全角半球谐振陀螺控制回路的动态特性研究

Research on dynamic characteristics of whole-angle hemispherical resonator gyroscope control circuit

全角半球谐振陀螺是一种高精度、高可靠性、长寿命的速率积分陀螺。针对全角半球谐振陀螺闭环控制回路的系统带宽问题,分析了全角半球谐振陀螺的工作原理,分别建立了全角半球谐振陀螺的输入-输出控制回路模型和扰动-输出控制回路模型。利用SIMULINK工具箱对两种模型进行了搭建和仿真研究,分析了两种控制回路的动态特性,最后进行了全角半球谐振陀螺的转台实验。仿真结果显示:外界输入角速度超过532.8°/s后,扰动信号导致的输出量波动达到最大且保持恒定,此时控制回路的带宽为1.48 Hz。仿真和实验结果表明:全角半球谐振陀螺控制回路的带宽过低会导致扰动信号引起椭圆参数的波动,控制效果变差,且扰动信号频率与外界输入转速成正比,当外界输入转速超越控制回路截止频率的对应转速后,椭圆参数的波动幅值趋于稳定。本文的研究成果为全角半球谐振陀螺的动态性能分析提供了理论基础。

The whole-angle hemispherical resonator gyro(HRG) is a typical rate integrating gyroscope with the advantages of high precision, high reliability, and long life. The system bandwidth of the whole-angle HRG closed-loop control circuit is studied. The working principle of the whole-angle HRG is analyzed. The input-output control circuit model and the disturbance-output control circuit model are established respectively. Two models are formulated and simulated by Simulink program simulation. The dynamic characteristics of two control circuits are discussed. Finally, the experiment of the whole-angle HRG is carried out. Simulation results show that when the input angular velocity exceeds 532.8°/s, the parameter output fluctuation caused by the disturbance signal reaches the maximum and remains constant, which corresponding to the bandwidth of the control circuit is 1.48 Hz. The simulation and experiment results indicate that the low bandwidth of the whole-angle HRG control circuit can lead to the fluctuation of the ellipse parameters caused by the disturbance signal and deteriorates the control effect. In addition, the frequency of the disturbance signal is proportional to the input angular velocity. The fluctuation tends to be stable when the input angular velocity exceeds the angular velocity with respect to the cut-off frequency of the closed-loop control circuit. The research results in this paper provide a theoretical basis for the dynamic performance analysis of the whole-angle HRG.