A method for comparing the delays of different digital gyroscopes

Abstract

A method for comparing the delay sizes of different digital gyroscopes. The invention belongs to the field of digital gyroscope measurement technology. The invention solves the technical problem that in many application scenarios, the delay sizes of different gyroscopes are usually compared, and the gyroscope with the smallest delay is selected to improve the system performance. When there is no external test platform condition, there is an urgent need for a simple and easy measurement method that can compare the delay sizes of different gyroscopes. The method described in the present invention does not adopt the method of solving phase delays one by one when selecting a digital gyroscope according to specific application requirements, but changes the one-by-one solving process into a simpler and more efficient delay parameter comparison process. This method change improves the selection efficiency of digital gyroscopes; and the method described in the present invention does not require the construction of an additional experimental platform, saving resources.

Description

Technical Field

[0001] The invention belongs to the technical field of digital gyroscope measurement, and in particular relates to a method for comparing delay sizes of different digital gyroscopes. Background Art

[0002] Digital gyroscopes are key components in inertial measurement systems and are widely used in military and civilian fields such as weapon guidance, aerospace, attitude control and navigation of shipborne equipment. In the control systems of some equipment, digital gyroscopes are used as speed feedback measurement components, and their phase delay has a crucial impact on the performance of the control system, especially some control systems with certain dynamic response requirements. Most gyroscope data manuals do not have a specific description of the phase delay indicator, which makes it impossible to select a gyroscope with the smallest possible delay to improve the performance of the control system.

[0003] Chinese invention patent application "A device and method for measuring gyro phase response" (CN101424543A) discloses a device and method for measuring gyro phase response, the device includes a gyro to be tested, a turntable, a potentiometer, a data acquisition and processing system, a motor drive system, the data acquisition system and the processing system use a digital signal processor to collect the values ​​of the gyro and the potentiometer in real time, and derive the collected potentiometer values. By comparing the difference in time between the waveform of the gyro to be tested and the waveform of the potentiometer derivative, the gyro to be tested is obtained. f The invention is simple and practical in engineering practice and can effectively provide the phase information of the gyroscope to be tested, but it requires the construction of an additional experimental platform, which is costly. In many application scenarios, the delay sizes of different gyroscopes are usually compared, and the gyroscope with the smallest delay is selected to improve system performance. When there is no external test platform, there is an urgent need for a simple and easy measurement method that can compare the delay sizes of different gyroscopes. Summary of the invention

[0004] In order to solve the technical problem that in many application scenarios, the delay sizes of different gyroscopes are usually compared, and the gyroscope with the smallest delay is selected to improve the system performance, when there is no external test platform condition, a simple and easy measurement method that can compare the delay sizes of different gyroscopes is urgently needed. The present invention provides a method for comparing the delay sizes of different digital gyroscopes.

[0005] The method comprises the following steps:

[0006] S1. Select an optoelectronic device with a current loop and controlled by a digital processor;

[0007] S2, placing the digital gyroscope to be tested and the motor of the optoelectronic device coaxially, and connecting the digital gyroscope to be tested to the digital processor;

[0008] S3, in the sweep signal generation module of the digital processor, setting the amplitude, frequency starting point and frequency ending point of the sweep signal to obtain an input sinusoidal signal;

[0009] S4, input the generated input sinusoidal signal into the current loop setting, and drive the motor to rotate;

[0010] S5, collecting the sinusoidal response speed sensed by the digital gyroscope to be tested in real time through a digital signal processor to obtain an output sinusoidal signal;

[0011] S6. Perform Fourier transform on the input sine signal and the output sine signal to obtain the amplitude ratio and phase difference of each frequency point, integrate them into a frequency array, an amplitude ratio array and a phase difference array and save them in a .txt file;

[0012] S7, draw the Bode plot curve H of the .txt file;

[0013] S8. Take the Bode diagram curve H as the model to be identified, identify the model representation function corresponding to the Bode diagram curve H, and solve the delay parameter of the digital gyroscope to be tested through the delay link in the model representation function. ;

[0014] S9. Perform the operations in S1-S8 on different digital gyroscopes to be tested, and solve the delay parameters corresponding to the different digital gyroscopes to be tested. The larger the delay parameter is, the greater the delay of the digital gyroscope to be tested is.

[0015] Furthermore, when the digital gyroscope to be tested is placed coaxially with the motor of the optoelectronic device, the direction of the sensitive angular velocity of the digital gyroscope to be tested is parallel to the direction of the rotation axis of the motor and its shaft system. The motor and the shaft system need to be balanced to ensure inertia balance.

[0016] Furthermore, the method for drawing the Bode diagram curve H of the .txt file is specifically as follows: importing the .txt file into MATLAB software, and drawing the Bode diagram curve H of the .txt file.

[0017] Furthermore, the model representation function corresponding to the Bode diagram curve H is identified as follows: parameter identification is performed through the model identification toolbox in MATLAB software, and the identification template is selected as a first-order inertia link with a delay link.

[0018] Further, the identification template is ,in, represents the moment of inertia, represents the first-order inertia link, s represents a complex variable, a represents a pole, Indicates the delay phase. is the delay parameter, It represents the total delay time from the current loop to the sinusoidal response speed output sensed by the digital gyroscope to be tested.

[0019] The beneficial effects of the method of the present invention are:

[0020] In many application scenarios, the delays of different digital gyroscopes are usually compared, and the digital gyroscope with the smallest delay is selected to improve system performance. However, the current existing technology is to build an experimental platform to compare the time difference between the waveform of the digital gyroscope to be tested and the waveform of the potentiometer derivative, and then find out the delay of the digital gyroscope to be tested. f The phase delay at the frequency, after solving the phase delay, select the digital gyroscope with the smallest phase delay for application. This method has high cost and computing power consumption. In response to this problem, the method described in the present invention does not adopt the method of solving the phase delay one by one when selecting the digital gyroscope according to the specific application requirements, but changes the one-by-one solution process into a simpler and more efficient delay parameter comparison process. This change in method improves the efficiency of selecting digital gyroscopes; and the method described in the present invention does not require the construction of an additional experimental platform, saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the Bode diagram curve H of the model to be identified and the Bode diagram curve of the model representation function obtained by identification in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0023] Embodiment 1,

[0024] In order to compare the delay sizes of different digital gyroscopes only on an optoelectronic device with a current loop and controlled by a digital processor without the aid of an external experimental platform, so as to select a digital gyroscope with a small delay and improve the servo performance of the system, this embodiment provides a method for comparing the delay sizes of different digital gyroscopes, and the method comprises the following steps:

[0025] S1. Select an optoelectronic device that has a current loop and is controlled by a digital processor.

[0026] S2. Place the digital gyroscope to be tested coaxially with the motor of the optoelectronic device, and connect the digital gyroscope to be tested to the digital processor. When placing the digital gyroscope to be tested coaxially with the motor of the optoelectronic device, the direction of the sensitive angular velocity of the digital gyroscope to be tested is parallel to the direction of the rotation axis of the motor and its shaft system. The motor and the shaft system need to be balanced to ensure inertia balance.

[0027] S3. In the sweep frequency signal generation module of the digital processor, the amplitude, frequency starting point and frequency ending point of the sweep frequency signal are set to obtain an input sinusoidal signal.

[0028] S4, input the generated input sinusoidal signal into the current loop setting, and drive the motor to rotate;

[0029] S5. The sinusoidal response speed sensed by the digital gyroscope to be tested is collected in real time by a digital signal processor to obtain an output sinusoidal signal.

[0030] S6. Perform Fourier transform on the input sine signal and the output sine signal to obtain the amplitude ratio and phase difference of each frequency point, integrate them into frequency array, amplitude ratio array and phase difference array and save them in a .txt file.

[0031] S7. Draw the Bode diagram curve H of the .txt file. The method for drawing the Bode diagram curve H of the .txt file is as follows: import the .txt file into MATLAB software, and draw the Bode diagram curve H of the .txt file.

[0032] S8. Take the Bode diagram curve H as the model to be identified, identify the model representation function corresponding to the Bode diagram curve H, and solve the delay parameter of the digital gyroscope to be tested through the delay link in the model representation function. ; The model representation function corresponding to the Bode diagram curve H is identified as follows: parameter identification is performed through the model identification toolbox in MATLAB software, and the identification template is selected as the first-order inertia link with a delay link; the identification template is ,in, represents the moment of inertia, represents the first-order inertia link, s represents a complex variable, a represents a pole, Indicates the delay phase. is the delay parameter.

[0033] S9. Perform the operations in S1-S8 on different digital gyroscopes to be tested, and solve the delay parameters corresponding to the different digital gyroscopes to be tested. The larger the delay parameter is, the greater the delay of the digital gyroscope to be tested is.

[0034] Embodiment 2,

[0035] This embodiment further limits the embodiment 1 and is explained with specific experimental data.

[0036] In the sweep signal generation module of the digital processor, the amplitude of the sweep signal is set to 0.5A, the frequency starting point is 1Hz, and the frequency ending point is 60Hz to obtain an input sinusoidal signal.

[0037] The generated input sinusoidal signal is input to the current loop reference and drives the motor to rotate.

[0038] The sinusoidal response speed sensed by the digital gyroscope to be tested is collected in real time by a digital signal processor with a collection frequency of 1 Hz to obtain an output sinusoidal signal.

[0039] Perform Fourier transform on the input sine signal and the output sine signal, with a calculation period of 1ms, and obtain the amplitude ratio and phase difference of each frequency point, which are integrated into frequency array, amplitude ratio array and phase difference array and saved in a .txt file, specifically:

[0040] Frequency array txt: (1.0)(1.08311069)(1.17312872)(1.27062821)(1.37623096)(1.49061048)(1.61449611)(1.74867797) (1.89401186)(2.0514245)(2.22191978)(2.40658498)(2.6065979)(2.82323408)(3.05787492) (3.31201696)(3.58728099)(3.88542247)(4.20834255)(4.5581007)(4.9369278)(5.34723949) (5.7916522)(6.27300024)(6.79435349)(7.35903692)(7.97065163)(8.63309765)(9.35060024) (10.1277351)(10.9694586)(11.8811378)(12.8685875)(13.9381046)(15.0965099)(16.3511906) (17.7101498)(19.1820526)(20.7762871)(22.5030193)(24.3732605)(26.3989391)(28.5929737) (30.9693546)(33.5432396)(36.3310432)(39.3505402)(42.6209908)(46.16325)(49.9999084)

[0048] Amplitude ratio array txt: (0.0992071033) (0.0921809673) (0.0854463652) (0.0786659494)(0.0724905953) (0.0667937025) (0.0615258627) (0.0565371662) (0.0521433726) (0.0479435511)(0.0440637954) (0.0404137969) (0.0370057784) (0.0337262936) (0.0307453666) (0.0280063078)(0.0254394356) (0.0230971836) (0.0211645868) (0.0192707852) (0.017571643) (0.0159847979)(0.0147250444 )(0.0134378355) (0.0123967677) (0.0114685846) (0.0105247302) (0.0096507119)(0.0088531123) (0.0081774266) (0.0075259017) (0.0069316038) (0.0063666645) (0.0059080221)(0.0054063312) (0.0050177453) (0.0046027656) (0.0042414674) (0.0039076362) (0.0035538226)(0.0033388785) (0.0031041682) (0.0028379834) (0.0025957585) (0.0023891145) (0.0022305774)(0.0020269835) (0.0018954721) (0.0016824464 )(0.00164217781)

[0058] Phase difference array txt:

[0059] (-1.34188569) (-1.35670352) (-1.37500548) (-1.39318836) (-1.41070914)(-1.4270097)

[0060] (-1.44411206) (-1.46348035) (-1.48261321) (-1.5012145 )(-1.52273428 )(-1.54164588)

[0061] (-1.56239927) (-1.58101356) (-1.60044456) (-1.61770189) (-1.63309896)(-1.649966)

[0062] (-1.67646492) (-1.69288468) (-1.70858514) (-1.72943616) (-1.74878645)(-1.76279199)

[0063] (-1.77427077) (-1.80341554) (-1.83346879) (-1.85694647) (-1.87581635)(-1.91186512)

[0064] (-1.94418025) (-1.97477269) (-2.00943422) (-2.06300998) (-2.0403893)(-2.04545069)

[0065] (-2.09161973) (-2.12734556) (-2.17195487) (-2.23220944) (-2.31174493)(-2.34123802)

[0066] (-2.42575574) (-2.50791597) (-2.57638621) (-2.66275883)( -2.74307108)(-2.84168863) (3.3445847) (3.21779156)

[0068] Import the .txt file into MATLAB software, draw the Bode diagram curve H of the .txt file, open the model identification toolbox in MATLAB software, take the Bode diagram curve H as the model to be identified, select the identification template as 0 zero points, 1 pole and a delay link, the Bode diagram curve H of the model to be identified and the Bode diagram curve of the model representation function obtained by identification are as follows Figure 1 As shown;

[0069] The result of identification is ,Right now is 0.004, Indicates the total delay time from current loop reference to speed output.

[0070] The identification result of another digital gyroscope is measured by the same method: Right now is 0.002, so the delay of this digital gyroscope is smaller.

Claims

1. A method for comparing the delay sizes of different digital gyroscopes, characterized in that: The method comprises the following steps: S1. Select an optoelectronic device with a current loop and controlled by a digital processor; S2, placing the digital gyroscope to be tested and the motor of the optoelectronic device coaxially, and connecting the digital gyroscope to be tested to the digital processor; S3, in the sweep signal generation module of the digital processor, setting the amplitude, frequency starting point and frequency ending point of the sweep signal to obtain an input sinusoidal signal; S4, input the generated input sinusoidal signal into the current loop setting, and drive the motor to rotate; S5, collecting the sinusoidal response speed sensed by the digital gyroscope to be tested in real time through a digital signal processor to obtain an output sinusoidal signal; S6. Perform Fourier transform on the input sine signal and the output sine signal to obtain the amplitude ratio and phase difference of each frequency point, integrate them into a frequency array, an amplitude ratio array and a phase difference array and save them in a .txt file; S7, draw the Bode plot curve H of the .txt file; S8. Take the Bode diagram curve H as the model to be identified, identify the model representation function corresponding to the Bode diagram curve H, and solve the delay parameter of the digital gyroscope to be tested through the delay link in the model representation function. ; S9. Perform the operations in S1-S8 on different digital gyroscopes to be tested, and solve the delay parameters corresponding to the different digital gyroscopes to be tested. The larger the delay parameter is, the greater the delay of the digital gyroscope to be tested is.

2. The method for comparing delays of different digital gyroscopes according to claim 1, characterized in that: When the digital gyroscope to be tested is placed coaxially with the motor of the optoelectronic device, the direction of the sensitive angular velocity of the digital gyroscope to be tested is parallel to the direction of the rotation axis of the motor and its shaft system. The motor and the shaft system need to be balanced to ensure inertia balance.

3. The method for comparing the delay sizes of different digital gyroscopes according to claim 2, characterized in that: The method used for drawing the Bode diagram curve H of the .txt file is as follows: importing the .txt file into MATLAB software and drawing the Bode diagram curve H of the .txt file.

4. The method for comparing delays of different digital gyroscopes according to claim 3, characterized in that: The model representation function corresponding to the identified Bode diagram curve H is specifically as follows: parameter identification is performed through the model identification toolbox in MATLAB software, and the identification template is selected as a first-order inertia link with a delay link.

5. The method for comparing delays of different digital gyroscopes according to claim 4, characterized in that: The identification template is ,in, represents the moment of inertia, represents the first-order inertia link, s represents a complex variable, a represents a pole, Indicates the delay phase. is the delay parameter.

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