CN108681239B - Decoupling servo control loop system and method for two-axis integrated gyro accelerometer - Google Patents
Decoupling servo control loop system and method for two-axis integrated gyro accelerometer Download PDFInfo
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Abstract
The invention discloses a decoupling servo control loop system and a decoupling servo control loop method for a two-axis integrated gyro accelerometer. The decoupling servo control loop system of the two-axis integrated gyro accelerometer comprises a two-input and two-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules, decoupling of two interlinkage loops can be achieved, errors related to constant angular velocity change rate can be eliminated through the second-order integration modules, and therefore steady-state precision of the servo loop system is improved; the lag lead link can improve the dynamic gain of the low frequency band of the system and is beneficial to reducing the dynamic error. An output decoupling link is added in the servo control loop, so that the problem of interlinkage between two current output values and the angular speed of the servo loop can be solved, and the output precision of the gyro accelerometer system is improved.
Description
Technical Field
The invention relates to a servo control loop of a gyro accelerometer, in particular to a decoupling servo control loop system and a decoupling servo control loop method of a two-axis integrated gyro accelerometer, and belongs to the field of aviation and aerospace for high-precision apparent acceleration measurement.
Background
In a high-precision inertial stabilization platform, a pendulum integral gyro accelerometer is mainly adopted at present to sense the large overload of a missile, sense the apparent acceleration along the direction of an input shaft and be a single-degree-of-freedom accelerometer.
On the basis of the scheme of the traditional gyro accelerometer, the two servo loops are added from the original servo loop to ensure that the frame angle alpha and the platform angle beta are kept at zero positions, and meanwhile, OX is solved in the two servo loops by measuring the current value of a control motor respectively1And OY1Acceleration value of the direction. The method has the advantages of overcoming interference moment, improving precision, and simultaneously improving the output dimension of the gyro accelerometer, so that the gyro accelerometer has the visual acceleration capability of sensing two directions.
Because the gyro accelerometer works only in a small angle range, the output of the gyro accelerometer needs to be sent to a corresponding torque motor through a servo loop, so that the gyro accelerometer works in a closed circuit state.
Under the condition, the torque motor applies torque to the rotor to drive the rotor to track the shell to move, the frame angle of the gyro accelerometer is always kept near zero, and the apparent acceleration of the carrier along the input shaft is measured by the current (or voltage and pulse frequency) transmitted to the torque motor. The biaxial integrated gyro accelerometer is a two-degree-of-freedom accelerometer, and the output link and the precession link of the accelerometer are linked and coupled. The design scheme of a servo loop of the double-shaft integrated gyro accelerometer is not available in China, and the output precision is insufficient, so that the design of the servo loop of the double-shaft integrated gyro accelerometer needs to be developed.
Disclosure of Invention
The technical problem of the invention is solved: the two-axis integrated gyro accelerometer servo control loop system and the method overcome the defects of the prior art, and cross-link influence is overcome by controlling and decoupling two servo loops of an accelerometer so as to improve the output precision of the system.
The technical solution of the invention is as follows: a decoupling servo control loop system of a two-axis integrated gyro accelerometer is a servo control loop for the two-axis integrated gyro accelerometer. The two-axis integrated gyro accelerometer comprises a gauge outfit, a servo control loop, an output device and a shell; the two-axis integrated gyro accelerometer decoupling servo control loop system comprises a two-input and two-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules.
The gauge outfit part of the two-axis integrated gyro accelerometer comprises a gyro rotor with additional eccentric mass, a table body shaft, a frame and a frame shaft; the gyroscope rotor with the additional eccentric mass is arranged on the table body, the table body is connected with the frame through the table body shaft, the table body shaft can be rotatably arranged on the frame, one end of the table body shaft is provided with the angle sensor, the other end of the table body shaft is provided with the torque motor, one end of the frame shaft is provided with the angle sensor, the other end of the frame shaft is provided with the torque motor, and the frame is connected with the shell through the frame shaft.
When the mounting carrier of the two-axis integrated gyro accelerometer has the input of the visual acceleration along the directions of the two input axes of the gyro accelerometer, the gyro rotor of the two-axis integrated gyro accelerometer, which is added with the eccentric mass, generates a deviation angle relative to the shell in the directions of the corresponding table body axis and the frame axis.
The two-axis integrated gyro accelerometer platform axis and the angle sensor on the frame shaft detect the deviation angle, thereby generating two paths of deviation signals and converting the two paths of deviation signals into two paths of electric signals for output.
Two paths of deviation signals are used as input quantities of a second-order integral module and an advance-lag module in the decoupling servo control loop system; the second-order integration module carries out second-order integration on the two paths of deviation signals, and the lead-lag module carries out low-frequency amplification on the two paths of deviation signals.
The output quantities of the second-order integration module and the lead-lag module are used as the input quantities of the two-input-output decoupler, and the two-input-output decoupler decouples the input quantities, namely the two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors.
The two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input and output decoupler so that the rotor of the two-axis integrated gyro accelerometer precesses, and deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer are eliminated.
And two paths of electric signals output by the two-input and output decoupler are used as the output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
The decoupling servo control loop is composed of a two-input and two-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules, wherein the transfer function of the two-input and two-output decoupler is
The transfer function of the second order integration block is
The transfer function of the lead-lag module is
Wherein, Tc1、Tc2For decoupling time constants of frequency bands in servo control loops, Tc1>Tc2。
In each link in the comprehensive control loop, the transfer function of a two-axis integrated gyro accelerometer decoupling servo control loop system is as follows:
wherein, JxIs the moment of inertia of the frame, JyIs the moment of inertia of the table body, CxIs the damping coefficient of the frame, CyThe damping coefficient of the table body is H, and the angular momentum of a gyro accelerometer rotor is H; k is a radical ofcIs the amplification of the servo loop.
A decoupling servo control method for a two-axis integrated gyro accelerometer comprises the following steps:
(1) when apparent acceleration is input into a mounting carrier of the two-axis integrated gyro accelerometer along the directions of two input axes of the gyro accelerometer, a gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the directions of the corresponding table body axis and the frame axis;
(2) the angular sensors on the table body shaft and the frame shaft of the gyro accelerometer detect deviation angles, so that two paths of deviation signals are generated, and the two paths of deviation signals are converted into two paths of electric signals to be output;
(3) two paths of deviation signals are used as input quantities of a second-order integral module and an advance-lag module in the decoupling servo control loop system; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals;
(5) the output quantities of the second-order integral module and the lead-lag module are used as the input quantities of the two-input control decoupler, and the two-input output decoupler decouples the input quantities, namely two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors;
(6) the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input control decoupler so as to lead the rotor of the two-axis integrated gyro accelerometer to precess, thus eliminating the deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer;
(7) and two paths of electric signals output by the two-input control decoupler are used as the output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
Compared with the prior art, the invention has the following advantages:
(1) the decoupling servo control loop system of the two-axis integrated gyro accelerometer is characterized in that a decoupling servo control loop is a 2 multiplied by 2 dimensional multi-input multi-output transfer function matrix, comprises a two-input and two-output decoupler, two identical second-order integration modules and two identical lag lead modules, and can realize decoupling of two interlinkage loops.
(2) According to the decoupling servo control loop system of the two-axis integrated gyro accelerometer, the denominator order of 4 elements is greater than the numerator order, so that engineering realization is facilitated; the system becomes a II-type system by adopting 2 integration modules, and errors related to the constant angular velocity change rate can be eliminated by adopting a second-order integration module, so that the steady-state precision of the servo loop system is improved.
(3) The decoupling servo control loop system of the two-axis integrated gyro accelerometer provided by the invention adopts the lag lead module, can improve the dynamic gain of the low frequency band of the strapdown inertial system, and is beneficial to reducing the dynamic error.
(4) The decoupling servo control loop system of the two-axis integrated gyro accelerometer can overcome the problem of interlinkage between two output values and acceleration of a servo loop, realize strict one-to-one correspondence between carrier linear motion and output measurement apparent acceleration, and improve the output precision of the system.
Drawings
FIG. 1 is a block diagram of a servo control loop according to the present invention;
FIG. 2 is a schematic diagram of the operation of a two-axis integrated gyro accelerometer of the present invention;
FIG. 3 is a block diagram of a decoupled servo control loop of the present invention;
fig. 4 is a block diagram of a two-axis integrated gyro accelerometer and a decoupling servo control loop according to the invention.
Detailed Description
The invention discloses a decoupling servo control loop system and a decoupling servo control loop method for a two-axis integrated gyro accelerometer. The decoupling servo control loop system of the two-axis integrated gyroscope accelerometer comprises a two-input and two-output decoupler, a gain compensator, two identical second-order integral modules and two identical lead-lag modules, is a 2 multiplied by 2 dimensional multi-input and multi-output transfer function matrix, and can realize decoupling of two interlinkage loops; the two integration links enable the gyro accelerometer system to be a II-type system, and the second-order integration module can eliminate errors related to the constant angular velocity change rate, so that the steady-state precision of the servo loop system is improved; the lag lead link can improve the dynamic gain of the low frequency band of the system and is beneficial to reducing the dynamic error. An output decoupling link is added in the servo control loop, so that the problem of interlinkage between two current output values and the angular speed of the servo loop can be solved, and the output precision of the gyro accelerometer system is improved.
As shown in fig. 1, a decoupling servo control loop system of a two-axis integrated gyro accelerometer includes a two-input and two-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules; a two-axis integral gyroscopic accelerometer comprising: a gauge head portion, an output device and a housing;
the two-axis integrated gyro accelerometer detects a deviation angle so as to generate two paths of deviation signals, and converts the two paths of deviation signals into two paths of electric signals to be output; two paths of deviation signals are used as input quantities of a second-order integration module and a lead-lag module; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals; the output quantities of the second-order integration module and the lead-lag module are used as the input quantities of the two-input-output decoupler, and the two-input-output decoupler decouples the input quantities, namely the two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors; the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input and output decoupler so that the rotors of the two-axis integrated gyro accelerometer precess; two paths of electric signals output by the two-input and output decoupler are used as output results of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator and are output by the output device.
A header portion comprising: the gyroscope comprises a gyroscope rotor, a table body shaft, a frame and a frame shaft, wherein the gyroscope rotor is added with eccentric mass;
the gyroscope rotor with the additional eccentric mass is arranged on the table body, the table body is connected with the frame through the table body shaft, the table body shaft can be rotatably arranged on the frame, one end of the table body shaft is provided with the angle sensor, the other end of the table body shaft is provided with the torque motor, one end of the frame shaft is provided with the angle sensor, the other end of the frame shaft is provided with the torque motor, and the frame is connected with the shell through the frame shaft.
When the mounting carrier of the two-axis integrated gyro accelerometer has the input of the visual acceleration along the two input axis directions of the gyro accelerometer, the gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the corresponding directions of the table body axis and the frame axis.
The two-axis integrated gyro accelerometer platform axis and the angle sensor on the frame axis detect the deviation angle, thereby generating two paths of deviation signals and converting the two paths of deviation signals into two paths of electric signals for output; two paths of deviation signals are used as input quantities of a second-order integration module and a lead-lag module; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals; the output quantities of the second-order integration module and the lead-lag module are used as the input quantities of the two-input-output decoupler, and the two-input-output decoupler decouples the input quantities, namely the two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors.
The two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input and output decoupler so that the rotor of the two-axis integrated gyro accelerometer precesses to eliminate deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer; and two paths of electric signals output by the two-input and output decoupler are used as an output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
The invention discloses a decoupling servo control loop system of a two-axis integrated gyro accelerometer, which is a servo control loop for the two-axis integrated gyro accelerometer. The two-axis integrated gyro accelerometer comprises a gauge outfit, a servo control loop, an output device and a shell. The gauge head part of the two-axis integrated gyro accelerometer consists of a gyro rotor with an additional eccentric mass, a table body axis, a frame and a frame axis. The gyro rotor with the additional eccentric mass is arranged on the table body, the table body is connected with the frame through the table body shaft, the table body shaft can be rotatably arranged on the frame, one end of the table body shaft is provided with the angle sensor, the other end of the table body shaft is provided with the torque motor, one end of the frame shaft is provided with the angle sensor, the other end of the frame shaft is provided with the torque motor, and the frame is connected with the shell through the frame shaft, as shown in fig. 2.
Gyro accelerometer OX in shell coordinate system0Y0Z0The differential equation of motion in (1) is:
the lagrange transform of equation (1) is:
let A(s) be Jxs2+Cxs，B(s)＝Hs，C(s)＝Jys2+Cys, matrix form corresponding to the above formula:
let D(s) ═ A(s) C(s) + B(s)2Then, then
D(s)＝(Jxs+Cx)(Jys+Cy)s2+H2s2
＝[JxJys2+(JxCy+JyCx)s+CxCy+H2]s2 (4)
The transfer function of the gyro accelerometer can be found as:
the two-axis integrated gyro accelerometer decoupling servo control loop system comprises a two-input and two-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules. When the mounting carrier of the two-axis integrated gyro accelerometer has the input of the visual acceleration along the two input axis directions of the gyro accelerometer, the gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the corresponding directions of the table body axis and the frame axis.
The angle sensors on the table body shaft and the frame shaft of the gyro accelerometer detect deviation angles, so that two paths of deviation signals are generated, and the two paths of deviation signals are converted into two paths of electric signals to be output. And the two paths of deviation signals are used as input quantities of a second-order integral module and a lead-lag module in a decoupling servo control loop. The output quantities of a second-order integral module and a lead-lag module in the decoupling servo control loop are used as the input quantities of a two-input and two-output decoupler in the servo control loop, and the two-input and two-output decoupler in the decoupling servo control loop decouples two electric signals to obtain two paths of electric signals which are respectively fed back to the torque motor in the direction orthogonal to the input shaft corresponding to the input electric signals. The two torquers respectively generate rebalancing torque according to the feedback electric signals to make the rotor of the gyro accelerometer precess so as to eliminate the deviation signals in the directions of the two input shafts. And two paths of electric signals fed back by the two-input and output decoupler are used as the output result of the gyro accelerometer after being subjected to gain compensation.
The transfer function of the two-input-output decoupler is
The transfer function of the second order integration block is
The transfer function of the lead-lag module is
Wherein, Tc1、Tc2For decoupling time constants of frequency bands in servo control loops, Tc1>Tc2。
In each link in the comprehensive control loop, the transfer function of a two-axis integrated gyro accelerometer decoupling servo control loop system is as follows:
wherein, JxIs the moment of inertia of the frame, JyIs the moment of inertia of the table body, CxIs the damping coefficient of the frame, CyThe damping coefficient of the table body is H, and the angular momentum of a gyro accelerometer rotor is H; k is a radical ofcIs the amplification of the servo loop, as shown in fig. 3.
After a two-axis integrated gyro accelerometer decoupling servo control loop system works, the system is provided with
As shown in fig. 4.
When the accelerometer works in a bandwidth range, there are
The acceleration obtained is
From the above formula, when the two-axis integrated gyro accelerometer is applied to an inertial system, the two cases can be divided into the following two cases:
(1) inertially stabilized platform system
In inertially stabilized platform applications, the platform may be stabilized with respect to inertial space by an accelerometer base mounted on the platform body, so that the angular velocity of the base may be ignored
Influence. In the dry stateThe disturbance moment is approximately zero, having
(2) Strapdown system
When the strapdown system is applied, the gyroscope installed on the body can be used for real-time measurement
The influence of the angular movement of the base is eliminated by error compensation. At disturbance moment of approximately zero, have
The invention discloses a decoupling servo control method of a two-axis integrated gyro accelerometer, which is characterized by comprising the following steps of:
(1) when apparent acceleration is input into a mounting carrier of the two-axis integrated gyro accelerometer along the directions of two input axes of the gyro accelerometer, a gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the directions of the corresponding table body axis and the frame axis;
(2) the angular sensors on the table body shaft and the frame shaft of the gyro accelerometer detect deviation angles, so that two paths of deviation signals are generated, and the two paths of deviation signals are converted into two paths of electric signals to be output;
(3) two paths of deviation signals are used as input quantities of a second-order integral module and an advance-lag module in the decoupling servo control loop system; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals; the lead-lag module can improve the dynamic gain of the low frequency band of the system and is beneficial to reducing the dynamic error.
(5) The output quantities of the second-order integral module and the lead-lag module are used as the input quantities of the two-input control decoupler, and the two-input output decoupler decouples the input quantities, namely two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors;
(6) the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input control decoupler so as to lead the rotor of the two-axis integrated gyro accelerometer to precess, thus eliminating the deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer;
(7) and two paths of electric signals output by the two-input control decoupler are used as the output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
The decoupling servo control loop system of the two-axis integrated gyro accelerometer is a 2 multiplied by 2 dimensional multi-input multi-output transfer function matrix, comprises a two-input and two-output decoupler, two identical second-order integration modules and two identical lag lead modules, and can realize decoupling of two interlinkage loops. In the decoupling servo control loop system of the two-axis integrated gyro accelerometer, the denominator order of 4 elements is greater than the numerator order, so that the engineering realization is facilitated; the system becomes a II-type system by adopting 2 integration modules, and errors related to the constant angular velocity change rate can be eliminated by adopting a second-order integration module, so that the steady-state precision of the servo loop system is improved.
According to the decoupling servo control loop system of the two-axis integrated gyroscope accelerometer, the lag lead module is adopted, so that the dynamic gain of the low frequency range of the strapdown inertial system can be improved, and the reduction of dynamic errors is facilitated. The decoupling servo control loop system of the two-axis integrated gyro accelerometer can overcome the problem of interlinkage between two output values and acceleration of a servo loop, realizes strict one-to-one correspondence between carrier linear motion and output measurement apparent acceleration, and improves the output precision of the system.
The present invention has not been described in detail as is known to those skilled in the art.
Claims (8)
1. The utility model provides an integrative top accelerometer decoupling zero servo control loop system of diaxon which characterized in that: the two-stage integrated circuit comprises a two-input-output decoupler, a gain compensator, two identical second-order integration modules and two identical lead-lag modules; a two-axis integral gyroscopic accelerometer comprising: a gauge head portion, an output device and a housing;
the two-axis integrated gyro accelerometer detects a deviation angle so as to generate two paths of deviation signals, and converts the two paths of deviation signals into two paths of electric signals to be output; two paths of deviation signals are used as input quantities of a second-order integration module and a lead-lag module; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals; the output quantities of the second-order integration module and the lead-lag module are used as the input quantities of the two-input-output decoupler, and the two-input-output decoupler decouples the input quantities, namely the two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors; the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input and output decoupler so that the rotors of the two-axis integrated gyro accelerometer precess; two paths of electric signals output by the two-input and output decoupler are used as an output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator and are output by the output device;
the transfer function of the two-axis integrated gyro accelerometer decoupling servo controller is as follows:
wherein, JxIs the moment of inertia of the frame, JyIs the moment of inertia of the table body, CxIs the damping coefficient of the frame, CyThe damping coefficient of the table body is H, and the angular momentum of a gyro accelerometer rotor is H; k is a radical ofcS represents the frequency domain variable for the amplification of the servo loop; t isc1、Tc2Is the time constant of the frequency band in the decoupling servo control loop system;
the transfer function of a lead-lag module of a decoupling servo controller of a two-axis integrated gyro accelerometer is
Tc1、Tc2To decouple the time constant of the frequency band in the servo control loop,Tc1>Tc2。
2. the decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 1, characterized in that: a header portion comprising: the gyroscope comprises a gyroscope rotor, a table body shaft, a frame and a frame shaft, wherein the gyroscope rotor is added with eccentric mass; the gyroscope rotor with the additional eccentric mass is arranged on the table body, the table body is connected with the frame through the table body shaft, the table body shaft can be rotatably arranged on the frame, one end of the table body shaft is provided with the angle sensor, the other end of the table body shaft is provided with the torque motor, one end of the frame shaft is provided with the angle sensor, the other end of the frame shaft is provided with the torque motor, and the frame is connected with the shell through the frame shaft.
3. The decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 2, characterized in that: when the mounting carrier of the two-axis integrated gyro accelerometer has the input of the visual acceleration along the two input axis directions of the gyro accelerometer, the gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the corresponding directions of the table body axis and the frame axis.
4. The decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 3, characterized in that: the two-axis integrated gyro accelerometer platform axis and the angle sensor on the frame axis detect the deviation angle, thereby generating two paths of deviation signals and converting the two paths of deviation signals into two paths of electric signals for output; two paths of deviation signals are used as input quantities of a second-order integration module and a lead-lag module; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals; the output quantities of the second-order integration module and the lead-lag module are used as the input quantities of the two-input-output decoupler, and the two-input-output decoupler decouples the input quantities, namely the two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors.
5. The decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 4, characterized in that: the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input and output decoupler so that the rotor of the two-axis integrated gyro accelerometer precesses to eliminate deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer; and two paths of electric signals output by the two-input and output decoupler are used as an output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
6. The decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 1, characterized in that: the second-order integration module enables the gyro accelerometer to become a II-type system, and the second-order integration module can eliminate errors related to the constant angular velocity change rate, so that the steady-state precision of the servo loop system is improved.
7. The decoupling servo control loop system of the two-axis integrated gyro-accelerometer of claim 1, characterized in that: the lead-lag module can improve the dynamic gain of the low frequency band of the system and is beneficial to reducing the dynamic error.
8. A decoupling servo control method for a two-axis integrated gyro accelerometer is characterized by comprising the following steps:
(1) when apparent acceleration is input into a mounting carrier of the two-axis integrated gyro accelerometer along the directions of two input axes of the gyro accelerometer, a gyro rotor of the eccentric mass of the gyro accelerometer generates a deviation angle relative to the shell in the directions of the corresponding table body axis and the frame axis;
(2) the angular sensors on the table body shaft and the frame shaft of the gyro accelerometer detect deviation angles, so that two paths of deviation signals are generated, and the two paths of deviation signals are converted into two paths of electric signals to be output;
(3) two paths of deviation signals are used as input quantities of a second-order integral module and an advance-lag module in the decoupling servo control loop system; the second-order integration module performs second-order integration on the two paths of deviation signals, and the lead-lag module performs low-frequency amplification on the two paths of deviation signals;
the transfer function of the two-axis integrated gyro accelerometer decoupling servo control loop system is as follows:
wherein, JxIs the moment of inertia of the frame, JyIs the moment of inertia of the table body, CxIs the damping coefficient of the frame, CyThe damping coefficient of the table body is H, and the angular momentum of a gyro accelerometer rotor is H; k is a radical ofcS represents the frequency domain variable for the amplification of the servo loop; t isc1、Tc2Is the time constant of the frequency band in the decoupling servo control loop system;
the transfer function of the lead-lag module is
Tc1、Tc2For decoupling time constants of frequency bands in servo control loops, Tc1>Tc2；
(5) The output quantities of the second-order integral module and the lead-lag module are used as the input quantities of the two-input control decoupler, and the two-input output decoupler decouples the input quantities, namely two electric signals to obtain two paths of electric signals which are respectively fed back to the corresponding torque motors;
(6) the two torque motors respectively generate rebalancing torque according to the electric signals output by the two-input control decoupler so as to lead the rotor of the two-axis integrated gyro accelerometer to precess, thus eliminating the deviation signals in the directions of the two input axes of the two-axis integrated gyro accelerometer;
(7) and two paths of electric signals output by the two-input control decoupler are used as the output result of the two-axis integrated gyro accelerometer after being subjected to gain compensation of the gain compensator.
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