半球谐振陀螺误差机理与仿真研究

发布时间：2018-03-14 15:19

本文选题：半球谐振陀螺　切入点：动力学模型　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：半球谐振陀螺是一种新型的高精度、高稳定性、长寿命的固体振动陀螺,非常适合在空间飞行器、深空探测等长航时工作场合使用,为此发展半球谐振陀螺技术对于我国导航技术的快速发展具有十分重要的意义。目前,陀螺的结构误差以及环境因素是影响陀螺精度的重要原因。所以本文以谐振子动力学模型为基础,分析加速度、偏心误差导致陀螺漂移机理,提出相应的误差补偿方法,最终达到提高陀螺精度的目的。本文的主要研究内容概述如下:1.建立了谐振子二阶谐振状态动力学模型。基于弹性力学薄壳理论,提出了一种谐振子动力学建模方法。针对整个谐振子进行动力学分析,推导了半球壳谐振子的变形几何方程、物理方程、平衡微分方程,建立了谐振子动力学方程。详细推导了谐振子的外载荷形式,利用布勃诺夫-伽辽金法求解谐振子动力学模型,给出了谐振子的比例系数和二阶谐振频率的表达式,计算值与实测数据进行了对比验证。2.基于加速度作用下谐振子动力学方程,并综合考虑加速度对谐振子的影响,给出了加速度作用下谐振子变形解析解表达式。提出了动力学建模解析解与有限元仿真数值解对比验证的方法,给出了解析解与有限元仿真解的拟合误差结果。3.分析了加速度导致的陀螺漂移机理。建立了多电极激励下谐振子动力学模型,结合该模型提出了增加并合理配置激励电极的控制方法,分析了不同控制方式下加速度对半球谐振陀螺控制系统的影响。进一步分析了加速度导致的陀螺漂移机理,建立了陀螺漂移误差模型。完成了陀螺仪在三轴转台上的位置翻滚实验,对陀螺漂移进行了测试,进行了误差补偿并给出了补偿结果。4.分析了偏心误差导致的陀螺漂移机理。推导了偏心误差模型,结合多电极激励谐振子动力学特性,分析了采用不同激励电极控制方式下,偏心误差对HRG振幅、速率控制系统的影响。给出了偏心误差引起的陀螺漂移仿真算法,分析了仿真结果,提出了陀螺制造及装配工艺过程中的改进措施。
[Abstract]:Hemispherical resonator gyroscope is a new type of solid vibration gyroscope with high precision, high stability and long life. Therefore, the development of hemispherical resonant gyroscope technology is of great significance for the rapid development of navigation technology in China. The structure error and environmental factors of gyroscope are the important reasons that affect the precision of gyroscope. Therefore, based on the harmonic oscillator dynamics model, the mechanism of gyro drift caused by acceleration and eccentricity error is analyzed in this paper, and the corresponding error compensation method is put forward. Finally, the purpose of improving the precision of gyroscope is achieved. The main research contents of this paper are summarized as follows: 1. The second order resonant state dynamic model of harmonic oscillator is established. Based on the thin shell theory of elasticity, A dynamic modeling method for harmonic oscillator is presented. The deformation geometric equation, physical equation and equilibrium differential equation of the hemispherical shell harmonic oscillator are derived for the dynamic analysis of the whole harmonic oscillator. The dynamic equation of harmonic oscillator is established, the form of external load of harmonic oscillator is deduced in detail, and the dynamic model of harmonic oscillator is solved by using the Boubonov Galerkin method. The expressions of the proportional coefficient and the second order resonance frequency of the harmonic oscillator are given. 2. Based on the dynamic equation of harmonic oscillator under the action of acceleration, the effect of acceleration on harmonic oscillator is considered synthetically. The analytical solution expression of harmonic oscillator deformation under acceleration is given, and the method of comparing the analytical solution of dynamic modeling with the numerical solution of finite element simulation is proposed. The fitting error between the analytical solution and the finite element simulation solution is given. 3. The mechanism of gyro drift induced by acceleration is analyzed, and the dynamic model of harmonic oscillator under multi-electrode excitation is established. Combined with the model, the control method of increasing and reasonably configuring the excitation electrode is proposed, and the influence of acceleration on the control system of hemispherical resonant gyroscope is analyzed under different control modes. The mechanism of gyroscope drift caused by acceleration is further analyzed. The gyroscope drift error model is established, and the gyroscope drift is tested by the gyroscope position tumbling experiment on the three-axis turntable, and the gyroscope drift error model is established. The mechanism of gyro drift caused by eccentricity error is analyzed. The eccentricity error model is derived. Combining with the dynamic characteristics of multi-electrode excited harmonic oscillator, the different excitation electrode control methods are analyzed. The effect of eccentricity error on HRG amplitude and speed control system is presented. The simulation algorithm of gyro drift caused by eccentricity error is presented, the simulation results are analyzed, and the improvement measures in the process of manufacturing and assembling gyroscope are put forward.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN96

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