CAJ | 학술논문

介绍了一种安装在旋转体上,用于旋转体姿态控制的新型微机械陀螺.陀螺利用旋转载体的滚转获得角动量,当载体发生偏航或俯仰,敏感质量块受到周期性哥氏力的作用,从而敏感载体的偏航或俯仰角速度.飞行试验中舵机的舵偏打容易使陀螺发生共振,陀螺输出信号无法满足旋转载体姿态控制的要求.针对这一问题,需精确测量陀螺的固有频率.首先基于陀螺运动方程分析了其幅频特性和固有频率,并利用数值计算软件进行了仿真,最后提出了一种对该陀螺幅频特性的测量方法,得到了幅频特性曲线,确定了固有频率70 Hz.实际测量的幅频特性曲线和仿真曲线一致,测量的固有频率相对于舵偏打产生的共振频率点误差为2.1%,通过避开测得的70 Hz 固有频率,获得了符合姿态控制要求的陀螺输出信号.
개소료일충안장재선전체상,용우선전체자태공제적신형미궤계타라.타라이용선전재체적곤전획득각동량,당재체발생편항혹부앙,민감질량괴수도주기성가씨력적작용,종이민감재체적편항혹부앙각속도.비행시험중타궤적타편타용역사타라발생공진,타라수출신호무법만족선전재체자태공제적요구.침대저일문제,수정학측량타라적고유빈솔.수선기우타라운동방정분석료기폭빈특성화고유빈솔,병이용수치계산연건진행료방진,최후제출료일충대해타라폭빈특성적측량방법,득도료폭빈특성곡선,학정료고유빈솔70 Hz.실제측량적폭빈특성곡선화방진곡선일치,측량적고유빈솔상대우타편타산생적공진빈솔점오차위2.1%,통과피개측득적70 Hz 고유빈솔,획득료부합자태공제요구적타라수출신호.
A new silicon micromachined gyro on rotating body was introduced for attitude control of rotating body. The gyro uses rotating carrier rolling to obtain angular momentum. When the carrier has yaws and pitches, the periodic Coriolis force acts on sensitive mass, and the mass senses the angular velocity of yaw and pitch. Because of the rudder partial hit in flight test, the gyro is liable to generate resonance and the output signal can not meet the demands of rotating body attitude control. Therefore the natural frequency needs to be accurately measured. To solve this problem, the amplitude-frequency characteristics and natural frequency were analyzed based on the gyro motion equation, and the simulation was done by using numerical calculation software. A measurement method for amplitude-frequency characteristics was presented and the amplitude-frequency characteristic curve was obtained, in which the natural frequency was determined to be 70 Hz. The measurement results show that the measurement curve is fitted with the simulation curve and the error is about 2.1% between the measured natural frequency and the resonance point. In flight test, the gyro signal is good by avoiding the natural frequency of 70 Hz.