CN109341719A - A kind of inertial navigation system Calculate Ways with rotating mechanism based on measurement and compensation static unbalance torque - Google Patents
A kind of inertial navigation system Calculate Ways with rotating mechanism based on measurement and compensation static unbalance torque Download PDFInfo
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- CN109341719A CN109341719A CN201811164733.3A CN201811164733A CN109341719A CN 109341719 A CN109341719 A CN 109341719A CN 201811164733 A CN201811164733 A CN 201811164733A CN 109341719 A CN109341719 A CN 109341719A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000003068 static effect Effects 0.000 title claims abstract description 30
- 238000005259 measurement Methods 0.000 title description 7
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000002474 experimental method Methods 0.000 claims description 3
- 239000002245 particle Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000009966 trimming Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000004458 analytical method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating imbalance
- G01M1/32—Compensating imbalance by adding material to the body to be tested, e.g. by correcting-weights
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- Testing Of Balance (AREA)
Abstract
The invention discloses a kind of based on the inertial navigation system Calculate Ways with rotating mechanism for measuring and compensating static unbalance torque, steps are as follows: three high-precision pressure sensors are mounted in trim tooling according to the positional relationship on three vertex of equilateral triangle, after completing sensor electrical connection, inertial navigation system is fixed again on three sensors, the electric machine rotational axis of control inertial navigation system is locked in 0 ° and 180 ° respectively, and record sensor output, it lists equalising torque formula and does difference, calculate static unbalance torque.According to system actual conditions, the clump weight of suitable position and weight is selected to carry out trim and the test effect that repeats the above steps.When trim effect is up to standard, trim work is completed.Inertial navigation system of this method energy effective compensation with rotating mechanism completes to low-cost high-efficiency inertial navigation system trim work, is of great significance around the static unbalance torque of certain electric machine rotational axis.
Description
Technical field
The present invention relates to the inertial navigation system Calculate Ways in a kind of field of inertia technology with rotating mechanism, are suitable for band rotation
The inertial navigation system of mechanism, and in particular to a kind of based on the inertial navigation system with rotating mechanism for measuring and compensating static unbalance torque
Quadratic method under unified central planning.
Background technique
Rotation modulation technology is a kind of method of the influence of effective suppression device constant value drift to navigation accuracy.Continuously to revolve
For the rotation modulation inertial navigation system that makes the transition, it can will carried with the constant value drift of the two of rotary shaft vertical direction gyros
Projection under system is modulated into the sine and cosine variable quantity that mean value is zero, to substantially reduce the diverging of navigation error, improves navigation
Precision.Rotation modulation technology is widely used in inertial navigation system of new generation, main including rotation modulation inertial navigation system and mixed
Box-like inertial navigation system, the present invention in, be referred to as the inertial navigation system with rotating mechanism.
Since the device distribution of inertial navigation system need in the light of actual conditions carry out reasonable arrangement, mass center after the assembly is completed is with regard to nothing
Method guarantees still on electric machine rotational axis, brings static unbalance torque of the inertial navigation system relative to electric machine rotational axis.Static unbalance
The generation of torque can aggravate the loss of electric machine, influence inertial navigation system frame stability, and the control of inertial navigation system is influenced when serious and is led
Boat precision, belongs to harmful torque, needs to eliminate.The harm of static unbalance torque seems in the instantaneous big overload of inertial navigation system
It is especially prominent, for example, overloading acceleration reaches 10 times of acceleration of gravity in certain inertial navigation system air-borne test section time, by power
The definition M=Fl=mal of square is it is found that the static unbalance torque of 100gcm can expand 10 times in non-overloaded situation.
Once static unbalance torque exceeds motor Maximum controlling moment, motor is likely to direct driving, leads to inertial navigation system failure, belong to
Abnormally dangerous situation, it is necessary to avoid.The method that static unbalance torque is eliminated in inertial navigation is referred to as trim, and moment balancing method belongs to it
One of.
In the inertial navigation system with rotating mechanism that the present invention discusses, need to use is two coordinate systems, is given below
It is defined:
IMU coordinate system (s): O-XsYsZs: rhombic system, origin O are inertial navigation system center point, are added by origin O and X, Y
Meter sensitive axes direction collectively constitutes XsOYsPlane, OXsIt is directed toward along X plus meter sensitive axes, OYsEdge and OXsVertically and with Y add meter sensitive
Axis is directed toward the direction that angle is acute angle, OZsWith OXs、OYsCollectively constitute right hand rectangular coordinate system.
Inside casing coordinate system (r1)Origin O is inertial navigation system center point, when each frame grating corner is
At 0 °,Along inside casing rotary axis direction, IMU coordinate system OXsWithProjection in the plane of plummet is oriented to WithCollectively constitute right hand rectangular coordinate system.
Calculate Ways of the present invention in specific implementation method part are mainly for inside casing coordinate system, but side of the invention
Method is also applied for the trim problem of other motor axis coordinate systems of the inertial navigation system with rotating mechanism.
Summary of the invention
The technical problem to be solved in the present invention are as follows: propose a kind of based on the band whirler for measuring and compensating static unbalance torque
The inertial navigation system Calculate Ways of structure, the static unbalance torque of inertial navigation system electric machine rotational axis of the effective compensation with rotating mechanism,
Trim motor axis coordinate system.According to established inside casing coordinate system, along the normal plane of electric machine rotational axisEstablish torque point
Analysis figure completes trim work using three high-precision pressure sensors for being fixed on three apex of equilateral triangle.
The present invention solves the technical solution that above-mentioned technical problem uses are as follows: one kind is based on measurement and compensation static unbalance torque
The inertial navigation system Calculate Ways with rotating mechanism, steps are as follows:
Step (1) completes three high-precision pressure sensor assembly in trim tooling, by the inertial navigation system with rotating mechanism
System is fixed on pressure sensor；
Step (2), the motor rotating mechanism for controlling inertial navigation system are locked in 0 ° and 180 ° of record sensor outputs；
Step (3) establishes equalising torque formula equation group and does Difference Calculation static unbalance torque；
Step (4) is tested according to calculated result counterweight and again, and trim effect is examined.
Further, three high-precision pressure sensor assembly are completed described in step (1) in trim tooling, it will be with rotation
The inertial navigation system of rotation mechanism is fixed on pressure sensor, and the specific steps are in the built-in Liru attached drawing 1 of electric machine rotational axis normal plane
Torque analysis figure, equilateral triangle three vertex a, b, c are projected in trim tooling and make label, by three high-precision pressures
Sensor is installed on trim tooling mark position and fixation.
After completing sensor electrical connection, the three axis inertial navigation systems with rotating mechanism are fixed on pressure sensor,
System position is adjusted, so that three pressure sensor readings are close, and guarantees system X, Y-axis is substantially aligned with preset direction, is
System Z axis refers to day, fixed system external equipment and power supply line substantially.
Further, the motor rotating mechanism that inertial navigation system is controlled described in step (2) is locked in zero-bit and 180 ° of records
Sensor output, the specific steps are, system electrification, in control, in, outline border motor rotate at grating zero-bit and lock, record
Then sensor output controls target frame motor and rotates to grating reading as 180 ° and lock, records sensor output again.
Further, equalising torque formula equation group is established described in step (3) and does Difference Calculation static unbalance torque, is had
Body step is, as shown in Fig. 1 using torque analysis figure, and using coordinate origin o as fulcrum, establishing electric machine rotational axis rotation angle is 0 °
With 180 ° of equalising torque formula:
Wherein, mai,mbi,mci, i=1,2 be the average output of three high-precision pressure sensors, i=1 electric machine rotational axis
Rotation angle is 0 °, and i=2 electric machine rotational axis rotation angle is 180 °, minnFor rotor quality, o is coordinate origin, and a, b, c is three height
Accuracy pressure sensor forced position, oinnFor rotor particle, ooutTo remove other parts mass center after rotor.It should be noted that
It is that the establishment of equalising torque formula is established under the premise of gross mass is constant, needs to be verified before the computation.
(4) and (5) are done into difference, obtain following formula:
Wherein, due to during tooling the practical rotary shaft of system can not be completely coincident with default, will really rotate axial projection
?Obtain central point o '.The half of calculated result is the static unbalance torque of inside casing coordinate system on the right of equation.
Further, it is tested according to calculated result counterweight and again described in step (4), examines trim effect, it is specific to walk
Suddenly it is, according to step (3) static unbalance Calculating Torque during Rotary as a result, the clump weight of certain mass is installed in selection in suitable balance position,
And inside casing motor shaft static unbalance torque is calculated again according to step (1), (2), (3), examine inside casing coordinate system trim effect, tool
Body flow chart is shown in attached drawing 2.
The advantages of the present invention over the prior art are that:
(1), the present invention measures and trim in the quiescent state, avoids the shadow of the dynamic errors such as rotary shaft moment of friction
It rings, guarantees trim precision；
(2), experimental facilities of the present invention is simple, and cost is relatively low；
(3), trim compensation calculation amount of the present invention is small, increases substantially control efficiency；
(4), the present invention is applied widely, and suitable for the various inertial navigation systems with rotating mechanism, ductility is good, modification experiment
The various shafting trim problems with rotating mechanism are applicable to after scheme.
Detailed description of the invention
Fig. 1 is electric machine rotational axis normal plane torque analysis figure.
Fig. 2 is overview flow chart.
Fig. 3 is the hybrid inertial navigation system schematic diagram of three axis, wherein 1 is rotational structure, and 2 be electrical equipment, and 3 be three axis tops
Spiral shell, three axis accelerometer, 4 be complete machine casing.
Fig. 4 is the hybrid inertial navigation system rotating mechanism schematic diagram of three axis, wherein 5 be outline border, and 6 be center, and 7 be inside casing.
Specific embodiment
Below with reference to specific embodiment, the method for the present invention is discussed in detail.
The present invention propose it is a kind of based on measure and compensation static unbalance torque the inertial navigation system with rotating mechanism with square
Method, the inertial navigation system in this embodiment are the hybrid inertial navigation system of three axis, and the principle master drawing of whole system is as shown in figure 3, packet
Include three axis accelerometer, three axis accelerometer 3, rotating mechanism 1, electrical equipment 2 and complete machine casing 4.
Its rotating mechanism schematic diagram is as shown in figure 4, rotating mechanism is divided into inside casing 7, center 6 and outline border 5, three frame difference
With different freedom degrees, whole system is realized around three axis and is rotated.Outside three axis frames, system configuration has outside complete machine
Shell is specifically shown in Fig. 3, in inertial navigation system fixation procedure, is mainly adjusted by enclosure location and realizes system assembly.
The trim of the present embodiment works mainly for inside casing motor shafting, i.e. r1Coordinate system, specific experiment step are as follows:
(1), balancing device assembly and inertial navigation system are fixed.
In the torque analysis figure of the built-in Liru Fig. 1 of inside casing electric machine rotational axis normal plane, o point is coordinate origin, equilateral triangle
Three vertex a of shape, b, c are projected in trim tooling plane and make a mark, three high-precision pressure sensors are installed on accordingly
Position and fixation.
Supported at three point platform is built using three pressure sensors, three stress surface centers a, b, c form a side length and are
The equilateral triangle of 8cm, o point are equilateral triangle center, and three stress points are substantially contour.After completing sensor electrical connection,
System is placed on pressure sensor, system position is adjusted, so that three pressure sensor readings are close, and guarantees system X,
Y-axis is substantially aligned with preset direction, and system Z axis refers to day substantially.The power supply line and signal wire for needing fixed system external simultaneously.
(2), system control and data acquisition.
System electrification, control outline border motor are rotated at grating zero-bit and are locked, and inside casing motor rotates at 0 ° of grating simultaneously
Locking, records three respective readings of sensor at this time, is denoted as ma1、mb1、mc1.The outer grating of control is constant, and inside casing motor is gone to
Grating reading is 180 ° and locks, and records three respective readings of sensor at this time, is denoted as m respectivelya2、mb2、mc2, measurement knot
Fruit is as shown in the table.
1 three pressure sensor measurement results of table
(3), static unbalance torque is calculated.
It calculates and checks whether the gross mass recorded twice is equal before, is i.e. whether inspection formula (7) is true, further according to formula
(6) static unbalance torque M is calculated0=127.4453gcm.
ma1+mb1+mc1=ma2+mb2+mc2 (7)
(4), using clump weight trim and trim effect is examined.
According to before to the description of system it can be found that there are many irregular gaps, not each positions in inertial navigation system
It sets and all optional does counterweight point.In order to not influence the radius of gyration and guarantee the mountable clump weight in selected location, final choice away from
At rotation center about 6cm, the clump weight that fixed mass is 20g carries out counterweight, and repeats step (1), (2), (3) again,
Measurement result is as shown in the table, and the compensated static unbalance torque M ' of counterweight is calculated0=4.4001gcm.
Three pressure sensor measurement results after 2 counterweight of table
The experimental results showed that the significant effect of Calculate Ways, if desired trim reaches higher precision, repeats the above steps straight
It is up to standard to trim precision.
What the present invention was not disclosed in detail partly belongs to techniques known.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology people of this technology neck
Member understands the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the ordinary skill of the art
For personnel, as long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these become
Change is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.
Claims (4)
1. a kind of based on the inertial navigation system Calculate Ways with rotating mechanism for measuring and compensating static unbalance torque, the system is extremely
It less include lockable rotating mechanism, the balancing device includes at least trim tooling, pressure sensor and clump weight, special
Sign is, comprising the following steps:
Step (1) completes the pressure sensor assembly in the trim tooling, and the fixed system is in the pressure sensing
On device；
The rotating mechanism of the system is locked in 0 ° and 180 ° by step (2), records the sensor output；
Step (3) lists equalising torque formula, does Difference Calculation static unbalance torque；
Step (4) selects suitable position in the system, and the suitable clump weight of selection carries out trim, and examines trim
Effect.
2. described in accordance with the claim 1 based on the inertial navigation system trim with rotating mechanism for measuring and compensating static unbalance torque
Method, it is characterised in that: the assembly method in the step (1), particular content are as follows: by the pressure sensor according to equilateral three
Angular three vertex positions relationship installation is fixed, and after completing the sensor electrical connection, then installs the fixed system in described
On pressure sensor.
3. described in accordance with the claim 1 based on the inertial navigation system trim with rotating mechanism for measuring and compensating static unbalance torque
Method, it is characterised in that: further include that step (3), to do Difference Calculation to equalising torque formula quiet not after the step (2)
Trimming moment, specific formula is as follows:
Wherein, mai,mbi,mci, i=1,2 be the average output of three high-precision pressure sensors, the rotation of i=1 electric machine rotational axis
Angle is 0 °, and i=2 electric machine rotational axis rotation angle is 180 °, minnFor rotor quality, o is coordinate origin, and a, b, c is three high-precisions
Pressure sensor forced position, oinnFor rotor particle, ooutTo remove other parts mass center after rotor, (1) and (2) makes the difference can be with
It obtains:
Wherein, due to during tooling the practical rotary shaft of system can not be completely coincident with default, real rotary shaft is projected inObtain central point o '.The half of calculated result is the static unbalance torque of inside casing coordinate system on the right of equation.
4. described in accordance with the claim 1 based on the inertial navigation system trim with rotating mechanism for measuring and compensating static unbalance torque
Method, it is characterised in that: it after the step (3) further include that step (4) selects suitable position in the system, selection
The suitable clump weight carries out trim, and examines trim effect, can suitably increase and decrease trim experiment number according to trim target,
Trim result is up to standard.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811164733.3A CN109341719B (en) | 2018-10-07 | 2018-10-07 | Inertial navigation system balancing method with rotating mechanism based on measurement and compensation of static unbalance moment |
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| CN201811164733.3A CN109341719B (en) | 2018-10-07 | 2018-10-07 | Inertial navigation system balancing method with rotating mechanism based on measurement and compensation of static unbalance moment |
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| CN107628272A (en) * | 2016-12-20 | 2018-01-26 | 上海微小卫星工程中心 | Satellite rotary part Wheel static and dynamic imbalance torque self-compensating device |
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2018
- 2018-10-07 CN CN201811164733.3A patent/CN109341719B/en active Active
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|---|---|---|---|---|
| CN102679970A (en) * | 2012-05-11 | 2012-09-19 | 北京航空航天大学 | Static balance test method applied to gyroscope position marker spindle |
| CN103617312A (en) * | 2013-11-19 | 2014-03-05 | 长春设备工艺研究所 | Fast accurate photoelectric axis system balancing system |
| CN104296908A (en) * | 2014-09-29 | 2015-01-21 | 哈尔滨工业大学 | Three-degree-of-freedom air bearing table disturbance torque composition measuring device |
| CN104848989A (en) * | 2015-05-29 | 2015-08-19 | 哈尔滨工业大学 | Automatic leveling device and leveling method of high-precision upright air-floating rotary platform |
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| 邓文昊等: "静不平衡力矩测量装置的误差分析与实验验证", 《研究开发》 * |
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