-Ming, Liu.Ming-Yen, Lee.Sann-Chie. Influence of Temperature on the Drift of Gyroscope, Transactions of the Canadian Society for Mechanical Engineering,1995,19(4): 363-382
40 Lei Liang.Median filtering in the wavelet domain in miage segmentation.2002 6th International Conference on Singal Processing, 2002,1;764-767
41 黄业绪,史忠科,曹社平,马义利,李雷,厉毓良.陷波滤波器补偿液浮陀螺阻尼比的研究. 传感技术学报,2005,18 (2):410~413
42 杨震江,余进. 多用途有源滤波器UAF42的应用.电子应用技术.1997, 9:47~49
43 曹亮,黄广伦,欧黎. 抗干扰用陷波滤波器. 压电与声光. 2000,22(2):66~68
44 袁丽华,洪华松,漆新民.陷波滤波器的设计及其应用.自动化与仪器仪表. 2004,4:20~22
45 徐国伟,王凤刚,彭启琮. 频率采样法设计陷波器及其在啸叫抑制中的应用.西部广播电视,2005,10:20~21
46 薛定宇. 反馈控制系统设计与分析——Matlab语言应用.清华大学出版社. 2000,12~50
47 Eli Gai.The Century of Inertial Navigation Technology. Aerospace Conference Proceedings,2000 IEEE,Vol.11,18-25 March 2000.P.59-60
48 Putty. Michael William. Micro Machined Vibrating Ring Gyroscope ,Dissertation Abstracts International,2000,56(4): 22~28
49 Zheng, Jesse. Differential birefringent fiber frequency-modulated continuous-wave Sagnac gyroscope,Optical Engineering,2005,44(8): 84~100
50 周红全,蔡萍,陈晓荣,徐立章,基于单片机的位标器陀螺仪综合检测系统. 仪表技术,2003,1:9~11
51 陈桂明,张明照,戚红雨,张宝俊. 应用Matlab建模与仿真.科学出版社, 2001:172 ~254
52 欧阳黎明. Matlab 控制系统设计. 国防工业出版社,2000:99~233
53 苏晓生. 掌握Matlab6.0及其工程应用. 科学出版社. 2002:239~295
54 Eric A.Smith,蒋洪军.Visual Basic 6.0宝典. 美国IDG Books Worldwide,Inc.授权出版.2002:70~135
2 马青枝.速率陀螺技术的发展历程,惯导与仪表,2001,1:38
3 陈心中,徐润君.陀螺惯性制导及其军事应用,大学物理,2004,23(3):46～50
4 张树侠,孙枫.平台罗经,国防工业出版社,1990,41～64
5 Hao.Wang,Tian, Weifeng. Modeling the random drift of micro-machined gyroscope with neural network, Neural Processing Letters, v 22, n 3, December, 2005, p 235-247
6 Bencze, William Joseph. Gyroscope Spin Axis Direction Control for the Gravity Probe B Satellite. Dissertation Abstracts International, 1997,57(11): 7115~7210
7 Akcayir, Yusuf. Ilker, Ozkazanc, Yakup. Gyroscope Drift Estimation Analysis in Land Navigation Systems. IEEE Conference on Control Applications – Proceedings,2003,2: 1488-1491
8 Miao.Ling-Juan, Zhang.Fang-Sheng, Shen.Jun, Liu.Wei. Data Analysis and Modeling of Fiber Optic Gyroscope Drift, Journal of Beijing Institute of Technology 2002,11(1):50-55
9 王文立,李立新.捷联惯导系统快速测漂技术研究,鱼雷技术,2001,9(4):17～
20
10 姜璐,于远治.陀螺仪在导航中的应用及其比较, 船舶工程, 2004, 2(2): 10~13
11 胡恒章.陀螺仪漂移测试原理及其试验技术.国防工业出版社.1983,4~58
12 马 云 峰 . 陀 螺 仪 漂 移 测 试 与 补 偿 系 统 的 研 制 , 系 统 工 程 与 电 子 技术,2001,23(2):67~70
13 王广龙,祖静,张文栋.微机械陀螺以及其应用研究.1999,13(2):30~34
14 梅硕基,郭秀中,徐鹤年.惯性仪器测试与数据处理.西北工业大学出版社. 1991,16~31,147~176
15 翁海娜,李滋刚,万德钧.液浮陀螺漂移的试验建模研究,中国惯性技术学报. 1999,7(2):30~35
16 钟万登.液浮惯性器件.宇航出版社,1994,2~72,118~199,401~439,512~516
17 熊海林,邓方林.陀螺静态漂移系数的两种估算.上海航天. 2002,1:39~40
18 Ohshima, Yoshimi. Analysis and Testing of Gyroscope Performance for the Gravity Probe B Relativity Mission.Dissertation Abstracts International. 2000 61(11): 5980~5994
19 Jiang Hong,Yang Weiqin,Yang Yangtang.state Space Modeling of Random Drift Rate in High-Precision Gyro.IEEE Transactions on Aerospace and Electronics Svstems,1996,32(3);1138-1143
20 陈熙源,万德钧,程向红.船用陀螺漂移误差模型辨识及其应用.船舶工程.1998,3:48~51
21 吴光裕. 一种实用的陀螺漂移系数测试方法. 航空控制. 1998,3:62~66
22 Qin.Xinhua, Data Reduction Analysis for the Stanford Relativity Gyroscope Experiment. Dissertation Abstracts International. 1991,52: 4849~4853.
23 Walter, Todd. A Gyroscope Clock for a Null Gravitational Redshift Experiment. Dissertation Abstracts International. 1994,54(12): 6245~6251
24 Crawford, James MacKenzie. Ground Testing and Model Updating for Flexible Space Structures. Dissertation Abstracts International,2001,62(11): 5214~5311
25 Takahashi, Masanobu Tai, Shuichi, Kyuma, Kazuo. Effect of Reflections on the Drift Characteristics of a Fiber-optic Passive Ring-resonator Gyroscope, Journal of Lightwave Technology,1990,8 (5): 811-816
26 钟平,金光,刘延斌.一种新型陀螺动态漂移检测系统的设计,光学技术,2004,30(1):61～64
27 吴本寿,万德钧,周百令.国外动调陀螺仪再平衡技术的发展,中国惯性技术学报,1996,4(2):52~57
28 章燕申, 袁曾任等.控制系统的设计与实践.清华大学出版社.1992,58~85
29 V.J. Lapps, W.H.Steyn, C.I.Underwood. Torque Amplification of Control Moment Gyroscope, Electronics Letters. 2002,38:837~839
30 Kasdin, N. Jeremy,Gauthier, Christian. Gravity Gradient Gyroscope Drifts in the NASA Relativity Mission/Gravity Probe B experiment,Journal of the Astronautical Sciences,1996,44( 2):129-147
31 顾冬晴,秦永元,徐景硕.速率偏频激光陀螺载体角增量信息解调与陀螺漂移调制原理分析.弹箭与制导学报,2004,1:16～18
32 姚晓峰.力反馈陀螺解调线路设计,战术导弹控制技术,2005,03:70~73
33 林娟,陆寿茂.相敏信号解调电路设计分析. 遥测遥控. 2001,23(1):58~64
34 林浩,牛全民,卢飞星,王荣. 一种抗干扰无惯性快速相敏解调器. 空军雷达学院学报.2001,15(2):65~67
35 张学龙,陈德智.相敏检波技术测量微弱信号的原理与方法.测试技术学报. 1997,11(2):25~28
36 Carrara, Sidney. Drift Caused By Phase Modulator Non-linearities in Fiber Gyroscopes,The International Society for Optical Engineering,1990,1267: 187-191
37 Alekseev, Bazarov, Gerasimov, Gubin. Influence of Photodetector Dichroism on the Zero Drift of a Fiber-optic Gyroscope, Technical Physics Letters,1995,
21(10): 777~786
38 苏志彬,曹桂兴.一种新颖的数字移相电路.空间电子技术. 2004,1:33~36
39 Ge.Zheng-Ming, Liu.Ming-Yen, Lee.Sann-Chie. Influence of Temperature on the Drift of Gyroscope, Transactions of the Canadian Society for Mechanical Engineering,1995,19(4): 363-382
40 Lei Liang.Median filtering in the wavelet domain in miage segmentation.2002 6th International Conference on Singal Processing, 2002,1;764-767
41 黄业绪,史忠科,曹社平,马义利,李雷,厉毓良.陷波滤波器补偿液浮陀螺阻尼比的研究. 传感技术学报,2005,18 (2):410~413
42 杨震江,余进. 多用途有源滤波器UAF42的应用.电子应用技术.1997, 9:47~49
43 曹亮,黄广伦,欧黎. 抗干扰用陷波滤波器. 压电与声光. 2000,22(2):66~68
44 袁丽华,洪华松,漆新民.陷波滤波器的设计及其应用.自动化与仪器仪表. 2004,4:20~22
45 徐国伟,王凤刚,彭启琮. 频率采样法设计陷波器及其在啸叫抑制中的应用.西部广播电视,2005,10:20~21
46 薛定宇. 反馈控制系统设计与分析——Matlab语言应用.清华大学出版社. 2000,12~50
47 Eli Gai.The Century of Inertial Navigation Technology. Aerospace Conference Proceedings,2000 IEEE,Vol.11,18-25 March 2000.P.59-60
48 Putty. Michael William. Micro Machined Vibrating Ring Gyroscope ,Dissertation Abstracts International,2000,56(4): 22~28
49 Zheng, Jesse. Differential birefringent fiber frequency-modulated continuous-wave Sagnac gyroscope,Optical Engineering,2005,44(8): 84~100
50 周红全,蔡萍,陈晓荣,徐立章,基于单片机的位标器陀螺仪综合检测系统. 仪表技术,2003,1:9~11
51 陈桂明,张明照,戚红雨,张宝俊. 应用Matlab建模与仿真.科学出版社, 2001:172 ~254
52 欧阳黎明. Matlab 控制系统设计. 国防工业出版社,2000:99~233
53 苏晓生. 掌握Matlab6.0及其工程应用. 科学出版社. 2002:239~295
54 Eric A.Smith,蒋洪军.Visual Basic 6.0宝典. 美国IDG Books Worldwide,Inc.授权出版.2002:70~135