CN107084744B - Inertial platform system gyroscope torquer coefficient calibration method - Google Patents
Inertial platform system gyroscope torquer coefficient calibration method Download PDFInfo
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- CN107084744B CN107084744B CN201710203096.5A CN201710203096A CN107084744B CN 107084744 B CN107084744 B CN 107084744B CN 201710203096 A CN201710203096 A CN 201710203096A CN 107084744 B CN107084744 B CN 107084744B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
A method for calibrating the moment coefficient of gyroscope of inertial platform system includes such steps as putting the inertial platform system on a base, turning it on, rotating the platform to make the gyroscope to be calibrated be in vertical position, precisely locking the horizontal axle of platform according to the angle of horizontal frame, recording the start time of positive or negative gyroscope, and calculating the end time of positive or negative gyroscope according to the number of pole pairs of vertical frame angle sensor.
Description
Technical Field
The invention relates to a method for calibrating a gyroscope moment coefficient of an inertial platform system, which can be used for calibrating the gyroscope moment coefficient of the platform system for a missile or weapon and belongs to the field of calibration of the inertial platform system.
Background
The inertial platform system generally consists of three gyroscopes, each gyroscope comprises a gyroscope torquer, error coefficients of the inertial platform system need to be calibrated before the missile or weapon system is launched, a force feedback method is generally adopted for calibrating the gyroscopes, the force feedback method needs to calibrate the gyroscope torquer coefficients at first, and the calibration precision of the gyroscope torquer influences the calibration precision of the platform system so as to influence the drop point precision of the missile or weapon system.
The method adopted at present for calibrating the gyroscope torquer coefficient is as follows: the calibrated gyroscope is rotated to a vertical position through the transposition function of the inertial platform system, the platform body processes a leveling state, moment is respectively added for 600 seconds to the positive direction and the negative direction of the calibrated gyroscope, and the gyroscope torquer coefficient is obtained through calculation by utilizing the frame angle of the inertial platform system in the vertical direction and different angle values of the positive direction and the negative direction in the same time. The disadvantages of this method are: firstly, when the base of the inertial platform system is not horizontal, the measured value of the frame angle in the vertical direction cannot correctly reflect the rotation angle of the vertical gyroscope, so that the calibration error of the torquer is caused, and the requirement on the levelness of the base of the platform system in the calibration environment is high (angle grading). Secondly, the frame angle sensor adopts a double-channel multi-polar rotary transformer, harmonic errors exist, and due to unequal positive and negative torque adding rotation angles, the harmonic errors can cause calibration errors of the torquer. Therefore, in order to improve the calibration accuracy of the gyroscope torquer, a high-accuracy torquer coefficient calibration method needs to be provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for calibrating the gyroscope torquer coefficient of the inertial platform system overcomes the defects of the prior art, reduces the requirement on the levelness of a platform system base in a calibration environment, reduces the influence of harmonic errors of the existing frame angle sensor on the calibration precision, and improves the calibration precision of the torquer.
The technical solution of the invention is as follows: a method for calibrating gyroscope moment coefficients of an inertial platform system comprises the following steps:
the method comprises the following steps: the inertial platform system is arranged on the placing base, the inertial platform system is electrified to work normally, the platform body of the inertial platform system is rotated to enable the calibrated gyroscope to be in a vertical position, and the horizontal shaft of the platform body is locked and controlled according to the frame angle in the horizontal direction;
step two: when the calibrated gyroscope in the step one is in the vertical position, recording the frame angle value in the vertical direction as theta1Starting time t1Adding moment to the calibrated gyroscope in the positive direction, wherein the moment control word is I1I, the frame angle in the vertical direction will decrease, when the frame angle value in the vertical direction becomesStopping adding moment, and recording the stopping time as t2；
Step three: step two, recording the initial time after stopping adding the moment for a period of timeIs carved as t3，t3The frame angle value in the vertical direction corresponding to the moment is theta3Adding a moment to the negative direction of the calibrated gyroscope, wherein a moment control word is I2When the frame angle value in the vertical direction becomes equal to-I, the frame angle in the vertical direction will increaseStopping adding moment, and recording the stopping time as t4；
Step four: and obtaining the coefficients of the calibrated gyroscope torquer according to the moment adding control words, the positive moment adding starting time and the positive moment adding stopping time in the step two, and the negative moment adding starting time and the negative moment adding stopping time in the step three.
In the method for calibrating gyroscope torquer coefficients of the inertial platform system, in the fourth step, a calculation formula of the calibrated gyroscope torquer coefficients is as follows:
wherein N is the polar pair number t of the frame angle sensor1For the start of positive moment addition, t2For positive torque application stop time, t3Is the starting moment of negative moment addition, t4And K is the moment when the negative moment is added and stopped, and the coefficient of the calibrated gyroscope torquer is obtained.
Compared with the prior art, the invention has the beneficial effects that:
(1) when the torquer coefficient is calibrated, the horizontal shaft of the platform body of the inertial platform system is in a locking state according to the frame angle sensor in the horizontal direction, compared with the existing calibration method that the frame angle sensor is in a leveling state according to the quartz accelerometer, the frame angle in the vertical direction can more accurately reflect the rotation angle of the calibrated gyroscope, the requirement on the levelness of the placing base of the inertial platform system during calibration is reduced, the non-levelness of the placing base is improved to more than 2 degrees from the original angle grading, and the environmental adaptability of torquer coefficient calibration is improved;
(2) the invention adopts the frame angle in the vertical direction with equal positive and negative rotation angle variation, and the angle variation is related to the number of pole pairs of the frame angle sensor.
Drawings
FIG. 1 is a block diagram of an inertial platform system gyroscope moment coefficient calibration system of the present invention;
FIG. 2 is a flowchart of a method for calibrating a gyroscope moment coefficient of an inertial platform system according to the present invention;
FIG. 3 is a comparison of the non-levelness of the base of the platform system to the calibration results of the torquer coefficient of the present invention calibration method and the prior calibration method;
FIG. 4 is a comparison graph of multiple tests of the calibration method of the present invention and the prior calibration method.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the inertial platform system torquer calibration system adopted by the invention comprises an inertial platform system 1, a platform circuit box 3, a platform test cabinet 4 and a placing base 2, wherein the inertial platform system 1 comprises a platform body, a base, a gyroscope and a frame angle sensor; the frame angle sensor adopts a double-channel multi-polar rotary transformer, and the number of pole pairs is generally 32, 64 and the like; the inertia platform system 1 and the platform circuit box 3 are placed on the placing base 2, the platform circuit box 3 is connected with the inertia platform system 1, the platform circuit box 3 is used for supplying power to the inertia platform system 1 and controlling and monitoring normal operation of the platform body, the platform test cabinet 4 is connected with the platform circuit box 3, and the platform test cabinet 4 is used for sending a control instruction to the platform circuit box 3 and displaying operation conditions of the inertia platform system 1.
FIG. 2 is a flowchart of a method for calibrating coefficients of a gyroscope moment generator of an inertial platform system according to the present invention. As shown in fig. 2, the method for calibrating the gyroscope moment coefficients of the inertial platform system includes the following steps:
the method comprises the following steps: the inertial platform system 1 is arranged on the placing base 2 and is electrified to work normally, the platform body of the inertial platform system 1 is rotated to enable the calibrated gyroscope to be in a vertical position, and the horizontal shaft of the platform body is accurately locked and controlled according to the frame angle in the horizontal direction;
step two: when the calibrated gyroscope in the step one is in the vertical position, recording the frame angle value in the vertical direction as theta1Starting time t1Adding moment to the calibrated gyroscope in the positive direction, wherein the moment control word is I1I, the frame angle in the vertical direction will decrease, when the frame angle value in the vertical direction becomesStopping adding moment, and recording the stopping time as t2；
Step three: in the second step, after stopping adding moment for a period of time, recording the starting moment as t3，t3The frame angle value in the vertical direction corresponding to the moment is theta3Adding a moment to the negative direction of the calibrated gyroscope, wherein a moment control word is I2When the frame angle value in the vertical direction becomes equal to-I, the frame angle in the vertical direction will increaseStopping adding moment, and recording the stopping time as t4；
Step four: and obtaining the coefficients of the calibrated gyroscope torquer according to the moment adding control words, the positive moment adding starting time and the positive moment adding stopping time in the step two, and the negative moment adding starting time and the negative moment adding stopping time in the step three.
In the first step, the inertial platform system 1 is powered on to work normally, the platform body is rotated to a position, the calibrated gyroscope is located at a vertical position at the position, and the horizontal shaft of the platform body is located in a locking state according to the angle of the horizontal frame.
In step two, the frame angle value in the vertical direction in step one is recorded as theta1Time t1Adding moment to the gyroscope in the vertical position in the positive direction, wherein the moment control word is I1When the frame angle value becomes equal to I, the vertical frame angle will decreaseWhen the moment is stopped, the moment is stopped and the time is recorded as t2。
In step three, recording the current vertical frame angle value as theta3Time t3Adding a moment to the vertical position gyroscope in a negative direction, wherein a moment control word is I2When the frame angle value becomes equal to-I, the vertical position frame angle will increaseWhen the moment is stopped, the moment is stopped and the time is recorded as t4。
In the fourth step, the calculation formula of the vertical position gyroscope torquer coefficient is as follows:
wherein N represents the number of frame angle sensor pole pairs; i represents a moment adding control word, the moment adding control word is used for representing the input quantity for digitally controlling the gyroscope torquer, and the unit is as follows: LSB; t is t1、t2、t3、t4Respectively represents positive moment starting and stopping time and negative moment starting and stopping time, and the unit is second. The unit of K is: DEG/h/LSB.
As shown in FIG. 3, under the condition that the placing base is not horizontal, the calibration method and the existing calibration method are utilized to carry out tests, 4 times of tests are respectively carried out, the levelness of the placing base in the previous three tests is within 1 angle, and the levelness of the placing base in the 4 th test is greater than 2 degrees.
As shown in FIG. 4, the method of the present invention and the existing calibration method are used for carrying out a plurality of tests on the gyroscope torquer coefficient of a certain platform system, the rotation angles of the frame angle sensor in different tests are different, and the test result shows that the calibration stability of the torquer coefficient of the method of the present invention is higher than that of the existing calibration method, and the method does not change with the difference of the frame angle sensor angle, thereby reducing the influence of the measurement error of the frame angle sensor caused by the polar logarithm, and improving the calibration precision.
When the torquer coefficient is calibrated, the horizontal shaft of the platform body of the inertial platform system is in a locking state according to the frame angle sensor, compared with a leveling state in the existing calibration method, the frame angle in the vertical direction can more accurately reflect the rotation angle of a calibrated gyroscope, the requirement on the levelness of a placing base of the inertial platform system during calibration is reduced, the non-levelness of the placing base is improved to more than 2 degrees from the original angle grading, and the environmental adaptability of torquer coefficient calibration is improved; in addition, the invention adopts the frame angle in the vertical direction with equal positive and negative rotation angle variable quantity, and the angle variable quantity is related to the number of pole pairs of the frame angle sensor.
The above-described embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (1)
1. A method for calibrating gyroscope torquer coefficients of an inertial platform system is characterized by comprising the following steps:
the method comprises the following steps: the inertial platform system (1) is arranged on the placing base (2), the power is turned on to work normally, the platform body of the inertial platform system (1) is rotated to enable the calibrated gyroscope to be in a vertical position, and the horizontal shaft of the platform body is locked and controlled according to the frame angle in the horizontal direction;
step two: when the calibrated gyroscope in the step one is in the vertical position, recording the frame angle value in the vertical direction as theta1Starting time t1Adding moment to the calibrated gyroscope in the positive direction, wherein the moment control word is I1I, the frame angle in the vertical direction will decrease, when the frame angle value in the vertical direction becomesStopping adding moment, and recording the stopping time as t2；
Step three: in the second step, after stopping adding moment for a period of time, recording the starting moment as t3，t3The frame angle value in the vertical direction corresponding to the moment is theta3Adding a moment to the negative direction of the calibrated gyroscope, wherein a moment control word is I2When the frame angle value in the vertical direction becomes equal to-I, the frame angle in the vertical direction will increaseStopping adding moment, and recording the stopping time as t4；
Step four: obtaining the coefficients of the calibrated gyroscope torquer according to the moment adding control words, the positive moment adding starting time and the positive moment adding stopping time in the step two, and the negative moment adding starting time and the negative moment adding stopping time in the step three; wherein the content of the first and second substances,
in step four, the calculation formula of the calibrated gyroscope torquer coefficient is as follows:
wherein N is the polar pair number t of the frame angle sensor1For the start of positive moment addition, t2For positive torque application stop time, t3Is the starting moment of negative moment addition, t4And K is the moment when the negative moment is added and stopped, and the coefficient of the calibrated gyroscope torquer is obtained. .
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