CN206194222U - Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit - Google Patents
Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit Download PDFInfo
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- CN206194222U CN206194222U CN201620634287.8U CN201620634287U CN206194222U CN 206194222 U CN206194222 U CN 206194222U CN 201620634287 U CN201620634287 U CN 201620634287U CN 206194222 U CN206194222 U CN 206194222U
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Abstract
Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit, including dynamic tuned gyroscope appearance machinery gauge outfit and power module, dynamic tuned gyroscope appearance simulator with be used for respectively analog signal amplifier circuit, filter circuit, signal demodulating circuit, the signal operation circuit, which comprises a plate body, power module is dynamic tuned gyroscope appearance machinery gauge outfit, dynamic tuned gyroscope appearance simulator and circuit module experimental box provide the power, dynamic tuned gyroscope appearance machinery gauge outfit constitutes closed -loop through mechanical gauge outfit interface connection circuit module experimental box, dynamic tuned gyroscope appearance simulator passes through simulator interface connection circuit module experimental box and constitutes closed -loop. The utility model discloses can jointly debug behind the independent experiment that carries out each module, this comprehensive experiment of return circuit of completion gyroscope reequilibrate, the design that can not only let the experimenter know mastering all kinds of circuit module can also guide the experimenter to study closed loop measurement control circuit's design method.
Description
Technical field
The utility model is related to a kind of teaching experiment experimental box.More particularly to a kind of dynamically tuned gyro, DTG releveling
The telemetry circuit comprehensive experiment box in loop.
Background technology
The arrival of current information-intensive society, particularly the Internet of things era, any scientific and technological progress all be unable to do without measurement with control, nothing
By being satellite launch in space flight and aviation cause, or the food safety monitoring in life, there is TT＆C system to play wherein
Important effect.Telemetry circuit together constitutes TT＆C system with sensor and executing agency, and " telemetry circuit " course is
Core curriculum is classified as by the device information relevant speciality of national each colleges and universities, and telemetry circuit experiment should with practice as course learning
Necessary links, are classified as required course by related each specialty.
In conventional telemetry circuit experimental box, letter is carried out using one or more specific sensors or actuator more
Number treatment experiment, depends on principle, material and the technique of sensor, has fixed signal processing mode mostly, it is impossible to take exercise
The circuit design ability of experimenter, and the measurement or output of open loop signal are often confined to, it is difficult to the control theory that will be learned
Knowledge is applied in experiment.Even, have some experimental boxs it is excessive be integrated with digital processing chip and integrated treatment software so that
Experimenter is difficult to understand in depth to signal processing method, it is impossible to apply learned electric circuit knowledge.Therefore, by conventional survey
Control circuit experiment box, experimenter can only acquire the application method of particular electrical circuit module, and the understanding to whole TT＆C system is serious not
Foot.
Existing experimental box, it is impossible to allow experimenter to understand telemetry circuit in an experiment and acted in TT＆C system is also not enough
The ability of all kinds of circuit modules is designed with training experiment person, it is more difficult to the learned measurement control knowledge particularly closed-loop control of application
It is theoretical.Therefore, research and develop it is a kind of disclosure satisfy that experimenter's telemetry circuit design have with the experimental box of application demand it is very important
Value.
The content of the invention
Technical problem to be solved in the utility model is to provide one kind and can solve the problem that existing experimental box in circuit module not
Comprehensively with the telemetry circuit Comprehensive Experiment for controlling the not enough dynamically tuned gyro, DTG rebalance loop of aspect such as knowledge application missing
Case.
The technical scheme that the utility model is used is：A kind of telemetry circuit of dynamically tuned gyro, DTG rebalance loop is comprehensive
Close experimental box, including dynamically tuned gyro, DTG machinery gauge outfit and power module, be additionally provided with dynamically tuned gyro, DTG simulator and
For distinguishing amplifying circuit of analog signal, filter circuit, signal demodulating circuit, signal computing circuit, correcting circuit and actuator
The circuit module experimental box of drive circuit, described power module is dynamically tuned gyro, DTG machinery gauge outfit, dynamic tuned gyroscope
Instrument simulator and circuit module experimental box provide power supply, and described dynamically tuned gyro, DTG machinery gauge outfit passes through mechanical gauge outfit interface
Connection circuit module experimental box constitutes closed-loop path, and the dynamically tuned gyro, DTG simulator connects circuit by simulator interface
Modularized experiment case constitutes closed-loop path.
The telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop of the present utility model, is put down again with gyroscope
Weighing apparatus designs telemetry circuit Comprehensive Experiment based on loop, is integrated with signal modulation, amplification, filtering, demodulation, computing, corrects and hold
Row device drive etc. seven big circuit modules design with debugging, can after the independent experiment for carrying out each module combined debugging, complete
Gyroscope rebalance loop this Comprehensive Experiment, can not only allow experimenter to be familiar with grasping the design of all kinds of circuit modules, moreover it is possible to draw
Lead the method for designing that experimenter's study closed-loop measuring controls circuit.Enable experimenter in a set of experimental box when using, the palm
Hold function of the telemetry circuit in closed loop measurement and control control system.In addition, the utility model additionally provides a kind of gyroscope simulator
Method for designing, alternative gyroscope machinery gauge outfit completely effectively overcomes dynamically tuned gyro, DTG and is applied to experimenter's reality
Test the problem that middle cost is too high and model is fuzzy.
Brief description of the drawings
Fig. 1 is the telemetry circuit comprehensive experiment box integrated circuit of dynamically tuned gyro, DTG rebalance loop of the present utility model
Constitute block diagram；
Fig. 2 is the circuit theory diagrams of circuit module experimental box in invention；
Fig. 3 is that the circuit of dynamically tuned gyro, DTG simulator in invention constitutes block diagram；
Fig. 4 is that the circuit of combinational circuit in invention dynamically tuned gyro, DTG simulator constitutes block diagram.
In figure
101：Power module 102：Dynamically tuned gyro, DTG machinery gauge outfit
103：Dynamically tuned gyro, DTG simulator 104：Circuit module experimental box
105：Binding post 106：Mechanical gauge outfit interface
107：Simulator interface 108：Gauge outfit interface selecting switch
109：Signal amplification test module 110：Filter circuit experiment module
111：Signal experiment demodulation module 112：Realize the signal operation experiment module of matrix operation
113：Correcting circuit experiment module 114：Actuator driven experiment module
1031：First function simulator 1032：Second function simulator
1033：3rd functional simulation device 1034：4th functional simulation device
1035：First adder 1036：First modulation module
1037：Second adder 1038：Second modulation module
10311：First combinational circuit 10312：First phase inverter
10321：Second combinational circuit 10322：First moral ripple integrator
10323：First proportioner 10324：Second phase inverter
10331：3rd combinational circuit 10332：Second moral ripple integrator
10333：Second proportioner 10341：4th combinational circuit
10342：3rd phase inverter 103111：4th phase inverter
103112：3rd adder 103113：3rd moral ripple integrator
103114：Fidelity, physical charm, propriety in speech and efficiency in needlework ripple integrator 103115：5th phase inverter
Specific embodiment
With reference to embodiment and accompanying drawing to the telemetry circuit of dynamically tuned gyro, DTG rebalance loop of the present utility model
Comprehensive experiment box is described in detail.
The telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop of the present utility model, it is intended to solve existing
Experimental box is not comprehensive in circuit module and controls the deficiency of the aspects such as knowledge application missing.Gyroscope rebalance loop, is connection
Important step between the two sensings of dynamically tuned gyro, DTG signalling means and torquer and executable portion, be gyroscope this
TT＆C system is operated in the key components under lock mode, and telemetry circuit Comprehensive Experiment is designed based on this, can not only
Experimenter is allowed to be familiar with grasping the design of all kinds of circuit modules, moreover it is possible to which direct experiment person's study closed-loop measuring controls the design side of circuit
Method.
As shown in figure 1, the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop of the present utility model, bag
Dynamically tuned gyro, DTG machinery gauge outfit 102 and power module 101 are included, dynamically tuned gyro, DTG simulator 103 is additionally provided with and is used
Driven in amplifying circuit of analog signal, filter circuit, signal demodulating circuit, signal computing circuit, correcting circuit and actuator respectively
The circuit module experimental box 104 of dynamic circuit, described power module 101 is dynamically tuned gyro, DTG machinery gauge outfit 102, power tune
Humorous gyroscope simulator 103 and circuit module experimental box 104 provide power supply, described dynamically tuned gyro, DTG machinery gauge outfit 102
Circuit module experimental box 104 is connected by mechanical gauge outfit interface 106 and constitutes closed-loop path, the dynamically tuned gyro, DTG simulator
103 connect circuit module experimental box 104 by simulator interface 107 constitutes closed-loop path.
As shown in figure 3, described dynamically tuned gyro, DTG simulator 103 includes first function simulator 1031, second
Functional simulation device 1032, the 3rd functional simulation device 1033 and the 4th functional simulation device 1034, wherein, the first function simulator
1031 and the 3rd functional simulation device 1033 signal input part connection circuit module experimental box 104 X-axis circuit in actuator
Drive the signal output part M of experiment module 114X, the letter of the functional simulation device 1034 of the second function simulator 1032 and the 4th
The signal output part of the actuator driven experiment module 114 in the Y-axis circuit of number input connection circuit module experimental box 104
MY, the signal output of the first function simulator 1031 and second function simulator 1032 connects first adder 1035 respectively
Signal input part, the signal output part of the first adder 1035 connects circuit module reality by the first modulation module 1036
The signal input part U of the signal amplification test module 109 in the X-axis circuit of tryoff 104OX, the 3rd functional simulation device 1033
With the signal input part that the signal output of the 4th functional simulation device 1034 connects second adder 1037 respectively, second addition
The signal output part of device 1035 connects the signal in the Y-axis circuit of circuit module experimental box 104 by the second modulation module 1038
The signal input part U of amplification test module 109OY。
Described first function simulator 1031 is by the first combinational circuit 10311 being sequentially connected in series and the first phase inverter
10312 are constituted, and described second function simulator 1032 is the second combinational circuit 10321, the first moral ripple product by being sequentially connected in series
Device 10322, the first proportioner 10323 and the second phase inverter 10324 is divided to constitute, the 3rd functional simulation device 1033 is by successively
The 3rd combinational circuit 10331, the second moral ripple integrator 10332 and the second proportioner 10333 connected are constituted, the 4th function
Simulator 1034 is made up of the 4th combinational circuit 10341 being sequentially connected in series and the 3rd phase inverter 10342, wherein, described first
In the X-axis circuit of the signal input part connection circuit module experimental box 104 of the combinational circuit 10331 of functional simulation device 1031 and the 3rd
Actuator driven experiment module 114 signal output part MX, the combinational circuit of second combinational circuit 10321 and the 4th
The letter of the actuator driven experiment module 114 in the Y-axis circuit of 10341 signal input part connection circuit module experimental box 104
Number output end MY, the signal output of the phase inverter 10324 of first phase inverter 10312 and second connects first adder respectively
1035 signal input part, the signal output of the phase inverter 10342 of second proportioner 10333 and the 3rd connects second and adds respectively
The signal input part of musical instruments used in a Buddhist or Taoist mass 1037.
As shown in figure 4, the first described combinational circuit 10311, the second combinational circuit 10321, the 3rd combinational circuit 10331
It is identical with the structure of the 4th combinational circuit 10341, include：It is followed in series to form the 3rd adder the 103112, the 4th in loop
Phase inverter 103111, the 3rd moral ripple integrator 103113, fidelity, physical charm, propriety in speech and efficiency in needlework ripple integrator 103114 and the 5th phase inverter 103115, its
In, the X-axis circuit of the input connection circuit module experimental box 104 in described 3rd adder, 103,112 two inputs
In actuator driven experiment module 114 signal output part MXOr holding in the Y-axis circuit of connection circuit module experimental box 104
Row device drives the signal output part M of experiment module 114Y, the output U of the fidelity, physical charm, propriety in speech and efficiency in needlework ripple integrator 103114OFirst is constituted to combine
The output correspondence of the combinational circuit 10321 of circuit 10311 or second or the 3rd combinational circuit 10331 or the 4th combinational circuit 10341
Connect the first phase inverter 10312 or the first moral ripple integrator 10322 or the second moral ripple integrator 10332 or the 3rd phase inverter
10342。
As shown by the arrows in Figure 4, MX、MYAs an input of the 3rd adder 103112, the output of the 3rd adder
The company of end batch four connects phase inverter 103111, the 3rd, fidelity, physical charm, propriety in speech and efficiency in needlework ripple integrator 103113,103114 and obtains being output as signal output Uo
Measurement position, signal at this by the feed back input of the 5th phase inverter 103115 to the 3rd adder 103112 another is defeated
Enter end, negative-feedback is formed, so as to obtain
Dynamically tuned gyro, DTG simulator 103 passes through first function simulator 1031, second function simulator the 1032, the 3rd
The design of the functional simulation device combinational circuit of functional simulation device 1033 and the 4th, effectively simulation dynamically tuned gyro, DTG machinery gauge outfit
102 input/output format, with alternative cost mechanical gauge outfit higher.The Mathematical Modeling and signal of the main gyroscope realized are adjusted
Function processed.The phenomenon of intersecting axle coupling, the specific transmission function G of realization are there is inside dynamically tuned gyro, DTG simulator 103
S () (shown in Fig. 3) is following formula (1), the difficult point of circuit design is the realization of second order/tri- rank undamped system.
Wherein, J represents the angular momentum of dynamically tuned gyro, DTG machinery gauge outfit 102, and H represents dynamically tuned gyro, DTG stem-winder
First 102 rotary inertia；H/J2s[s2+(H/J)2] item represents that dynamically tuned gyro, DTG machinery gauge outfit 102 enters dynamic characteristic, i.e., one
Opplied moment on individual axle produces the rotation on another axle, is the main transmission of dynamically tuned gyro, DTG machinery gauge outfit 102；
1/J[s2+(H/J)2] item represents the rigid body characteristic of dynamically tuned gyro, DTG machinery gauge outfit 102, i.e., opplied moment on one axle is produced
The raw rotation around same axle, is the coupling terms of the dynamically tuned gyro, DTG machinery gauge outfit 102 for being not intended to presence.Transmission function G
(s) dynamically tuned gyro, DTG machinery gauge outfit 102 in realize computing be：
Wherein, Mx、MyIt is respectively the input of X-axis and Y-axis actuator driven, UxAnd UyIt is the output of X-axis and Y-axis signalling means,
Φx、ΦyIt is respectively X-axis and the extraneous turning rate input of Y-axis.
Circuit module experimental box 104 and dynamically tuned gyro, DTG machinery gauge outfit 102 and dynamically tuned gyro, DTG simulator 103
Connect.Mechanical gauge outfit interface 106 and simulator interface 107 connect dynamically tuned gyro, DTG machinery gauge outfit 102 respectively and power is adjusted
Humorous gyroscope simulator 103, gauge outfit interface selecting switch 108 is responsible for carrying out dynamically tuned gyro, DTG machinery gauge outfit 102 and power
The selection of the two ways of tuned gyroscope instrument simulator 103.The connection signal amplification test of gauge outfit interface selecting switch 108 module 109,
Filter circuit experiment module 110, signal experiment demodulation module 111, the signal operation experiment module 112, school for realizing matrix operation
Closed-loop path is constituted after positive circuit experiment module 113 and actuator driven experiment module 114.
As shown in figure 1, described circuit module experimental box 104 includes the completely identical in structure X-axis circuit of two-way and Y-axis
Circuit, and the signal operation experiment module 112 of matrix operation is realized, described X-axis circuit and Y-axis circuit is all by going here and there successively
Join the signal amplification test module 109, filter circuit experiment module 110 and signal experiment demodulation module 111 of connection, and mutually go here and there
The correcting circuit experiment module 113 and actuator driven experiment module 114 of connection are constituted, wherein, the signal amplification test module
109 signal input part all connects the X of mechanical gauge outfit interface 106 or simulator interface 107 by gauge outfit interface selecting switch 108
Axis signal output end and Y-axis signal output part, the signal output part correspondence connection reality of the signal experiment demodulation module 111
The X-axis signal input part and Y-axis signal input part of the signal operation experiment module 112 of existing matrix operation, it is described to realize that matrix is transported
X-axis signal output part connection corresponding with the Y-axis signal output part correcting circuit experiment of the signal operation experiment module 112 of calculation
The signal input part of module 113, the signal output part of the actuator driven experiment module 114 passes through gauge outfit interface selecting switch
The X-axis signal input part and Y-axis signal input part of the 108 mechanical gauge outfit interfaces 106 of correspondence connection or simulator interface 107.
As shown in figure 1, the signal input part of described signal amplification test module 109, and signal amplification test module
109th, filter circuit experiment module 110, the experiment of signal experiment demodulation module 111, signal operation experiment module 112, correcting circuit
Between the tie point of module 113 and actuator driven experiment module 114, and the signal of actuator driven experiment module 114 is defeated
Go out end be respectively each provided with one for connect replacement corresponding circuits module binding post 105.In experimentation, experimenter
Equivalent circuit can voluntarily be built by the replacement circuit modularized experiment case 104 of binding post 105 on circuit module experimental box 104
Circuit carry out contrast experiment.
Tandem circuit in the circuit module experimental box 104 is as shown in Fig. 2 wherein, A is signal amplification test module 109
Circuit theory diagrams, B for filter circuit experiment module 110 circuit theory diagrams, C for signal experiment demodulation module 111 circuit
Schematic diagram, D is the circuit theory diagrams of the signal operation experiment module 112 for realizing matrix operation, and E is correcting circuit experiment module
113 circuit theory diagrams, F is the circuit theory diagrams of actuator driven experiment module 114.
Signal amplification test module 109 is used for dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG mould
The weak voltage signals for intending the output of the internal inductance sensor of device 103 measure amplification, to improve signal to noise ratio, are easy to impedance
Match somebody with somebody.Circuit module experimental box 104 is furnished with instrument amplifying circuit, and the A in such as Fig. 2 is available for experimenter to be tested.
Filter circuit experiment module 110 is to dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG simulation
The signal of device 103 carry out preposition amplification through the output signal of signal amplification test module 109 after, it is necessary to further filter out from ring
The interference in itself of border, device.It is accomplished by carrying out frequency-selecting amplification to the amplitude-modulated signal being input into using bandwidth-limited circuit.Circuit module
Experimental box 104 is available for experimenter to test equipped with the B in bandwidth-limited circuit such as Fig. 2.
Signal experiment demodulation module 111, dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG simulator
103 signalling means output beat signal is the amplitude-modulated signal being modulated on excited signal, by after preposition amplification and bandpass filtering, needing
Amplitude-modulated signal is reduced to by the linear voltage signal of gyro housing beat relative with gyrorotor using detecting circuit.
To be better understood by the characteristic of different demodulator circuits, circuit module experimental box 104 has prepared two kinds of demodulator circuits (in Fig. 2
C, multiplier demodulator circuit, switch demodulator circuit) it is used for carrying out contrast experiment for experimenter.
Realize matrix operation signal operation experiment module 112 be accomplished that dynamically tuned gyro, DTG machinery gauge outfit 102 or
The decoupling computing of dynamically tuned gyro, DTG simulator 103, circuit module experimental box 104 has prepared to realize the signal fortune of matrix operation
Experimental circuit (D in such as Fig. 2) is calculated to be used for carrying out contrast experiment for experimenter.Realize the signal operation experiment module of matrix operation
112 matrix operations for implementing are D (s) such as formulas (3)：
G (s) has formula (4) after being multiplied with D (s), so as to obtain diagonal matrix, realize decoupling computing.
Correcting circuit experiment module 113：Dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG simulator
103 rebalance loop, is one and realizes dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG simulator 103
It is a typical servomechanism from the closed loop of locking.By correction, system should reach certain index request.To putting down again
The basic demand in weighing apparatus loop can be summarized as：
1) closed-loop stabilization, and with certain amplitude and phase angle stabilization, nargin.
2) the dynamic and static index of regulation is met.Static State Index refers to that system is input into angle constant value, speed and angular acceleration
Steady-state deviation under signal；Good dynamic indicator refers to the ability that system tracks angular speed change in time, with enough bands
It is wide.
3) enough input angular velocities for adding square electric current, balancing maximum, the rotor when maximum angular acceleration is born can be provided
Scope of the drift angle no more than regulation.
Circuit module experimental box 104 is furnished with correcting circuit experimental circuit, and the E in such as Fig. 2 is available for experimenter to be tested.
Actuator driven experiment module 114, generally, the signal power very little after the treatment of above links is not enough
Enough torque is exported with driving moment coil, so needing to carry out signal power amplification, the driving of rebalance loop is improved
Ability.Power amplification circuit is made up of linear power amplifier part, output torque electric current, drives dynamic tuning dynamic tuned gyroscope
Instrument machinery gauge outfit 102 or the torquer of dynamically tuned gyro, DTG simulator 103 apply square to gyrorotor.Using current sampling electricity
Resistance, voltage is converted into by the torque current that rebalance loop is exported, after filtering, amplify after, realize the survey of angular speed to external world
Amount.Circuit module experimental box 104 is furnished with actuator driven experimental circuit, and the F in such as Fig. 2 is available for experimenter to be tested.
The reality of the telemetry circuit comprehensive experiment box based on dynamically tuned gyro, DTG rebalance loop described in the utility model
Proved recipe method, including carry out respectively：Signal amplification circuit experiment, signal filter circuit experiment, signal demodulating circuit experiment, signal
Computing circuit experiment, correcting circuit experiment and actuator driven experiment, and in signal amplification circuit experiment, signal filter circuit
Enter on the basis of experiment, signal demodulating circuit experiment, signal computing circuit experiment, correcting circuit experiment and actuator driven experiment
Capable closed-loop path pilot scale study.Wherein
First, described signal amplification circuit experiment comprises the following steps：
1) multiplication factor of amplitude, frequency and design according to input signal, experimenter designs and builds single-stage amplification
Circuit；
2) record respectively in the single-stage amplifying circuit and circuit module experimental box 104 built for signal amplification test module
Response of the 109 instrument amplifying circuit to the common mode input signal of 1Hz, 10HZ, 100Hz, 1KHz, 10KHz and 100KHz, respectively
The single-stage amplifying circuit and the common-mode rejection ratio of instrument amplifying circuit built；
3) the single-stage amplifying circuit and the multiplication factor of instrument amplifying circuit that will be built are adjusted to 20 times, are then gradually increased
The frequency of differential input signal, respectively obtaining the single-stage amplifying circuit built and instrument amplifying circuit multiplication factor can not reach and set
Frequency when fixed 20 times, and obtain the relation of single-stage amplifying circuit and instrument amplifying circuit bandwidth and gain；
4) input of the single-stage amplifying circuit that will be built, is connected in loop by binding post 105, replacement circuit module reality
Signal amplification test module 109 in tryoff 104, the single-stage amplifying circuit that observation is now built output signal in the loop
Noise level.
Two) the signal filter circuit experiment described in comprises the following steps：
1) according to the setting of the centre frequency and quality factor to be realized of bandpass filtering, experimenter's selection bandpass filter
Circuit structure, such as unlimited gain multiple feedback mode filter, voltage controlled voltage source mode filter etc., in calculating related circuit structure
Resistance and capacitance；
2) designed circuit is obtained using circuit simulating software (such as multisim, pspice etc. carry out circuit simulation)
Frequency response curve, and reality centre frequency and quality factor, if do not reach design requirement, further adjustment circuit
Structure and parameter；
3) corresponding side circuit, test circuit frequency response curve, the song obtained with emulation are built according to simulation result
Line is contrasted, if adopt binding post 105 unanimously be connected in loop, the signal filtering reality in replacement circuit modularized experiment case 104
Test module 110, the bandpass filtering effect of the signal filter circuit that observation is now built.
Three) the signal demodulating circuit experiment described in, comprises the following steps：
1) amplitude and frequency of input signal are determined, experimenter builds multiplier demodulator circuit；
2) the phase shifter phase in the multiplier demodulator circuit built is adjusted, until the output of phase shifter and circuit
The phase of output signal of signal filtering module 110 is completely the same in modularized experiment case 104, is then connected to by binding post 105
In loop, the signal experiment demodulation module 111 in replacement circuit modularized experiment case 104, the multiplier demodulation electricity that observation station builds
The amplitude and noise level of road output signal；
3) experimenter builds switch demodulator circuit, the reference input observed in the switch demodulator circuit built in each cycle
With mutually and in the case of anti-phase two kinds, described switchs the defeated of demodulator circuit to the output signal of signal and signal filtering module 110
Whether the amplitude for going out signal is consistent, if consistent preserve described switch demodulator circuit, otherwise corrects described switch demodulation electricity
Road.
Four) the signal computing circuit experiment described in comprises the following steps：
1) experimenter determines to realize the resistance and capacitance parameter in the circuit of matrix operation according to the matrix parameter of setting；
2) emulation of matrix operation is carried out in circuit simulating software, testing for circuit computing result is carried out using square-wave signal
Card, observes simulation result, and adjusting parameter coaxially obtains proportional to input square-wave signal until obtaining triangular signal to axle
The square-wave signal of relation；
3) build signal computing circuit, experimental verification carried out using square wave, observation experiment result, if with simulation result one
Cause, be just connected in loop by binding post 105, the signal for the realizing matrix operation fortune in replacement circuit modularized experiment case 104
Calculate experiment module 112, the signal computing circuit that observation station builds decoupling effect in the loop.
Five) the correcting circuit experiment described in comprises the following steps：
1) determine based on dynamically tuned gyro, DTG rebalance loop be expected correction target component, it is contemplated that cut-off frequency and
Phase margin；
2) experimenter is using mathematical simulation software (such as Labview, matlab are controlled system design emulation) emulation
The Open-closed-loop amplitude versus frequency characte in correcting circuit parameter and loop is obtained, specific electric capacity and resistance value in correcting circuit is calculated；
3) experimenter builds correcting circuit, is connected in loop by binding post 105, replacement circuit modularized experiment case 104
In correcting circuit experiment module 113, carry out the step response test in loop, the actual band in loop is obtained according to test curve
It is wide.
Six) the actuator driven Experiment of Electrical Circuits described in comprises the following steps：
1) experimenter is tested the driving force of common discharge circuit such as op07, obtains the maximum of common discharge circuit
Output current；
2) power amplifier chip of suitable coil drive is selected, amplifying circuit is built using the power amplifier chip of selection,
The maximum current of the amplifying circuit output is tested, if maximum current is more than 2A, simulation torquer coil is accessed, energy is checked whether
The driving of 2A is enough provided, if it is then be connected in loop by binding post 105, on replacement circuit modularized experiment case 104
Actuator driven experiment module 114, otherwise reselects power amplifier chip.
Seven) the closed-loop path pilot scale study described in comprises the following steps：
1) angular speed of dynamically tuned gyro, DTG machinery gauge outfit 102 or the input of dynamically tuned gyro, DTG simulator 103 is changed,
The change of observation dynamically tuned gyro, DTG machinery gauge outfit 102 or the modulated signal of the output of dynamically tuned gyro, DTG simulator 103；
2) signal amplification circuit built, the output of signal filter circuit are observed successively；
3) phase-shift circuit in the signal demodulating circuit built, the output of observation signal demodulator circuit are regulated；
4) in dynamically tuned gyro, DTG machinery gauge outfit 102 or the x-axis or y-axis of the input of dynamically tuned gyro, DTG simulator 103
Angular speed when, observe and record the output of the signal computing circuit built；
5) correcting circuit and actuator driven circuit that will be built also are accessed in loop, constitute closed-loop path, and observation is not having
When thering is angular speed to disturb, the x-axis and y-axis of dynamically tuned gyro, DTG machinery gauge outfit 102 or dynamically tuned gyro, DTG simulator 103
Whether output amplitude is less than 200mv, and if it is loop successfully closes；Otherwise fail to realize closure, i.e., its output is
The power supply DC level of saturation is oscillator signal, then fail to realize closure, need to be again according to the emulation of correcting circuit experiment
As a result, correcting circuit parameter is further adjusted.
Claims (6)
1. a kind of telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop, including dynamically tuned gyro, DTG machinery
Gauge outfit (102) and power module (101), it is characterised in that be additionally provided with dynamically tuned gyro, DTG simulator (103) and for dividing
Other amplifying circuit of analog signal, filter circuit, signal demodulating circuit, signal computing circuit, correcting circuit and actuator driven electricity
The circuit module experimental box (104) on road, described power module (101) is dynamically tuned gyro, DTG machinery gauge outfit (102), power
Tuned gyroscope instrument simulator (103) and circuit module experimental box (104) provide power supply, described dynamically tuned gyro, DTG stem-winder
Head (102) connects circuit module experimental box (104) and constitutes closed-loop path, the dynamic tuning by mechanical gauge outfit interface (106)
Gyroscope simulator (103) connects circuit module experimental box (104) and constitutes closed-loop path by simulator interface (107).
2. the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop according to claim 1, its feature
It is that described circuit module experimental box (104) includes the completely identical in structure X-axis circuit of two-way and Y-axis circuit, Yi Jishi
The signal operation experiment module (112) of existing matrix operation, described X-axis circuit and Y-axis circuit are all by being sequentially connected in series
Signal amplification test module (109), filter circuit experiment module (110) and signal experiment demodulation module (111), and be in series
Correcting circuit experiment module (113) and actuator driven experiment module (114) constitute, wherein, the signal amplification test mould
The signal input part of block (109) all connects mechanical gauge outfit interface (106) by gauge outfit interface selecting switch (108) or simulator connects
The X-axis signal output part and Y-axis signal output part of mouth (107), the signal output part pair of the signal experiment demodulation module (111)
The X-axis signal input part and Y-axis signal input part of the signal operation experiment module (112) for realizing matrix operation should be connected,
The X-axis signal output part connection corresponding with Y-axis signal output part of the signal operation experiment module (112) for realizing matrix operation
The signal input part of the correcting circuit experiment module (113), the signal output part of the actuator driven experiment module (114)
By mechanical gauge outfit interface (106) of gauge outfit interface selecting switch (108) correspondence connection or the X-axis signal of simulator interface (107)
Input and Y-axis signal input part.
3. the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop according to claim 2, its feature
It is, the signal input part of described signal amplification test module (109), and signal amplification test module (109), filtered electrical
Road experiment module (110), signal experiment demodulation module (111), signal operation experiment module (112), correcting circuit experiment module
(113) and the tie point of actuator driven experiment module (114) between, and actuator driven experiment module (114) signal
Output end be respectively each provided with one for connect replacement corresponding circuits module binding post (105).
4. the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop according to claim 1, its feature
It is that described dynamically tuned gyro, DTG simulator (103) includes first function simulator (1031), second function simulator
(1032), the 3rd functional simulation device (1033) and the 4th functional simulation device (1034), wherein, the first function simulator
(1031) and the 3rd functional simulation device (1033) signal input part connection circuit module experimental box (104) X-axis circuit in
Signal output part (the M of actuator driven experiment module (114)X), the second function simulator (1032) and the 4th Function Modules
Actuator driven experiment module in the Y-axis circuit of signal input part connection circuit module experimental box (104) for intending device (1034)
(114) signal output part (MY), the signal of the first function simulator (1031) and second function simulator (1032) is defeated
Go out the signal input part of connection first adder (1035) respectively, the signal output part of the first adder (1035) is by the
The letter of signal amplification test module (109) in the X-axis circuit of one modulation module (1036) connection circuit module experimental box (104)
Number input (UOX), the signal output of the 3rd functional simulation device (1033) and the 4th functional simulation device (1034) is connected respectively
The signal input part of second adder (1037), the signal output part of the second adder (1035) passes through the second modulation module
(1038) signal input part of signal amplification test module (109) in the Y-axis circuit of connection circuit module experimental box (104)
(UOY)。
5. the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop according to claim 4, its feature
It is that described first function simulator (1031) is by the first combinational circuit (10311) being sequentially connected in series and the first phase inverter
(10312) constitute, described second function simulator (1032) is the moral of the second combinational circuit (10321) first by being sequentially connected in series
Ripple integrator (10322), the first proportioner (10323) and the second phase inverter (10324) are constituted, the 3rd functional simulation device
(1033) it is the 3rd combinational circuit (10331), the second moral ripple integrator (10332) and the second proportioner by being sequentially connected in series
(10333) constitute, the 4th functional simulation device (1034) is anti-by the 4th combinational circuit (10341) being sequentially connected in series and the 3rd
Phase device (10342) is constituted, wherein, the signal input of the first function simulator (1031) and the 3rd combinational circuit (10331)
The signal output part of the actuator driven experiment module (114) in the X-axis circuit at end connection circuit module experimental box (104)
(MX), the signal input part connection circuit module experiment of second combinational circuit (10321) and the 4th combinational circuit (10341)
Signal output part (the M of the actuator driven experiment module (114) in the Y-axis circuit of case (104)Y), first phase inverter
(10312) it is and the signal output of the second phase inverter (10324) connects the signal input part of first adder (1035) respectively, described
The signal output of the second proportioner (10333) and the 3rd phase inverter (10342) connects the signal of second adder (1037) respectively
Input.
6. the telemetry circuit comprehensive experiment box of dynamically tuned gyro, DTG rebalance loop according to claim 5, its feature
It is, described the first combinational circuit (10311), the second combinational circuit (10321), the 3rd combinational circuit (10331) and the 4th
Combinational circuit (10341) structure is identical, includes：It is followed in series to form the 3rd adder (103112) in loop, the 4th anti-
Phase device (103111), the 3rd moral ripple integrator (103113), fidelity, physical charm, propriety in speech and efficiency in needlework ripple integrator (103114) and the 5th phase inverter
(103115), wherein, the connection circuit module experiment of an input in (103112) two inputs of the 3rd adder
Signal output part (the M of the actuator driven experiment module (114) in the X-axis circuit of case (104)X) or connection circuit module experiment
Signal output part (the M of the actuator driven experiment module (114) in the Y-axis circuit of case (104)Y), the fidelity, physical charm, propriety in speech and efficiency in needlework ripple integration
The output U of device (103114)OConstitute the first combinational circuit (10311) or the second combinational circuit (10321) or the 3rd combinational circuit
(10331) or the 4th combinational circuit (10341) output correspondence the first phase inverter of connection (10312) or the first moral ripple integrator
Or the second moral ripple integrator (10332) or the 3rd phase inverter (10342) (10322).
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| CN201620634287.8U CN206194222U (en) | 2016-06-21 | 2016-06-21 | Monitoring circuit comprehensive experiment case in dynamic tuned gyroscope appearance reequilibrate return circuit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105894923A (en) * | 2016-06-21 | 2016-08-24 | 天津大学 | Measurement and control circuit comprehensive experiment box and method for dynamically tuned gyroscope rebalance loop |
| CN111583765A (en) * | 2020-05-28 | 2020-08-25 | 星酉(天津)智能科技有限公司 | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit |
-
2016
- 2016-06-21 CN CN201620634287.8U patent/CN206194222U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105894923A (en) * | 2016-06-21 | 2016-08-24 | 天津大学 | Measurement and control circuit comprehensive experiment box and method for dynamically tuned gyroscope rebalance loop |
| CN105894923B (en) * | 2016-06-21 | 2018-10-19 | 天津大学 | The telemetry circuit comprehensive experiment box and method of dynamically tuned gyro, DTG rebalance loop |
| CN111583765A (en) * | 2020-05-28 | 2020-08-25 | 星酉(天津)智能科技有限公司 | Software and hardware interactive comprehensive experiment box and method based on CDIO measurement and control circuit |
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