KR100551699B1 - Method for detecting angular velocity of dynamically tuned gyroscope - Google Patents

Abstract

를 제어 입력 신호

를 통해 토크 입력으로 궤환시키는 제 2 단계와, 동조자이로스코프로의 외부 입력 신호

를 토크 성분에 포함시킴으로서 수렴 속도

의 시간으로 외란으로써의 외부 입력을 상쇄시키는 제 3 단계와, 제어 입력 신호

에 변환 상수 (

)와 미분동력학(

)을 가산기와 같이 사용함으로써 외부 입력을 검출하는 제 4 단계와, 검출된 외부 입력에 대한 속도 출력의 전달함수를 메이슨의 이득 공식을 사용하여 수학식

로 유도하는 제 5 단계를 포함한다. 본 발명에 의하면, 외부 입력에 대하여 속도 검출을 위한 픽업단의 회전 각도가 과도 및 정상 상태에서 작은 검출각을 유지시킨 상태에서 입력 각속도를 검출할 수 있으며 이에 따라 자유 자이로스코프의 기계적인 변경 없이도 시스템의 동작 범위를 매우 넓히는 것이 가능하다. 또한 동작 범위 내에서 외부 입력 각속도에 대한 검출 성능도 매우 우수한 장점을 가진다.The present invention relates to a method for detecting an angular velocity of a synchronous gyroscope, the first step of determining a torque component that a rotor receives, and an external input signal in an operating region of the tunable gyroscope.

Control input signal

A second step of returning to the torque input through the external input signal to the synchronous gyroscope

Convergence rate by including

A third step of canceling the external input as disturbance in a time of

Conversion constant to

) And differential dynamics (

The fourth step of detecting the external input by using the adder as an adder, and the transfer function of the velocity output for the detected external input using the Mason's gain formula

The fifth step of inducing. According to the present invention, the input angular velocity can be detected in a state in which the rotational angle of the pickup stage for speed detection with respect to the external input is maintained in a transient state and a small state. It is possible to widen the operating range of. In addition, the detection performance of the external input angular velocity within the operating range has a very good advantage.

Tuning gyroscope (DTG), angular velocity detection method, rebalance loop design method

Description

Method for detecting angular velocity of synchronous gyroscope {METHOD FOR DETECTING ANGULAR VELOCITY OF DYNAMICALLY TUNED GYROSCOPE}

1 is a view showing a mechanical structure of a rotor and a suspension of a general synchronization gyroscope (DTG),

2 is a block diagram of a synchronous gyroscope and a displacement damper;

3 is a view for explaining an angular velocity detection method using a conventional PI controller,

4 is a view for explaining a method for detecting angular velocity of a synchronous gyroscope according to the present invention;

에 대한

의 주파수 영역 응답 특성을 비교한 그래프.5 is a conventional angular velocity detection method and an angular velocity detection method according to the present invention.

For

A graph comparing the frequency domain response characteristics of.

<Explanation of symbols for the main parts of the drawings>

100: Rotor of the mechanical part of the tuning gyroscope (rotor)

102: Gimbal among the mechanical parts of the synchronous gyroscope

210: Mechanism model of the synchronous gyroscope

220: gain of the signal amplifier stage

230: Newment damper part

400: control block of a synchronous gyroscope

360: input angular velocity 420: output angular velocity

The present invention relates to an angular velocity detection method of a synchronous gyroscope (hereinafter abbreviated as DTG), and more particularly to an angular velocity detection method of a DTG that increases the linear operating range and provides good detection performance for external input angular velocity.

DTG is a widely used device for detecting the rotational angular velocity in an inertial navigation device, a motion control device, and the like, and its mechanical structure is shown in FIG.

As shown in FIG. 1, the DTG, in particular, the two-axis DTG, is rotated along the axis of rotation of the gyroscope because the rotor (rotor: 100) is suspended on a suspension of a universal coupling. Thus, the rotor 100 and gimbal 102 have an angular momentum determined by the rotational speed of the spin motor shaft 104 and their inertia.

When there is an input angular velocity on the reference input shaft of the fixed case, the rotor 100 tries to maintain the original posture because of its angular momentum. However, the gimbal 102 is inclined at an amplitude magnitude determined by the magnitude of the angular momentum and the input angular velocity. This effect is called a dynamic effect.

When the negative spring coefficient and the positive spring coefficient of the torsion due to the dynamic effect become equal, the spring coupling rate between the rotor 100 and the rotating shaft becomes zero, and this state is called a tuning state. The frequency of is called the tuning frequency.

Since the rotor 100 and the rotating shaft are non-coupled with each other in the synchronized state, the gyroscope case and the rotor 100 are free to each other. Therefore, the declination between the gyroscope case and the rotor 100 is proportional to the input angle to operate as a free gyroscope.

On the other hand, the torque received by the rotor 100 when the case of the DTG is rotated by phi_x about the x axis with respect to the inertial coordinate system is expressed by the following equation (1) and (2).

는 비틀림자의 x, y축 탄성 계수,

는 짐발의 x, y, z축 방향의 관성 모멘트,

은 회전자의 z축 방향 회전속도,

는 회전자가 케이스에 대하여

만큼 기울어질 때 회전자가 받는 토크성분을 각각 나타낸다.here

Is the torsional x, y-axis modulus,

Is the moment of inertia of the gimbal in the x, y, z direction,

Is the z-axis rotational speed of the rotor,

The rotor is about the case

It represents each torque component that the rotor receives when tilted by.

는 비틀림자의 스프링 계수에 의하여 회전자(100)에 가해지는 토크를 나타내고,

는 음의 스프링 효과에 의하여 회전자(100)에 가해지는 토크를 나타낸다. 이 두 종류의 스프링효과에 의한 토크가 영이 되려면 회전자의 각속도

을 다음 수학식 3과 같이 함으로써 이루어진다.In Equation 1 and Equation 2

Denotes the torque applied to the rotor 100 by the spring coefficient of the torsion,

Denotes the torque applied to the rotor 100 by the negative spring effect. To achieve zero torque due to these two spring effects, the angular velocity of the rotor

Is achieved by the following equation (3).

를 동조 주파수라 하고 회전자가 이 속도를 유지할 때를 DTG가 동조되었다고 하며, 동조 상태에 있는 DTG의 간략화된 운동방정수학식을 도 2의 좌측 점선 안에 블록도(210)로 나타내었다. Angular velocity given by Equation 3

DTG is said to be the tuned frequency when the rotor maintains this speed, and the simplified equation of motion of the DTG in the tuned state is shown in block diagram 210 in the left dotted line of FIG.

The transfer function in the frequency domain for the DTG portion of FIG. 2 is represented by Equations 4 and 5 below.

As can be seen in FIGS. 2, 4, and 5, the DTG shows the angular detector outputs separately from each other for the external angular velocity input, but the inputs of the two axes are combined with each other for the torque input, resulting in the angular detector output. It can be seen.

를 제어해주는 루프이다.The rebalance loop is inputted so that, if there is an external angular velocity input, the angle detector outputs the angular velocity information with respect to the external angular velocity input and then restores the original angular detector to the absolute zero present.

This loop controls the.

The DTG part in FIG. 2 is a multivariable input / output system having two inputs and two outputs, and the input and output are shown as being combined with each other. There are various control methods based on the theory of multivariate control, but in general DTG system, the multivariate I / O system is separated into a single I / O system by inserting a loop that can eliminate the separate coupling. Use a method of designing a rebalance loop.

Especially in DTG, this coupling phenomenon is called neutation, and the physical cause of this phenomenon is that in the two-axis DTG, the energy of one axis is transferred to the other axis, and then the axis of rotation is vibrated by the self-vibration by the energy transfer. It is a phenomenon.

The circuit that performs the function of electrically damping the vibration in the gyroscope from the outside is called a Neutral Damper, and a circuit such as the block diagram 230 in the dotted line on the right side of FIG. 2 is inserted into the output terminal of the DTG. This can be solved by the transfer characteristic, which is expressed by Equations 6 and 7 below.

(220)는 DTG의 출력단에 삽입되는 복조기의 비례이득을 나타낸 것이며 상수로 나타내어지는 값이다.However, in Equation 6 and Equation 7

Reference numeral 220 denotes a proportional gain of the demodulator inserted into the output terminal of the DTG and is a value represented by a constant.

According to equations (6) and (7), a function of the output of the torque input and the external speed input may be expressed by the following equations (8) and (9).

의 이득이 x축의 외부 속도 입력

에 대한 이득에 비해 매우 작은 값을 가지므로 이 영향은 무시될 수 있다.Comparing Equations 4 and 8, the coupling of the torque input is separated by the displacement damper, but the output of the x-axis is coupled again by the external velocity input of the y-axis. But input through the y-axis

Gain of x-axis external velocity input

This effect can be neglected since it has a very small value compared to the gain for.

Referring back to FIG. 2, it can be seen that the neutralization damping controller is mathematically composed of purely differentiators. However, in a real system, a pure differentiator can amplify high frequency noise and make the entire closed loop system unstable, so designing it as a highpass filter that operates as a differentiator within the operating frequency of the DTG and passes the signal in the higher frequency range. It is common. The value used in the verification step of the present invention is shown in Equation 10 below.

The DTG with Neutral Damper can now be regarded as two single I / O systems, thus applying multiple controller design techniques for existing single I / O systems.

However, because the damping damper is not possible to implement a full differentiation, it does not completely eliminate the damping but rather reduces its size. Because of this, the operating characteristics of the entire system are not completely separated. Therefore, it is desirable to obtain the results by considering both axes simultaneously for precise simulation. However, since the frequency band in which the coupling phenomenon of two axes appears is a very high range than the frequency used by the DTG, there is no problem in the actual use of the DTG.

3 is a view for explaining an angular velocity detection method using a conventional PI control technique.

In the velocity mode DTG, the rotation angle of the rotor must be maintained within the linear motion range in order to detect the correct external input, which is a key factor in determining the motion range of the DTG.

In other words, for large external inputs, if the rotation angle of the rotor is out of the linear motion range, the DTG stops the rotation of the rotor to protect the mechanical system and stops operating anymore and stops the operation of the application system equipped with it. .

However, if the gain of the rebalancing loop is increased to a certain degree in order to keep the rotation angle of the rotor small, the phase margin of the entire system is reduced, which appears as a vibration phenomenon of the output part.

In the speed detection method using the conventional PI control method, if the external speed input acts as a disturbance to the DTG and the rebalancing is properly performed, the torque input of the rebalance loop is equal to the disturbance in the steady state. The torque coil current is detected and multiplied by the conversion constant to detect the external speed input.

Therefore, if the angle detection part vibrates because the phase balance of the rebalance loop is small, it may be linked to the vibration of the torque input and the external input speed may appear to vibrate. For this reason, in the conventional control method, sufficient phase margin is secured to allow stable operation, which is a major factor in gain limitation of the rebalance loop of the DTG.

는 비례 및 적분 제어 계수,

는 DTG의 회전자의 회전각 변위를 전압신호로 얻기 위한 전자부의 등가모델로써 저역 통과 필터의 형태를 가지며 전체 시스템의 대역폭 제한의 주원인이 된다.In Figure 3

Is proportional and integral control coefficient,

Equivalent model of the electronics for obtaining the rotation angle displacement of the rotor of the DTG as a voltage signal has the form of a low pass filter and is the main cause of the bandwidth limitation of the whole system.

The overall transfer function is shown in Equation (11). Referring to Equation 11, it can be seen that the electronic part has a bandwidth of about 50 Hz.

When the PI controller is used, the transfer function of the velocity detection output for the external velocity input on the y-axis of the DTG including the displacement damping controller is represented by the following equation (12).

를 1로 놓으면 다음 수학식 13을 얻을 수 있다.Here, in order to see the meaning of PI control coefficient,

If set to 1, the following equation (13) can be obtained.

here

to be.

를 결정하고 수학식 17을 사용하여 감쇠상수를 결정하면 비례이득

값을 결정할 수 있게 된다.Using Equations 14 and 15, the design values of the control variable values may be determined as in Equations 16 and 17 below. In other words, integral gain is obtained using the condition for the bandwidth required by using Equation 16.

And the attenuation constant is determined using Eq.

The value can be determined.

에 대한 전달함수는 다음의 수학식 18과 같다.Also, the angle of rotation of the rotor relative to the external speed input

The transfer function for is given by Equation 18 below.

At this time, comparing Equation 13 and Equation 18, when the control variable is fixed by Equation 13, the rotation angle of the rotor represented by Equation 18 is also fixed.

That is, in the conventional DTG, not only the linear operating region is narrow but also the problem that the detection performance with respect to the external input angular velocity may be degraded.

The present invention has been implemented to solve the above-described problems of the prior art, and can be independently designed for the external speed detection performance and the performance of the rotation angle of the rotor, and as a result, it is possible to increase the linear operating area. Rather, it aims to provide a method for detecting the angular velocity of a synchronous gyroscope whose calculated output angular velocity is almost similar to the input angular velocity.

를 제어 입력 신호

를 통해 토크 입력으로 궤환시키는 제 2 단계와, 동조자이로스코프로의 외부 입력 신호

를 토크 성분에 포함시킴으로서 수렴 속도

의 시간으로 외란으로써의 외부 입력을 상쇄시키는 제 3 단계와, 제어 입력 신호

에 변환 상수(

)와 미분동력학(

)을 가산기와 같이 사용함으로써 외부 입력을 검출하는 제 4 단계와, 검출된 외부 입력에 대한 속도 출력의 전달함수를 메이슨의 이득 공식을 사용하여 수학식

로 유도하는 제 5 단계를 포함하는 동조자이로스코프의 각속도 검출 방법을 제공한다.According to a preferred embodiment of the present invention for achieving this object, in the angular velocity detection method of a synchronous gyroscope having a rotor and a gimbal structure, a first step of determining a torque component that the rotor receives, and a synchronous gyro External input signal in the scope's operating area

Control input signal

A second step of returning to the torque input through the external input signal to the synchronous gyroscope

Convergence rate by including

A third step of canceling the external input as disturbance in a time of

In the conversion constant (

) And differential dynamics (

The fourth step of detecting the external input by using the adder as an adder, and the transfer function of the velocity output for the detected external input using the Mason's gain formula

It provides a method for detecting the angular velocity of the tuner gyroscope comprising a fifth step of leading to.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 4 is a view for explaining an angular velocity detection method of a tuning gyroscope according to the present invention, and the dotted line of FIG. 4 shows a two degree of freedom control loop to which the present invention is applied.

는 모두 비례 제어기를 나타낸다.

을 결정하기 위하여 아래의 관계를 유도한다. 도 4에서 입력

와 외부 입력

, 출력 Y에 대한 관계는 다음 수학식 19 및 수학식 20과 같다.In Figure 4

All represent proportional controllers.

To determine this, derive the following relationship. Input in Figure 4

And external input

, And the relationship with respect to the output Y is expressed by the following equation (19) and (20).

에 대해 정리하면 다음 수학식 21과 같이 표현될 수 있다.Equation 19 and Equation 20

In the following, it may be expressed as Equation 21 below.

을 수학식 22와 같이 설정한다.here

Is set as in Equation 22.

에 대해 정리하면 수학식 23과 같이 표현된다.Therefore, by substituting Equation 22 into Equation 21

In the following, it is expressed as Equation 23.

임을 가정할 수 있으므로 결과적으로 수학식 24를 얻을 수 있다. In the frequency range of DTG

Can be assumed, and as a result, Equation (24) can be obtained.

이다.here

to be.

가

를 통하여 토크 입력으로 궤환됨을 알 수 있다.Looking at Equation 24, the external input in the operation region

end

Through the torque input can be seen that.

가

에 의해 차단주파수가 결정되는 저역통과 필터를 통과하여

에 나타나게 되는데, 이 신호가 토크 입력에 포함됨으로 수렴 속도

의 시간으로 외란으로써의 외부 입력을 상쇄시켜 회전자의 회전각도를 최소로 유지할 수 있다.In other words,

end

Through the low pass filter where the cutoff frequency is determined by

This signal is included in the torque input, so the convergence rate

The rotation angle of the rotor can be kept to a minimum by canceling the external input due to the disturbance in a time of.

제어 입력에 변환 상수(404)와 미분동력학(405)을 가산기(406)와 같이 사용함으로써 외부 입력을 정확히 검출할 수 있다. 이는 시스템이 안정한 범위 내에서 이득을 최대로 할 수 있으며, 과도 상태에서 회전자의 회전각도를 기존의 제어방법을 사용하였을 경우 보다 작게 유지한 상태에서 외부 입력을 검출할 수 있다는 것을 의미하는데, 이것은 DTG의 동작영역이 넓어짐을 의미한다.Also as shown in Figure 4,

By using the conversion constant 404 and the differential dynamics 405 together with the adder 406 for the control input, the external input can be detected accurately. This means that the system can maximize the gain within a stable range and can detect external inputs while keeping the rotation angle of the rotor in a transient state smaller than with conventional control methods. It means that the operating area of DTG is widened.

Meanwhile, if the transfer function of the velocity output for the external input of the proposed method is finally derived using the Mason's gain formula, it can be expressed by the following equation (25).

As can be seen from Equation 25, it can be seen that the proposed method accurately matches the output angular velocity with respect to the input angular velocity. This means that the value can be calculated accurately for the external input angular velocity without affecting the internal dynamics of the gyroscope.

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According to the present invention, it is possible to reduce the displacement of the rotor and thus prevent the DTG from entering the cage mode by a large external speed input. This result can be a solution to compensate for the disadvantage that the system is stopped in cage mode of DTG, which is pointed out as the biggest problem when DTG is applied to various other application systems.                     

As mentioned above, although this invention was demonstrated concretely based on the Example, this invention is not limited to such an Example, Of course, various deformation | transformation are possible for it within the technical idea and the scope of a claim mentioned later.

Claims (6)

In the angular velocity detection method of a synchro gyroscope (DTG) having a rotor and a gimbal structure, Determining a torque component the rotor receives; External input signal in the operating region of the tuning gyroscope

Control input signal

A second step of feedback to the torque input through; External input signal to the synchronous gyroscope

Convergence rate by incorporating

A third step of canceling external input as disturbance in time of, The control input signal

In the conversion constant (

) And differential dynamics (

A fourth step of detecting an external input by using the same as an adder, The transfer function of the velocity output with respect to the detected external input is expressed using a gain formula of Mason.

5th step leading to Angular velocity detection method of the synchronous gyroscope comprising a. The method of claim 1, The second and third steps are mathematical

Implemented by the above

An angular velocity detection method of a synchronous gyroscope, characterized in that. delete delete delete delete

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