CN113237491A - Frequency characteristic testing device and method of digital gyroscope - Google Patents
Frequency characteristic testing device and method of digital gyroscope Download PDFInfo
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- CN113237491A CN113237491A CN202110437462.XA CN202110437462A CN113237491A CN 113237491 A CN113237491 A CN 113237491A CN 202110437462 A CN202110437462 A CN 202110437462A CN 113237491 A CN113237491 A CN 113237491A
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- digital gyroscope
- laser interferometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention relates to a frequency characteristic testing device and a frequency characteristic testing method of a digital gyroscope, wherein equipment to be tested is the digital gyroscope, and the testing device comprises a synchronous trigger, a laser interferometer host, a data acquisition computer, an angle interference mirror, an angle reflecting mirror and a vibrating table. The invention can not only realize the frequency characteristic test of the digital gyroscope, but also reduce the phase delay caused by the measuring method, and simultaneously, the method can modify the acquisition frequency so as to finish synchronous same-frequency acquisition according to the tested gyroscope and the interferometer.
Description
Technical Field
The invention relates to a frequency characteristic testing device and a frequency characteristic testing method of a digital gyroscope, and belongs to the field of performance testing of gyroscopes.
Background
For missile weapons and missile types, only accurate information such as measurement azimuth, speed, attitude and the like can be obtained to complete a preset navigation or stabilization task, so that an inertial measurement and control instrument is often required. In an inertial measurement unit, an accelerometer may be used to measure the translational acceleration of a moving object and a gyroscope to measure the rotational attitude of the object. The fiber optic gyroscope and the MEMS gyroscope are widely used in aerospace models by virtue of the advantages of simple process, small volume, light weight, high reliability and good dynamic characteristics, and if the fiber optic gyroscope is used in the Tiangong I target aircraft main control inertial navigation equipment, the attitude measurement and control of a space station are realized; in CZ-5 and CZ-7 ground tests, the characteristics of small volume and high response frequency of the fiber-optic gyroscope are applied, and the fiber-optic gyroscope is used for measuring a full-rocket vibration mode, a fairing separation vibration mode, a rotation attitude, a boosting level separation attitude and the like; in a special project, the aircraft has the characteristics of high flying speed, wide flying airspace, high response time, large overload, complex flying environment and the like, and a gyroscope with high dynamic characteristics is required to be used for measuring information such as rolling attitude, shaking amplitude/frequency and the like of the aircraft in a low-altitude and high-dynamic-pressure environment in real time so as to meet the requirements of large-angle and high-maneuvering control and high-speed dynamic attitude control precision.
The frequency characteristic is an important index for measuring the dynamic performance of the fiber-optic gyroscope. In the research process, the closed loop bandwidth of the system has great influence on the test accuracy of the fiber-optic gyroscope under the environmental conditions of vibration, sharp turning and the like. Modern aeronautical weapons require the gyroscope to have a large vibration operating frequency range, which requires that the closed loop bandwidth of the gyroscope is high enough to provide a fast enough response speed, so that the gyroscope can reflect the input angular rate signal linearly and undistorted within a specified frequency band, and interference errors are effectively suppressed.
According to the frequency bandwidth testing method of GJB 2426A-2004 'optical fiber gyroscope testing method'. In general, the frequency characteristic test of the inertial system is to obtain the frequency characteristic of the inertial system by comparing with a standard signal under different sine frequency excitation.
At present, for a gyroscope with an output quantity being an analog quantity, the analog quantity output by the interferometer can be collected and directly compared, and a frequency characteristic test is completed. For the gyroscope outputting digital quantity of output bits, the target adopts a method that the analog quantity output by the interferometer is directly compared with the digital quantity of the output bits converted by a high-frequency AD chip. By adopting the mode, the acquisition frequency of the tested equipment cannot be modified; and the use of either type of data as a trigger signal introduces a time delay. In addition, there is AD conversion in the middle of the acquisition process, which can bring about time delay. These affect the phase characteristics.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects and requirements in the prior art, the invention provides a frequency characteristic testing device and a frequency characteristic testing method of a digital gyroscope, and solves the problem of phase delay caused by incapability of setting and measuring a sampling frequency in the frequency characteristic measuring process of the digital gyroscope. The invention can not only realize the frequency characteristic test of the digital gyroscope, but also reduce the phase delay caused by the measuring method, and simultaneously, the method can modify the acquisition frequency so as to finish synchronous same-frequency acquisition according to the tested gyroscope and the interferometer.
(II) technical scheme
A frequency characteristic testing device of a digital gyroscope is characterized in that equipment to be tested of the device is the digital gyroscope, and the testing device comprises a synchronous trigger, a laser interferometer host, a data acquisition computer, an angle interference mirror, an angle reflecting mirror and a vibration table; the digital gyroscope is installed on the vibration table, and the angle reflecting mirror is arranged beside the digital gyroscope and also installed on the vibration table; the laser interferometer main machine and the angle interference mirror are arranged on the tripod, and the positions of the laser interferometer main machine and the angle interference mirror are adjusted to enable corresponding indicator lights of the laser interferometer main machine to be on; the laser interferometer host, the angle interference mirror and the angle reflector form a set of dynamic angle measuring system.
And the data acquisition computer is respectively connected to the synchronous trigger, the laser interferometer host and the vibration table.
In the testing device, the synchronous trigger is respectively connected to the laser interferometer host and the digital gyroscope and respectively sends two paths of synchronous pulses to the laser interferometer host and the digital gyroscope, the laser interferometer host latches the current data and sends the current data to the data acquisition computer after receiving the synchronous pulses, and the digital gyroscope latches the current data and sends the current data to the data acquisition computer after receiving the synchronous pulses.
The vibration table is an angular vibration table.
A testing method of a frequency characteristic testing device of a digital gyroscope comprises the following steps:
s1, installing the testing device in place;
s2, adjusting and setting each component in sequence, and electrifying to operate;
s3, controlling corresponding parts in the testing device by a data acquisition computer, and acquiring related data;
and S4, after the acquisition is finished, calculating the frequency characteristic of the digital gyroscope.
Step S1 specifically includes:
s11, fixedly mounting the digital gyroscope to the vibrating table, and ensuring that the axes of the digital gyroscope and the vibrating table are parallel;
s12, mounting a laser interferometer host and an angle interferometer to a tripod;
and S13, respectively connecting the data acquisition computer to a synchronous trigger, a laser interferometer host and a vibration table.
Step S2 specifically includes:
s21, setting the vibration frequency and amplitude of the vibration table and setting the pulse frequency of the synchronous trigger;
s22, starting the vibration table, electrifying the digital gyroscope after the vibration table operates stably, and starting to operate;
s23, starting a laser interferometer host.
Step S3 specifically includes:
s31, controlling a synchronous trigger to send out synchronous pulses through a data acquisition computer;
s32, after the laser interferometer host and the digital gyroscope receive corresponding synchronous pulses, latching corresponding data;
and S33, receiving and storing corresponding latching data by the data acquisition computer.
In step S3, after a number of vibration cycles have been run, the synchronization pulse is stopped.
The plurality of vibration periods is 10 vibration periods.
(III) advantageous effects
The device and the method for testing the frequency characteristic of the digital gyroscope can realize the frequency characteristic test of the digital gyroscope, reduce the phase delay caused by the measuring method, and modify the acquisition frequency so as to finish synchronous same-frequency acquisition according to the tested gyroscope and the interferometer. The method has already carried out the frequency characteristic test on a plurality of types of gyroscopes such as gyroscopes produced by STIM in Norway, VG095, VG091 and Beijing aerospace testing, and has obvious effect.
Drawings
Fig. 1 is a block diagram of a frequency characteristic testing apparatus of a digital gyroscope according to the present invention.
Fig. 2 is a flowchart of a method for testing a frequency characteristic testing apparatus of a digital gyroscope according to the present invention.
In the figure: 1-a synchronization trigger; 2-a laser interferometer main unit; 3-a data acquisition computer; 4-angle interference mirror; 5-angle mirror; 6-a vibration table; 7-digital gyroscope.
Detailed Description
Referring to fig. 1:
the invention relates to a frequency characteristic testing device of a digital gyroscope, wherein equipment to be tested is a digital gyroscope 7, and the testing device comprises a synchronous trigger 1, a laser interferometer host 2, a data acquisition computer 3, an angle interference mirror 4, an angle reflecting mirror 5 and a vibrating table 6; the digital gyroscope 7 is installed on the vibrating table 6, and the angle reflecting mirror 5 is arranged beside the digital gyroscope 7 and is also installed on the vibrating table 6; the laser interferometer main machine 2 and the angle interference mirror 4 are both arranged on the tripod, and the positions of the laser interferometer main machine 2 and the angle interference mirror are adjusted to enable corresponding indicator lights of the laser interferometer main machine 2 to be on; the laser interferometer host 2, the angle interference mirror 4 and the angle reflection mirror 5 form a set of dynamic angle measurement system.
The data acquisition computer 3 is respectively connected to the synchronous trigger 1, the laser interferometer host 2 and the vibration table 6.
In the testing device, the synchronous trigger 1 is respectively connected to the laser interferometer host 2 and the digital gyroscope 7 and respectively sends two paths of synchronous pulses to the laser interferometer host 2 and the digital gyroscope 7, the laser interferometer host 2 latches the current data and sends the current data to the data acquisition computer 3 after receiving the synchronous pulses, and the digital gyroscope 7 latches the current data and sends the current data to the data acquisition computer 3 after receiving the synchronous pulses.
The vibration table 6 is an angular vibration table.
Referring to fig. 2:
the invention relates to a testing method of a frequency characteristic testing device of a digital gyroscope, which comprises the following steps:
s1, installing the testing device in place;
s2, adjusting and setting each component in sequence, and electrifying to operate;
s3, the data acquisition computer 3 controls corresponding parts in the testing device and acquires related data;
and S4, after the acquisition is finished, calculating the frequency characteristic of the digital gyroscope 7.
Step S1 specifically includes:
s11, fixedly mounting the digital gyroscope 7 to the vibrating table 6, and ensuring that the axes of the digital gyroscope and the vibrating table are parallel;
s12, mounting the laser interferometer host 2 and the angle interferometer 4 to a tripod;
and S13, respectively connecting the data acquisition computer 3 to the synchronous trigger 1, the laser interferometer host 2 and the vibration table 6.
Step S2 specifically includes:
s21, setting the vibration frequency and amplitude of the vibration table 6 and setting the pulse frequency of the synchronous trigger 1;
s22, starting the vibrating table 6, powering on the digital gyroscope 7 after the vibrating table operates stably, and starting to operate;
s23, starting the laser interferometer host 2.
Step S3 specifically includes:
s31, controlling a synchronous trigger 1 to send out synchronous pulses through a data acquisition computer 3;
s32, after the laser interferometer host 2 and the digital gyroscope 7 receive corresponding synchronous pulses, latching corresponding data;
and S33, the data acquisition computer 3 receives and stores corresponding latch data.
In step S3, after a number of vibration cycles have been run, the synchronization pulse is stopped.
The plurality of vibration periods is 10 vibration periods.
The data acquisition computer 3 performs sinusoidal fitting on the data to find the amplitude-frequency characteristic of the digital gyroscope 7.
Claims (10)
1. A frequency characteristic testing device of a digital gyroscope is characterized in that a device to be tested is the digital gyroscope and comprises a synchronous trigger, a laser interferometer host, a data acquisition computer, an angle interference mirror, an angle reflecting mirror and a vibration table; the digital gyroscope is installed on the vibration table, and the angle reflecting mirror is arranged beside the digital gyroscope and also installed on the vibration table; the laser interferometer main machine and the angle interference mirror are arranged on the tripod, and the positions of the laser interferometer main machine and the angle interference mirror are adjusted to enable corresponding indicator lights of the laser interferometer main machine to be on; the laser interferometer host, the angle interference mirror and the angle reflector form a set of dynamic angle measuring system.
2. The apparatus for testing frequency characteristics of a digital gyroscope of claim 1, wherein the data acquisition computer is connected to the synchronous flip-flop, the laser interferometer main unit, and the vibration table, respectively.
3. The apparatus for testing frequency characteristics of a digital gyroscope according to claim 2, wherein the synchronous flip-flop is connected to and sends two synchronous pulses to the laser interferometer host and the digital gyroscope, respectively, the laser interferometer host latches and sends current data to the data acquisition computer after receiving the synchronous pulses, and the digital gyroscope latches and sends current data to the data acquisition computer after receiving the synchronous pulses.
4. The apparatus for testing frequency characteristics of a digital gyroscope according to claim 3, wherein the vibration table is an angular vibration table.
5. The method for testing the frequency characteristic testing apparatus of the digital gyroscope according to claim 4, comprising the steps of:
s1, installing the testing device in place;
s2, adjusting and setting each component in sequence, and electrifying to operate;
s3, controlling corresponding parts in the testing device by a data acquisition computer, and acquiring related data;
and S4, after the acquisition is finished, calculating the frequency characteristic of the digital gyroscope.
6. The test method of claim 5,
step S1 specifically includes:
s11, fixedly mounting the digital gyroscope to the vibrating table, and ensuring that the axes of the digital gyroscope and the vibrating table are parallel;
s12, mounting a laser interferometer host and an angle interferometer to a tripod;
and S13, respectively connecting the data acquisition computer to a synchronous trigger, a laser interferometer host and a vibration table.
7. The test method of claim 6,
step S2 specifically includes:
s21, setting the vibration frequency and amplitude of the vibration table and setting the pulse frequency of the synchronous trigger;
s22, starting the vibration table, electrifying the digital gyroscope after the vibration table operates stably, and starting to operate;
s23, starting a laser interferometer host.
8. The test method of claim 7,
step S3 specifically includes:
s31, controlling a synchronous trigger to send out synchronous pulses through a data acquisition computer;
s32, after the laser interferometer host and the digital gyroscope receive corresponding synchronous pulses, latching corresponding data;
and S33, receiving and storing corresponding latching data by the data acquisition computer.
9. The test method of claim 8,
in step S3, after a number of vibration cycles have been run, the synchronization pulse is stopped.
10. The test method of claim 9, wherein the number of vibration cycles is 10 vibration cycles.
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