摆式陀螺寻北仪的大偏北角运动特性分析  

The Motion Characteristics in Large Azimuth of the Pendulous Gyroscope North-seeker Analyzing

作　　者：王振业 郭晓松 周召发[2] 薛海建 

机构地区：[1]西安市高新技术研究所,陕西西安710025 [2]西北工业大学,陕西西安710025

出　　处：《压电与声光》2013年第2期204-208,共5页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(41174162):复杂环境下的高精度快速寻北技术研究

摘　　要：利用欧拉法建立了摆式陀螺寻北仪的运动方程,并根据摆式陀螺寻北仪的结构特点对运动方程进行部分线性化处理,得到了反映摆式陀螺寻北仪在大偏北角情况下不规则进动规律的二阶非线性微分方程组;根据李雅普诺夫稳定性理论对微分方程进行了定性分析,找出了摆式陀螺寻北仪在大偏北角运动时的平衡位置,分析结果表明,真北方向是摆式陀螺寻北仪唯一稳定的平衡位置。The motion equation of the pendulous gyroscope north-seeker is set up based on the Euler method, and which is partially linearized according with the structure characteristics of the pendulous gyroscope north-seek- er,and then the nonlinear differential equations of order 2 to reflect the anomaly precession of the pendulous gyro- scope north-seeker in large azimuth is found. The above differential equations are qualitatively analyzed based on the Lyapunove stability theory, and the stability position of the pendulous gyroscope north-seeker in large azimuth is found. The analyzing result shows that the real north is the only stability position of the pendulous gyroscope north- seeker.

关 键 词：欧拉法 摆式陀螺寻北仪 李雅普诺夫稳定性 二阶非线性微分方程 欧拉方程 

分 类 号：TH761[机械工程—仪器科学与技术]