基于旋转调制的全角模式半球谐振陀螺锁区抑制方法  

Whole Angle Mode Hemispherical Resonant Gyroscope Lock-in Suppression Method Based on Rotation Modulation

作　　者：马圣杰 岳亚洲 胡强 王育彬 陈彤阳 杨雨恒 MA Shengjie;YUE Yazhou;HU Qiang;WANG Yubin;CHEN Tongyang;YANG Yuheng(Key Laboratory of Aircraft Control Integration Technology,Institute of Automatic Control of Aviation Industry,Xi’an 710065)

机构地区：[1]航空工业自控所飞行器控制一体化技术重点实验室,西安710065

出　　处：《导航与控制》2024年第5期191-198,共8页Navigation and Control

摘　　要：全角模式半球谐振陀螺具有测量范围广、体积小、可靠性高和成本低等特点,在陆、海、空、天等领域有广泛的应用前景。由于陀螺表头存在难以避免的几何误差和损伤等问题,导致较大损耗以及表头周向阻尼分布不均匀,阻尼分布不均匀会导致陀螺产生锁区,影响陀螺应用。在分析阻尼不均匀性对陀螺锁区影响的基础上,研究了单向旋转、方波、三角波、正弦波等不同旋转调制方案对陀螺锁区的抑制效果,设计了一种新型摆动旋转调制锁区抑制方法并完成仿真验证。搭建双轴转动试验平台,针对0.1 mHz阻尼不均匀性的陀螺样机,开展了地球自转角速率检测、标度因数非线性和锁区检测等试验。试验结果表明,所述新型摆动旋转调制锁区抑制方法将陀螺锁区从38(°)/h降到0.048(°)/h以下,为全角模式半球谐振陀螺工程应用奠定基础。The whole angle mode hemispherical resonant gyroscope has the characteristics of wide measurement range,small size,high reliability and low cost,and has a wide range of application prospects in land,sea,air,space and other fields.Due to the unavoidable geometric errors and damage of the gyrometer head,it leads to large losses and uneven distribution of the circumferential damping of the meter head,which will lead to the locking area of the gyroscope and affect the application of the gyroscope.On the basis of analyzing the influence of damping inhomogeneity on gyro-locking area,the suppression effect of different rotational modulation schemes such as unidirectional rotation,square wave,triangular wave and sine wave on gyro-locking area is studied.A dual-axis rotation test platform is built,and tests such as the detection of the Earth's rotation angle rate,the nonlinearity of the scale factor and the detection of the lock area are carried out for the gyroscope prototype of the 0.1 mHz damping inhomogeneity.The experimental results show that the new swing rotation modulation lock area suppression method reduces the gyro lock area from 38(°)/h to below 0.048(°)/h,which lays a foundation for the engineering application of hemispherical resonant gyroscope in whole angle mode.

关 键 词：全角模式 锁区抑制 旋转调制 新型出锁方法 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] V241[自动化与计算机技术—控制科学与工程] TJ765[航空宇航科学与技术—飞行器设计]