导航与控制 ›› 2020, Vol. 19 ›› Issue (4/5): 135-142.doi: 10.3969/j.issn.1674-5558.2020.h4.016

• 惯性系统技术 • 上一篇    下一篇

旋转调制式惯性平台的圆锥运动误差

高钟毓   

  1. 清华大学,北京 100084
  • 收稿日期:2020-03-15 出版日期:2020-10-05 发布日期:2020-12-22
  • 作者简介:高钟毓,男,江苏南通人,1955年考入清华大学电机系自动学与远动学专业,1958年转自动控制系,1959年提前抽调任自动控制系助教,1974年转精密仪器系,1984年—1985年任加拿大渥太华大学电机系访问学者,1988年任德国斯图加特大学力学A研究所访问学者,1989年晋升为教授,1991年被评为博士生导师,2015年退休。退休后至今,被学校任命为某科研项目技术总顾问。主要研究方向为机电控制工程、高精度惯性仪表与系统。

The Conic Motion Error of Rotary Modulating Inertial Platform

GAO Zhong-yu   

  1. Tsinghua University, Beijing 100084
  • Received:2020-03-15 Online:2020-10-05 Published:2020-12-22

摘要: 转调制式空间稳定平台采用陀螺壳体翻滚技术,陀螺壳体翻滚在平台伺服跟踪作用下将形成圆锥运动。圆锥运动误差会引起陀螺漂移,对高精度、长航时惯性导航系统的精度将造成严重影响。首先,介绍了高精度、长航时旋转调制式惯性平台的基本工作原理,推导了平台上的陀螺沿旋转主轴相对地球的角速度。其次,阐述了陀螺壳体翻滚的圆锥运动,推导了壳体翻滚装置和框架伺服系统的跟踪误差及牵连运动角速度引起的圆锥运动附加漂移误差公式。再次,根据数值举例给出了计算机仿真曲线,指出该误差对高精度系统的危害。最后,得出结论:为了实现圆锥运动误差极小化,确保系统长时间运行精度和可靠性,必须实时扣除牵连运动角速度引起的圆锥运动误差分量,并优化设计壳体翻滚装置与平台伺服系统。

关键词: 旋转调制, 惯性平台, 圆锥运动, 附加误差

Abstract: The space stable platform modulated by rotation adopts the rolling technology of gyroscope housing. The servo tracking of the platform makes the gyroscope housing roll and form in a conical way. For a long voyage and high precision inertial navigation system, conical motion error leads to gyroscope drift, which in hence affect of its accuracy. In this paper, a high-precision and long-endurance rotary modulating inertial platform is firstly introduced with respect to its basic principle of. Secondly, the angular velocity of the gyroscope on the platform along the rotating principal axis is derived relative to the earth. Thirdly, the coning motion of gyroscope housing is modeled. The formula to calculate the drift error of coning motion caused by tracking error of shell rolling and frame servo with associated angular velocity is derived. Fourthly, the simulated curves based on numerical examples point out the effect of the error to the high precision inertial navigation system. Finally, the conclusion is drawn that in order to minimize the coning motion error and ensure the accuracy and reliability of the system running for a long time, the coning motion error caused by the associated angular velocity must be deducted in real time, and the shell rolling device and the platform servo system must be designed optimally.

Key words: rotary modulation, inertial platform, coning motion, additional error

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