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Modeling Method of Pendulum Integrating Gyro Accelerometer Based on Maplesim

A technology of accelerometers and modeling methods, applied in computing, special data processing applications, instruments, etc., can solve problems such as unclear, complex models, and inability to fully describe characteristics

Active Publication Date: 2017-03-29
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the modeling method of PIGA is based on MATLAB / SIMULINK. Firstly, the mathematical model of PIGA is linearized and converted, and then modeled in the form of a block diagram through the SIMULINK module. The model is complicated and unclear; in addition, because PIGA itself The complexity of the structure, there are problems such as the support structure, the interaction between the inner and outer frames, coordinate transformation, and the realization of the servo loop. It is impossible to fully describe its characteristics only by simplifying the mathematical model.
Therefore, the PIGA modeling method based on MATLAB / SIMULINK has problems such as complex modeling process, poor model accuracy, and unintuitive dynamic description.

Method used

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  • Modeling Method of Pendulum Integrating Gyro Accelerometer Based on Maplesim
  • Modeling Method of Pendulum Integrating Gyro Accelerometer Based on Maplesim
  • Modeling Method of Pendulum Integrating Gyro Accelerometer Based on Maplesim

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Embodiment 1

[0055] The present invention is different from the mathematical modeling method based on MATLAB / SIMULINK. It is a PIGA modeling method based on MAPLESIM. Physical modeling is carried out by means of MAPLESIM, a powerful multi-field complex system modeling and simulation tool, without considering The mathematical model only needs to build the physical model according to the PIGA structure, which not only simplifies the complexity of the modeling process, but also can more completely reflect the characteristics of PIGA, greatly improving the model accuracy and simulation dynamic effect. In addition, since the basic structures of different types of PIGA are similar, PIGA models of different types and sizes can be obtained only by modifying the characteristic physical parameters of the model, which improves the generality and application range of the model.

[0056] This modeling method mainly includes the selection of physical components and their parameter settings, the connectio...

Embodiment 2

[0100] The modeling steps of the PIGA modeling method based on MAPLESIM are as follows:

[0101] 1) According to figure 2 Select the required components in turn from the component library of MAPLESIM, and set their properties;

[0102] 2) According to the characteristic physical parameters of the model to be built, set up the parameter list of the model according to Table 1;

[0103] 3) According to image 3 as well as Figure 4-Figure 9 , connect the components to form the PIGA model;

[0104] 4) Design the servo loop according to the servo loop design method, and debug the parameters in the servo loop through the PIGA model built in 3), and comprehensively inspect the performance of the built model through the probe and 3-D animation to obtain satisfactory performance;

[0105] 5) Test the debugged PIGA model, extract the output data of the model, and perform corresponding data processing to complete the calibration of the built PIGA model.

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Abstract

The invention relates to a modeling method for a pendulous integrating gyro accelerometer (PIGA) on basis of MAPLESIM. The method includes the following steps that needed components are sequentially selected from a component library of the built MAPLESIM, and attributes of the components are set; according to characteristic physical parameters of a model to be established, a parameter list of the model is established; the components are connected, and the PIGA model is established; a servo loop is designed according to a servo loop design method, parameters in the servo loop are debugged through the established PIGA model, and performance of the established model is comprehensively surveyed through a probe and 3-D animation to obtain satisfying performance; a test is carried out on the debugged PIGA model, output data of the model are extracted, corresponding data processing is conducted, and calibration of the established PIGA model is finished. The PIGA model which is high in steady state precision and response speed can be established through the modeling method, and the simulation running condition of the model can be visually observed.

Description

technical field [0001] The invention relates to a modeling method of a pendulum integrating gyro accelerometer based on MAPLESIM. Background technique [0002] PIGA (Pendulous Integrating Gyro Accelerometer) is a kind of inertial device, which has excellent performances such as high precision, large measurement range, and automatic integration. to an increasingly important role. The improvement of PIGA accuracy can be developed from two aspects: on the one hand, continuously improve and improve the instrument design and process technology, and develop a high-precision and high-stability PIGA; Accuracy, and use corresponding methods to compensate and correct. The modeling method of high-precision PIGA can not only quickly discover, analyze and solve the problems in PIGA design, but also improve the efficiency and quality of PIGA instrument design; and through the combination with the test equipment model, it has great significance for the research and development of PIGA er...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 于志伟李力永曾鸣刘雨刘泽兴苏宝库
Owner HARBIN INST OF TECH