【作者】 尚蒙；

【导师】 姚智慧；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2006， 硕士

【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。更多还原

【Abstract】 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.更多还原