CN107084744A - A kind of Inertial Platform System gyroscope torque coefficient scaling method - Google Patents
A kind of Inertial Platform System gyroscope torque coefficient scaling method Download PDFInfo
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- CN107084744A CN107084744A CN201710203096.5A CN201710203096A CN107084744A CN 107084744 A CN107084744 A CN 107084744A CN 201710203096 A CN201710203096 A CN 201710203096A CN 107084744 A CN107084744 A CN 107084744A
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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
A kind of Inertial Platform System gyroscope torque coefficient scaling method, Inertial Platform System is placed on placed base by this method, it is energized to normal work, rotatable platform stage body make it that being calibrated gyroscope is in vertical position, platform stage body trunnion axis carries out accurate lock control according to horizontal direction frame corners, record is just, negative sense gyroscope adds the square initial time time, just, negative sense gyroscope adds obtained according to the calculating of vertical direction framework angle transducer number of pole-pairs square time finish time, the scaling method reduces the requirement to plateform system placed base not horizontal, improve torquer coefficient stated accuracy.
Description
Technical field
The present invention relates to a kind of Inertial Platform System gyroscope torque coefficient scaling method, used available for guided missile or weapon
In the demarcation of plateform system gyroscope torque coefficient, belong to Inertial Platform System demarcation field.
Background technology
Inertial Platform System is typically made up of three gyroscopes, and each gyroscope includes a gyroscope torque, guided missile
Or armament systems need to demarcate Systematic Error in Inertial Platform coefficient before transmission, gyroscope demarcation typically uses force feedback
Method, force feedback method needs to demarcate gyroscope torque coefficient first, the stated accuracy influence platform system of gyroscope torque
System stated accuracy, and then influence guided missile or armament systems impact accuracy.
Gyroscope torque coefficient demarcation at present use method for：Gyroscope will be calibrated and pass through Inertial Platform System indexing
Function turns to vertical position, and stage body handles leveling state, and to being calibrated, gyroscope is positive and negative respectively to add square 600 seconds, by using used
Property plateform system be in the frame corners of vertical direction in same time it is positive and negative turn over different angle values and calculate obtain gyroscope
Torquer coefficient.The shortcoming of this method is：1. when Inertial Platform System pedestal not level, vertical direction framework angle measurement
The vertical gyroscope rotational angle of correct response is unable to, causes torquer calibrated error, to plateform system pedestal water in demarcation environment
Pingdu requires higher (angle classification).2. framework angle transducer employs twin-channel multipole resolvers, there is harmonic error, by
In positive and negative plus square rotational angle, harmonic error will cause torquer calibrated error.Therefore, in order to improving gyroscope
Torquer stated accuracy is, it is necessary to propose a kind of high-precision torquer coefficient scaling method.
The content of the invention
The technology of the present invention solves problem：Overcoming the deficiencies in the prior art part, there is provided a kind of Inertial Platform System top
Spiral shell instrument torquer coefficient scaling method, reduces the requirement to plateform system foundation level degree in demarcation environment, reduces available frame
Influence of the angle transducer harmonic error to stated accuracy, improves torquer stated accuracy.
The present invention technical solution be：A kind of Inertial Platform System gyroscope torque coefficient scaling method, it is described
Method comprises the following steps：
Step one：Inertial Platform System is placed on placed base, is energized to normal work, rotator inertia plateform system it is flat
Platform stage body make it that being calibrated gyroscope is in vertical position, and platform stage body trunnion axis is locked according to the frame corners of horizontal direction
Control；
Step 2：When in step one be calibrated gyroscope be in vertical position when, record vertical direction on frame corners
It is worth for θ1, initial time is t1, add square to gyroscope forward direction is calibrated, plus square control word is I1Framework on=I, vertical direction
Angle will reduce, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t2；
Step 3：Stop in step 2 plus square records initial time for t afterwards for a period of time3, t3Moment corresponding vertical direction
On framework angle value be θ3, to being calibrated gyroscope negative sense plus square, plus square control word is I2Frame corners on=- I, vertical direction
It will increase, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t4；
Step 4：In step 2 plus square control word, positive plus square initial time, positive plus square stop timing and step
Negative sense in rapid three adds square initial time, negative sense plus square stop timing to obtain being calibrated gyroscope torque coefficient.
In above-mentioned Inertial Platform System gyroscope torque coefficient scaling method, in step 4, gyroscope power is calibrated
Square device coefficient formulas is as follows：
Wherein, N is framework angle transducer number of pole-pairs, t1For forward direction plus square initial time, t2For forward direction plus the square stop timing,
t3For negative sense plus square initial time, t4It is negative sense plus square stop timing, K to be calibrated gyroscope torque coefficient.
Compared with the prior art, the invention has the advantages that：
(1) during present invention demarcation torquer coefficient, Inertial Platform System stage body trunnion axis is passed according to horizontal direction frame corners
Sensor is in the lock state, compared with being in leveling state according to quartz accelerometer in existing scaling method, on vertical direction
Frame corners more can accurate response be calibrated gyroscope rotational angle, reduce to demarcation when Inertial Platform System placed base water
The requirement of Pingdu, placed base not horizontal brings up to more than 2 degree by original angle classification, improves the demarcation of torquer coefficient
Environmental suitability；
(2) present invention is equal using the positive and negative rotational angle variable quantity of frame corners on vertical direction, and angle variable quantity with
Framework angle transducer number of pole-pairs is relevant, compared with existing scaling method, reduces framework angle transducer and is produced due to number of pole-pairs
Measurement error influence, improve stated accuracy.
Brief description of the drawings
Fig. 1 is the frame diagram of the Inertial Platform System gyroscope torque coefficient calibration system of the present invention；
Fig. 2 is Inertial Platform System gyroscope torque coefficient scaling method flow chart of the invention；
Fig. 3 is that plateform system pedestal not horizontal is demarcated to scaling method of the present invention with existing scaling method torquer coefficient
Comparative result figure；
Fig. 4 is scaling method of the present invention and existing scaling method test of many times comparison diagram.
Embodiment
The embodiment to the present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, Inertial Platform System torquer calibration system of the present invention include Inertial Platform System 1,
Platform circuitry case 3, platform test rack 4 and placed base 2, wherein, Inertial Platform System 1 include stage body, pedestal, gyroscope and
Framework angle transducer；Framework angle transducer uses twin-channel multipole resolvers, and number of pole-pairs is generally 32,64 etc.；By inertia
Plateform system 1, platform circuitry case 3 are positioned on placed base 2, and platform circuitry case 3 is connected with Inertial Platform System 1, platform
Circuit box 3 be used to powering and control to Inertial Platform System 1 with the normal operation of monitoring platform body, platform test rack 4 and
Platform circuitry case 3 is connected, and platform test rack 4 is used for sending out control instruction and display inertial platform system to platform circuitry case 3
The running situation of system 1.
Fig. 2 is Inertial Platform System gyroscope torque coefficient scaling method flow chart of the invention.As shown in Fig. 2 should
Inertial Platform System gyroscope torque coefficient scaling method comprises the following steps：
Step one：Inertial Platform System 1 is placed on placed base 2, is energized to normal work, rotator inertia plateform system 1
Platform stage body to be calibrated gyroscope and be in vertical position, platform stage body trunnion axis is carried out according to the frame corners of horizontal direction
Accurate lock is controlled；
Step 2：When in step one be calibrated gyroscope be in vertical position when, record vertical direction on frame corners
It is worth for θ1, initial time is t1, add square to gyroscope forward direction is calibrated, plus square control word is I1Framework on=I, vertical direction
Angle will reduce, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t2；
Step 3：Stop in step 2 plus square records initial time for t afterwards for a period of time3, t3Moment corresponding vertical direction
On framework angle value be θ3, to being calibrated gyroscope negative sense plus square, plus square control word is I2Frame corners on=- I, vertical direction
It will increase, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t4；
Step 4：In step 2 plus square control word, positive plus square initial time, positive plus square stop timing and step
Negative sense in rapid three adds square initial time, negative sense plus square stop timing to obtain being calibrated gyroscope torque coefficient.
In step one, Inertial Platform System 1 is energized to normal work, and platform stage body is turned into certain position, the position
So that being calibrated gyroscope is in vertical position, platform stage body trunnion axis is in the lock state according to horizontal frame angle.
In step 2, the framework angle value on the vertical direction in recording step one is θ1, the time is t1, to vertical position
Gyroscope forward direction plus square, plus square control word are I1=I, vertical position frame corners will reduce, when framework angle value is changed intoWhen,
Stop plus square, the record time is t2。
In step 3, current vertical position framework angle value is recorded for θ3, the time is t3, give vertical position gyroscope negative sense
Plus square, plus square control word is I2=-I, vertical position frame corners will increase, when framework angle value is changed intoWhen, stop adding
Square, the record time is t4。
In step 4, vertical position gyroscope torque coefficient formulas is：
Wherein, N representational frameworks angle transducer number of pole-pairs；I is represented plus square control word, plus square control word is to gyroscope torque
The input quantity that device is digitized control is characterized, and unit is：LSB；t1、t2、t3、t4Represent positive respectively add the square beginning and ending time, bear
To the square beginning and ending time is added, unit is the second.K units are：°/h/LSB.
As shown in figure 3, in the case of placed base not level, being entered using scaling method of the present invention with existing scaling method
Row experiment, each to carry out 4 experiments, first three experiment placed base levelness is within 1 jiao point, the 4th experiment placed base water
Pingdu be more than 2 degree, as can be seen from the test results, scaling method torquer coefficient by placed base levelness influenceed compared with
Greatly, scaling method torquer coefficient of the present invention is not influenceed by placed base levelness, and the inventive method is to demarcation environment
It is required that lower, environmental suitability is more preferable.
As shown in figure 4, being entered using the inventive method with existing scaling method to certain plateform system gyroscope torque coefficient
Row test of many times, the angle that different tests middle frame angle transducer is rotated is different, as can be seen from the test results, the inventive method
Torquer coefficient demarcation stability is higher than existing scaling method, and does not change with the difference of frame corners sensor angles, reduces
The influence for the measurement error that framework angle transducer is produced due to number of pole-pairs, improves stated accuracy.
During present invention demarcation torquer coefficient, Inertial Platform System stage body trunnion axis is in locking according to framework angle transducer
State, compared with leveling state in existing scaling method, frame corners on vertical direction more can accurate response be calibrated gyroscope
Rotational angle, reduces the requirement of Inertial Platform System placed base levelness during to demarcation, placed base not horizontal is by original
The angle classification come brings up to more than 2 degree, improves the environmental suitability of torquer coefficient demarcation；And the present invention is using vertical side
The positive and negative rotational angle variable quantity of upward frame corners is equal, and angle variable quantity is relevant with framework angle transducer number of pole-pairs, and
There is scaling method to compare, reduce the influence for the measurement error that framework angle transducer is produced due to number of pole-pairs, improve demarcation
Precision.
Embodiment described above is the present invention more preferably embodiment, and those skilled in the art is in this hair
The usual variations and alternatives carried out in the range of bright technical scheme all should be comprising within the scope of the present invention.
Claims (2)
1. a kind of Inertial Platform System gyroscope torque coefficient scaling method, it is characterised in that methods described includes following step
Suddenly：
Step one：Inertial Platform System (1) is placed on placed base (2), is energized to normal work, rotator inertia plateform system
(1) platform stage body to be calibrated gyroscope and is in vertical position, and platform stage body trunnion axis is according to the frame corners of horizontal direction
Carry out locking control；
Step 2：When being calibrated gyroscope in vertical position, the framework angle value on record vertical direction is in step one
θ1, initial time is t1, add square to gyroscope forward direction is calibrated, plus square control word is I1Frame corners on=I, vertical direction will
Reduce, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t2；
Step 3：Stop in step 2 plus square records initial time for t afterwards for a period of time3, t3On moment corresponding vertical direction
Framework angle value is θ3, to being calibrated gyroscope negative sense plus square, plus square control word is I2Frame corners on=- I, vertical direction will increase
Plus, when the framework angle value on vertical direction is changed intoWhen, stop plus square, the record stop timing is t4；
Step 4：In step 2 plus square control word, positive plus square initial time, positive plus square stop timing and step 3
In negative sense add square initial time, negative sense plus square stop timing to obtain being calibrated gyroscope torque coefficient.
2. Inertial Platform System gyroscope torque coefficient scaling method according to claim 1, it is characterised in that：In step
In rapid four, gyroscope torque coefficient formulas is calibrated as follows：
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Wherein, N is framework angle transducer number of pole-pairs, t1For forward direction plus square initial time, t2For forward direction plus square stop timing, t3For
Negative sense adds square initial time, t4It is negative sense plus square stop timing, K to be calibrated gyroscope torque coefficient.
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| CN201710203096.5A CN107084744B (en) | 2017-03-30 | 2017-03-30 | Inertial platform system gyroscope torquer coefficient calibration method |
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Cited By (1)
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| CN113776558A (en) * | 2021-08-16 | 2021-12-10 | 北京自动化控制设备研究所 | Zero calibration method for rotary table of inertial navigation system with indexing mechanism |
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| CN113776558A (en) * | 2021-08-16 | 2021-12-10 | 北京自动化控制设备研究所 | Zero calibration method for rotary table of inertial navigation system with indexing mechanism |
| CN113776558B (en) * | 2021-08-16 | 2023-09-12 | 北京自动化控制设备研究所 | Zero calibration method for inertial navigation system turntable with indexing mechanism |
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