CN109341719B - Inertial navigation system balancing method with rotating mechanism based on measurement and compensation of static unbalance moment - Google Patents
Inertial navigation system balancing method with rotating mechanism based on measurement and compensation of static unbalance moment Download PDFInfo
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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
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- 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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Abstract
The invention discloses a balancing method of an inertial navigation system with a rotating mechanism based on measurement and compensation of static unbalanced moment, which comprises the following steps: the three high-precision pressure sensors are installed and fixed on a leveling tool according to the position relation of three vertexes of an equilateral triangle, after the sensors are electrically connected, an inertial navigation system is fixed on the three sensors, a motor rotating shaft of the inertial navigation system is controlled to be locked at 0 degree and 180 degrees respectively, the output of the sensors is recorded, a torque balance formula is listed and differential is made, and the static unbalance torque is calculated. And according to the actual condition of the system, selecting a balancing weight with a proper position and weight for balancing, and repeating the steps to check the effect. And when the balancing effect reaches the standard, finishing the balancing work. The method can effectively compensate the static unbalanced moment of the inertial navigation system with the rotating mechanism around a rotating shaft of a motor, completes the balancing work of the inertial navigation system with low cost and high efficiency, and has important significance.
Description
Technical Field
The invention relates to a balancing method of an inertial navigation system with a rotating mechanism in the technical field of inertia, which is suitable for the inertial navigation system with the rotating mechanism, in particular to a balancing method of the inertial navigation system with the rotating mechanism based on measurement and compensation of static unbalanced moment.
Background
The rotation modulation technology is a method for effectively inhibiting the influence of constant drift of a device on navigation precision. Taking a continuous rotation type rotation modulation inertial navigation system as an example, the system can modulate the projections of constant drifts of two gyroscopes in the direction vertical to a rotation axis under a carrier system into sine and cosine variable quantities with a zero mean value, thereby greatly reducing the divergence of navigation errors and improving the navigation precision. The rotation modulation technology is widely used in a new generation of inertial navigation systems, and mainly includes a rotation modulation inertial navigation system and a hybrid inertial navigation system, which are collectively referred to as an inertial navigation system with a rotation mechanism in the present invention.
Because the device distribution of the inertial navigation system needs to be reasonably arranged according to actual conditions, the mass center after the assembly is finished can not be ensured to be still on the motor rotating shaft, and the static unbalanced moment of the inertial navigation system relative to the motor rotating shaft is brought. The generation of the static unbalance moment can aggravate the loss of a motor, influence the frame stability of the inertial navigation system, and influence the control and navigation precision of the inertial navigation system in serious cases, so that the moment belongs to harmful moment and needs to be eliminated. The damage of the static unbalance moment is particularly obvious under the condition that the inertial navigation system is overloaded instantaneously, for example, the overload acceleration reaches 10 times of the gravity acceleration in a certain period of time of an airborne test of a certain inertial navigation system, and the static unbalance moment of 100g cm is enlarged by 10 times under the condition of no overload as can be seen from the definition of the moment M ═ F · l ═ M · a · l. Once the static unbalance moment exceeds the maximum control moment of the motor, the motor can fly directly, so that the inertial navigation system is out of order, which is a very dangerous situation and must be avoided. The method for eliminating the static unbalance moment by inertial navigation is called balancing, and the moment balance method belongs to one of the methods.
In the inertial navigation system with rotation mechanism discussed in the present invention, two coordinate systems are required, and the definition thereof is given below:
IMU coordinate system(s): O-XsYsZs: an orthogonal system with an origin O as the center point of the inertial navigation system and an origin O and X, Y plus a sensing axis pointing to form XsOYsPlane, OXsPointing along the sensitive axis of the X plus meter, OYsAlong with OXsPerpendicular to the direction of the Y plus the sensitive axis and having an acute included angle with the pointing direction of the Y plus the sensitive axis, OZsAnd OXs、OYsTogether forming a right-handed rectangular coordinate system.
Inner frame coordinate system (r)1)
The origin O is the point where the center of the inertial navigation system is located, when the rotation angle of each frame grating is 0 degree,
in the direction of the axis of rotation of the inner frame, the IMU coordinate system OXsIn and with
The projection on the plane of the plumb is directed as
And
together forming a right-handed rectangular coordinate system.
The trimming method in the embodiment of the invention mainly aims at the inner frame coordinate system, but the method of the invention is also suitable for the trimming problem of other motor shaft coordinate systems of the inertial navigation system with the rotating mechanism.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for balancing the inertial navigation system with the rotating mechanism based on measurement and compensation of the static unbalanced moment is provided, the static unbalanced moment of a certain motor rotating shaft of the inertial navigation system with the rotating mechanism is effectively compensated, and a motor shaft coordinate system is balanced. According to the established coordinate system of the inner frame, a normal plane along the rotating shaft of the motor
And (3) establishing a moment analysis diagram, and completing the balancing work by using three high-precision pressure sensors fixed at three vertexes of the equilateral triangle.
The technical scheme adopted by the invention for solving the technical problems is as follows: a balancing method of an inertial navigation system with a rotating mechanism based on measurement and compensation of static unbalance moment comprises the following steps:
the method comprises the following steps that (1) three high-precision pressure sensors are assembled on a balancing tool, and an inertial navigation system with a rotating mechanism is fixed on the pressure sensors;
step (2), controlling a motor rotating mechanism of the inertial navigation system to lock at 0-degree and 180-degree recording sensor outputs;
step (3), establishing a moment balance formula equation set to calculate the static unbalance moment in a differential mode;
and (4) balancing weight according to the calculation result, performing experiments again, and checking the balancing effect.
Further, in the step (1), assembling three high-precision pressure sensors on a balancing tool and fixing the inertial navigation system with the rotating mechanism on the pressure sensors are completed, and the specific steps are that a moment analysis diagram shown in the attached drawing 1 is established in a motor rotating shaft normal plane, three vertexes a, b and c of an equilateral triangle are projected on the balancing tool and marked, and the three high-precision pressure sensors are installed at the marked positions of the balancing tool and fixed.
After the sensors are electrically connected, the three-axis inertial navigation system with the rotating mechanism is fixed on the pressure sensors, the position of the system is adjusted, the readings of the three pressure sensors are close, the X axis and the Y axis of the system are basically aligned with the preset direction, the Z axis of the system basically refers to the sky, and external equipment and a power line of the system are fixed.
Further, the step (2) of controlling the motor rotating mechanism of the inertial navigation system to lock at the zero position and record the output of the sensor at 180 degrees comprises the specific steps of electrifying the system, controlling the inner frame motor, the middle frame motor and the outer frame motor to rotate to the grating zero position and lock, recording the output of the sensor, then controlling the target frame motor to rotate to the grating reading of 180 degrees and lock, and recording the output of the sensor again.
Further, the step (3) of establishing a torque balance formula equation set to calculate the static unbalance torque by difference includes the specific steps of establishing torque balance formulas with rotation angles of 0 ° and 180 ° by using a torque analysis diagram as shown in fig. 1 and using an origin of coordinates o as a fulcrum:
wherein m isai,mbi,mciI is 1,2 is the average output of the three high-precision pressure sensors, i is 1, the rotation angle of the motor rotation shaft is 0 °, i is 2, the rotation angle of the motor rotation shaft is 180 °, and m isinnThe rotor mass is determined, o is the origin of coordinates, a, b and c are the stress positions of three high-precision pressure sensors, oinnIs a rotor mass point, ooutTo remove the center of mass of the other part behind the rotor. It should be noted that the establishment of the formula for moment balanceOn the premise that the total mass is not changed, verification is needed before calculation.
And (4) and (5) are differentiated, so that the following formula is obtained:
wherein, because the actual rotation axis of system can't completely coincide with predetermineeing in the frock in-process, with real rotation axis projection in
The center point o' is obtained. And half of the calculation result on the right side of the equation is the static unbalance moment of the inner frame coordinate system.
Further, in the step (4), balancing weight is performed according to the calculation result, the experiment is performed again, and the balancing effect is checked, specifically, the step is that a balancing weight with a certain mass is installed at a proper balancing weight position according to the static unbalance moment calculation result in the step (3), the static unbalance moment of the inner frame motor shaft is calculated again according to the steps (1), (2) and (3), and the balancing effect of the inner frame coordinate system is checked, and a specific flow chart is shown in an attached figure 2.
Compared with the prior art, the invention has the advantages that:
(1) the invention carries out measurement and balancing in a static state, avoids the influence of dynamic errors such as rotating shaft friction torque and the like, and ensures the balancing precision;
(2) the experimental equipment is simple, and the cost is low;
(3) the invention has small balancing compensation calculation amount and greatly improves the balancing efficiency;
(4) the invention has wide application range, is suitable for various inertial navigation systems with rotating mechanisms, has good ductility, and can be suitable for the shafting balancing problem of various rotating mechanisms after the experimental scheme is modified.
Drawings
Fig. 1 is a plane moment analysis diagram of a motor rotating shaft method.
Fig. 2 is a general flow chart.
Fig. 3 is a schematic diagram of a three-axis hybrid inertial navigation system, in which 1 is a rotating structure, 2 is an electrical device, 3 is a three-axis gyroscope and a three-axis accelerometer, and 4 is a casing of the whole inertial navigation system.
Fig. 4 is a schematic diagram of a rotation mechanism of a three-axis hybrid inertial navigation system, wherein 5 is an outer frame, 6 is a middle frame, and 7 is an inner frame.
Detailed Description
The process of the present invention will be described in detail with reference to specific examples.
The invention provides a balancing method of an inertial navigation system with a rotating mechanism based on measurement and compensation of static unbalanced moment, the inertial navigation system in the embodiment is a three-axis hybrid inertial navigation system, and a principle sample diagram of the whole system is shown in fig. 3 and comprises a three-axis gyroscope, a three-axis accelerometer 3, a rotating mechanism 1, an electrical device 2 and a whole machine shell 4.
The schematic diagram of the rotating mechanism is shown in fig. 4, the rotating mechanism is divided into an inner frame 7, a middle frame 6 and an outer frame 5, and the three frames have different degrees of freedom respectively, so that the whole system can rotate around three axes. Outside the triaxial frame, the system is configured with a complete machine shell, specifically shown in fig. 3, and in the fixing process of the inertial navigation system, the system assembly is mainly realized by adjusting the position of the shell.
The balancing work of the embodiment is mainly aimed at an inner frame motor shafting, namely r1The coordinate system comprises the following specific experimental steps:
(1) and assembling the balancing device and fixing the inertial navigation system.
A moment analysis diagram as shown in figure 1 is established in a plane normal to a rotating shaft of an inner frame motor, a point o is a coordinate origin, three vertexes a, b and c of an equilateral triangle are projected on a plane of a balancing tool and marked, and three high-precision pressure sensors are installed at corresponding positions and fixed.
Three pressure sensors are utilized to build a three-point supporting platform, the centers a, b and c of three stress surfaces form an equilateral triangle with the side length of 8cm, the point o is the center of the equilateral triangle, and the three stress points are basically equal in height. After the sensors are electrically connected, the system is placed on the pressure sensors, the position of the system is adjusted, the readings of the three pressure sensors are close, the X axis and the Y axis of the system are basically aligned with the preset direction, and the Z axis of the system basically indicates the sky. And meanwhile, external power lines and signal lines of the system need to be fixed.
(2) And system control and data acquisition.
The system is electrified, the outer frame motor is controlled to rotate to the zero position of the grating and be locked, the inner frame motor rotates to the position of 0 degree of the grating and be locked, the respective reading of the three sensors at the moment is recorded and is recorded as ma1、mb1、mc1. Controlling the outer grating to be unchanged, rotating the inner frame motor to the grating reading of 180 degrees and locking, recording the respective readings of the three sensors at the moment, and respectively recording the readings as ma2、mb2、mc2The measurement results are shown in the following table.
TABLE 1 three pressure sensor measurements
(3) And calculating the static unbalance moment.
Before calculation, whether the total mass of the two records is equal or not is checked, namely whether the formula (7) is established or not is checked, and then the static unbalance moment M is calculated according to the formula (6)0＝127.4453g·cm。
ma1+mb1+mc1＝ma2+mb2+mc2 (7)
(4) And balancing by using the balancing weight and checking the balancing effect.
According to the previous description of the system, it can be found that many irregular gaps exist in the inertial navigation system, and not every position can be selected as a counterweight point. In order to not influence the gyration radius and ensure that the balancing weight can be installed at the selected position, the balancing weight with the fixed mass of 20g at the position which is about 6cm away from the rotation center is finally selected for balancing, the steps (1), (2) and (3) are repeated again, the measurement result is shown in the following table, and the static unbalance moment M 'after the balancing weight compensation is calculated'0＝4.4001g·cm。
TABLE 2 measurement results of three pressure sensors after counterweight
Experimental results show that the effect of the balancing method is remarkable, and if balancing is needed to achieve higher precision, the steps are repeated until the balancing precision reaches the standard.
Portions of the invention not disclosed in detail are well within the skill of the art.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (1)
1. A balancing method of an inertial navigation system with a rotating mechanism based on measurement and compensation of static unbalance moment, the system at least comprises a lockable rotating mechanism, and a balancing device at least comprises a balancing tool, a pressure sensor and a balancing weight, and is characterized by comprising the following steps:
step (1), completing the assembly of the pressure sensor on the leveling tool, and fixing the system on the pressure sensor;
the assembling method in the step (1) comprises the following specific contents: the pressure sensor is fixedly installed according to the position relation of three vertexes of an equilateral triangle, and after the sensors are electrically connected, the system is fixedly installed on the pressure sensor;
step (2), locking the rotating mechanism of the system at 0 DEG and 180 DEG, and recording the output of the sensor;
step (3), listing a moment balance formula, and calculating the static unbalance moment by difference; the specific formula is as follows:
wherein m isai,mbi,mciWhere i is 1 and 2 are the average output of the three high-precision pressure sensors, i is 1, the rotation angle of the motor rotation shaft is 0 °, i is 2, the rotation angle of the motor rotation shaft is 180 °, and m isinnThe rotor mass is determined, o is the origin of coordinates, a, b and c are the stress positions of three high-precision pressure sensors, oinnIs a rotor mass point, ooutTo remove the center of mass of the other part of the rotor, (1) and (2) are subtracted to obtain:
wherein, because the actual rotation axis of system can't completely coincide with predetermineeing in the frock in-process, with real rotation axis projection in
Obtaining a central point o', wherein one half of the calculation result on the right side of the equation is the static unbalance moment of the inner frame coordinate system;
and (4) selecting a proper position in the system, selecting a proper balancing weight for balancing, and checking the balancing effect.
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