CN110987013A - Method and device for calibrating gyroscope angular motion measurement system - Google Patents
Method and device for calibrating gyroscope angular motion measurement system Download PDFInfo
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- CN110987013A CN110987013A CN201911288109.9A CN201911288109A CN110987013A CN 110987013 A CN110987013 A CN 110987013A CN 201911288109 A CN201911288109 A CN 201911288109A CN 110987013 A CN110987013 A CN 110987013A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a calibration method and a device of a gyroscope angular motion measurement system, wherein the calibration device comprises a calibration frame, a main shaft, a driving device, an angular vibration acquisition system, an angle reflecting mirror, an interference mirror, a laser interferometer and a computer; the calibration method comprises the following steps: controlling the angular vibration table to perform angular vibration according to a set motion angle signal, and acquiring angular rotation data by an angular vibration acquisition system and transmitting the angular rotation data to a computer; feeding back the movement angle signal to a servo control system to control a servo motor to move in a reverse direction, and directly measuring the angle deviation between the angle reflecting mirror and the initial position by a laser interferometer; synthesizing a rotation angle value through the angle rotation data and the angle deviation, and calibrating the angular vibration table; and S6, repeating the steps to finish the calibration of the angular vibration table in the whole angular vibration process. The invention can solve the problem that the gyroscope angular motion measurement system is difficult to calibrate on site.
Description
Technical Field
The invention relates to a calibration method and a calibration device for a gyroscope angular motion measurement system, and belongs to the field of testing of inertial devices such as gyroscopes.
Background
Gyroscopes are devices that calibrate angular motion about an axis orthogonal to the axis of rotation with respect to space using a moment-of-momentum sensitive housing of a high-speed rotating body, and are widely used in the civilian and military fields. The gyroscope angular motion measurement system is a main device for measuring the dynamic characteristic of a gyroscope, wherein the key device is an angular vibration table, the angular motion state of the gyroscope can be accurately simulated, and whether the angular motion value is accurate or not directly relates to the reliability of the detection result of the dynamic characteristic of the gyroscope, so that the calibration of the gyroscope angular motion measurement system is very important.
At present, the calibration of a gyroscope angular motion measurement system is seriously lagged behind the practical application, the dynamic calibration of the domestic angular vibration mainly adopts a diffraction grating-laser interferometer method to directly trace angles and time.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the device for calibrating the gyroscope angular motion measurement system are provided to solve the problem that the gyroscope angular motion measurement system is difficult to calibrate on site.
The technical scheme of the invention is as follows: the utility model provides a gyroscope angular motion measurement system's calibrating device, gyroscope angular motion measurement system package angle vibration platform and workstation, the angle vibration platform includes the revolving axle of vertical setting, calibrating device includes:
the calibration frame is fixedly arranged on the workbench;
the main shaft is vertically and rotatably arranged on the calibration frame, and the main shaft and the axis of a rotating shaft of the angular vibration table are positioned on the same vertical line;
the driving device is arranged on the calibration frame and comprises a servo motor and a servo control system, the servo motor can drive the spindle to rotate, and the servo control system is suitable for controlling the action of the servo motor;
the angular vibration acquisition system is arranged on the main shaft and used for measuring the rotation angle of the main shaft;
an angle reflecting mirror mounted on the main shaft to measure a rotation angle of the main shaft;
the interference mirror is parallel to the angle reflecting mirror and is positioned at the same height position;
the laser interferometer is positioned at the same height position with the interference mirror and the angle reflecting mirror, and laser emitted by the laser interferometer enters the angle reflecting mirror after passing through the interference mirror and is reflected by the angle reflecting mirror and then is reflected back to the laser interferometer by the interference mirror;
and the signal output end of the angular vibration acquisition system is electrically connected with the signal input end of the computer, and the signal output end of the laser interferometer is electrically connected with the signal input end of the computer.
Preferably, the output shaft of the servo motor is rigidly connected with one end of the main shaft.
Preferably, a fixing plate is arranged on the calibration frame, and the main shaft is vertically installed on the fixing plate through a bearing.
Preferably, the angular vibration acquisition system is a grating angle measurement system.
Preferably, the interference mirror is mounted on a support.
The invention also provides a calibration method of the calibration device, which comprises the following steps:
s1, adjusting laser collimation of the laser interferometer, and placing the angular vibration table and the laser interferometer at zero positions;
s2, controlling the angular vibration table to perform angular vibration according to a set motion angle signal, acquiring angular rotation data and transmitting the angular rotation data to the computer by the angular vibration acquisition system, wherein the motion angle signal comprises a rotation angle and a rotation speed;
s3, feeding the movement angle signal back to the servo control system to control the servo motor to move in the reverse direction, and directly measuring the angle deviation between the angle reflecting mirror and the initial position by the laser interferometer;
s4, synthesizing angle rotation data acquired by the angular vibration acquisition system and the angle deviation measured by the laser interferometer into a rotation angle value;
s5, comparing the rotation angle value with the motion angle represented by the set motion angle signal to obtain the error of the angular vibration table in the motion angle signal, and calibrating the angular vibration table;
and S6, repeating the steps S2 to S5, and completing the calibration of the angular vibration table in the whole angular vibration process.
Compared with the prior art, the invention has the advantages that:
(1) the invention has the advantages of simple structure and convenient realization, and can realize the quick installation and adjustment of the angular vibration acquisition system and the laser interferometer;
(2) the invention can utilize the portable angular vibration acquisition system and the laser interferometer to quickly complete angular motion data including angle, angular velocity and angular acceleration;
(3) the invention improves the calibration reliability of the gyroscope angular motion measurement system, improves the angular motion calibration efficiency, and solves the problem that the on-site calibration accuracy of the on-site gyroscope angular motion measurement system cannot be ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of the vibration table and the calibration stand;
in the figure: the device comprises an angular vibration table 1, a workbench 2, an angular vibration acquisition system 3, a main shaft 4, an angular reflector 5, a driving device 6, a fixing plate 7, a calibration frame 8, an interference mirror 9, a laser interferometer 10 and a computer 11.
Detailed Description
The invention will be further described with reference to the following drawings and specific embodiments:
as shown in fig. 1 to 2, the calibration device of the gyroscope angular motion measurement system according to the present embodiment includes an angular vibration table 1 and a workbench 2, wherein the angular vibration table 1 includes a vertically disposed rotating shaft, and the workbench 2 can be driven to rotate by the rotating shaft.
The calibration device comprises a calibration frame 8, a main shaft 4, a driving device 6, an angular vibration acquisition system 3, an angle reflecting mirror 5, an interference mirror 9, a laser interferometer 10 and a computer 11.
And the calibration frame 8 is fixedly arranged on the workbench 2 and is mainly used for mounting the main shaft 4, the driving device 6, the angular vibration acquisition system 3 and the angle reflecting mirror 5.
And the main shaft 4 is vertically and rotatably arranged on the calibration frame 8, and the main shaft 4 and the axis of the rotating shaft of the angular vibration table 1 are positioned on the same vertical line. Specifically, a fixing plate 7 arranged laterally is provided on the calibration frame 8, and the main shaft 4 is vertically mounted on the fixing plate 7 through a bearing.
And the driving device 6 is arranged on the calibration frame 8, the driving device 6 comprises a servo motor and a servo control system, the servo motor can drive the spindle 4 to rotate, and the servo control system is suitable for controlling the action of the servo motor. Specifically, the output shaft of the servo motor is rigidly connected to one end of the main shaft 4. In one example, the servo motor is disposed at a lower portion of the calibration angle, and an output shaft of the servo motor is disposed vertically.
And the angular vibration acquisition system 3 is arranged on the main shaft 4 to measure the rotation angle of the main shaft 4. The angular vibration acquisition system 3 may be a grating goniometric system.
And an angle reflecting mirror 5 mounted on the main shaft 4 to measure a rotation angle of the main shaft 4. In one example, the angle mirror 5 is fixedly mounted on the top end of the main shaft 4.
And an interference mirror 9 parallel to and at the same height as the angle reflecting mirror 5. In particular, the interference mirror 9 may be mounted on the ground by a bracket.
The laser interferometer 10 is located at the same height position as the interference mirror 9 and the angle reflecting mirror 5, and laser light emitted from the laser interferometer 10 is incident on the angle reflecting mirror 5 through the interference mirror 9, reflected by the angle reflecting mirror 5, and then retroreflected to the laser interferometer 10 through the interference mirror 9. The laser interferometer 10 can measure the angular difference of the angle mirror 5 at different positions.
And a signal output end of the angular vibration acquisition system 3 of the computer 11 is electrically connected with a signal input end of the computer 11, and a signal output end of the laser interferometer 10 is electrically connected with a signal input end of the computer 11.
The calibration method of the calibration device provided by the embodiment of the invention comprises the following steps:
s1, adjusting the laser alignment of the laser interferometer 10, and placing the angular vibration table 1 and the laser interferometer 10 at zero positions.
And S2, controlling the angular vibration table 1 to perform angular vibration according to a set motion angle signal, acquiring angular rotation data and transmitting the angular rotation data to the computer 11 by the angular vibration acquisition system 3 in the angular vibration process, wherein the motion angle signal comprises a rotation angle and a rotation speed.
S3, feeding back the movement angle signal to the servo control system to control the servo motor to move reversely, that is, rotate reversely according to the set rotation angle and rotation speed, and directly measuring the angle deviation between the angle mirror 5 and the initial position by the laser interferometer 10. After the angular vibration table 1 performs angular vibration according to the set motion angle signal, the servo control system controls the servo motor to rotate reversely according to the set motion angle signal, which is equivalent to that the main shaft 4 returns to the initial position, if the motion of the angular vibration table 1 has an error, the positions of the main shaft 4 and the angular reflecting mirror 5 are different from the initial position inevitably, and deviation exists.
And S4, synthesizing the angle of rotation value by the angle rotation data acquired by the angular vibration acquisition system 3 and the angle deviation measured by the laser interferometer 10.
And S5, comparing the resultant rotation angle value with the motion angle represented by the set motion angle signal to obtain the error of the angular vibration table 1 in the motion angle signal, and calibrating the angular vibration table 1 according to the error.
S6, repeating steps S2 to S5, the calibration of the angular vibration table 1 during the whole angular vibration process (i.e. different rotation angles and rotation speeds) can be completed.
When the invention is used for calibrating a gyroscope angular motion measurement system, the angular vibration acquisition system 3 and the laser interferometer 10 can be quickly installed and adjusted, angular motion data including angle, angular velocity and angular acceleration can be quickly completed by using the portable angular vibration acquisition system 3 and the laser interferometer 10, the calibration reliability of the gyroscope angular motion measurement system is improved, the angular motion calibration efficiency is improved, and the problem that the field calibration accuracy of the field gyroscope angular motion measurement system cannot be ensured is solved.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. The utility model provides a calibration device of gyroscope angular motion measurement system, gyroscope angular motion measurement system angular vibration platform (1) and workstation (2), angular vibration platform (1) is including the revolving axle of vertical setting, its characterized in that, calibration device includes:
the calibration frame (8) is fixedly arranged on the workbench (2);
the main shaft (4) is vertically and rotatably arranged on the calibration frame (8), and the main shaft (4) and the axis of the rotating shaft of the angular vibration table (1) are positioned on the same vertical line;
the driving device (6) is arranged on the calibration frame (8), the driving device (6) comprises a servo motor and a servo control system, the servo motor can drive the spindle (4) to rotate, and the servo control system is suitable for controlling the action of the servo motor;
the angular vibration acquisition system (3) is arranged on the main shaft (4) and used for measuring the rotation angle of the main shaft (4);
an angle reflector (5) mounted on the main shaft (4) to measure a rotation angle of the main shaft (4);
the interference mirror (9) is parallel to the angle reflecting mirror (5) and is positioned at the same height position;
the laser interferometer (10) is positioned at the same height position with the interference mirror (9) and the angle reflecting mirror (5), laser light emitted by the laser interferometer (10) enters the angle reflecting mirror (5) after passing through the interference mirror (9), is reflected by the angle reflecting mirror (5), and then is reflected back to the laser interferometer (10) through the interference mirror (9);
and the signal output end of the angular vibration acquisition system (3) is electrically connected with the signal input end of the computer (11), and the signal output end of the laser interferometer (10) is electrically connected with the signal input end of the computer (11).
2. Calibration device of a gyroscope angular movement measurement system according to claim 1, characterized in that the output shaft of the servo motor is rigidly connected to one end of the spindle (4).
3. The calibration device of the gyroscope angular motion measuring system according to claim 1, characterized in that a fixed plate (7) is provided on the calibration frame (8), and the main shaft (4) is vertically mounted on the fixed plate (7) through a bearing.
4. Calibration device of a gyroscope angular movement measurement system according to claim 1, characterized in that the angular vibration acquisition system (3) is a grating goniometric system.
5. Calibration device of a gyroscope angular movement measurement system according to claim 1, characterized in that the interferometer mirrors (9) are mounted on a support.
6. A method of calibrating a calibration device according to any one of claims 1 to 5, comprising the steps of:
s1, adjusting laser collimation of the laser interferometer (10), and placing the angular vibration table (1) and the laser interferometer (10) at zero positions;
s2, controlling the angular vibration table (1) to perform angular vibration according to a set motion angle signal, acquiring angular rotation data and transmitting the angular rotation data to the computer (11) by the angular vibration acquisition system (3), wherein the motion angle signal comprises a rotation angle and a rotation speed;
s3, feeding the motion angle signal back to the servo control system to control the servo motor to move reversely, and directly measuring the angle deviation between the angle reflecting mirror (5) and the initial position by the laser interferometer (10);
s4, synthesizing angle rotation data acquired by the angular vibration acquisition system (3) and the angle deviation measured by the laser interferometer (10) into a rotation angle value;
s5, comparing the rotation angle value with the motion angle represented by the set motion angle signal to obtain the error of the angular vibration table (1) in the motion angle signal, and calibrating the angular vibration table (1);
s6, repeating the steps S2 to S5, and finishing the calibration of the angular vibration table (1) in the whole angular vibration process.
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| CN201911288109.9A CN110987013A (en) | 2019-12-15 | 2019-12-15 | Method and device for calibrating gyroscope angular motion measurement system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337053A (en) * | 2020-03-27 | 2020-06-26 | 中国科学院西安光学精密机械研究所 | Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope |
| CN111504344A (en) * | 2020-05-15 | 2020-08-07 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN112683257A (en) * | 2020-12-07 | 2021-04-20 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Active tilt control system and method for four-pulse cold atom interference gyroscope |
| CN113237491A (en) * | 2021-04-22 | 2021-08-10 | 北京航天计量测试技术研究所 | Frequency characteristic testing device and method of digital gyroscope |
| CN113532474A (en) * | 2021-07-02 | 2021-10-22 | 北京航空航天大学 | Method for resolving amplitude and frequency of sinusoidal motion of low-frequency angular acceleration table |
| CN114252091A (en) * | 2021-12-23 | 2022-03-29 | 贵州航天计量测试技术研究所 | Gyroscope measuring system rotating speed calibration device and calibration method |
| CN115183861A (en) * | 2022-08-18 | 2022-10-14 | 天津大学 | Dynamic self-noise measurement method and system of MHD micro-angle vibration sensor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337053A (en) * | 2020-03-27 | 2020-06-26 | 中国科学院西安光学精密机械研究所 | Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope |
| CN111337053B (en) * | 2020-03-27 | 2021-09-14 | 中国科学院西安光学精密机械研究所 | Method and system for measuring and calibrating dynamic error characteristics of fiber-optic gyroscope |
| CN111504344A (en) * | 2020-05-15 | 2020-08-07 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN111504344B (en) * | 2020-05-15 | 2022-03-11 | 天津时空经纬测控技术有限公司 | Calibration system and method for calibrating non-contact attitude measurement equipment |
| CN112683257A (en) * | 2020-12-07 | 2021-04-20 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Active tilt control system and method for four-pulse cold atom interference gyroscope |
| CN113237491A (en) * | 2021-04-22 | 2021-08-10 | 北京航天计量测试技术研究所 | Frequency characteristic testing device and method of digital gyroscope |
| CN113532474A (en) * | 2021-07-02 | 2021-10-22 | 北京航空航天大学 | Method for resolving amplitude and frequency of sinusoidal motion of low-frequency angular acceleration table |
| CN113532474B (en) * | 2021-07-02 | 2023-11-17 | 北京航空航天大学 | Method for resolving sine motion amplitude and frequency of low-frequency angular acceleration table |
| CN114252091A (en) * | 2021-12-23 | 2022-03-29 | 贵州航天计量测试技术研究所 | Gyroscope measuring system rotating speed calibration device and calibration method |
| CN115183861A (en) * | 2022-08-18 | 2022-10-14 | 天津大学 | Dynamic self-noise measurement method and system of MHD micro-angle vibration sensor |
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