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High precision on-line error compensation method for drift error of gyro with suspension rotor

A compensation method and technology for gyro drift, which can be applied to rotating gyroscopes, measuring devices, instruments, etc., and can solve the problems of insufficient samples, no analytical expression of compensation laws, and no universality.

Active Publication Date: 2015-12-09
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology

Although the above-mentioned compensation system can be conveniently implemented by looking up tables in engineering, due to insufficient samples and no analytical expression of the compensation law, the above-mentioned method is not universal, and it is not convenient to guide the design of the compensation system

Method used

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  • High precision on-line error compensation method for drift error of gyro with suspension rotor
  • High precision on-line error compensation method for drift error of gyro with suspension rotor
  • High precision on-line error compensation method for drift error of gyro with suspension rotor

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Embodiment Construction

[0130] specific implementation plan

[0131] The implementation object of the present invention is as figure 1 As shown, the rotor of the magnetic levitation gyro is composed of two solid spherical segments with axial and radial radii r and R respectively, and R>r. Wherein, the outer edge of the spherical segment of the radial structure includes an annular groove for installing the Lorentz force magnetic bearing.

[0132] Lorentz force magnetic bearing error compensation system based on the principle of Ampere's law, the design principle diagram is as follows figure 2 As shown, the specific implementation steps are as follows:

[0133] (1) Disturbance moment modeling

[0134] A rotor coordinate system o-xyz that does not rotate with the rotor is established with the geometric center o of the maglev rotor as the origin, the rotor rotation axis is the z axis, and the x and y axes are located on the equatorial plane of the rotor and are perpendicular to each other.

[0135] ...

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Abstract

The invention relates to a high precision on-line error compensation method for drift error of gyro with suspension rotor. Based on the rigid body dynamics basic principle, a gyro disturbed torque model is established; based on an axial direction Lorentz force magnetic bearing, a high precision analytical expression of compensating torque is established; real time on-line measurements of gyro rotor corner and Lorentzen coil excitation current by displacement and current sensors are combined, thereby realizing high precision real time on-line compensation of the compensating torque to the disturbed torque. The invention belongs to the field of aerospace measurement and control technology, and is applied to high precision satellite attitude measurement and optimization design, measurement and calibration of the ground gyro.

Description

technical field [0001] The invention relates to a high-precision on-line compensation method for floating rotor gyroscope drift errors, which is suitable for high-precision and high-bandwidth attitude angular rate measurement of gyroscopes. technical background [0002] Active magnetic suspension bearings have the advantages of non-contact, high speed, long life, low power consumption, and no need for lubrication. In recent years, researchers have begun to propose a magnetic levitation sensitive gyroscope based on active magnetic levitation bearings, which can be used for attitude sensitivity in aerospace, guidance, machinery and other fields. However, due to the lack of necessary error compensation measures, Y.Maruyama, Zheng Shiqiang and others proposed a method based on AMBs for inertial measurement, and the attitude measurement error is as high as 10%. [0003] In traditional gyroscopes, fuzzy control, variable structure control, neural network and other methods are mai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C19/02
CPCG01C19/02G01C25/005
Inventor 辛朝军任元蔡远文夏长峰许国锋王卫杰姚红
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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