System and method for automatically compensating zero offset of gyroscope after power-on of servo platform

Abstract

The invention provides a system and a method for automatically compensating zero offset of a gyroscope after a servo platform is powered on. The system and the method can realize unmanned high-precision zero offset compensation of the gyroscope under a variable environment of the servo platform. According to the invention, the automatic compensation of the servo platform for the zero offset of the gyroscope can be realized, the servo platform enters a positioning state under the closed loop of the angle sensor after the servo platform is powered on and completes self-inspection, and the controller collects the output value of the gyroscope and performs mean value calculation in the state to obtain a compensation parameter, and the compensation parameter is automatically stored. According to the method for automatically compensating the zero offset of the gyroscope, the zero offset of the gyroscope of azimuth, pitching and rolling shafts can be compensated in different environments, the environment adaptability is good, the compensation efficiency is high, and no manual operation is needed. Meanwhile, the zero offset of the gyroscope changes in different environments, the compensation parameters can be updated in different working environments without depending on unique parameters, and the stability of the servo platform in various environments can be optimal.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a system method for automatically compensating the zero bias of a gyroscope after a servo platform is powered on. Background technique [0002] The servo platform is mainly composed of frame, motor, angle sensor (resolver or potentiometer), gyro, controller and driver. Since the gyro has a zero bias, and the zero bias value will be different in different working environments, it will be affected by the drift phenomenon after the servo platform is powered on, and the servo platform needs to be compensated for the gyro zero bias. [0003] The existing methods of compensating the gyroscope’s zero bias are mostly human observation and manual compensation. The main operation steps of this method are to randomly select the starting point time by the operator after the servo platform is powered on, and record the angle value at this time. After a period of time ( For example,...

AI Technical Summary

Problems solved by technology

This compensation method requires manual operation, which takes a long time and has low precision. The compensation parameter is unique, and it is only compensated once before the product leaves the factory. After the product leaves the factory, no matter when it is turned on and used, the same compensation parameter is used. When the servo platform When the working environment (such as temperature) changes, this compensation parameter will no longer be applicable

Images