应用静电力矩改善新型转子式陀螺的动态特性

Application of electrostatic torque to improve dynamic characteristics of novel rotational gyroscope

提出应用静电力矩反馈的方法解决一种新型转子式陀螺的欠阻尼问题。设计了静电力矩反馈的机械结构,并对其进行了建模分析以及有限元仿真验证。通过对比不同反馈条件下陀螺的动态响应发现,该方法可以显著改善陀螺的动态特性。随着反馈电压的增加,陀螺系统从欠阻尼状态无限趋近临界阻尼状态。考虑到介质击穿的限制以及反馈强度对幅频特性的影响,最终确定反馈电压应设置在100V附近。此时,系统单位阶跃响应的过冲由开环时的87%以上降低到约5%,稳定时间由1.3s缩短为0.1s左右。

An electrostatic torque feedback approach is used to solve the underdamping problem of a novel rotational gyro. The electrostatic torque feedback structure is designed, modeled and validated by finite element analysis. By comparing the dynamic responses of the gyro to different feedback conditions, the approach is demonstrated to be able to significantly improve the dynamic characteristics of the gyro. As feedback voltage increases, the system can infinitely approach the critically damped state from the underdamped state. Due to the restriction of dielectric breakdown and the side effect of the feedback strength on the magnitude-frequency response, the feedback voltage should be about 100 V , where, the overshooting of the unit step is reduced from 87% to about 5% and the settling time is reduced from 1.3 s to about 0. 1s compared with the open-loop system.