液体动力陀螺仪快速启动系统稳定性分析

Stability Analysis on the System for the Fast Start-up of a Liquid Driven Gyro

液体动力陀螺仪是远程简易控制火箭姿态控制系统的关键敏感元件。文中给出了一种新的电磁控制方案,在火箭弹发射准备阶段,使陀螺轴快速趋近于弹轴并对其进行跟踪。借助液体动力陀螺仪的信号检测线圈给出陀螺惯性轴相对于弹轴的离轴角信号,经适当变换后送至电锁控制线圈,即可产生电磁控制力矩,促使陀螺轴向降低离轴角的方向进动,从而使发射后陀螺仪能正确感受弹轴的方向变化。导出了控制系统的理论模型,并使用李亚普诺夫直接法研究了系统的稳定性,给出了控制系统的稳定条件;同时就弹轴摆动对陀螺惯性轴的影响进行了仿真研究,仿真结果验证了算法的有效性。

Liquid driven gyro is the key sensor in the attitude control system for long-range unsophisticated-controlled rockets. A new electromagnetic control scheme was presented. It is the principle of the scheme that the electromagnetic control moment makes the inertial axis of gyro close to and follow the axis of missile body quickly before launching; the off axis angle between the gyro axis and missile axis is picked up by the signal detection coil of the liquid driven gyro; after appropriate processing, the signal is fed into the electromagnetic control coil, thus an electromagnetic control moment is produced that forces the gyro axis to precess in the direction of reducing the off axis angle and further ensuring the gyro for sensing the direction of missile axis exactly after launch. A theoretical dynamic model of the control system was deduced. The stability of the control system was analyzed using Lyapunov direct method and the condition of stability was deduced. Simulations of the effect of missile axis swing on the inertial axis of gyro were carried out. The simulation result verifies the effectiveness of the proposed scheme.