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Dynamically tuned gyro decoupling servo control circuit

A dynamic tuning gyro, servo control technology, applied in adaptive control, general control system, control/regulation system and other directions, can solve the problem of large output noise of the system, reduce dynamic error, improve dynamic gain, improve steady state The effect of precision

Active Publication Date: 2014-01-29
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the convenience of design, the existing dynamic gyroscope servo loop in China is simplified as a single-input single-output system, but its disadvantage is that the high-frequency nutation motion of the gyroscope will be caused by the lack of decoupling, which will make the system output noise larger

Method used

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  • Dynamically tuned gyro decoupling servo control circuit
  • Dynamically tuned gyro decoupling servo control circuit
  • Dynamically tuned gyro decoupling servo control circuit

Examples

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Embodiment Construction

[0021] The dynamic tuning gyroscope is composed of main components such as a drive motor, a supporting system, an angle sensor, a gyro torque device, a gyro rotor, and a sealed housing. The drive motor drives the support system and the gyro rotor to rotate at a constant angular velocity through the drive shaft, ensuring that the gyro has the required tuning speed and angular momentum. When the instrument is working, the positive elastic moment of the elastic support can be completely offset by the dynamic rebound moment generated by the oscillating motion of the gimbal, making the gyro rotor an unconstrained free rotor. The angle sensor is used to convert the rotation angle of the gyro rotor relative to the instrument housing around two orthogonal output shafts into corresponding voltage signals. The torque device is a device that applies torque to the gyro rotor. The gyro rotor is the inertial mass that produces the angular momentum H, which is composed of the flywheel, the p...

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Abstract

The invention discloses a dynamically tuned gyro decoupling servo control circuit which comprises a gyro, two torquers, a controller and a two-input-output decoupler. The controller comprises a two-input control decouplers, two identical integrators and two identical lag differentiation elements, a 2*2-dimensional multi-input-output transmission function matrix is showed in the formula, and decoupling of two linkage circuits can be achieved. Two integration links allow a strapdown inertia system to a II type system, the second-stage integration link can eliminate the errors relates to constant angular speed gradient, and stability precision of the servo circuit system can be increased; the lag differentiation elements can increase dynamic gain of low frequency band of the system, and dynamic errors can be reduced favorably; the output decoupling link is added to the servo control circuit, the linkage problems of two current output values and the angular speed of the servo circuit can be solved, and the output precision of the strapdown inertia system can be increased.

Description

Technical field [0001] The invention relates to a servo control loop of a strapdown inertial measurement device, in particular to a decoupling servo control loop of a dynamic tuning gyroscope, belonging to the aviation and aerospace fields used for high-precision angular velocity measurement. Background technique [0002] The dynamic tuning gyroscope is a two-degree-of-freedom gyroscope that uses flexible elements to form a universal joint support for a high-speed rotating rotor. At the tuning speed, the dynamic torque of the gimbal counteracts the elastic restraint moment of the flexible support, making the gyro rotor an unconstrained free rotor, so it is called a dynamic tuning gyroscope (referred to as a dynamic tuning gyroscope). [0003] The dynamic tuning gyroscope used in the strapdown system is fixedly connected to the carrier, and the angular movement of the carrier will be directly added to the gyroscope. Since the dynamically tuned gyroscope in the open-circuit state is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 魏宗康武俊勇彭智宏
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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