动力调谐陀螺寿命试验智能控制系统的设计与研究
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摘要
随着航天技术的不断发展,提高飞行器导航系统的可靠性越来越受到重视。作为惯性导航系统的核心器件,陀螺仪的性能好坏,对惯导系统能否可靠的工作起着至关重要的作用。要提高空间飞行器及武器系统的可靠性,降低系统运行风险,必须对陀螺仪进行寿命试验。
本文针对动力调谐陀螺仪寿命试验提出的智能化要求,设计了寿命试验智能控制系统。该系统可以同时对四个通道的陀螺电源参数和陀螺运行参数进行测试和跟踪,各通道互相独立,互不干扰。系统可以长期、连续无人值守工作,完成寿命试验数据采集、显示、判读、通讯、贮存、管理等功能,具有各种故障模式的自动诊断能力,参数出现异常时,系统可根据故障类型自动进行处理,确保陀螺安全。硬件部分根据系统功能要求,设计了陀螺再平衡回路,温度控制电路,陀螺电源检测电路,二相电机电流检测电路和陀螺力矩输出电流检测电路。软件部分的功能主要包括模拟参数的采集,继电器及参数显示的控制,以及数据库的设计。
针对数据采集过程中的噪声干扰,基于自适应滤波理论,设计了一种数字滤波器。该滤波器采用LMS自适应算法,通过软件实现,经过与其他数字滤波方法的比较分析,该滤波器具有良好的性能。
最后,进行了系统的联调和测试,并给出一些改进系统性能的具体措施。
With the development of astronautics technology, how to improve the reliability of aerocraft navigation systems becomes more and more important. The performance of the gyro, which is the essential part of the inertia navigation system, is crucial to the system. In order to enhance the reliability of both armament systems and space crafts, and also to reduce the risk of systems running, life of gyros must be tested.
In this dissertation, an intelligent control system for testing life of dynamic tuned gyros is designed, according to the requirement of intelligentization process. This control system can test and track power supply parameters and running parameters of gyros in four isolated, non-interferential channels simultaneously. Moreover, it can also fulfill many functions, such as collection, display, reading off, communication, reserve and management, etc. continuously without watch. The system has fault mode self-detective ability; when parameters become abnormal, it can dispose the problem automatically based on the fault type, to insure security of the gyros. According to the desired functions of the systems, gyros rebalancing loop, temperature controlling circuit, gyro power supply testing circuit, two-phase electrical current testing circuit, and gyro moment current output testing circuit, have been designed in the hardware part. The main functions of the software part are: simulating parameters collection, controlling relays and parameters display, and the design of data-base.
Concerning the noise disturbance along the data collecting process, a digital filter which based on adaptive filter theory has been designed in this dissertation. LMS adaptive algorithm is adopted for the filter. This filter is proved to have fine performance, via software implementation, and through comparison with analysis of other digital filter methods.
In the last section, a systematic debugging is done. The test result and some concrete measures for improving system’s performance are also given.
本文针对动力调谐陀螺仪寿命试验提出的智能化要求,设计了寿命试验智能控制系统。该系统可以同时对四个通道的陀螺电源参数和陀螺运行参数进行测试和跟踪,各通道互相独立,互不干扰。系统可以长期、连续无人值守工作,完成寿命试验数据采集、显示、判读、通讯、贮存、管理等功能,具有各种故障模式的自动诊断能力,参数出现异常时,系统可根据故障类型自动进行处理,确保陀螺安全。硬件部分根据系统功能要求,设计了陀螺再平衡回路,温度控制电路,陀螺电源检测电路,二相电机电流检测电路和陀螺力矩输出电流检测电路。软件部分的功能主要包括模拟参数的采集,继电器及参数显示的控制,以及数据库的设计。
针对数据采集过程中的噪声干扰,基于自适应滤波理论,设计了一种数字滤波器。该滤波器采用LMS自适应算法,通过软件实现,经过与其他数字滤波方法的比较分析,该滤波器具有良好的性能。
最后,进行了系统的联调和测试,并给出一些改进系统性能的具体措施。
With the development of astronautics technology, how to improve the reliability of aerocraft navigation systems becomes more and more important. The performance of the gyro, which is the essential part of the inertia navigation system, is crucial to the system. In order to enhance the reliability of both armament systems and space crafts, and also to reduce the risk of systems running, life of gyros must be tested.
In this dissertation, an intelligent control system for testing life of dynamic tuned gyros is designed, according to the requirement of intelligentization process. This control system can test and track power supply parameters and running parameters of gyros in four isolated, non-interferential channels simultaneously. Moreover, it can also fulfill many functions, such as collection, display, reading off, communication, reserve and management, etc. continuously without watch. The system has fault mode self-detective ability; when parameters become abnormal, it can dispose the problem automatically based on the fault type, to insure security of the gyros. According to the desired functions of the systems, gyros rebalancing loop, temperature controlling circuit, gyro power supply testing circuit, two-phase electrical current testing circuit, and gyro moment current output testing circuit, have been designed in the hardware part. The main functions of the software part are: simulating parameters collection, controlling relays and parameters display, and the design of data-base.
Concerning the noise disturbance along the data collecting process, a digital filter which based on adaptive filter theory has been designed in this dissertation. LMS adaptive algorithm is adopted for the filter. This filter is proved to have fine performance, via software implementation, and through comparison with analysis of other digital filter methods.
In the last section, a systematic debugging is done. The test result and some concrete measures for improving system’s performance are also given.
引文
[1]郭素云.陀螺仪原理及应用.哈尔滨工业大学出版社,1985.60-61.
[2]陀螺仪主要精度指标和测试方法.中华人民共和国航天工业部部标准,1987.
[3]邓宏论,刘郭建.液浮陀螺电机用轴承的寿命可靠性分析.中国惯性技术学报, 2005,13(2).63-67.
[4]夏桂锁,林明春,林玉池.微机式陀螺仪自动测量系统.传感器与微系统,2007, 26(5):74-76.
[5]何传五,李东.陀螺电机可靠性研究.航天控制,2002,20(4):74-80.
[6]周百令.动力调谐陀螺仪设计和制造.南京:东南大学出版社,2002.2-17.
[7]常健生.检测与转换技术.机械工业出版社,1998.
[8]邓善熙,吕国强.在线检测技术.机械工业出版社,1996.
[9]孔锐.远距离模拟量传输多点监控系统的设计.电子与自动化,1999,28(5): 25-28.
[10]林日乐,谢佳维.多路数据采集与分析系统设计及应用.压电与声光,2005, 27(2):194-196.
[11]刘军海,陆明珠,苏启生.一种多通道数据同时采集卡.电子与自动化,2000, 29(2):33-35.
[12]金昊,柯冬香.如何实现计算机数据采集系统的信号调理.电子技术应用, 1998,11:13-15.
[13]赵毅.数字滤波的程序判断法和中值滤波法.仪表技术,2001,4:34-35.
[14]郑涛,石秀华,许晖.数字滤波新方法尝试与验证.测控技术,2004,23(4): 19-20.
[15]李志忠,王家祯.数据采集和监控中的微机应用.清华大学出版社,1989:78-103.
[16] G.Bucci and C.Landi. A PC-based Real-time Hall Probe Automatic Measurement System for Magnetic Fields.IEEE Trans. on Instrumentation and Measure- ment.1999,48(4):858-861.
[17]王栋,刘利.一种基于单片机的相序检测及电机缺相保护方法.电机与控制应用,2006,33(9):50-52.
[18] Geiger W, Folkmer B, Sandmaier H. New Designs, Readout Concept and Simu- lation Approach of Micro Machined Rate Gyroscopes.Proceedings Symposium Gyro Technology.1997,20-28.
[19]陈彪.缓变信号采集综合抗干扰滤波算法及实现.计算机应用研究,2002,19(6):50-51.
[20] Paulo S.R.Diniz著,刘郁林等译.自适应滤波算法与实现.电子工业出版社, 2004.
[21] D.W.Braudaway.Precision Resistors:A Review of The Technique of Measu- rement, Advantage,Disadvantages, and Results. IEEE Trans.on Instrumentation and Measurement.1999, 48(5):873-877.
[22]尹文龙,谭月辉.基于全温范围的多通道光纤陀螺自动检测系统研究.科学技术与工程,2005,5(23):1841-1843.
[23]张宜生,梁书云,王运赣.128路数据采集及监控系统的性能研究.数据采集与处理,1995,10(1):20-26.
[24]任宾,马建辉.液浮速率积分陀螺再平衡回路的数字化.弹箭与制导学报, 2006,26(3):49-52.
[25] Gaisser Alexander and Gao Zhong-yu. On-line Self-Testing For Micro-Machined Gyroscopes. Transaction of Nanjing University of Aeronautics & Astronautics, 2005, 22(2):98-102.
[26]汪忠士.两种滤波算法在液压数据采集系统中的应用与研究.机床与液压, 2005,1:103-104.
[27]张光莹,徐丽娜.陀螺寿命试验计算机监测设备.宇航计测技术,2004,21(4): 10-12.
[28] Ciletti M.D.著,张亚琦等译.Verilog HDL高级数字设计.北京:电子工业出版社,2005.
[29]张春霖,马成勇,刘均.Delphi7.0数据库系统设计与开发.清华大学出版社,2003.27-31.
[30]禹国强,李东光.环保设备运行监测系统.电子与自动化,1998,27(4):8-11.
[31]曾全堃.仪器电路.重庆大学出版社,1996.3.
[32]丁玉美,高西全.数字信号处理.西安:西安电子科技大学出版社,2001.
[33]曾庆勇.微弱信号检测.浙江大学出版社,1986.11.
[34]郑宏军,王立新.几种典型运算放大器的应用技术.电子技术应用,1999, 25(8):56-58.
[35]钱小静.多陀螺自动化测试系统研究.导弹与航天运载技术,1994,209(3): 46-52.
[36]林建英,宋野.高精度数字频率计的FPGA设计实现.电测与仪表.2001,38 (12):6-8.
[37]孙才新,罗兵,顾乐观.自适应数字滤波在局部放电在线监测信号处理中应用的研究.变压器,1997,31(5):21-25.
[38]乐波,曹戌平,李俭.局部放电在线监测中的自适应数字滤波器研究.西安交通大学学报,2003,37(6):518-622.
[39]何振亚.自适应信号处理.科学出版社,2003,5.21-30.
[40]任爱峰,孙肖子等.基于FPGA的嵌入式系统设计.西安:西安电子科技大学出版社,2004.
[41]田原.Delphi 7.0程序设计.清华大学出版社,2005.
[42] Kalidas,P.Prabhu, K.M.M. An Improved LMS Adaptive Algorithm for Narrow- band Interference Suppression in Direct Sequence Spread Spectrum. Aerospace and Electronic Systems IEEE Transactions,1995,31(3):1198-1201.
[43]刘光临,易建钢,严开勇.复合数字滤波算法及其在风机在线监测系统中的应用.噪声与振动控制,2006,26(3):47-48.
[44]刘海.在微机测控系统中抗工频干扰的复合滤波器设计.测控技术,2002,21 (6):63-65.
[45]刘树勋,何其超等.自动测试系统原理及应用.四川科学技术出版,1986.
[2]陀螺仪主要精度指标和测试方法.中华人民共和国航天工业部部标准,1987.
[3]邓宏论,刘郭建.液浮陀螺电机用轴承的寿命可靠性分析.中国惯性技术学报, 2005,13(2).63-67.
[4]夏桂锁,林明春,林玉池.微机式陀螺仪自动测量系统.传感器与微系统,2007, 26(5):74-76.
[5]何传五,李东.陀螺电机可靠性研究.航天控制,2002,20(4):74-80.
[6]周百令.动力调谐陀螺仪设计和制造.南京:东南大学出版社,2002.2-17.
[7]常健生.检测与转换技术.机械工业出版社,1998.
[8]邓善熙,吕国强.在线检测技术.机械工业出版社,1996.
[9]孔锐.远距离模拟量传输多点监控系统的设计.电子与自动化,1999,28(5): 25-28.
[10]林日乐,谢佳维.多路数据采集与分析系统设计及应用.压电与声光,2005, 27(2):194-196.
[11]刘军海,陆明珠,苏启生.一种多通道数据同时采集卡.电子与自动化,2000, 29(2):33-35.
[12]金昊,柯冬香.如何实现计算机数据采集系统的信号调理.电子技术应用, 1998,11:13-15.
[13]赵毅.数字滤波的程序判断法和中值滤波法.仪表技术,2001,4:34-35.
[14]郑涛,石秀华,许晖.数字滤波新方法尝试与验证.测控技术,2004,23(4): 19-20.
[15]李志忠,王家祯.数据采集和监控中的微机应用.清华大学出版社,1989:78-103.
[16] G.Bucci and C.Landi. A PC-based Real-time Hall Probe Automatic Measurement System for Magnetic Fields.IEEE Trans. on Instrumentation and Measure- ment.1999,48(4):858-861.
[17]王栋,刘利.一种基于单片机的相序检测及电机缺相保护方法.电机与控制应用,2006,33(9):50-52.
[18] Geiger W, Folkmer B, Sandmaier H. New Designs, Readout Concept and Simu- lation Approach of Micro Machined Rate Gyroscopes.Proceedings Symposium Gyro Technology.1997,20-28.
[19]陈彪.缓变信号采集综合抗干扰滤波算法及实现.计算机应用研究,2002,19(6):50-51.
[20] Paulo S.R.Diniz著,刘郁林等译.自适应滤波算法与实现.电子工业出版社, 2004.
[21] D.W.Braudaway.Precision Resistors:A Review of The Technique of Measu- rement, Advantage,Disadvantages, and Results. IEEE Trans.on Instrumentation and Measurement.1999, 48(5):873-877.
[22]尹文龙,谭月辉.基于全温范围的多通道光纤陀螺自动检测系统研究.科学技术与工程,2005,5(23):1841-1843.
[23]张宜生,梁书云,王运赣.128路数据采集及监控系统的性能研究.数据采集与处理,1995,10(1):20-26.
[24]任宾,马建辉.液浮速率积分陀螺再平衡回路的数字化.弹箭与制导学报, 2006,26(3):49-52.
[25] Gaisser Alexander and Gao Zhong-yu. On-line Self-Testing For Micro-Machined Gyroscopes. Transaction of Nanjing University of Aeronautics & Astronautics, 2005, 22(2):98-102.
[26]汪忠士.两种滤波算法在液压数据采集系统中的应用与研究.机床与液压, 2005,1:103-104.
[27]张光莹,徐丽娜.陀螺寿命试验计算机监测设备.宇航计测技术,2004,21(4): 10-12.
[28] Ciletti M.D.著,张亚琦等译.Verilog HDL高级数字设计.北京:电子工业出版社,2005.
[29]张春霖,马成勇,刘均.Delphi7.0数据库系统设计与开发.清华大学出版社,2003.27-31.
[30]禹国强,李东光.环保设备运行监测系统.电子与自动化,1998,27(4):8-11.
[31]曾全堃.仪器电路.重庆大学出版社,1996.3.
[32]丁玉美,高西全.数字信号处理.西安:西安电子科技大学出版社,2001.
[33]曾庆勇.微弱信号检测.浙江大学出版社,1986.11.
[34]郑宏军,王立新.几种典型运算放大器的应用技术.电子技术应用,1999, 25(8):56-58.
[35]钱小静.多陀螺自动化测试系统研究.导弹与航天运载技术,1994,209(3): 46-52.
[36]林建英,宋野.高精度数字频率计的FPGA设计实现.电测与仪表.2001,38 (12):6-8.
[37]孙才新,罗兵,顾乐观.自适应数字滤波在局部放电在线监测信号处理中应用的研究.变压器,1997,31(5):21-25.
[38]乐波,曹戌平,李俭.局部放电在线监测中的自适应数字滤波器研究.西安交通大学学报,2003,37(6):518-622.
[39]何振亚.自适应信号处理.科学出版社,2003,5.21-30.
[40]任爱峰,孙肖子等.基于FPGA的嵌入式系统设计.西安:西安电子科技大学出版社,2004.
[41]田原.Delphi 7.0程序设计.清华大学出版社,2005.
[42] Kalidas,P.Prabhu, K.M.M. An Improved LMS Adaptive Algorithm for Narrow- band Interference Suppression in Direct Sequence Spread Spectrum. Aerospace and Electronic Systems IEEE Transactions,1995,31(3):1198-1201.
[43]刘光临,易建钢,严开勇.复合数字滤波算法及其在风机在线监测系统中的应用.噪声与振动控制,2006,26(3):47-48.
[44]刘海.在微机测控系统中抗工频干扰的复合滤波器设计.测控技术,2002,21 (6):63-65.
[45]刘树勋,何其超等.自动测试系统原理及应用.四川科学技术出版,1986.