带有惯性敏感元件的新型陀螺测试转台系统控制器设计  

Controller design for a new type of gyro-test turntable with inertial sensors

作　　者：杨亚非[1] 张翔[1] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《中国惯性技术学报》2014年第1期135-140,共6页Journal of Chinese Inertial Technology

摘　　要：传统原理的陀螺测试转台使用测角元件测量转台的角速率,其精度与所选的角度(或时间)间隔关系极大,即使综合使用各种控制方法也难以达到理想的速率精度和速率平稳性。提出一种新的测速原理,将惯性敏感元件引入转台测试系统测量瞬时角速率,瞬时速率能够很好地反映速率精度和速率平稳性,通过反馈与控制瞬时角速率信息提高转台的速率精度和速率平稳性。探讨了带有惯性敏感元件的新型转台的控制系统组成,进行控制系统设计时,将闭环系统按功能划分成测量回路和稳定回路,并运用数字控制解决控制器综合问题,使用Matlab软件分析系统主要变量响应过程。最后,由控制器设计过程和所得模型分析结果证实,相对传统转台,新型转台的数字控制系统具有较高鲁棒性,响应时间缩短为0.15 s,更适宜于陀螺仪表的动态测试。Angle measuring devices are used to measure the angular velocity of gyro test turntables with traditional principle whose precision has great relation with the chosen angle （or timeinterval）. Though various control methods are applied to increase the tumtable＇s rate accuracy and rate stability, yet the test and control precision obtained is not quite satisfactory. A new principle of measuring the velocity is proposed which introduces inertial sensitive devices into the system and increases the rate accuracy and rate stability through the feedback and control of instantaneous velocity to truly reflect rate accuracy and rate stability of the turntable. The control system composition with inertial sensitive devices is discussed. When conducting the design for the system, the closed loop is divided into the measurement loop and stabilization loop, and digital control is applied to solve the problem of controller synthesis. Matlab is used to analyze the response process of the main variable in the system. Lastly, along with the controller design and analysis of the obtained model, it is verified that in comparison with the traditional turntable, the new turntable system has better robustness, the response time is 0.15 s, and the turntable is more suitable for gyro＇s dynamic test.

关 键 词：陀螺仪表 瞬时角速率 速率精度 速率平稳性 控制器综合 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]