陀螺仪动态角度测量系统的设计  

Design of Dynamic Angle Measurement System for Gyroscope

作　　者：谷玉海[1] 刘玉龙 徐小力[1] GU Yu-hai;LIU Yu-long;XU Xiao-li(Beijing Information Science&Technology University,Key Laboratory of Modern Measurement&Control Technology, Ministry of Education,Beijing 100192,China)

机构地区：[1]北京信息科技大学,现代测控教育部重点实验室,北京100192

出　　处：《仪表技术与传感器》2018年第4期122-126,共5页Instrument Technique and Sensor

基　　金：国家自然科学基金项目(51575055);机电系统测控北京市重点实验室开放课题(KF20161123202)

摘　　要：针对动态环境下载体角度测量,采用双陀螺仪设计动态角度测量系统,实现大型风力发电机运行中风机叶片振动角度的监测。设计的系统由双陀螺仪传感器模块和主控模块构成,均采用ARM Cortex-M0内核微控制运算器对数据进行处理。陀螺仪传感器模块采用MPU6050,针对该MEMS器件特性引起的低精度和数据易发散的问题,通过卡尔曼滤波器进行数据处理,改善其鲁棒性。测量系统采用模块化设计,提高了动态测量过程中抗干扰性能。实验结果表明,设计的系统测量动态角范围大,角度测量响应速度快,具有较高的测量精度。To obtain angle in dynamic state,dynamic angle measurement system for gyroscope was designed for detecting vibration of wind generator blades.The system was composed of double gyroscopes which are horizontal and vertical and main control module which both took the ARM Cortex-M0 microcontroller as processor.The gyroscope sensor module adopted MPU6050.To overcome shortcomings caused by MEMS such as low precision and easy divergence,a Kalman filter was designed,which improved robustness.The measurement system adopted modular design,improving the anti-interference ability.The results of tests indicate that this system has the advantages of large range of dynamic angle measurement,fast responsibility and a high measure precision.

关 键 词：风力发电机 陀螺仪 动态角度测量 STM32 卡尔曼滤波 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]