Angular momentum detecting and compensating method for gyro orientation mechanism

Abstract

The invention belongs to the technical field of measurement, positioning and orientation and in particular relates to an angular momentum detecting and compensating method for a gyro orientation mechanism. The angular momentum detecting and compensating method is characterized in that three Hall elements 1 are spaced on a stator inside a gyro motor by 120 degrees; K magnetic steels 2 are uniformly distributed on the circumference of a rotating shaft and are used for detecting the rotating speed of the gyro motor; when current on Hall plates is constant, the change of the rotating speed of the motor leads to the change of magnetic field strength perpendicular to the direction of the current, and according to different magnetic field strengths, output voltages of the Hall elements are different; when each magnetic steel passes through a Hall sensor, each Hall element outputs a pulse. According to the angular momentum detecting and compensating method disclosed by the invention, the real-time rotating speed of a gyro rotor can be accurately measured by the Hall elements; the difference between a real-time rotor speed and an expected rotor speed, and the change rate of speed difference are used as an input, so that the speed of the gyro rotor can be correspondingly compensated, the rotating speed fluctuation of the gyro rotor is effectively inhibited, and the north finding precision of a gyro north finding device is improved.

Description

Technical field [0001] The invention belongs to the technical field of measurement and positioning and orientation, and particularly relates to a method for detecting and compensating angular momentum of a gyroscope directional device. Background technique [0002] The gyro motor is an important component and sensitive component that provides the momentum moment for the directional device and makes it have a gyro effect. The change of the speed directly affects the angular momentum of the gyro motor, affects the north-seeking and orientation accuracy, and is an important factor affecting the accuracy of the magnetic levitation directional device. Many factors will cause the brushless DC motor speed to fluctuate and introduce north-seeking measurement errors, including the influence of cogging torque caused by the structure of the motor itself, the non-ideal square wave change of the control current, and the stability of the power supply, which will lead to random electromagnetic t...

AI Technical Summary

Problems solved by technology

Many factors will cause the speed fluctuation of the brushless DC motor and introduce the north-seeking measurement error, including the influence of the cogging torque caused by the structure of the motor itself, the non-ideal square wave change of the control current, and the stability of the power supply, all of which will lead to the randomness of the electromagnetic torque. Fluctuations, resulting in random fluctuations in speed

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