基于幅频特性的半球谐振陀螺刚性轴辨识方法研究

Identification of Rigid Axis of Hemispherical Resonator Gyroscope Based on Amplitude Frequency Characteritic

针对半球谐振陀螺谐振子刚性轴辨识问题,提出了基于幅频特性辨识谐振子刚性轴的方法。首先,从半球谐振子等效二维质点振动模型出发,推导出了半球谐振子幅频特性响应数学表达式;其次,对谐振子不同激励方向的响应进行了仿真,并确定了刚性轴辨识特征的选取方法;再次,对不同频率裂解及不同品质因子Q值下的激励响应进行了仿真分析,提出了该刚性轴辨识方法所适用的条件;最后,对提出的刚性轴辨识原理及方法进行了实验验证,将频率裂解值为0.3、0.18、0.01 Hz的谐振子进行了刚性轴辨识,验证了该辨识原理及方法的正确性。该方法原理清楚、辨识装置易于实现、操作效率高,为后续工艺的谐振子质量调平工程化提供了有效途径。

The problem of identifying the rigid axis of resonator in HRG is discussed.In this paper,a method for identifying the rigid axis of hemispherical resonator based on amplitude frequency characteritics is proposed.Firstly,starting from the dimensional mass vibrations model of hemispherical resonator the expression of amplitude frequency respons characteritics is derived.Secondly,the response of the resonator in different excitation directions is simulated,and the feature selction method of rigid axis is determined.Thirdly,the excitation responses under defferent frequency splitting and defferent Q values are simulated,and the applicable conditions of rigid axis of hemispherical resonator identification method are proposed.Lastly,the principle and method of rigid axis identification proposed in this paper are verified by experiments.The rigid axis identification of hemispherical resonator with a frequency splitting value of 0.3 Hz、0.18 Hz、0.01 Hz is carried out.The correctness of the identification principle and method is verfied.The principle of this method is clear,the identification device is easy to realize,and the operation efficiency is high,which provides an effective way for the subsequent process of resonator quality leveling engineering.