硕士学位论文
福林堂哥氏振动陀螺的误差分析与建模ERROR ANALYSIS AND MODELING OF CORIOLIS VIBRATORY GYRO
周睿
哈尔滨工业大学
2013年7月
中图分类号：V241.5 学校代码：10213 UDC：681.513 密级：公开
工程硕士学位论文
自我剖析怎么写
哥氏振动陀螺的误差分析与建模
硕士研究生：周睿
导师：任顺清教授
申请学位：工程硕士
学科、专业：控制工程
所在单位：航天学院
答辩日期：2013年7月
授予学位单位：哈尔滨工业大学
Classified Index: V241.5
U.D.C.: 681.513
Disrtation for the Master’s Degree in Engineering ERROR ANALYSIS AND MODELING OF CORIOLIS VIBRATORY GYRO
Candidate：Zhou Rui
Supervisor：Prof. Ren Shunqing Academic Degree Applied for：Master of Engineering Specialty：Control Engineering Affiliation: School of Astronautics
家风征文
Date of Defence：July, 2013
Degree-Conferring-Institution：Harbin Institute of Technology
摘要
摘要
哥氏振动陀螺是一种重要的惯性器件，不仅具有所有的惯性品质，还有寿命长、可靠性高、体积小、重量轻、精度高等转子陀螺不具备的特点而且可以微型化，非常适合应用于航空航天等国防领域。本文对哥氏振动陀螺的动力学模型、误差源和误差模型、谐振子缺陷引起的误差机理及误差抑制方法等方面进行了研究。cos30度是多少
首先，介绍了半球谐振子和环形谐振子的结构以及它们在理想条件下的动力学模型。推导出了半球谐振子半径分布不均匀的动力学方程，并结合谐振子密度和品质因数不均匀的动力学模型，总结出了普遍的适用于哥氏振动陀螺所有类型谐振子的动力学模型。
然后，分析哥氏振动陀螺的动力学模型，定义了两类主要的误差源，即非等弹性和非等阻尼。将动力学方程中变化较快的变量转化成变化较慢的椭圆轨道参数，又通过定义能量和角动量使椭圆轨道参数与之联系起来，利用参数之间的转换建立起关于非等弹性和非等阻尼的动力学方程。通过对半球谐振
陀螺密度不均匀和品质因数不均匀对驻波漂移速率影响的仿真计算，给出了非等弹性和非等阻尼对哥氏振动陀螺漂移的影响。
最后分析了谐振子缺陷引起的误差机理。利用均值法将带有缺陷的谐振子动力学模型中的两个二阶方程转化成四个一阶方程，简化了分析的难度，在此基础上构建了谐振子的反馈控制系统。介绍了幅值控制回路、频率控制回路和力反馈控制回路等几种闭环控制回路，分析了反馈控制系统对谐振子误差的抑制作用。利用半球谐振陀螺的参数，分别在开环和力反馈两种模式下对谐振子的缺陷对于零偏和标度因子的影响进行了定量计算并给出了仿真分析结果。
线路工
关键词：哥氏振动陀螺；非等弹性；非等阻尼；误差模型；零偏；标度因子
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Abstract
Abstract
Coriolis Vibratory Gyro is an important kind of inertial device, which not only has all of inertial quality, but also has the features of high reliability, long life span, small volume, light-weight, high-precision that rotating-wheel gyros don’t have and can be miniaturized. It is suitable for u in space and aviati广东省哪里好玩
on applications. In this paper, the dynamic model, the error sources, the error model of CVG, error mechanism caud by the defect of the resonator and the suppression method were rearched.
Firstly, the structures and dynamic models under ideal conditions of hemispheric resonator and ring resonator are introduced. The dynamic model of hemispheric resonator was established when non-uniformity of radius was taken into consideration, combined with the dynamic model of non-uniformity of density and quality factor, a general dynamic model suitable for all kinds of resonators of CVG was given.
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Secondly, the dynamic model of CVG was analyzed and two main sources of error, anisoelasticity and damping non-uniformity were defined. The rapidly changing variables of the dynamics of the resonator were transformed into slowly changing orbital elements and by defining energy and angular momentum, orbital elements were associated with them. The dynamic equations of anisoelasticity and damping non-uniformity were established by the transformation of parameters. By calculating the effect on the standing wave drift rate from non-uniformity of mass and quality factor of HRG, the impact on the drift rate of CVG from elasticity non-uniformity and damping non-uniformity was given.
At last, the error mechanism caud by resonator imperfections was discusd. The dynamics of the resonator can be described by transforming the system of two cond order equations into a system of four first order equations using averaging method. In this way, the difficulty of analysis is simplified. Then the feedback control system of the resonator of CVG is established. Several kinds of feedback control loop such as frequency control loop, amplitude control loop, force-to-rebalance control loop were introduced. In modes of open-loop and force-to-rebalance control, the impact on scale factor and bias from resonator imperfections was calculated and the simulation results were given.
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