Active and passive combined vibration isolation gyroscope test rotary table and test method

Abstract

The invention belongs to the technical field of precision testing of inertial devices, and particularly relates to an active and passive combined vibration isolation gyroscope testing rotary table and a testing method. The rotary table comprises a passive vibration isolation system (1) and an active stability augmentation system (2), and the passive vibration isolation system (1) effectively isolates vibration noise transmitted from the ground to a gyro system by tuning the resonant frequency of the system; the active stability augmentation system (2) collects residual inclination angle and acceleration information through a high-precision inclinometer and an acceleration sensor which are arranged on the passive vibration isolation system (1), compensates vibration noise in a feedback actuation mode, provides a stable test environment, provides rotation in two directions and serves as a gyroscope test rotary table.

Description

Technical Field

[0001] The present invention belongs to the technical field of precision testing of inertial devices, and particularly relates to a main-passive combined vibration isolation gyroscope test turntable and a test method. Background Art

[0002] Large gyroscopes such as atomic interference gyroscopes have ultra-high sensitivity, but it is difficult for the test platforms used for conventional gyroscopes to achieve accurate experimental calibration for large weight loads. There is an urgent need for a class of high-precision test platforms for the reference testing and calibration of large gyroscope devices. The traditional vibration isolation platform based on a spring-damping system has a large load capacity and can isolate vibrations by adjusting the stiffness coefficient of the load and the system, but it is limited to effectively isolating high-frequency vibrations. The active feedback-based stabilization platform can achieve long-term stability of the carrier platform, but it is only limited to static stability and cannot meet the needs of gyroscope dynamic testing and performance evaluation. Summary of the Invention

[0003] Object of the Invention: To provide a main-passive combined vibration isolation gyroscope test turntable and a test method, which can achieve vibration isolation in the full frequency band through the collaborative work of a passive vibration isolation system and an active stabilization system, calibrate the static accuracy of the gyroscope, and further, by controlling the active stabilization system, realize the rotation of the experimental platform around any axis in the horizontal direction to achieve the test of the dynamic performance of the gyroscope.

[0004] Technical Solution:

[0005] A main-passive combined vibration isolation gyroscope test turntable includes: a passive vibration isolation system 1 and an active stabilization system 2, wherein,

[0006] The passive vibration isolation system 1 effectively isolates the vibration noise transmitted from the ground to the gyroscope system by tuning the resonance frequency of the system; the active stabilization system 2 collects the residual inclination and acceleration information through high-precision inclinometers and acceleration sensors placed on the passive vibration isolation system 1, and compensates for the vibration noise by means of feedback actuation to provide a stable test environment, and at the same time provides rotation in two directions for use as a gyroscope test turntable.

[0007] Further, the passive vibration isolation system 1 includes: a gyroscope 101, a counterweight 102, a base 103, and a spring-damper platform 104. Among them, the spring-damper platform 104 is placed on the ground. The base 103 is a plate-like structure with a uniform thickness and is arranged on the spring-damper platform 104. Both the gyroscope 101 and the counterweight 102 are arranged on the base 103. The counterweight 102 is used to compensate for the weight differences of different models of gyroscopes, so that the performance of the passive vibration isolation system 1 always remains in the optimal range. The base 103 is the assembly reference surface of the gyroscope 101 and the counterweight 102, and has a large stiffness coefficient and low deformation characteristics. The spring-damper platform 104 adjusts the natural frequency of the system through the counterweight 102, so that the system can effectively isolate high-frequency vibrations above 1 Hz.

[0008] Further, the active stability enhancement system 2 includes a first motor group 201, a second motor group 202, an inclinometer 203, an accelerometer 204, and a controller 205. Among them, the drive ends of the first motor group 201 and the second motor group 202 are respectively electrically connected to the controller 205, and the output ends of the inclinometer 203 and the accelerometer 204 are respectively electrically connected to the controller 205.

[0009] The first motor group 201 includes a set of two motors placed oppositely, which is used to provide an upward force and a torque M in one direction x-axis parallel to the ground. x This torque is applied to the base 103. The second motor group 202 includes a set of two motors placed oppositely, which is used to provide an upward force and a torque M in another direction y-axis orthogonal to the x-axis parallel to the ground. y This torque is applied to the base 103. The inclinometer 203 is installed on the base 103 and can simultaneously measure the rotation amounts of the base 103 around the x-axis and the y-axis. The accelerometer 204 is installed on the base 103 and can measure the vibration information of the base 103 along the z-axis, where the z-axis is orthogonal to both the x-axis and the y-axis. The controller 205 collects the information of the inclinometer 203 and the accelerometer 204, and modulates the output torques of the first motor group 201 and the second motor group 202 through a closed-loop feedback method to achieve active suppression or active stability enhancement periodic motion of the rotation around the x-axis, the rotation around the y-axis, or the vibration along the z-axis.

[0010] Further, for the active stability enhancement periodic motion of the rotation around the x-axis, the rotation around the y-axis, and the vibration along the z-axis, within a period of time when the angular velocity direction changes, the system needs to reach a steady state again, and the effective duty cycle of the active stability enhancement periodic motion is greater than or equal to 80%.

[0011] Further, through the trimming of the counterweight 102, the center of gravity of the passive vibration isolation system 1 is located at the intersection of the rotating x-axis and the rotating y-axis. Through the trimming of the counterweight 102, the natural frequency of the passive vibration isolation system 1 is maintained below 1 Hz.

[0012] A testing method for a combined active and passive vibration isolation gyroscope. The method is carried out by means of the above-mentioned combined active and passive vibration isolation gyroscope testing turntable. The method realizes independent or combined active stability-increasing periodic motion through the modulation of the rotation of the x-axis, y-axis rotation, and z-axis vibration of the base 103, so as to test the performance of the gyroscope.

[0013] Furthermore, the active stability-increasing system 2 tests the rotational response of the gyroscope 1 about an axis in any horizontal direction by setting a target value, specifically including:

[0014] S1: Test the rotational response of the gyroscope 1 in the direction of the sensitive axis, specifically:

[0015] Adjust the frequency of the spring-damping platform 104 to the natural frequency of the system by the weight and position of the counterweight 102; at the same time, make the center of gravity of the passive vibration isolation system 1 located at the intersection of the rotating x-axis and the rotating y-axis;

[0016] Place the sensitive axis of the gyroscope 1 on the x-axis, and modulate the output torque M of the first motor group 201 by the controller 205 of the active stability-increasing system 2 x , so that the base 103 rotates around the x-axis at a uniform angular velocity ω x ; Modulate the output torque M of the second motor group 202 by the controller 205 of the active stability-increasing system 2 y , so that the angular velocity ω of the base 103 around the y-axis y is 0;

[0017] S2: Test the rotational noise response of the gyroscope 1 in the direction of the non-sensitive axis, specifically:

[0018] Adjust the frequency of the spring-damping platform 104 to the natural frequency of the system by the weight and position of the counterweight 102; at the same time, make the center of gravity of the passive vibration isolation system 1 located at the intersection of the rotating x-axis and the rotating y-axis;

[0019] Place the sensitive axis of the gyroscope 1 on the x-axis, and modulate the output torque M of the first motor group 201 by the controller 205 of the active stability-increasing system 2 x , so that the angular velocity ω of the base 103 around the x-axis x is 0; Modulate the output torque M of the second motor group 202 by the controller 205 of the active stability-increasing system 2 y , so that the base 103 rotates around the y-axis at a uniform angular velocity ω y ;

[0020] S3: Test the rotational response of the gyroscope 1 in any direction, specifically:

[0021] Adjust the frequency of the spring-damping platform 104 to the natural frequency of the system by the weight and position of the counterweight 102; meanwhile, make the center of gravity of the passive vibration isolation system 1 located at the intersection of the rotating x-axis and the rotating y-axis.

[0022] Place the sensitive axis of the gyroscope 1 on the x-axis, and modulate the output torque M of the first motor group 201 through the controller 205 of the active stabilization system 2 x , so that the base 103 rotates around the x-axis at a uniform angular velocity ω x ; Modulate the output torque M of the second motor group 202 through the controller 205 of the active stabilization system 2 y , so that the base 103 rotates around the y-axis at a uniform angular velocity, and the angular velocity is ω y , where ω x and ω y are of the same period and in the same phase, and the direction of the angular velocity synthesized by the two axes deviates from the x-axis by an angle θ = arctan ω y / ω x |.

[0023] Further, the active stabilization system 2 tests the response of the gyro to the vibration of the z-axis by setting a target value, specifically:

[0024] Adjust the frequency of the spring-damping platform 104 to the natural frequency of the system by the weight and position of the counterweight 102; meanwhile, make the center of gravity of the passive vibration isolation system 1 located at the intersection of the rotating x-axis and the rotating y-axis.

[0025] Place the sensitive axis of the gyroscope 1 on the x-axis, and modulate the output torque M of the first motor group 201 through the controller 205 of the active stabilization system 2 x , so that the angular velocity ω of the base 103 around the x-axis x is 0; Modulate the output torque M of the second motor group 202 through the controller 205 of the active stabilization system 2 y , so that the angular velocity ω of the base 103 around the y-axis y is 0; The controller 205 of the active stabilization system 2 modulates the output forces F x and F y as the driving force applied in the z-axis direction, and simulates the system vibration environment through the closed-loop feedback system to realize the test of the vibration frequency response of the z-axis.

[0026] Beneficial effects:

[0027] 1. Combine the isolation ability of the passive vibration isolation mechanical system for high-frequency vibration noise with the compensation ability of the active stabilization system for low-frequency vibration and drift to achieve effective isolation of vibration noise in the full frequency band.

[0028] 2. By modulating the active stabilization system, uniform angular velocity rotation about any horizontal axis can be achieved, enabling dynamic testing of the gyroscope for horizontal rotation.

[0029] 3. Through beneficial structural design, its load capacity meets the precise testing requirements of heavy gyroscope systems up to 300 kg, and can effectively meet the dynamic testing needs of large-scale equipment such as cold atom interference gyroscopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 FIG. is a schematic diagram of a main-passive combined vibration isolation gyroscope test turntable disclosed by the present invention. Among them, gyroscope 101, counterweight 102, base 103, spring-damper platform 104, first motor group 201, second motor group 202, inclinometer 203, accelerometer 204, and controller 205.

[0031] Figure 2 FIG. shows the variation of the tilt value of a certain axis with time when the main-passive combined vibration isolation gyroscope test turntable disclosed by the present invention is working. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In order to better illustrate the purpose and advantages of the present invention, the following further describes the content of the invention in conjunction with the drawings and examples. With reference to the drawings, the technical solution is described in detail:

[0033] As Figure 1 , the present invention proposes a main-passive combined vibration isolation gyroscope test turntable, including a passive vibration isolation system 1 and an active stabilization system 2. Among them, the passive vibration isolation system 1 effectively isolates the vibration noise transmitted from the ground to the gyroscope system by tuning the resonance frequency of the system; the active stabilization system 2 collects the residual inclination and acceleration information through high-precision sensors placed on the passive vibration isolation system 1, and compensates it through the feedback actuation method to maintain the stability of the gyroscope system attitude, and further controls to achieve a stable micro-rotation test environment.

[0034] Among them, the passive vibration isolation system 1 includes: a gyroscope 101, a counterweight 102, a base 103, and a spring-damper platform 104. The sensitive axis of the gyroscope 101 is in the horizontal direction, with a resolution better than 1 μrad / s, and it can sense the information of the earth's rotation speed. The counterweight 102 is used to compensate for the weight differences of different models of gyroscopes, so that the vibration isolation performance can always be maintained in the optimal range. The base 103 is the assembly reference surface of the gyroscope 101 and the counterweight 102, with a large stiffness coefficient and low deformation characteristics. The spring-damper platform 104 adjusts the natural frequency of the system through the counterweight 102, so that the system can effectively isolate high-frequency vibrations above 1 Hz. Preferably, the isolation degree for vibrations above 1 Hz is higher than -10 dB. Further preferably, the isolation degree for vibrations above 10 Hz is higher than -40 dB. The spring-damper platform 104 is placed on the ground, the base 103 is a plate-like structure with a uniform thickness and is arranged on the spring-damper platform 104, and both the gyroscope 101 and the counterweight 102 are arranged on the base 103.

[0035] Among them, the active stabilization system 2 includes a first motor group 201, a second motor group 202, an inclinometer 203, an accelerometer 204, and a controller 205. The driving ends of the first motor group 201 and the second motor group 202 are respectively electrically connected to the controller 205, and the output ends of the inclinometer 203 and the accelerometer 204 are respectively electrically connected to the controller 205.

[0036] The first motor group 201 includes a set of two motors placed oppositely, which is used to provide an upward force and a moment M in one direction x-axis parallel to the ground. x , this moment M x is applied to the base 103. The second motor group 202 includes a set of two motors placed oppositely, which is used to provide an upward force and a moment M in the other direction y-axis orthogonal to the x-axis parallel to the ground. y , this moment M y is applied to the base 103. The inclinometer 203 is installed on the base 103 and can simultaneously measure the rotation amounts of the base 103 around the x-axis and the y-axis. The accelerometer 204 is installed on the base 103 and can measure the vibration information of the base 103 along the z-axis direction. The z-axis is orthogonal to both the x-axis and the y-axis. The controller 205 collects the information of the inclinometer 203 and the accelerometer 204, and modulates the output torques of the first motor group 201 and the second motor group 202 through a closed-loop feedback method to achieve active suppression or active stabilization of periodic motions of rotation around the x-axis, rotation around the y-axis, or vibration along the z-axis. Preferably, the resolution of single-axis rotation can be adjusted to be 0.5 - 5 μrad / s, and the resolution of the z-axis vibration acceleration can be adjusted to be 0.0001 - 0.01 m / s 2 adjustable.

[0037] Active stability augmentation periodic motion for rotation about the x-axis, rotation about the y-axis, and vibration along the z-axis. Preferably, the effective duty cycle of the active stability augmentation periodic motion reaches 80% or more.

[0038] As Figure 2 shown, T1 is the effective time of the stability augmentation periodic motion, T2 is the ineffective time of the stability augmentation periodic motion (the time required for the system to reach a steady state again), and the duty cycle expression is D = T1 / (T1 + T2)×100%; θ1 is the output value of the inclinometer 203 when the turntable angular rate is positive and reaches the steady state, θ2 is the maximum value reached by the output of the inclinometer 203 when the turntable angular rate is positive, θ3 is the minimum value reached by the output of the inclinometer 203 when the turntable angular rate is negative, θ4 is the output value of the inclinometer 203 when the turntable angular rate is negative and reaches the steady state; the relationship between them satisfies |θ1 - θ2| = |θ3 - θ4|, and the angular rate of the system at steady state is ω = (θ2 - θ1) / T1.

[0039] Through the trimming of the counterweight 2, the combined weight of the gyroscope 1 and the counterweight 2 is 300 kg. Through the trimming of the counterweight 2, the center of gravity of the passive vibration isolation system 1 is located at the intersection of the rotating x-axis and the rotating y-axis, and the natural frequency of the passive vibration isolation system is kept below 1 Hz. Preferably, it is kept at 0.5 - 0.7 Hz.

[0040] A main - passive combined vibration isolation gyroscope testing method, through the modulation of the rotation about the x-axis, rotation about the y-axis, and vibration along the z-axis of the base 103, realizes independent or combined active stability augmentation periodic motion, thereby testing the performance of the gyroscope.

[0041] A main - passive combined vibration isolation gyroscope testing method, the active stability augmentation system 2 can test the rotational response of the gyroscope 1 about an axis in any horizontal direction by setting a target value (desired angular rate magnitude and direction).

[0042] Let the transfer function of the spring - damping platform 104 be H vi (s), the transfer function of the accelerometer 204 be H acc (s), the transfer function of the motors in the first motor group 201 and the second motor group 202 be H vcm (s), and the transfer function of the PID feedback control link be H PID (s); where H acc (s), H PID (s), H vcm (s) are connected in series to form a feedback system, generating a feedback force to suppress the z-axis vibration noise. Let the ground displacement in the z-axis direction be Z gnd (s), and the displacement of the base 103 in the z-axis direction be Z plat (s), then the transfer function of the main - passive combined vibration isolation gyroscope testing turntable system with respect to displacement is:

[0043]

[0044] In the formula, H vi (s), H acc (s), H vcm (s) obtains the expression through system identification means, and H PID (s) expression is

[0045] where K P is the proportionality coefficient, K I is the integral coefficient, K D is the differential coefficient.

[0046] Similarly, the transfer function H P of the master-slave combined vibration isolation gyroscope test turntable system including K I , K D for angular displacement can be derived. Let H θ (s) be the transfer function of the inclinometer, the angular displacement of the base 103 in a certain direction be θ(s), and the control signal input to the motor be U(s), then the expression of H inc (s) is: θ (s) expression is:

[0047]

[0048] By configuring K P , K I , K D , the controller 205 can realize real-time control of the output torques M x , M y of the two groups of motors 201 and 202 and the output forces F x and F y , and realize rotation around any horizontal axis and isolation of z-axis vibration noise.

[0049] Example 1:

[0050] Adjust the frequency of the spring-damping platform 104 to the natural frequency of the system by the weight and position of the counterweight 102; at the same time, make the center of gravity of the passive vibration isolation system 1 located at the intersection of the rotating x-axis and the rotating y-axis;

[0051] Test the rotational response of the gyroscope 1 in the direction of the sensitive axis. The specific method is:

[0052] Place the sensitive axis of the gyroscope 1 on the x-axis. Modulate the output torque M x of the first motor group 201 through the controller 205 of the active stabilization system 2, so that the base 103 rotates around the x-axis at a uniform angular rate, and the angular rate is ω xThe output torque M of the second motor group 202 is modulated by the controller 205 of the active stabilization system 2 y , so that the angular velocity ω of the base 103 about the y-axis y is 0. The output forces F of the first motor group 201 and the second motor group 202 generated by the modulation of the controller 205 of the active stabilization system 2 x and F y are used to isolate the z-axis vibration noise.

[0053] Example 2:

[0054] Test the rotational noise response of the gyroscope 1 in the direction of the non-sensitive axis. The specific method is as follows:

[0055] Place the sensitive axis of the gyroscope 1 on the x-axis. The output torque M of the first motor group 201 is modulated by the controller 205 of the active stabilization system 2 x , so that the angular velocity ω of the base 103 about the x-axis x is 0. The output torque M of the second motor group 202 is modulated by the controller 205 of the active stabilization system 2 y , so that the base 103 rotates at a uniform angular velocity about the y-axis, and the angular velocity is ω y .

[0056] The output forces F of the first motor group 201 and the second motor group 202 generated by the modulation of the controller 205 of the active stabilization system 2 x and F y are used to isolate the z-axis vibration noise.

[0057] Example 3:

[0058] Test the rotational response of the gyroscope 1 in any direction. The specific method is as follows:

[0059] Place the sensitive axis of the gyroscope 1 on the x-axis. The output torque M of the first motor group 201 is modulated by the controller 205 of the active stabilization system 2 x , so that the base 103 rotates at a uniform angular velocity about the x-axis, and the angular velocity ω x . The output torque M of the second motor group 202 is modulated by the controller 205 of the active stabilization system 2 y , so that the base 103 rotates at a uniform angular velocity about the y-axis, and the angular velocity is ω y . Among them, ω x and ω y are of the same period and the same phase. The output forces F of the first motor group 201 and the second motor group 202 generated by the modulation of the controller 205 of the active stabilization system 2 x and F y are used to isolate the z-axis vibration noise. The angle between the direction of the combined angular velocity of the two axes and the x-axis is θ = arctan ω y / ωx |。

[0060] Example 4:

[0061] By setting the target value, the active stabilization system 2 can test the response of the gyroscope to the vibration of the z-axis. The specific method is as follows:

[0062] Place the sensitive axis of the gyroscope 1 on the x-axis. Modulate the output torque M of the first motor group 201 through the controller 205 of the active stabilization system 2 x to make the angular velocity ω of the base 103 around the x-axis x be 0. Modulate the output torque M of the second motor group 202 through the controller 205 of the active stabilization system 2 y to make the angular velocity ω of the base 103 around the y-axis y be 0. The controller 205 of the active stabilization system 2 modulates the output forces F x and F y as the driving force applied in the z-axis direction, and simulate the system vibration environment through the closed-loop feedback system to realize the test of the z-axis vibration frequency response.

[0063] The above specific description further details the purpose, technical solution and beneficial effects of the invention. It should be understood that the above is only a specific embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An active and passive combined vibration isolation gyroscope test turntable, characterized in that: include: A passive vibration isolation system (1) and an active stabilization system (2), wherein: The passive vibration isolation system (1) effectively isolates the vibration noise transmitted from the ground to the gyro system by tuning the system resonance frequency; the active stabilization system (2) collects residual inclination and acceleration information through a high-precision inclinometer and acceleration sensor placed on the passive vibration isolation system (1), compensates for the vibration noise through feedback actuation, provides a stable test environment, and provides rotation in two directions, serving as a gyro test turntable.

2. The active and passive combined vibration isolation gyroscope test turntable according to claim 1, characterized in that: The passive vibration isolation system (1) comprises: a gyroscope (101), a counterweight (102), a base (103) and a spring damping platform (104), wherein the spring damping platform (104) is placed on the ground, the base (103) is a plate-like structure with uniform thickness and is arranged on the spring damping platform (104), the gyroscope (101) and the counterweight (102) are both arranged on the base (103), and the counterweight (102) is used to compensate for the weight difference between gyroscopes of different models, so that the performance of the passive vibration isolation system (1) is always maintained in an optimal range; the base (103) is an assembly reference surface for the gyroscope (101) and the counterweight (102), and has a large stiffness coefficient and low deformation characteristics; the spring damping platform (104) adjusts the natural frequency of the system through the counterweight (102), so that the system can effectively isolate high-frequency vibrations higher than 1 Hz.

3. The active and passive combined vibration isolation gyroscope test turntable according to claim 2, characterized in that: The active stabilization system (2) comprises a first motor group (201), a second motor group (202), an inclinometer (203), an accelerometer (204) and a controller (205), wherein a driving end of the first motor group (201) and a driving end of the second motor group (202) are respectively electrically connected to the controller (205), and an output end of the inclinometer (203) and an output end of the accelerometer (204) are respectively electrically connected to the controller (205); The first motor group (201) comprises a group of two motors placed opposite to each other, and is used to provide an upward force and a torque M in an x-axis direction parallel to the ground. x , the torque is applied to the base (103); the second motor group (202) comprises a group of two motors placed opposite to each other, used to provide an upward force and a torque M in the y-axis direction parallel to the ground and orthogonal to the x-axis y , the torque is applied to the base (103); the inclinometer (203) is installed on the base (103) and can simultaneously measure the rotation amount of the base (103) around the x-axis and y-axis directions; the accelerometer (204) is installed on the base (103) and can measure the vibration information of the base (103) along the z-axis direction, wherein the z-axis is orthogonal to both the x-axis and the y-axis; the controller (205) collects information from the inclinometer (203) and the accelerometer (204), and modulates the output torque of the first motor group (201) and the second motor group (202) in a closed-loop feedback manner, thereby realizing active suppression of x-axis rotation, y-axis rotation or z-axis vibration or active stabilization of periodic motion.

4. The active and passive combined vibration isolation gyroscope test turntable according to claim 3, characterized in that: For the active stabilization periodic motion of x-axis rotation, y-axis rotation and z-axis vibration, the system needs to regain steady state within a period of time when the angular velocity direction changes, and the effective duty cycle of the active stabilization periodic motion is greater than or equal to 80%.

5. The active and passive combined vibration isolation gyroscope test turntable according to claim 3, characterized in that: By balancing the counterweight (102), the center of gravity of the passive vibration isolation system (1) is located at the intersection of the rotating x-axis and the rotating y-axis. By balancing the counterweight (102), the natural frequency of the passive vibration isolation system (1) is maintained below 1 Hz.

6. A method for testing an active and passive combined vibration isolation gyroscope, characterized in that: The method is performed with the aid of an active-passive combined vibration isolation gyroscope test turntable according to any one of claims 1 to 5. The method realizes independent or combined active stabilization periodic motion by modulating the x-axis rotation, y-axis rotation and z-axis vibration of the base (103), thereby testing the gyroscope performance.

7. The active-passive combined vibration isolation gyroscope test method according to claim 6, characterized in that: The active stabilization system (2) tests the rotation response of the gyroscope (1) with any horizontal direction as the axis by setting a target value, specifically including: S1: Test the rotational response of the gyroscope (1) to the direction of the sensitive axis, specifically: The frequency of the spring damping platform (104) is adjusted to the natural frequency of the system by the weight and position of the counterweight (102); at the same time, the center of gravity of the passive vibration isolation system (1) is located at the intersection of the rotating x-axis and the rotating y-axis; The sensitive axis of the gyroscope (1) is placed on the x-axis, and the output torque M of the first motor group (201) is modulated by the controller (205) of the active stabilization system (2). x , so that the base (103) rotates around the x-axis at a uniform angular rate, the angular rate being ω x The output torque M of the second motor group (202) is modulated by the controller (205) of the active stabilization system (2). y , so that the angular velocity ω of the base (103) around the y-axis y is 0; S2: Test the rotation noise response of the gyroscope (1) to the non-sensitive axis direction, specifically: The frequency of the spring damping platform (104) is adjusted to the natural frequency of the system by the weight and position of the counterweight (102); at the same time, the center of gravity of the passive vibration isolation system (1) is located at the intersection of the rotating x-axis and the rotating y-axis; The sensitive axis of the gyroscope (1) is placed on the x-axis, and the output torque M of the first motor group (201) is modulated by the controller (205) of the active stabilization system (2). x , so that the angular velocity ω of the base (103) around the x-axis x The output torque M of the second motor group (202) is modulated by the controller (205) of the active stabilization system (2). y , so that the base (103) rotates around the y-axis at a uniform angular rate, and the angular rate is ω y ; S3: Test the rotation response of the gyroscope (1) to any direction, specifically: The frequency of the spring damping platform (104) is adjusted to the natural frequency of the system by the weight and position of the counterweight (102); at the same time, the center of gravity of the passive vibration isolation system (1) is located at the intersection of the rotating x-axis and the rotating y-axis; The sensitive axis of the gyroscope (1) is placed on the x-axis, and the output torque M of the first motor group (201) is modulated by the controller (205) of the active stabilization system (2). x , so that the base (103) rotates around the x-axis at a uniform angular rate, the angular rate ω x The output torque M of the second motor group (202) is modulated by the controller (205) of the active stabilization system (2). y , so that the base (103) rotates around the y-axis at a uniform angular rate, and the angular rate is ω y , where ω x and ω y With the same period and phase, the angle of the angular velocity direction of the two axes deviates from the x-axis by θ=arctan|ω y / ω x |.

8. The active-passive combined vibration isolation gyroscope test method according to claim 6, characterized in that: The active stabilization system (2) tests the response of the gyro to the z-axis vibration by setting the target value, specifically: The frequency of the spring damping platform (104) is adjusted to the natural frequency of the system by the weight and position of the counterweight (102); at the same time, the center of gravity of the passive vibration isolation system (1) is located at the intersection of the rotating x-axis and the rotating y-axis; The sensitive axis of the gyroscope (1) is placed on the x-axis, and the output torque M of the first motor group (201) is modulated by the controller (205) of the active stabilization system (2). x , so that the angular velocity ω of the base (103) around the x-axis x The output torque M of the second motor group (202) is modulated by the controller (205) of the active stabilization system (2). y , so that the angular velocity ω of the base (103) around the y-axis y is 0; the controller (205) of the active stabilization system (2) modulates the output force F of the first motor group (201) and the second motor group (202) x With F y As the driving force in the z-axis direction is applied, the system vibration environment is simulated through a closed-loop feedback system to achieve the test of the z-axis vibration frequency response.

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