加速度对半球谐振陀螺控制系统影响分析及抑制方法

Influence of acceleration on control system of hemispherical resonator gyro and its suppression method

为分析加速度对半球谐振陀螺振幅、速率控制系统的影响,提出了基于动力学的加速度影响分析方法。首先建立加速度作用下的谐振子变形方程,得到了精确的电极范围及间隙的方程。激励电极的电容间隙、边界范围改变,使得激励系数发生改变。其次分析了激励电极作用下谐振子动力学特性,推导了激励系数与振幅、角速率的关系式。然后将电极范围及间隙的方程代入激励系数中,得到了振幅、角速率的误差分析关系式。最后利用激励电极的不同配置方式,构建了三种控制系统方案,分析了加速度作用下谐振子变形对三种控制方式的影响。通过对比分析,合理的激励电极配置方式有效地抑制了加速度对控制系统的影响。

To analyze the acceleration＇s influence on the amplitude and rate control system of hemispherical resonant gyro, an influence analysis method of acceleration based on dynamics is proposed. Firstly, the equation of resonator deformation under the action of acceleration is established to obtain the accurate equation of electrode range and gap. The changes of capacitance gap and boundary range of the excitation electrode would cause the change of excitation coefficient. Secondly, the dynamic characteristics of resonator under the action of the excitation electrode are analyzed, and the relationships between the excitation coefficient and amplitude/angular rate are deduced. Then the equation of electrode range and gap is substituted into the excitation coefficient to obtain the error analysis relationship. Finally, three kinds of control system schemes are constructed by different configurations of excitation electrodes, and the influences of resonator deformation on the three control modes are analyzed. The comparative analyses show that the reasonable configurations of excitation electrodes effectively suppress the influence of acceleration on the control system.