基于主动驱动旋转的全角模式半球谐振陀螺驻波漂移补偿方法  

Compensation method of standing wave drift of whole angle mode hemispherical resonantor gyro based on actively driving rotation

作　　者：王奇 解伟男[1] 伊国兴[1] 王泽宇[2] 奚伯齐[1] WANG Qi;XIE Weinan;YI Guoxing;WANG Zeyu;XI Boqi(Space Control and Inertial Technology Research Center,the School of Astronautics,Harbin Institute of Technology,Harbin 150080,China;HIT(AnShan)Institute of Industrial Technology,Anshan 114000,China)

机构地区：[1]哈尔滨工业大学航天学院,空间控制与惯性技术研究中心,哈尔滨150080 [2]哈尔滨工业大学(鞍山)工业技术研究院,鞍山114000

出　　处：《中国惯性技术学报》2021年第4期522-525,共4页Journal of Chinese Inertial Technology

基　　金：装备预研基金(6141C57)。

摘　　要：全角模式半球谐振陀螺具有动态范围大、应用场景广泛等特点,但由于品质因数周向不均匀导致的驻波漂移问题尚未完全解决。针对这一问题,提出一种驻波漂移模型参数辨识及补偿方法。首先,根据二阶振动模型推导了驻波漂移模型;其次,提出一种辨识漂移速率峰值及阻尼轴位置的方法;最后,通过主动驱动驻波旋转补偿驻波漂移并通过实验验证方法的有效性。实验结果表明:补偿后的驻波漂移速率降低了95.55%,可以明显降低谐振子驻波漂移。Whole angle mode hemispherical resonator gyro has the characteristics of large dynamic range and wide application scenarios,but the problem of standing wave drift caused by circumferential nonuniformity of quality factor has not been completely solved.To solve the problem,a method for parameter identification and compensation of standing wave drift model is proposed.Firstly,the standing wave drift model is deduced according to the second-order vibration model.Secondly,a method to identify the peak value of drift rate and the position of damping axis is proposed.Finally,the standing wave drift is compensated by actively driving the standing wave rotation,and the effectiveness of the method is verified by experiments.The experimental results show that the compensated standing wave drift rate is reduced by 95.55%,which can significantly reduce the standing wave drift of the resonator.

关 键 词：半球谐振陀螺 全角模式 驻波漂移 驱动旋转 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]