带有惯性敏感元件的新型陀螺测试转台系统建模

System modeling for new type of gyro-test turntable with inertial sensors

针对国内现有陀螺测试转台利用测角元件测量转台平均角速率致使角速率测试与控制精度不高的问题,提出利用惯性敏感元件测量转台的瞬时角速率,并通过瞬时角速率的反馈与控制来提高转台的速率精度和速率平稳性,探讨了这种带有惯性敏感元件的新型转台的工作原理和结构组成,建立了转台主轴系统的动力学模型,通过模型验证了实现新型转台的可行性。最后,结合建模过程和所得模型指出,相对传统转台,新型转台尺寸小、重量轻、功耗低,有利于转速的快速提升和稳定,更适宜于陀螺仪表的动态测试。

In view that the test and control precision of current domestic gyro-test turntable is relatively low when using angel measuring devices to measure turntable’s instantaneous angular rate, a method for measuring turntable’s instantaneous angular rate is proposed by using inertia-sensitive devices. The turntable’s rate precision and rate stability is increased by the feedback and control of the instantaneous angular rate. The working principle and structural composition of the new turntable with inertial devices is discussed, and the kinetic model of turntable’s main axis system is established. The feasibility of the new turntable is verified through model validation. By combining with the modeling process and the established model, it is pointed out that, compared with traditional turntables, the new turntable has the advantage of smaller size, smaller weight, and lower power consumption, which is beneficial to the rapid increase and stabilizing of rotational speed, and is more suitable for gyro’s dynamic test.