全角模式半球谐振陀螺的阻尼误差修调与补偿技术研究

doi:10.3901/JME.2022.16.145

机械工程学报 ›› 2022, Vol. 58 ›› Issue (16): 145-152.doi: 10.3901/JME.2022.16.145

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全角模式半球谐振陀螺的阻尼误差修调与补偿技术研究

张勇猛, 郭锞琛, 孙江坤, 余升, 肖定邦, 吴学忠

国防科技大学智能科学学院长沙 410073

收稿日期:2021-12-08 修回日期:2022-02-23 出版日期:2022-08-20 发布日期:2022-11-03
通讯作者: 肖定邦(通信作者)，男，1983年出生，博士，教授，博士研究生导师。主要研究方向为微机电系统与微惯性器件。E-mail：dingbangxiao@nudt.edu.cn
作者简介:张勇猛，男，1988年出生，博士，讲师，主要从事振动陀螺仪控制理论研究。E-mail：zhangym@nudt.edu.cn
基金资助:
国家自然科学基金(51935013, 51905538)和国家重点研发计划(2018YFB2002300，2019YFB1108203)资助项目

Research on Damping Error Tuning and Compensating Technology of Whole Angle Mode Hemispherical Resonator Gyroscope

ZHANG Yongmeng, GUO Kechen, SUN Jiangkun, YU Sheng, XIAO Dingbang, WU Xuezhong

College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073

Received:2021-12-08 Revised:2022-02-23 Online:2022-08-20 Published:2022-11-03

摘要/Abstract

摘要： 半球谐振陀螺具有精度高、可靠性好、抗干扰能力强等诸多优点，是最具性能潜力的哥氏振动陀螺之一。工作在力平衡模式下的半球谐振陀螺虽然具有极高的检测精度，但其动态性能受到控制系统的限制，难以充分发挥半球谐振陀螺性能优势。而工作在全角模式下的半球谐振陀螺兼具大量程和高动态范围，并且拥有稳定的标度因数，是未来发展的重点。然而，在全角模式下，高精度的半球谐振陀螺对其结构误差更为敏感，其加工过程中的结构不对称，尤其是阻尼不对称，将会对陀螺的测量精度产生严重影响。针对全角模式下阻尼误差的影响进行研究，提出全角模式下的谐振子阻尼修调方案，利用等效电阻尼降低了谐振子周向的阻尼不对称程度，并且设计了阻尼补偿方案，将陀螺阻尼误差引起的漂移由原先的0.031 6 °/s降低至了0.005 1 °/s，进一步提升了陀螺的测量精度。

关键词: 全角模式, 半球谐振陀螺, 振动陀螺, 阻尼修调, 阻尼误差补偿

Abstract: Hemispherical resonator gyroscope(HRG) is a typical coriolis vibratory gyroscopes(CVG) with advantages of high precision, good reliability, and strong anti-interference ability. HRG working in force to rebalance(FTR) mode has extremely high detection accuracy, but its dynamic performance is limited by the control system. On the other hand, HRG working in whole-angle(WA) mode has both large measurement range and excellent dynamic response. However, in WA mode, HRG is more sensitive to its structural errors, and the structural asymmetry, especially the asymmetry of damping, will have a serious impact on the measurement accuracy of the gyroscope. Focus on the influence of the damping error in WA mode, a damping error tuning method is proposed. The resistance is used as the equivalent damping of the resonator to reduce the damping asymmetry. Besides, a damping error compensation system is designed. As shown in the experiment, the drift caused by the damping error is reduced from 0.0316°/s to 0.005 1°/s and the measurement accuracy is greatly improved.

Key words: whole-angle mode, hemispherical resonator gyroscope, coriolis vibratory gyroscopes, damping tuning, compensation for damping drift

中图分类号:

TP212

张勇猛, 郭锞琛, 孙江坤, 余升, 肖定邦, 吴学忠. 全角模式半球谐振陀螺的阻尼误差修调与补偿技术研究[J]. 机械工程学报, 2022, 58(16): 145-152.

ZHANG Yongmeng, GUO Kechen, SUN Jiangkun, YU Sheng, XIAO Dingbang, WU Xuezhong. Research on Damping Error Tuning and Compensating Technology of Whole Angle Mode Hemispherical Resonator Gyroscope[J]. Journal of Mechanical Engineering, 2022, 58(16): 145-152.

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全角模式半球谐振陀螺的阻尼误差修调与补偿技术研究

Research on Damping Error Tuning and Compensating Technology of Whole Angle Mode Hemispherical Resonator Gyroscope

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