半球谐振陀螺的振幅控制及误差分析  

Amplitude Control and Error Analysis of Hemispherical Resonator Gyro

作　　者：高胜利[1] 吴简彤[1] 张福勇 

机构地区：[1]哈尔滨工程大学自动化学院 [2]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《测试技术学报》2006年第4期359-363,共5页Journal of Test and Measurement Technology

摘　　要：基于正交理论和半球谐振陀螺的动力学分析,研究了半球谐振陀螺的振幅检测和控制原理.半球谐振陀螺由于制造工艺和装配过程中的因素,其结构难免出现误差,对振幅的检测和控制产生影响.针对结构误差给出了一种振幅检测方法,可有效地提高振幅检测和控制的精度.分析了谐振子环向不对称造成的振幅误差,并建立了由此引起的测角误差的数学模型,讨论了由软件算法来补偿侧角误差的方法.On the basis of quadrature theory and dynamic characteristics, the amplitude detection and control theory for HRG （hemispherical resonator gyro） is studied in this paper. Due to some factors induced by the fabrication technology and fitting process, the inevitable HRG structure error can affect the amplitude detection and control. According to the structure error, a kind of method for amplitude detection is proposed which can effectively improve the accuracy of amplitude detection and control. By analyzing the amplitude error due to the nonuniformity in the hemispherical resonator circumferential direction, the mathematical model of measuring angle error is deduced and the way by using software program to compensate the measuring angle error is discussed.

关 键 词：半球谐振陀螺 振幅检测 振幅控制 结构误差 振幅误差 测角误差 

分 类 号：U666.12[交通运输工程—船舶及航道工程]