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介绍了一种安装在旋转体上,用于旋转体姿态控制的新型微机械陀螺。陀螺利用旋转载体的滚转获得角动量,当载体发生偏航或俯仰,敏感质量块受到周期性哥氏力的作用,从而敏感载体的偏航或俯仰角速度。飞行试验中舵机的舵偏打容易使陀螺发生共振,陀螺输出信号无法满足旋转载体姿态控制的要求。针对这一问题,需精确测量陀螺的固有频率。首先基于陀螺运动方程分析了其幅频特性和固有频率,并利用数值计算软件进行了仿真,最后提出了一种对该陀螺幅频特性的测量方法,得到了幅频特性曲线,确定了固有频率70 Hz。实际测量的幅频特性曲线和仿真曲线一致,测量的固有频率相对于舵偏打产生的共振频率点误差为2.1%,通过避开测得的70 Hz固有频率,获得了符合姿态控制要求的陀螺输出信号。
A new type of micromechanical gyroscope, which is mounted on the rotating body and used to control the attitude of the rotating body, is introduced. The gyroscope obtains the angular momentum by rolling the rotating carrier. When the carrier is yawed or tilted, the sensitive mass is subjected to the Coriolis force so as to be sensitive to the yaw or pitch angular velocity of the carrier. Flight test helm steering partial deflection easily make the gyro resonance, gyro output signal can not meet the requirements of rotating carrier attitude control. In response to this problem, accurate measurement of the natural frequency of the gyro. Firstly, the amplitude-frequency characteristic and the natural frequency are analyzed based on the gyro motion equation. The numerical simulation software is used for the simulation. Finally, a method of measuring the amplitude-frequency characteristic of the gyroscope is proposed. The amplitude-frequency characteristic curve is obtained and the natural frequency 70 Hz. The measured amplitude-frequency characteristic curve is in good agreement with the simulation curve. The measured natural frequency relative to the rudder deflection produces a resonance point error of 2.1%. By avoiding the measured natural frequency of 70 Hz, a gyroscope meeting the attitude control requirements output signal.