检测信号非线性引起的全角半球谐振陀螺漂移模型  

Whole-angle hemispherical resonator gyroscope drift model caused by nonlinear detection

作　　者：徐睿东 郜中星[1,2] 南方伯 韩莹冰 张勇刚 XU Ruidong;GAO Zhongxing;Nan Fangbo;HAN Yingbing;ZHANG Yonggang(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Qingdao Innovation and Development Center of Harbin Engineering University,Qingdao 266000,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]青岛哈尔滨工程大学创新发展中心,青岛266000

出　　处：《中国惯性技术学报》2022年第5期683-689,共7页Journal of Chinese Inertial Technology

基　　金：国防科技重点实验室稳定支持(WDZC2022601B105);中央高校基本科研业务费(3072022FSC0401);中航工业集团公司横向项目(T37332204003)。

摘　　要：通过半球谐振子与电极所构成电容间距的改变来敏感驻波位置的方法会导致检测信号产生非线性失真,进而引起全角半球谐振陀螺产生漂移。针对这一问题,提出了一种用于描述这种漂移的数学模型,并进行了仿真分析。首先,详细阐述了电容变间距检测的原理,并分析了存在于检测信号中的非线性误差来源;然后,根据驻波位置的解调原理建立了检测信号非线性引起全角半球谐振陀螺产生漂移的数学模型;最后,通过转台实验和Simulink程序仿真分别验证了八次谐波信号的来源以及误差数学模型的正确性。实验结果表明,检测信号非线性会导致陀螺产生与角度八次谐波相关的误差项,当外界输入转速为400°/s时,八次谐波项归一化幅值为四次谐波项归一化幅值的14.52%。仿真结果表明,八次谐波误差的幅值与半球谐振子的振幅间距比呈高阶多项式正相关,与驻波的转速呈线性正相关。所提出的数学模型为全角半球谐振陀螺八次谐波误差的分析与补偿提供了理论依据。The method of sensing the standing wave position by changing the capacitance gap between the hemispherical shell resonator and electrode causes nonlinear distortion of the detection signal,and then leads to drift of the hemispherical resonator gyroscope(HRG).Aiming at the problem,a mathematical model to describe the drift is proposed and simulated.Firstly,the principle of variable gap detection is explained,and the nonlinear error source of detection signal is analyzed.Secondly,the mathematical model of nonlinear angular drift in the whole-angle HRG is established based on the demodulation principle of the standing wave position.Finally,the source of 8th harmonic term is verified by turntable experiment and the correctness of proposed error model is verified by the Simulink program.The experimental results show that the nonlinearity of the detection signal can lead to the error term,which is related to the 8th harmonic of the circumferential angle.When the gyroscope rotates at 400°/s,the normalized amplitude of the 8th harmonic term is 14.52%of the normalized amplitude of the 4th harmonic term.The simulation results show that the amplitude of the 8th harmonic error term is high order polynomial positive correlation with the amplitude gap ratio of the resonator,and is linear positive correlation with the rotation rate of standing wave.The proposed mathematical model of nonlinearity provides a theoretical foundation for the error analysis and error compensation of the 8th harmonic error in whole-angle HRG theoretically.

关 键 词：全角半球谐振陀螺 半球谐振子 电极 变间距检测 

分 类 号：U666.1[交通运输工程—船舶及航道工程]