A method for stabilizing the amplitude of a bell-shaped oscillator-type angular rate gyro oscillator
A technology of angular rate gyro and bell-shaped vibrator, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., and can solve the problem of long debugging period, poor amplitude stability, and the response of the amplitude stabilization loop of bell-shaped vibrator angular rate gyro Time is difficult to control and other problems, to improve the ability and accuracy of verification analysis, and enhance the effect of environmental adaptability
Inactive Publication Date: 2016-05-11
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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[0004] The present invention proposes a brand-new bell-shaped vibrator in order to overcome the shortcomings of the bell-shaped oscillator-type angular rate gyroscope amplitude stabilization loop designed by empirical judgment and trial-and-error method, the response time of which is difficult to control, the debugging period is long, and the amplitude stability is poor. Method for Amplitude Stabilization of Angular Rate Gyro Oscillators
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[0013] The principle of the bell-shaped oscillator type angular rate gyro is to use the precession of the mode shape angle caused by the rotation of the resonant bell-shaped oscillator to determine the rotation angle of the gyro base around the inertial space. In order for the bell-shaped vibrator to produce an ideal mode shape with a circular wavenumber n=2, the excitation amplitude of the bell-shaped vibrator must be accurately controlled, and its stability will directly affect the overall performance of the bell-shaped oscillator-type angular rate gyroscope. Therefore, we need to rationally design the amplitude stabilization loop of the bell-shaped oscillator-type angular rate gyroscope, so that the bell-shaped oscillator can produce an ideal mode shape, so as to be more sensitive to the input angular rate.
[0014] Aiming at the description of the above state equation, the method for stabilizing the amplitude of the bell-shaped oscillator type angular rate gyroscope provide...
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The invention provides a method for stabilizing the amplitude of a bell-shaped oscillator type angular rate gyrotron. The method comprises the following steps of: (1) utilizing a reference model and observed x axial signals and y axial signals of a bell-shaped oscillator to calculate the running errors and the error variation rate of the bell-shaped oscillator; (2) carrying out concentrated filtering and state reconstruction on the x axial signals, the y axial signals, the oscillator running errors and the variation rate of the running errors to reconstruct x axial displacements, y axial displacements, a variation rate of the x axial displacements, a variation rate of the y axial displacements, the running errors of the bell-shaped oscillator and a variation rate of the running errors in a new state; and (3), and designing a self-adaptive slip form controller according to the given system input and reconstruction state, and controlling the bell-shaped oscillator to maintain a stable amplitude motion. The method provided by the invention has the advantages that the amplitude value stabilizing degree of the bell-shaped oscillator type angular rate gyroscope is improved, the stabilizing time is shortened, the development time of the whole bell-shaped oscillator type angular rate gyroscope is shortened, and a basis is provided for the reasonable design of the bell-shaped oscillator type angular rate gyroscope.
Description
technical field [0001] The invention belongs to the technical field of angular rate gyroscopes, and in particular relates to a method for stabilizing the amplitude of a bell-shaped oscillator type angular rate gyroscope oscillator. Background technique [0002] As an inertial device that is sensitive to the angular motion of the carrier, the gyroscope is the core component of inertial navigation and guidance. Vibrating gyroscopes based on the principle of Coriolis force have all the inertial qualities, and their status in the field of inertial technology is becoming more and more important. It has been widely concerned as a new generation of inertial instruments. Driven by the development of science and technology and market demand, various vibrating gyroscopes have emerged one after another. [0003] The application number is: ZL201010215745.1, and the patent application titled "Bell Oscillator Angular Rate Gyroscope" provides a bell-shaped oscillator type angular rate gyr...
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IPC IPC(8): G05B13/04
Inventor 付梦印苏中邓志红刘洪刘宁李擎
Owner BEIJING INSTITUTE OF TECHNOLOGYGY