基于磁电编码器MEMS陀螺标定及高阶滤波的动态滞后补偿方法研究

Research on dynamic hysteresis compensation method based on magneto-electric encoder MEMS gyro calibration and high order filtering

在航空航天、无人机、云台等具有高隔离度要求的伺服应用领域,具有高精度、高稳定性的陀螺反馈系统是伺服系统达到目标隔离度的必要条件。针对多轴陀螺系统解耦困难,难以消除机械安装偏差,以及输出信号噪声大等问题,提出了采用基于磁电编码器陀螺标定及解耦方法,为了降低系统噪声对于陀螺信号输出精度的影响,提出陀螺信号高阶低通滤波及滞后补偿方法。设计了一套空间大小仅为40 mm×25 mm×20 mm的双轴CRM100陀螺硬件平台,在双轴陀螺硬件平台的环境下,对陀螺误差标定、陀螺高频噪声信号滤波及延时特性进行研究,并基于多阶低通滤波对双轴微机电(MEMS)陀螺进行高动态滞后补偿。实验结果表明,所提方法有效抑制了高频扰动对陀螺信号解算的影响,系统运行稳定可靠,陀螺的输出误差最大不会超过0.5°/s。并在1°/3 Hz和3°/1 Hz的外部扰动条件下,对伺服系统的隔离度进行了实验测试。

In aerospace, unmanned aerial vehicles, PTZ and other servo application fields with high isolation requirements, a gyro feedback system with high precision and high stability is the necessary condition for the servo system to achieve the target isolation. Aiming at the problems of decoupling difficulty of multi-axis gyro system, being difficult to eliminate the mechanical installation deviation and strong noisy output signal, this paper proposes a gyro calibration and decoupling method based on magneto-electric encoders. In order to reduce the influence of system noise on the output accuracy of the gyro signal, a high-order low-pass filtering and hysteresis compensation method for the gyro signal is proposed. A set of dual axis CRM100 gyro hardware platform with a space dimension of only 40 mm×25 mm×20 mm was designed. Under the environment of the dual axis gyro hardware platform, the gyro error calibration, gyro high frequency noise signal filtering and delay characteristics are studied. Based on multi-order low-pass filtering, high dynamic hysteresis compensation of the biaxial micro electromechanical system(MEMS) gyroscope is performed. Experiment results show that the method proposed in this paper effectively suppresses the impact of high-frequency disturbances on the gyro signal calculation, the system runs stably and reliably, and the maximum output error of the gyro will not exceed 0.5°/s. And under the external disturbance conditions of 1°/3 Hz and 3°/1 Hz, the isolation of the servo system was tested experimentally.