【作者】 刘宁；

【导师】 苏中；

【作者基本信息】 北京理工大学 ， 导航、制导与控制， 2016， 博士

【摘要】 陀螺是实现载体角速率测量的核心关键部件。在隧道挖掘、矿山开采、地下管线铺设及常规炮弹制导等领域,载体(钻探机构、弹丸等)运动过程中存在高过载、高旋等恶劣环境条件,迫切需要一种抗高过载、大量程的陀螺。本文受中国传统大钟启发,结合金属壳谐振陀螺的工作原理,提出并研制了一种能够满足上述需求的钟形振子式角速率陀螺。本文围绕钟形振子式角速率陀螺的理论建模、钟形振子振动特性分析与结构设计、信号处理方法展开研究,主要工作和创新性内容包括:(1)提出了一种钟形振子式角速率陀螺振子结构,分析了钟形振子的振型与其运动模态,建立了钟形振子的动力学方程,推导出钟形振子的固有频率和进动因数,形成了钟形振子式角速率陀螺的理论基础。(2)分析了钟形振子固有频率、振型进动、抗高过载和机电耦合特性,对钟形振子式角速率陀螺的结构进行设计,提出了钟形振子结构优化指标与约束关系,设计出一种钟形振子结构,实现了钟形振子数学模型到陀螺之间的物理表征,解决了陀螺高过载环境下角速率直接测量的难题。(3)分析了钟形振子式角速率陀螺信号特点,建立了陀螺的等效控制模型,对模型参数进行辨识,针对现有控制与检测方法在高转速条件下的信号解算难题,提出了基于自适应滑模变结构控制器的一体化信号处理方法,解决了陀螺高转速条件下性能保证的难题。(4)设计了钟形振子式角速率陀螺,制作了原理样机,并对样机进行了测试。测试样机量程为±3600°/s、分辨率为0.06°/s、零偏稳定性为7.862°/h、标度因数非线性度为0.118%、抗高过载能力达到12000g,验证了理论分析的正确性。更多还原

【Abstract】 A gyro is the critical core component responsible for measuring the angular rate of a carrier.In tunneling,mining,underground pipeline placing,and conventional artillery guidance applications,the carrier(drilling mechanism,projectile,etc.)is subject during its motion to a severe environment of high overloading and high spinning,hence arising a pressing need for a gyro that offers a high overload capacity and a wide measuring range.Inspired by the traditional Chinese bell and having regard to the work principle to a metal shell vibratory gyro,this paper proposes a Bell-Shaped Vibratory Angular Rate Gyro(abbreviated as BVG)that meets the aforesaid requirements.The study in this paper focuses on theoretical modeling of BVG,bell shaped resonator characteristic analysis,its structure optimization,and its signal processing method.The study largely includes:(1)A BVG is proposed,and an insight is provided inside the oscillation mode and the motion model.Bell shaped resonator dynamic formulas are developed for the situation where an input angular rate exists,and the natural frequency of the bell shaped resonator and its precession factor are deduced,hence placing a theoretical basis for BVG.(2)Bell shaped resonator are analyzed in their natural frequency,oscillation mode precession,high overloading resistance,and electro-mechanical coupling behaviors.The structure of BVG is studied for optimization,and optimization indices and restraint relationship are postulated for bell shaped resonator structures.A bell shaped resonator structure is devised,which allows physical characterization from a bell shape resonator mathematic model to a gyro but;this also solves the tricky problem with direct angular rate measurement in an environment of wide measuring range and high overloading.(3)BVG are analyzed for their signal characteristics.An equivalent control model is built for gyros,with the model parameters being subsequently identified.An integrated signal processing technique,based on self-adaptive smooth model variable structure controller,is advanced to cope with the solution difficulty with existent control and measurement techniques under a high spin speed condition,which helps solve the problem that the performance of gyros cannot be guaranteed at a high spinning speed.(4)A BVG prototype was fabricated and tested.The results show that measuring range is ±3600°/s,resolution is 0.06°/s,bias stability is 7.862°/h,scale factor nonlinearity is 0.118%,and overload resistance is 12000 g,which show theoretic analysis’ s correctness.更多还原