陀螺仪壳体翻滚控制系统的分析与实验研究

Analysis and experiments on a case rotation control system for gyroscopes

为提高陀螺仪的精度,应用了壳体翻滚技术补偿与壳体有关的常值漂移误差,设计了一种基于TMS320F2810的直流无刷伺服电动机的位置控制系统。文中介绍了壳体翻滚系统的组成与原理,提出了一种轨迹规划的算法,分析了被控对象的特性,应用库仑摩擦模型补偿系统摩擦非线性,并对控制系统进行建模与仿真。实验分析表明壳体翻滚在匀速阶段速度为34～35 pulse/s;角度跟踪误差小于0.5%。文中以DSP TMS320F2810为核心实现两路壳体翻滚装置的数字控制,控制系统满足了陀螺仪壳体翻滚的技术指标要求。

The case rotation method can be used to compensate the case＇s constant drift of high precision gyroscopes. A position control system based on TMS320F2810 and brushless DC-Servomotor was presented to implement case rotation motion. The paper introduced the principles of case rotation system, presented the algorithm of trajectory planning, analyzed the characteristics of control system, and provided a compensation method for system friction nonlinearity by Coulomb friction model. Simulation and experimental results show that the speed of case rotation is between 34 and 35 pulse/s and the angle tracking error is less than 0.5%. The TMS320F2810 was used to achieve two-axis digital control of case rotation devices, and the control system satisfies performance the requirements of case rotation.