三浮陀螺加速度计浮子六自由度运动分析  

6-DOF Motion Analysis of PIGA Floater

作　　者：贺宇 孙文利[1] 冯毅博 HE Yu;SUN Wen-li;FENG Yi-bo(Beijing Institute of Aerospace Control Devices,Beijing 100039)

机构地区：[1]北京航天控制仪器研究所,北京100039

出　　处：《导航与控制》2021年第6期45-52,103,共9页Navigation and Control

摘　　要：浮子的位置稳定对陀螺加速度计的输出有着重要影响。针对当前三浮陀螺加速度计的建模方法无法有效分析浮子运动状态的问题,提出了一种以可六自由度运动的浮子为研究对象的建模方法,对浮子以及外框架进行完整的动力学分析。根据加速度输入的情况可得,在无横向加速度输入时,浮子的运动方程可实现线性化,且状态方程具有静态解耦特性,通过一体化控制系统实现了对浮子的六自由度调整,验证了模型的正确性;在有横向加速度输入时,浮子受周期力矩的影响且由于耦合作用,各自由度均呈现出周期运动状态。The position stability of the floater has an important impact on the output of the PIGA.The current modeling of the PIGA could not effectively analyze the motion state of the floater.To solve this problem,a modeling method that takes the floater with six degrees of freedom(6-DOF)as the research object is proposed,and a complete dynamic analysis of the floater and the outer frame are conducted in this paper.According to the acceleration input,when there is no lateral acceleration input,the equation could be linearized,and the state equation has static decoupling characteristics.The 6-DOF adjustment of the floater is realized through the integrated control system,which verifies the correctness of the model.When there is a lateral acceleration input,the floater is affected by the periodic torque and due to the coupling effect,the respective degrees of the floater exhibit a periodic motion state.

关 键 词：三浮陀螺加速度计 刚体动力学 六自由度 静态解耦 横向加速度 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]