CN104132669B - A kind of method based on vibration performance analysis and evaluation inertia device precision - Google Patents

A kind of method based on vibration performance analysis and evaluation inertia device precision Download PDF

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CN104132669B
CN104132669B CN201410399768.0A CN201410399768A CN104132669B CN 104132669 B CN104132669 B CN 104132669B CN 201410399768 A CN201410399768 A CN 201410399768A CN 104132669 B CN104132669 B CN 104132669B
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acceleration
inertia device
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CN104132669A (en
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杨明
郭刚
牛冰
朱佩霞
孟红
沈阳
陈东海
胡少波
刘朝霞
孙丽艳
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China Aerospace Times Electronics Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Abstract

The invention discloses a kind of method based on vibration performance analysis and evaluation inertia device precision, the vibration source that inside is present when being worked first with inertia device, by analysis and the detection of frequency spectrum to its vibration performance, obtain the full range spectrum information of vibrational energy transmission, the structural modal that connecting inner is respectively constituted, the coupled relation of each composition in inertia device inside can be observed, it is accurate to calculate inertia device component property.The present invention is characterized intuitively, and simple to operate, accuracy of detection is high, effectively realizes that the accuracy life of inertia device is estimated.The present invention is suitable for any system accuracy assessment containing vibrational excitation.

Description

A kind of method based on vibration performance analysis and evaluation inertia device precision
Technical field
Pass through the present invention relates to a kind of method based on vibration performance analysis and evaluation inertia device precision, more particularly to one kind The method of the microstate of vibration frequency specturm analysis, visual assessment internal system composition and service behaviour, can be used for inertia device Operating accuracy life-span and the assessment of storage life.The present invention belongs to suitable for any system accuracy assessment containing vibrational excitation Inertia device technical field.
Background technology
Inertia device belongs to complicated Mechatronic Systems, and the quality of its performance depends on the precision of each composition thereon.To it The judgement of performance, the error model that current version is used, mainly from the correlative such as input linear acceleration, Angle Position or angular speed The related error term of reason amount is started with, and each structure composition engineering of foundation uses error model.Advantage is：Simply, easy to operate, practicality Property is strong.Have the disadvantage that criterion is single, do not account for each structure composition and couple correlation in the modal parameters that internal system is formed Influence to structure composition performance, when especially there is vibration source inside inertia device, its produce linearly coupled acceleration, shake Dynamic angular acceleration can form vibration interference torque to the gyroscope on inertia device, accelerometer, due to each structure frequency spectrum Overlap, or even each modal parameters coupling amplification occur, form resonance zone, cause internal local resonance, produce vibration to miss Difference.Due to being trace level vibration (about 0.001g~0.01g), easily ignore, and cannot be completely isolated, and prior art is to inertia The demarcation of device operating accuracy, is carried out in the state of sensitive ground velocity and acceleration of gravity, and micro-vibration is defeated to inertia device Go out the influence of precision, it is impossible to the accurate calibration in precision calibration, there is also asking for output-consistence difference under different test environments Topic, often waits until vibration error accumulation to a certain extent, could be detected from existing method of testing, the precision that micro-vibration causes Loss early stage is difficult discovery, inertia device accuracy life is estimated with anticipation in the presence of certain uncertain.
As long as in fact there is coupling accuracy relation between vibration source, each structure composition of inertia device in inside, can be intuitively Embodied in its energy transmission for vibrating entire spectrum, a kind of method solution complex electromechanical systems have been badly in need of now long-standing Because the loss of significance that structure composition vibration coupling brings is difficult the problem evaluating and detect, so as to realize inertia device full ambient engine The test coverage of operating accuracy and quantization judge that the precision of raising inertia device realizes inertia device operating accuracy and precision Life-span is estimated.
The content of the invention
Technology solve problem of the invention：Overcome the deficiencies in the prior art, there is provided one kind is based on vibration performance analysis and evaluation The method of inertia device precision, the present invention by detection information enrich rumble spectrum signal, and carry out coupled vibration performance and The analysis of coupled relation, directly forms the visual assessment to this kind of complication system service behaviour microstate of inertia device, solves The judgement and analysis of inertia device operating accuracy.
Technical solution of the invention：
A kind of method based on vibration performance analysis and evaluation inertia device precision includes that step is as follows：
(1) physical characteristic that the vibrational excitation to inertia device internal vibration source causes carries out vibration performance analysis；It is described Physical characteristic refer to vibration accelerationWith vibration angular accelerationConcrete analysis mode is as follows：
Linearly coupled acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；M is system forced vibration quality；C is received for system Compel the damped coefficient of linearly coupled structure；K is elastic stiffness；x、Respectively vibration displacement, speed, acceleration, F are vibration Excitation, e is uneven offset distance, and ω is the speed of unbalance mass,It is starting phase angle；
Linearly coupled accelerationComprising different vibration frequency fiVibration acceleration resultant, that is, be expressed as：
Wherein：For vibration frequency is fiWhen linearly coupled acceleration amplitude, i represents the number of intrinsic frequency, takes just whole Number；
Vibration angular acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；J is the rotary inertia of system forced vibration quality； δ is forced to the damped coefficient of angular oscillation structure for system；K is elastic stiffness；α、 Respectively vibration angle, angular speed, angle add Speed, MMoment of torsionFor uneven moment of torsion is encouraged, ω is the speed of unbalance mass, and r is the radius of clean-up of moment of torsion；
The angular velocity of vibration that moment of torsion causesComprising different vibration frequency fiAngular velocity of vibrationResultant, that is, be expressed as：
WhereinFor vibration frequency is fiWhen angular velocity of vibration amplitude；
(2) the linearly coupled acceleration obtained according to step (1)Vibration angular accelerationAnd angular velocity of vibrationSet up The critical component gyroscope and the error model of accelerometer of the inertia device influenceed by this vibrational excitation；
(3) to the key structure gyroscope and accelerometer of inertia device, finite element simulation, static mode and work are carried out Modal test, obtains structural modal [fi], and choose the structural modal [f related to linearly coupled accelerationi], wherein fiRespectively Modal frequency；
(4) the vibrational energy entire spectrum that different azimuth and varying environment are carried out to inertia device using vibration measurement instrument is surveyed Examination, obtains the structural modal [f of step (3) selectioni] spectral property [H], i.e. the linearly coupled acceleration of different frequency And [D], [G], [a], [A] of the inertia device that the test of different azimuth and varying environment is obtained are carried out to inertia device；Its In [D] represent that the error of gyroscope, [G] represent that the output of the inertia system of gyroscope composition, [a] represent the mistake of accelerometer Difference, [A] represent the output of the inertia system of accelerometer composition；
(5) [H], [D], [G], [a], [A] that will be obtained in step (4) substitutes into the model of step (2) In, obtain each error term [D], [G], [a], [A], [D in vibration spectral property [H] and error model0]、And then obtainWith [D], [G], [A]、[D0]、Relation；WhereinBe gyroscope With linearly coupled accelerationThe related relevant error of zero of coupling,It is gyroscope and linearly coupled accelerationIt is relevant Error term, refer mainly to the relevant first order of the acceleration first power born with structure,For accelerometer zero partially,The gyroscope scale factor that is brought for vibration coupling,The accelerometer scale factor for causing is encouraged for vibrated；
(6) obtain not in the same time the step of (5) described in vibration spectral property [H] cluster, draw vibrational excitation spectral propertyWith error term [D], [G], [A], [D0]、 Trend curve；
(7) to the not vibration spectral property of inertia device structure composition in the same timeWith error [D], [G], [A], [D0]、Interpretation is carried out, is judged not in the same time[D]、 [G]、[A]、[D0]、 Whether the virtual value of setting is met simultaneously, if Meet, then inertia device structure assembly precision and operating accuracy meet and require；If it is not satisfied, determine formed vibration coupling and mutually The structure of coupling influence, and then repair the operating accuracy for reaching and specifying.
The inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia type instrument.
The error model of the gyroscope is
Wherein：[D] is gyroscope static error；[D0] it is the gyroscope error of zero unrelated with linearly coupled acceleration；It is the gyroscope error of zero related to linearly coupled acceleration and vibration angular acceleration coupling；It is gyroscope and input Acceleration a0Relevant error term；It is gyroscope and linearly coupled accelerationRelevant error term, refers mainly to and structure The relevant first order of the acceleration first power born；
The output [G] of the inertia device angular speed being made up of above-mentioned gyroscope is：
Wherein：[D] is gyroscope static error；[E] is alignment error；[ω] is input angular velocity；[k] is gyroscope mark Degree coefficient, [kG] it is the scale factor for not considering vibration；For the scale factor that vibration coupling brings；
Accelerometer error model：
Wherein [a] is the error of accelerometer；For accelerometer zero is inclined；[k2] be and input acceleration a0Two The relevant error of secondary item；
Output [A] model for the inertial measurement system acceleration being made up of above-mentioned accelerometer：
Wherein：[A] is the output of accelerometer；[k1] it is alignment error；[ka] it is the scale system for not considering vibrational excitation Number,It is vibrated to encourage the scale factor (including nonlinearity erron) for causing；[a0] it is input acceleration；[a0] ' it is inertia Acceleration.
Vibration measurement instrument in the step (4) uses contact and contactless vibration measurement instrument；It is described contactless Vibration measurement instrument uses current vortex vialog and laser vibration measurer；The contact vibration gauge uses the vibrating sensing of the formula of being connected Device.
Described modal parameters storehouse includes each stage structure mode (such as single order structural modal, second order structure mode etc. Multiple-rank arrangement mode), each rank mode after each structure composition inertia device system.
The vibration performance mode is the characteristic frequency of structure composition；Described vibration performance frequency includes gyroscope motor Working frequency, the operating frequency of motor shaft supporting structure, the working frequency of gyroscope flywheel, flywheel support working frequency, top The working frequency of spiral shell shafting, working frequency, the chattering frequency of shaker mechanism, the pendulum of executing agency of the support of accelerometer mass Dynamic frequency.
The different azimuth of the step (4) includes inertia device coordinate system and geographic coordinate system coincidence status, misaligned shape State；Wherein for measurementConcrete methods of realizing step be：
A () is determined on bang path to vibration sensing by testing the vibration transfer path of each structure composition of inertia device Stress failures sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress to choose all sensitive region of coordinate system XYZ axles Failure sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B the sensor of vibration measurement instrument is positioned over the stress failures sensitizing range of determination in step (a) and then carried out by ()Measurement.
Beneficial effect of the present invention relative to prior art：
(1) analysis that the present invention passes through the vibration performance to internal vibration source, the measured object obtained using vibration measurement instrument Rumble spectrum information under working condition, the influence of linearly coupled acceleration and vibration angular acceleration to producing is detected, obtained The change curve of the vibration coupling error of each structure composition of inertia device thus transmitted in rumble spectrum, realizes inertia device The evaluation estimated with accuracy life of operating accuracy, considers vibration coupling to each structure composition in each model practicality engineering model The influence of error.
(2) present invention is tested by increasing quantifiable system-level vibration entire spectrum, makes system-level precision measure quantify to miss Subtractive as low as 0.01 °/h (being originally 0.05 °/h~0.1 °/h), simple to operate, the loss of significance that trace level vibration causes intuitively may be used Depending on, easily evaluate, can fast and accurately realize the detection and judge of the microcosmic quantizating index of inertia device performance so that inertia device Accuracy test can be realized on the structure Coupling influence that each structure composition installation hinge causes.
(3) present invention is easy to operate, and certainty of measurement is high, easily assessment.Solve inertia device matching performance in the prior art It is difficult to the bottleneck of earlier evaluations.It is suitable for any system accuracy assessment containing vibrational excitation, solves inertia device Matching performance is difficult to the bottleneck of earlier evaluations to part in the prior art.
Brief description of the drawings
Fig. 1 is the inventive method flow chart.
Specific embodiment
Operation principle of the invention and the course of work are further explained below in conjunction with the accompanying drawings.
The present invention realize principle be：The vibration performance in analysis inertia device internal vibration source, sets up associated reality With engineering model (containing vibration effect), for rumble spectrum, inertia device structural modal storehouse is set up, and obtain influence error model Vibration performance mode storehouse, using vibration measurement instrument detection inertia device vibration entire spectrum, set up vibration performance mode spectral property, With the correlation function and curve of error model, complete inertia device performance evaluation and accuracy life is estimated.
As shown in figure 1, a kind of method based on vibration performance analysis and evaluation inertia device precision includes that step is as follows：
(1) to inertia device, (inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia Instrument) physical characteristic that the vibrational excitation in internal vibration source causes carries out vibration performance analysis；Described physical characteristic refers to vibration AccelerationWith vibration angular accelerationConcrete analysis mode is as follows：
Linearly coupled acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；M is system forced vibration quality；C is received for system Compel the damped coefficient of linearly coupled structure；K is elastic stiffness；x、Respectively vibration displacement, speed, acceleration, F are vibration Excitation, e is uneven offset distance, and ω is the speed of unbalance mass,It is starting phase angle；
Linearly coupled accelerationComprising different vibration frequency fiVibration acceleration resultant, that is, be expressed as：
Wherein：For vibration frequency is fiWhen linearly coupled acceleration amplitude, i represents the number of intrinsic frequency, takes just whole Number；
Vibration angular acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；J is the rotary inertia of system forced vibration quality； δ is forced to the damped coefficient of angular oscillation structure for system；K is elastic stiffness；α、 Respectively vibration angle, angular speed, angle add Speed, MMoment of torsionFor uneven moment of torsion is encouraged, ω is the speed of unbalance mass, and r is the radius of clean-up of moment of torsion；
The angular velocity of vibration that moment of torsion causesComprising different vibration frequency fiAngular velocity of vibrationResultant, that is, be expressed as：
WhereinFor vibration frequency is fiWhen angular velocity of vibration amplitude；
(2) the linearly coupled acceleration obtained according to step (1)Vibration angular accelerationAnd angular velocity of vibrationFoundation is received The critical component gyroscope and the error model of accelerometer of the inertia device of this vibrational excitation influence；
The error model of gyroscope is
Wherein：[D] is gyroscope static error；[D0] it is the gyroscope error of zero unrelated with linearly coupled acceleration； It is the gyroscope error of zero related to linearly coupled acceleration and vibration angular acceleration coupling；For gyroscope accelerates with input Degree a0Relevant error term；It is gyroscope and linearly coupled accelerationRelevant error term, refers mainly to be born with structure The relevant first order of acceleration first power.
The output [G] of the inertia device angular speed being made up of above-mentioned gyroscope is：
Wherein：[D] is above-mentioned gyroscope static error；[E] is alignment error；[ω] is input angular velocity；[k] is gyro Instrument scale factor, [kG] it is the scale factor for not considering vibration；For the scale factor that vibration coupling brings；
Accelerometer error：
Wherein [a] is the error of accelerometer；For accelerometer zero is inclined；[k2] be and input acceleration a0It is secondary The relevant error of item；
The output [A] of the inertial measurement system acceleration being made up of above-mentioned accelerometer：
Wherein：[A] is the output of accelerometer；[k1] it is alignment error；[ka] it is the scale system for not considering vibrational excitation Number,It is vibrated to encourage the scale factor (including nonlinearity erron) for causing；[a0] it is input acceleration；[a0] ' it is inertia Acceleration.
Physical quantity is all unknown quantity in above-mentioned each model, is measured subsequently through vibration gauge and obtains multigroup mathematics pass System, and then solve the value of each physical quantity.
(3) to the key structure gyroscope and accelerometer of inertia device, finite element simulation, static mode and work are carried out Modal test, obtains structural modal [fi], and choose the structural modal [f related to linearly coupled accelerationi], wherein fiRespectively Modal frequency；
Modal parameters storehouse includes each stage structure mode (such as multistage knot such as single order structural modal, second order structure mode Structure mode), each rank mode after each structure composition inertia device system.Vibrational structure mode is the characteristic frequency of structure composition； Working frequency, the operating frequency of motor shaft supporting structure, gyroscope flywheel of the described vibration performance frequency comprising gyroscope motor Working frequency, flywheel support working frequency, the working frequency of gyro shafting, accelerometer mass support work frequently Rate.
(4) the vibrational energy entire spectrum that different azimuth and varying environment are carried out to inertia device using vibration measurement instrument is surveyed Examination, obtains the structural modal [f of step (3) selectioni] spectral property [H], i.e. the linearly coupled acceleration of different frequencyWith And [D], [G], [a], [A] of the inertia device that the test of different azimuth and varying environment is obtained are carried out to inertia device；Wherein [D] represent the error of gyroscope, [G] represent the output of the inertia system of gyroscope composition, [a] represent accelerometer error, [A] represents the output of the inertia system of accelerometer composition；
Different azimuth includes inertia device coordinate system and geographic coordinate system coincidence status, misaligned state；Wherein for surveying AmountConcrete methods of realizing step be：
A () is determined on bang path to vibration sensing by testing the vibration transfer path of each structure composition of inertia device Stress failures sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress to choose all sensitive region of coordinate system XYZ axles Failure sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B the sensor of vibration measurement instrument is positioned over the stress failures sensitizing range of determination in step (a) and then carried out by ()Measurement.
Vibration measurement instrument uses contact and contactless vibration measurement instrument；The contactless vibration measurement instrument is using electricity Vortex vialog and laser vibration measurer；The contact vibration gauge uses the vibrating sensor of the formula of being connected.
(5) during [H], [D], [G], [a], [A] that will be obtained in step (4) substitutes into the model of step (2), vibrational spectra is obtained Each error term [D], [G], [a], [A], [D in characteristic [H] and error model0]、And then obtainWith [D], [G], [A], [D0]、Relation；WhereinWith for gyroscope with Linearly coupled accelerationThe related relevant error of zero of coupling,It is gyroscope and linearly coupled accelerationRelevant mistake Difference item, refer mainly to the relevant first order of the acceleration first power born with structure,For accelerometer zero partially,For Gyroscope scale factor that vibration coupling brings,The accelerometer scale factor for causing is encouraged for vibrated；
(6) obtain not in the same time the step of (5) described in vibration spectral property [H] cluster, draw vibrational excitation spectral propertyWith error term [D], [G], [A], [D0]、 's Trend curve；
(7) to the not vibration spectral property of inertia device structure composition in the same timeWith error [D], [G], [A], [D0]、Interpretation is carried out, is judged not in the same time[D]、 [G]、[A]、[D0]、 Whether the effective of setting is met simultaneously Value, if meeting, inertia device structure assembly precision and operating accuracy meet requirement；If it is not satisfied, determination forms vibration coupling With the structure of the influence that intercouples, and then the operating accuracy that reparation arrival is specified.
The present invention is undocumented to partly belong to common knowledge.

Claims (7)

1. a kind of method based on vibration performance analysis and evaluation inertia device precision, it is characterised in that step is as follows：
(1) physical characteristic that the vibrational excitation to inertia device internal vibration source causes carries out vibration performance analysis；Described thing Reason characteristic refers to vibration accelerationWith vibration angular accelerationConcrete analysis mode is as follows：
Linearly coupled acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；M is system forced vibration quality；C is forced to line for system The damped coefficient of vibrational structure；K is elastic stiffness；x、Respectively vibration displacement, speed, acceleration, F is vibrational excitation, E is uneven offset distance, and ω is the speed of unbalance mass,It is starting phase angle；
Linearly coupled accelerationComprising different vibration frequency fiVibration acceleration resultant, that is, be expressed as：
x ·· = Σ i = 0 n [ A f i ]
Wherein：For vibration frequency is fiWhen linearly coupled acceleration amplitude, i represents the number of intrinsic frequency, takes positive integer；
Vibration angular acceleration
Wherein：M is the unbalance mass, of the part for causing vibrational excitation；J is the rotary inertia of system forced vibration quality；δ is System is forced to the damped coefficient of angular oscillation structure；K is elastic stiffness；α、 Respectively vibration angle, angular speed, angle accelerate Degree, MMoment of torsionFor uneven moment of torsion is encouraged, ω is the speed of unbalance mass, and r is the radius of clean-up of moment of torsion；
The angular velocity of vibration that moment of torsion causesComprising different vibration frequency fiAngular velocity of vibrationResultant, that is, be expressed as：
WhereinFor vibration frequency is fiWhen angular velocity of vibration amplitude；
(2) the linearly coupled acceleration obtained according to step (1)Vibration angular accelerationAnd angular velocity of vibrationFoundation is shaken by this The critical component gyroscope and the error model of accelerometer of the inertia device of dynamic excitation influence；
(3) to the key structure gyroscope and accelerometer of inertia device, finite element simulation, static mode and operation mode are carried out Experiment, obtains structural modal [fi], and choose the structural modal [f related to linearly coupled accelerationi], wherein fiRespectively mode Frequency；
(4) the vibrational energy entire spectrum that different azimuth and varying environment are carried out to inertia device using vibration measurement instrument is tested, and is obtained To the structural modal [f that step (3) is choseni] spectral property [H], i.e. the linearly coupled acceleration of different frequencyAnd it is right The test that inertia device carries out different azimuth and varying environment obtains [D], [G], [a], [A] of multigroup inertia device；Wherein [D] Represent that the error of gyroscope, [G] represent that the output of the inertia system of gyroscope composition, [a] represent error, [A] of accelerometer Represent the output of the inertia system of accelerometer composition；
(5) during [H], [D], [G], [a], [A] that will be obtained in step (4) substitutes into the model of step (2), obtain Each error term [D], [G], [a], [A], [D in vibration spectral property [H] and error model0]、And then obtainWith [D], [G], [A], [D0]、Relation；WhereinBe gyro Instrument and linearly coupled accelerationThe related relevant error of zero of coupling,It is gyroscope and linearly coupled accelerationHave The error term of pass, refer mainly to the relevant first order of the acceleration first power born with structure,For accelerometer zero partially,The gyroscope scale factor that is brought for vibration coupling,The accelerometer scale factor for causing is encouraged for vibrated；
(6) obtain not in the same time the step of (5) described in vibration spectral property [H], draw vibrational excitation spectral propertyWith mistake Difference item [D], [G], [A], [D0]、 Trend curve；
(7) to the not vibration spectral property of inertia device structure composition in the same timeWith error [D], [G], [A], [D0]、Interpretation is carried out, is judged not in the same time [D]、[G]、[A]、[D0]、 Whether setting is met simultaneously Virtual value, if meeting, inertia device structure assembly precision and operating accuracy meet and require；If it is not satisfied, determining that formation is shaken Dynamic coupling and the structure of the influence that intercouples, and then repair the operating accuracy for reaching and specifying.
2. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：The inertia device includes quick-connecting inertia measurement system, platform inertial measurement system, inertia type instrument.
3. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：The error model of the gyroscope is
[ D ] = Σ i = 0 n [ D 0 ] f i + Σ i = 0 n [ D i j ] f i [ a 0 ] f i + α · = [ D 0 ] + Σ i = 0 n [ D 0 ] f i + Σ i = 0 n [ D 1 ] f i + [ D i j ] [ a 0 ] + Σ i = 1 n [ D i j ] f i [ A f i ] = ( [ D 0 ] + [ D i j ] [ a 0 ] ) + ( Σ i = 1 n [ D 0 ] f i + Σ i = 0 n [ D 1 ] f i + Σ i = 1 n [ D i j ] f i [ A f i ] )
Wherein：[D] is gyroscope static error；[D0] it is the gyroscope error of zero unrelated with linearly coupled acceleration；For The gyroscope error of zero related to linearly coupled acceleration and vibration angular acceleration coupling；It is gyroscope and input acceleration a0Relevant error term；It is gyroscope and linearly coupled accelerationRelevant error term, refers mainly to be born with structure The relevant first order of acceleration first power；
The output [G] of the inertia device angular speed being made up of above-mentioned gyroscope is：
[ G ] = [ k ] ( [ D ] + [ E ] [ ω ] ) = ( [ k G ] + [ k G ] f i ) ( [ D ] + [ E ] [ ω ] )
Wherein：[D] is above-mentioned gyroscope static error；[E] is alignment error；[ω] is input angular velocity；[k] is gyroscope mark Degree coefficient, [kG] it is the scale factor for not considering vibration；For the scale factor that vibration coupling brings；
Accelerometer error model：
[ a ] = Σ i = 0 n [ k 0 ] f i + [ k 2 ] [ a 0 2 ] + Σ i = 0 n [ A f i ]
Wherein [a] is the error of accelerometer；For accelerometer zero is inclined；[k2] be and input acceleration a0Quadratic term is relevant Error；
Output [A] model for the inertial measurement system acceleration being made up of above-mentioned accelerometer：
[ A ] = [ k A ] ( [ a ] + [ k 1 ] [ a 0 ] ) = ( [ k a ] + [ k a ] f i ) ( [ a ] + [ k 1 ] ( [ a 0 ] ′ + [ k 1 ] Σ i = 0 n [ A f i ] )
Wherein：[A] is the output of accelerometer；[k1] it is alignment error；[ka] it is the scale factor for not considering vibrational excitation,It is vibrated to encourage the scale factor for causing；[a0] it is input acceleration；[a0] ' it is inertial acceleration.
4. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：Vibration measurement instrument in the step (4) uses contact and contactless vibration measurement instrument；The contactless vibration is surveyed Examination instrument uses current vortex vialog and laser vibration measurer；The contact vibration gauge uses the vibrating sensor of the formula of being connected.
5. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：Modal parameters storehouse includes each rank mode after each stage structure mode and each structure composition inertia device system；Wherein, respectively The stage structure mode such as multiple-rank arrangement mode such as single order structural modal, second order structure mode.
6. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：Vibrational structure mode is the characteristic frequency of structure composition；Work of the described vibration performance frequency comprising gyroscope motor is frequently Rate, the operating frequency of motor shaft supporting structure, the working frequency of gyroscope flywheel, working frequency, the gyro shafting of flywheel support Working frequency, working frequency, the chattering frequency of shaker mechanism, the hunting frequency of executing agency of the support of accelerometer mass.
7. a kind of method based on vibration performance analysis and evaluation inertia device precision according to claim 1, its feature exists In：The different azimuth of the step (4) includes inertia device coordinate system and geographic coordinate system coincidence status, misaligned state；Its In for measurementConcrete methods of realizing step be：
A () determines to answer vibration sensing on bang path by testing the vibration transfer path of each structure composition of inertia device Power failure sensitizing range, if there is multiple spot stress failures sensitizing range, it is stress failures to choose all sensitive region of coordinate system XYZ axles Sensitizing range, or multiple spot is chosen simultaneously as stress failures sensitizing range；
B the sensor of vibration measurement instrument is positioned over the stress failures sensitizing range of determination in step (a) and then carried out by ()'s Measurement.
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