CN115655318B - Two-floating-gyro detection method based on floater hysteresis curve - Google Patents
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Abstract
The invention relates to a method for detecting precision and functions of a two-floating gyroscope, in particular to a method for detecting the two-floating gyroscope based on a floater hysteresis curve, which is used for solving the problems that the conventional gyroscope floater hysteresis detection cannot judge the reason that the gyroscope floater hysteresis curve is abnormal, and the defects of low-current bias detection resolution, low automation degree and low test efficiency. The method for detecting the two-floating-gyro based on the floater hysteresis curve describes the specific steps of the method for detecting the two-floating-gyro in detail, and comprises the steps of setting the amplitude and the frequency of a triangular wave, adjusting the amplitude of the triangular wave, drawing a floater hysteresis curve and interpreting the obtained gyroscope floater hysteresis curve; the invention can detect the problems of nonlinearity of the sensor, deformation of the conductive hairspring and interference of the operation parts, evaluate the reasonability of the selection of the working temperature of the two floating gyros and screen and detect the surplus objects near the operation parts of the two floating gyros, and is beneficial to improving the precision and the reliability of the two floating gyros.
Description
Technical Field
The invention relates to a method for detecting precision and function of a double-floating gyroscope, in particular to a method for detecting the double-floating gyroscope based on a floater hysteresis curve.
Background
The two-floating gyroscope has the characteristics of vibration resistance, impact resistance, high reliability, long service life and the like, is widely applied to navigation and attitude navigation systems of spacecrafts, satellites, space stations and ships, is used as an attitude sensing element of a sensor for measuring the angular motion of a carrier, and is an important inertial sensor. The conventional precision and function detection method of the double-floating gyroscope comprises a gyroscope floater hysteresis test and a small current bias test.
Referring to fig. 1, the gyro float hysteresis detection is based on a moment feedback method, and a test line consists of pre-amplification, phase-sensitive demodulation (detection), a correction network, a triangular wave generator and a power amplifier; the high-precision triangular wave signal is provided by Agilent 33220A, and the signal and the demodulation signal output by the sensor are applied to the input end of the power amplifier together, so that the gyro float swings around the gyro electric zero position at a constant speed and a constant amplitude in a corresponding period. The triangular wave signal requires high linearity, slow cycle and variable frequency and pressure, the amplitude and cycle can be set according to the structural parameters (fluorine floating oil viscosity, limiting angle, float gap, geometric dimension and the like) of the two-float gyroscope of different models and the requirement on the float rotation rate, the maximum output of the sensor in one cycle of float rotation is checked, and the triangular wave amplitude corresponding to the maximum output alternating current effective value is selected.
Similar to the moment feedback method, the change of the current of the gyro torquer reflects the change of the moment in the gyro movement process. By analyzing the current data of the torquer in the rotation process of the gyroscope floater, a gyroscope comprehensive drift curve can be obtained, and compared with a standard output curve, the gyroscope comprehensive drift curve can be used as a criterion for judging whether the gyroscope has redundancy, an optimal working temperature point, hairspring deformation, support system damage and the like.
Gyro major loop correction link output voltage U1 is relevant with sensor output, and is specific: the size of the output voltage U1 is related to the angle of the sensor, the positive and negative of the output voltage U1 are related to the phase of the sensor, and the periodically changed U2 is input at the front end of the power amplifier, which is equivalent to applying a disturbance in a closed loop of a system. Since the total magnification is large, | U1-U2 | 0 must be forced to ensure stable operation of the system. Therefore, when the triangular wave signal changes periodically as shown in fig. 2, it satisfies | U1-U2 | ≈ 0, and accordingly, the gyro-float swings periodically.
Referring to fig. 3, gyro low-current bias (floater flexibility check) detection is used as another gyro floater operation functionality common detection method, in normal conditions, because driving torque is constant, other torques change continuously, the sampling period is 1s, the acquired curve is continuous, smooth and free of inflection points, and when friction torque is large, a retardation phenomenon occurs, so that a fault can be judged by analyzing an output curve of a sensor.
In summary, the gyro float hysteresis detection is mentioned in the relevant standards, but is limited to theory, and there is no specific test equipment and test software for reference, and there is no parameter setting, detection method, detection time and application field suitable for the two-float gyro hysteresis detection; in addition, the standard gyro float hysteresis curve has only one shape, and the reason for the difference from the normal curve is not clear. The small current bias detection has the problem of low resolution because the driving torque is constant and the retardation phenomenon can occur only when the friction torque is greater than the driving torque; in addition, in order to guarantee the test effect, after the test in each direction is completed, the gyroscope needs to be recovered to the normal temperature to carry out the test in the next direction, so that the automation degree of the low-current bias detection method is low, and the test efficiency is not high.
Disclosure of Invention
The invention aims to solve the problems that the conventional gyro float hysteresis detection cannot judge the reason of abnormal expression of a gyro float hysteresis curve, and the defects of low-current bias detection resolution, low automation degree and low test efficiency, and provides a two-floating gyro detection method based on the gyro float hysteresis curve.
In order to solve the defects of the prior art, the invention provides the following technical solutions:
a two-floating-gyro detection method based on a floater hysteresis curve is characterized by comprising the following steps:
and if the gyro float hysteresis curve has jitter and nonlinearity, shows interference at the peak value, shows interference at both the peak value and the peak valley, shows periodic abnormal change in the OA positive direction and the OA negative direction or the direction related to the OA positive direction and the OA negative direction, shows that any phenomenon of monotonous change of the hysteresis curve disappears and/or waveform distortion exists, judging that the gyro float hysteresis curve is abnormal, otherwise, judging that the gyro float hysteresis curve is normal, and finishing the detection of the two-floating gyro float hysteresis method.
Further, the method also comprises the step 6: judging and reading the abnormal gyro float hysteresis curve judged in the step 5;
if the gyro floater hysteresis curve only has the jitter problem, judging that the friction torque is large, and returning to the step 4 after adjusting the working temperature;
if the gyro float hysteresis curve only has the nonlinear problem, judging that the sensor is nonlinear without influencing the gyro precision and performance, and judging that the gyro is normal, namely finishing the detection of the two-floating gyro float hysteresis method;
if the gyro floater hysteresis curve shows that interference occurs at the peak value, judging that the floater interferes with the shell, reducing the amplitude of the triangular wave, and returning to the step 3;
if the gyro floater hysteresis curves show that interference occurs at the peak value and the peak valley, the conductive hairspring is judged to be deformed, fault troubleshooting is needed, and detection by a two-floating gyro floater hysteresis method is completed;
if the gyro float hysteresis curve shows that periodic abnormal changes occur in the OA positive direction, the OA negative direction or the direction related to the OA positive direction and the OA negative direction, the support system is judged to have faults, fault troubleshooting is needed, and then the detection of the two-floating gyro float hysteresis method is completed;
if the hysteresis curve of the gyroscope floater shows that the phenomenon of monotonous change of the hysteresis curve disappears and/or the waveform is distorted, the problem of redundancy is judged, fault troubleshooting is needed, and the detection of the two-floater gyroscope floater by the hysteresis method is completed.
Further, in step 4, the plurality of postures comprise placing the diabolo according to OA// g upwards, OA// g downwards, SA// g upwards, SA// g downwards, IA// g upwards, IA// g downwards, SA level IA obliquely upwards and SA level IA obliquely downwards; wherein the deflection angle of the float is as large as
，
In order to output a voltage to the gyro sensor,
is a gyroscopic sensor scale factor.
Further, in step 2, the setting of the amplitude and the frequency of the triangular wave according to the output voltage of the gyro sensor specifically includes: and calculating the deflection angle of the floater and the swing frequency of the floater according to the output voltage of the gyro sensor, and setting the amplitude and the frequency of the triangular wave according to the deflection angle of the gyro sensor and the swing frequency of the floater.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a detection method of a two-floating gyroscope based on a floater hysteresis curve, which particularly describes the specific steps of the detection method of the two-floating gyroscope based on the floater hysteresis curve and provides a reference method for implementing the detection of a hysteresis method; the invention provides the detection opportunity of the float hysteresis method, which is convenient for engineering application and implementation; the invention can detect the problems of sensor nonlinearity, conductive hairspring deformation, running part interference and the like, can evaluate the reasonability of the selection of the working temperature of the two floating gyros and screen and detect the surplus objects near the running parts of the two floating gyros, and is beneficial to improving the precision and the reliability of the two floating gyros. In addition, the invention is simple and ingenious and can be popularized and used in a large scale.
Drawings
FIG. 1 is a schematic structural diagram of a test circuit of a two-floating-gyro detection method based on a float hysteresis curve;
FIG. 2 is a voltage curve of a periodically varying triangular wave signal in a two-floating-gyro detection method based on a float hysteresis curve;
FIG. 3 is a schematic diagram of a low current bias detection method for a two-floating gyroscope;
fig. 4 is a schematic flow chart of a method for detecting a gyroscope according to a first embodiment to a sixth embodiment of the present invention;
FIG. 5 is a graph of the gyro-float hysteresis obtained in step 4 according to the embodiment of the present invention;
FIG. 6 is a graph of gyro-float hysteresis at a working temperature of 946.5 Ω in step 4 of the present invention;
FIG. 7 is a graph of gyro-float hysteresis at 948 Ω as a working temperature point in step 4 of the embodiment of the present invention;
FIG. 8 is a graph of gyro-float hysteresis at a working temperature of 949.5 Ω in step 4 of the present invention;
FIG. 9 is a graph of gyro-float hysteresis at a working temperature of 950.3 Ω in step 4 of the present invention;
FIG. 10 is a graph of the gyro-float hysteresis curve obtained in step 4 of the present invention;
FIG. 11 is a graph of gyro-float hysteresis obtained in step 4 of the present invention;
FIG. 12 is a graph of gyro-float hysteresis obtained in step 4 of the fourth embodiment of the present invention;
fig. 13 is a gyro-float hysteresis curve obtained in the fifth step 4 of the embodiment of the present invention;
FIG. 14 is a graph of gyro-float hysteresis obtained in step 4 of the sixth embodiment of the present invention;
fig. 15 is a schematic view of the OA direction, IA direction, and SA direction of the floating gyro.
Detailed Description
The invention will be further described with reference to the drawings and exemplary embodiments.
Example one
Referring to the test circuit of fig. 1, the invention provides a two-floating gyro detection method based on a float hysteresis curve, and a flow chart is shown in fig. 4, and the method comprises the following steps:
the reason why the test is started when the constant-temperature running-in time of the two floating gyroscopes is 30min is that the motor is started for more than 25min, the temperature rise of the motor can reach a stable state, the working temperature of the gyroscopes can be stable, the damping can be stable, and in addition, the production cost can be increased due to the overlong running-in time;
the plurality of poses includes placing the diabolo in OA// g up, OA// g down, SA// g up, SA// g down, IA// g up, IA// g down, SA level IA ramp up, SA level IA ramp down; v/is parallel, g is gravitational acceleration;
the gyro float hysteresis curve obtained in the step 4 is shown in fig. 5, the gyro float hysteresis curve has a jitter problem, and is judged to be abnormal, and a step 6 is executed;
judging that the friction torque is larger according to the abnormal gyro float hysteresis curve counted by the database and the corresponding fault reason, and returning to the step 4 after adjusting the working temperature;
in fig. 5, the selected operating temperature point of the gyroscope is 945 Ω, namely 60.2 ℃, and after the operating temperature points are gradually adjusted to be 946.5 Ω, 948 Ω, 949.5 Ω and 950.3 Ω, the obtained gyroscope float hysteresis curves are sequentially shown in fig. 6, 7, 8 and 9; as can be seen from fig. 9, the gyro float hysteresis curve has no jitter problem, and is determined to be normal, that is, the detection by the two-floating gyro float hysteresis method is completed.
Example two
In this embodiment, in step 4, the gyroscope motor is started to time, the test is started when the constant-temperature running-in time of the two floating gyroscopes reaches 25min, and 4 gyroscope float hysteresis curve periods of the torquer current when the gyroscopes are placed in multiple postures are continuously acquired, wherein the acquisition unit is 1 second;
the gyro float hysteresis curve obtained in the step 4 is shown in fig. 10, and if a nonlinear problem exists in the gyro float hysteresis curve, the gyro float hysteresis curve is judged to be abnormal, and a step 6 is executed;
and judging that the gyroscope floater hysteresis curve is normal according to the abnormal gyroscope floater hysteresis curve counted by the database and the corresponding fault reason caused by the abnormal gyroscope floater hysteresis curve, without influencing the gyroscope precision and performance, and belonging to a normal phenomenon, namely finishing the detection of the two-floater hysteresis method.
The rest of the configuration of this embodiment is the same as that of the first embodiment.
EXAMPLE III
In this embodiment, in step 4, the gyroscope motor is started to time, the test is started when the constant-temperature running-in time of the two floating gyroscopes reaches 35min, and 5 gyroscope float hysteresis curve periods of the torquer current are continuously acquired when the gyroscopes are placed in multiple postures, wherein the acquisition unit is 1 second;
the gyro float hysteresis curve obtained in the step 4 is shown in fig. 11, the gyro float hysteresis curve shows that interference occurs at a peak value, and is judged to be abnormal, and a step 6 is executed;
and (3) the gyro float hysteresis curve shows that interference occurs at the peak value, the interference between the float and the shell is judged according to the abnormal gyro float hysteresis curve counted by the database and the corresponding fault reason, and the step is returned to the step (3) to reduce the amplitude of the triangular wave.
The rest of the configuration of this embodiment is the same as that of the first embodiment.
Example four
In this embodiment, in step 4, the gyroscope motor is started to time, the test is started when the constant-temperature running-in time of the two floating gyroscopes reaches 30min, and 4 gyroscope float hysteresis curve periods of the torquer current when the gyroscopes are placed in multiple postures are continuously acquired, wherein the acquisition unit is 1 second;
the gyro float hysteresis curve obtained in step 4 is shown in fig. 12, and the gyro float hysteresis curve shows that interference occurs at both the peak value and the peak valley, and is judged to be abnormal, and step 6 is executed;
and the gyro float hysteresis curve shows that interference occurs at the peak value and the peak valley, the deformation of the conductive hairspring is judged according to the abnormal gyro float hysteresis curve counted by the database and the corresponding fault reason, fault troubleshooting is required, and the detection of the two-floating gyro float hysteresis method is completed.
The rest of the configuration of this embodiment is the same as that of the first embodiment.
EXAMPLE five
In this embodiment, in step 4, the gyroscope motor is started to time, the test is started when the constant-temperature running-in time of the two floating gyroscopes reaches 30min, and 4 gyroscope float hysteresis curve periods of the torquer current when the gyroscopes are placed in multiple postures are continuously acquired, wherein the acquisition unit is 1 second;
the gyro float hysteresis curve obtained in step 4 is shown in fig. 13, and the gyro float hysteresis curve shows that periodic abnormal changes occur in the OA positive direction, the OA negative direction or the direction related to the OA positive direction and the OA negative direction, and is judged to be abnormal, and step 6 is executed;
the gyro float hysteresis curve shows that periodic abnormal changes occur in the OA positive direction, the OA negative direction or the direction related to the OA positive direction and the OA negative direction, the support system is judged to have faults according to the abnormal gyro float hysteresis curve counted by the database and the corresponding fault reason, fault troubleshooting is needed, and the detection of the two-floating gyro float hysteresis method is completed.
The rest of the configuration of this embodiment is the same as that of the first embodiment.
EXAMPLE six
In this embodiment, in step 4, the gyroscope motor is started to time, the test is started when the constant-temperature running-in time of the two floating gyroscopes reaches 30min, and 4 gyroscope float hysteresis curve periods of the torquer current when the gyroscopes are placed in multiple postures are continuously acquired, wherein the acquisition unit is 1 second;
the gyro float hysteresis curve obtained in step 4 is shown in fig. 14, and the gyro float hysteresis curve shows that the phenomenon of monotonous change of the hysteresis curve disappears and the waveform is distorted, and is judged to be abnormal, and step 6 is executed;
the gyro float hysteresis curve shows that the monotonous change phenomenon of the hysteresis curve disappears and the waveform is distorted, the problem of redundancy is judged according to the abnormal gyro float hysteresis curve counted by the database and the corresponding fault reason, the fault is required to be eliminated, and the detection of the two-floating gyro float hysteresis method is completed.
The rest of the configuration of this embodiment is the same as that of the first embodiment.
The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (3)
1. A two-floating-gyro detection method based on a floater hysteresis curve is characterized by comprising the following steps:
step 1, heating the two floating gyros to a working temperature, closing the two floating gyros, and starting a gyro motor to synchronize the gyro motor;
step 2, setting the amplitude and frequency of the triangular wave according to the output voltage of the gyro sensor;
step 3, judging whether the maximum output alternating current effective value of the gyro sensor swings by one circle of the floater is a triangular wave amplitude value corresponding to 2/3 of a full range, wherein the difference between the positive direction and the negative direction does not exceed 50mV, if so, executing the step 4, otherwise, executing the step 3 again after adjusting the triangular wave amplitude value;
step 4, starting timing by starting a gyro motor, starting a test when the constant-temperature running-in time of the two floating gyros reaches 30 +/-5 min, and continuously acquiring 4-5 gyro float hysteresis curve periods of torquer current when the two floating gyros are placed in each posture, wherein the acquisition unit is 1 second; drawing a corresponding gyro float hysteresis curve according to the collected torquer currents of a plurality of postures, wherein the vertical axis is gyro drift, and the horizontal axis is time; the plurality of poses includes placing the diabolo in OA// g up, OA// g down, SA// g up, SA// g down, IA// g up, IA// g down, SA level IA ramp up, SA level IA ramp down,// is parallel, g is gravitational acceleration;
step 5, interpreting the gyro floater hysteresis curve obtained in the step 4;
and if the gyro float hysteresis curve has jitter and nonlinearity, shows interference at the peak value, shows interference at both the peak value and the peak valley, shows periodic abnormal change in the OA positive direction and the OA negative direction or the direction related to the OA positive direction and the OA negative direction, shows that any phenomenon of monotonous change of the hysteresis curve disappears and/or waveform distortion exists, judging that the gyro float hysteresis curve is abnormal, otherwise, judging that the gyro float hysteresis curve is normal, and finishing the detection of the two-floating gyro float hysteresis method.
2. The method for detecting the gyroscope according to claim 1, wherein the method further comprises the following steps of 6: judging and reading the abnormal gyro float hysteresis curve judged in the step 5;
if the gyro floater hysteresis curve only has the jitter problem, judging that the friction torque is large, and returning to the step 4 after adjusting the working temperature;
if the gyro float hysteresis curve only has the nonlinear problem, judging that the sensor is nonlinear without influencing the gyro precision and performance, and judging that the gyro is normal, namely finishing the detection of the two-floating gyro float hysteresis method;
if the gyro floater hysteresis curve shows that interference occurs only at the peak value, judging that the floater interferes with the shell, reducing the amplitude of the triangular wave, and returning to the step 3;
if the gyro floater hysteresis curves show that interference occurs at the peak value and the peak valley, the conductive hairspring is judged to be deformed, fault troubleshooting is needed, and detection by a two-floating gyro floater hysteresis method is completed;
if the gyro float hysteresis curve shows that periodic abnormal changes occur in the OA positive direction, the OA negative direction or the direction related to the OA positive direction and the OA negative direction, the support system is judged to have faults, fault troubleshooting is needed, and then the detection of the two-floating gyro float hysteresis method is completed;
if the hysteresis curve of the gyroscope floater shows that the phenomenon of monotonous change of the hysteresis curve disappears and/or the waveform is distorted, the problem of redundancy is judged, fault troubleshooting is needed, and the detection of the two-floater gyroscope floater by the hysteresis method is completed.
3. The method for detecting the gyroscope according to claim 2, wherein the method comprises the following steps: in step 2, the setting of the amplitude and the frequency of the triangular wave according to the output voltage of the gyro sensor specifically comprises: calculating the deflection angle of the floater and the swing frequency of the floater according to the output voltage of the gyro sensor, and setting the amplitude and the frequency of the triangular wave according to the deflection angle of the gyro sensor and the swing frequency of the floater; wherein the deflection angle of the floater is beta = U/K β U is gyro sensor output voltage, K β Is a gyroscopic sensor scale factor.
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| CN103884355B (en) * | 2014-03-25 | 2016-06-01 | 北京航天控制仪器研究所 | A kind of three floating Gyro Calibration test macros |
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