蝶翼式硅微陀螺模态耦合系统建模及系统辨识方法研究

发布时间：2018-04-12 06:35

本文选题：蝶翼式硅微陀螺 + 模态耦合　；参考：《国防科学技术大学》2014年硕士论文

【摘要】：硅微陀螺具有体积小、功耗低、价格便宜等优点,特别适用于需求量大、追求成本低的应用场合,在军事和民用各领域具有广泛的应用前景。蝶翼式硅微陀螺驱动模态与检测模态之间存在相互耦合。为了探索新的控制方法与测控方案,以提高陀螺系统的总体性能;论文着重研究了蝶翼式硅微陀螺的模态耦合特性,深入对被控对象的认识;为下一步研究陀螺系统双模态控制方案,打下理论基础,并提供基本模型。论文在研究陀螺模态耦合特性的基础上,建立了蝶翼式硅微陀螺模态耦合系统的数学模型,并围绕模态耦合系统的系统辨识方法展开了研究,主要研究内容如下:1、深入研究了蝶翼式硅微陀螺的模态耦合特性,分析了蝶翼式硅微陀螺模态耦合的产生机理,以及模态耦合因素对陀螺系统性能的影响,提出了在陀螺系统设计中对模态耦合因素进行处理的必要性。2、分析认为蝶翼式硅微陀螺系统是一个关联结构的、双输入双输出的模态耦合系统。建立了蝶翼式硅微陀螺模态耦合系统的数学模型,推导了系统的传递函数矩阵表达式以及输入输出方程。3、用频率响应拟合估计的方法,对蝶翼式硅微陀螺模态耦合系统进行了辨识,分析了结果的有效性与适用性。认为:拟合轨迹法,只考虑了数学上的最优化,而忽略了实际的限制和约束,适用性不强;因此,有必要在考虑实际约束的前提下,探索新的系统辨识方法。4、分析发现蝶翼式硅微陀螺模态耦合系统的零极点包括一对偶极子和一对共轭主导极点,由此得到系统传递函数基本构型。基于基本构型,设计了利用系统频率响应曲线,辨识系统传递函数的方法;该方法具有符合实际、测定方便、解算简单等优点。此外,还介绍了蝶翼式硅微陀螺模态参数与耦合系数的测定方法与实验方案。
[Abstract]:Silicon micro gyroscope has the advantages of small size, low power consumption and low price. It is especially suitable for applications with large demand and low cost. It has a wide application prospect in military and civilian fields.There is a coupling between the driving mode and the detecting mode of the butterfly wing silicon micro gyroscope.In order to explore new control methods and measurement and control schemes to improve the overall performance of gyroscope, this paper focuses on the mode coupling characteristics of butterfly wing silicon micro gyroscope, and deeply understands the controlled object.It provides the theoretical foundation and the basic model for the next step to study the double mode control scheme of gyroscope system.On the basis of studying the characteristics of mode coupling of gyroscope, the mathematical model of mode coupling system of butterfly wing silicon micro gyroscope is established, and the identification method of mode coupling system is studied.The main research contents are as follows: 1. The mode coupling characteristics of butterfly wing silicon micro gyroscope are studied, and the mechanism of mode coupling and the influence of mode coupling factors on the performance of the gyro system are analyzed.The necessity of dealing with modal coupling factors in the design of gyroscope is presented. It is considered that the butterfly wing silicon micro gyroscope system is a modal coupling system with two inputs and two outputs.The mathematical model of the mode coupling system of butterfly wing silicon micro gyroscope is established. The transfer function matrix expression of the system and the input and output equation. 3 are derived. The method of fitting and estimating the frequency response is used.The mode coupling system of butterfly wing silicon micro gyroscope is identified, and the validity and applicability of the results are analyzed.It is considered that the fitting trajectory method only considers the optimization in mathematics, but neglects the actual restriction and constraint, and the applicability is not strong, so it is necessary to consider the practical constraint.A new system identification method .4 is explored. It is found that the zero poles of the mode coupling system of butterfly wing silicon micro gyroscope include a pair of dipoles and a pair of conjugate dominant poles, and the basic configuration of the system transfer function is obtained.Based on the basic configuration, a method is designed to identify the transfer function of the system by using the frequency response curve of the system, which has the advantages of being in line with the actual situation, convenient in measurement and simple in calculation.In addition, the measurement method and experimental scheme of mode parameters and coupling coefficient of butterfly wing silicon micro gyroscope are introduced.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96

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