摘要
针对因受加工技术、加工条件以及外部环境因素等影响,半球谐振陀螺在力平衡模式下输出零偏稳定性及重复性变化较大的问题,提出一种基于模态切换的陀螺自校准方法。基于半球谐振陀螺二阶振动模态机理,建立理想状态下谐振子运动方程,并分析推导了谐振子在阻尼不均和频率裂解等非理想因素影响下的运动模型和参数控制方程。根据谐振陀螺输出漂移特性,提出了一种基于电极功能切换的半球谐振陀螺自校准方法。通过相关实验,分析比较了电极模态切换前后陀螺输出稳定性及重复性,实验结果表明,陀螺零偏稳定性提升1.8倍以上,陀螺零偏重复性提升90.5%,所提方法能有效估计及补偿陀螺漂移,提高半球谐振陀螺输出的稳定性和重复性。
Aiming at the problem of significant changes in bias stability and repeatability of hemispherical resonant gyroscopes(HRGs)in force balance mode due to processing technology,processing conditions,and external environmental factors,a self-calibration method for gyroscopes based on mode switching is proposed.Based on the second-order vibration mode of HRG,the motion equation of resonator under ideal condition is established,and the motion model and parameter control equation of resonator under nonideal factors such as nonuniform damping and frequency splitting are analyzed and derived.According to the drift characteristics of HRG,a self-calibration method based on electrode mode switching is proposed.The bias stability and repeatability of HRG before and after electrode mode switching are compared by relevant experiments.The experimental results show that the bias stability is improved by more than 1.8 times,and the bias repeatability of HRG is increased by 90.5%in different states.The proposed method can effectively estimate and compensate the HRG drift,and improve the stability and repeatability of the output of HRG.
作者
赵小明
王长元
陈刚
杨松普
贾晨凯
唐明浩
ZHAO Xiaoming;WANG Changyuan;CHEN Gang;YANG Songpu;JIA Chenkai;TANG Minghao(Tianjin Navigation Instrument Research Institute,Tianjin 300131,China;Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2024年第1期58-63,70,共7页
Journal of Chinese Inertial Technology
基金
工信部高技术船舶科研项目(CB04N20)。
关键词
半球谐振陀螺
力平衡模式
自校准
模态切换
hemispherical resonator gyro
force to rebalance mode
self-calibration
mode switching
