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一种新型陀螺的力矩器非圆性误差补偿方法

陈国越 王华 任元 辛朝军

陈国越, 王华, 任元, 等 . 一种新型陀螺的力矩器非圆性误差补偿方法[J]. 北京航空航天大学学报, 2018, 44(8): 1755-1763. doi: 10.13700/j.bh.1001-5965.2017.0604
引用本文: 陈国越, 王华, 任元, 等 . 一种新型陀螺的力矩器非圆性误差补偿方法[J]. 北京航空航天大学学报, 2018, 44(8): 1755-1763. doi: 10.13700/j.bh.1001-5965.2017.0604
CHEN Guoyue, WANG Hua, REN Yuan, et al. A new gyro torquer's non-circular error compensation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1755-1763. doi: 10.13700/j.bh.1001-5965.2017.0604(in Chinese)
Citation: CHEN Guoyue, WANG Hua, REN Yuan, et al. A new gyro torquer's non-circular error compensation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1755-1763. doi: 10.13700/j.bh.1001-5965.2017.0604(in Chinese)

一种新型陀螺的力矩器非圆性误差补偿方法

doi: 10.13700/j.bh.1001-5965.2017.0604
基金项目: 

国家自然科学基金 51475472

国家自然科学基金 61403396

详细信息
    作者简介:

    陈国越  男, 硕士研究生。主要研究方向:磁悬浮控制敏感陀螺的测量

    王华  男, 博士, 教授, 博士生导师。主要研究方向:飞行器测试与发射

    任元  男, 博士, 副教授, 硕士生导师。主要研究方向:导航制导与控制

    通讯作者:

    任元, E-mail: renyuan_823@aliyun.com

  • 中图分类号: V448.2

A new gyro torquer's non-circular error compensation method

Funds: 

National Natural Science Foundation of China 51475472

National Natural Science Foundation of China 61403396

More Information
  • 摘要:

    为提高磁悬浮控制敏感陀螺(MSCSG)对陀螺载体姿态的敏感精度,基于其洛伦兹力磁轴承(LFMB)的设计结构,提出了一种力矩器非圆性误差补偿方法。首先,针对一种新型双球形包络面转子MSCSG,介绍了MSCSG的结构特点与陀螺载体姿态角速度敏感原理,并分别建立了MSCSG力矩器半径误差模型、转子偏转干扰力矩模型与陀螺载体姿态角速度敏感误差模型。其次,通过实验测量了力矩器的圆度,通过MATLAB进行数据拟合得到了力矩器的非圆特性,采用勒让德多项式级数对力矩器非圆性进行了描述,并有效补偿了因力矩器非圆性误差导致的姿态角速度敏感误差。最后,对误差补偿效果进行了仿真验证,结果表明该补偿方法使陀螺载体姿态角速度敏感误差降低了83.5%。此外,本文方法还可以解决LFMB陀螺的相关共性问题。

     

  • 图 1  MSCSG结构

    Figure 1.  Structure of MSCSG

    图 2  MSCSG力矩器结构原理

    Figure 2.  Structure principle of MSCSG torquer

    图 3  MSCSG径向偏转力矩器实物图

    Figure 3.  Photo of MSCSG radial deflection torquer

    图 4  勒让德多项式级数非圆性仿真

    Figure 4.  Legendre polynomial series non-circular simulation

    图 5  实验测量实物图

    Figure 5.  Photo of experimental measurement

    图 6  力矩器半径测量值随圆周角变化情况

    Figure 6.  Change of measured value of torquer radius with inscribed angle

    图 7  干扰力矩测量值随圆周角变化

    Figure 7.  Change of measured value of disturbance torque with inscribed angle

    图 8  力矩器半径误差勒让德级数拟合

    Figure 8.  Legendre series fitting of torquer radius error

    图 9  MSCSG载体姿态角速度敏感系统框图

    Figure 9.  Block diagram of MSCSG carrier attitude angular velocity measurement system

    图 10  姿态角速度和角度仿真

    Figure 10.  Simulation of attitude angle velocity and attitude angle

    表  1  仿真系统参数

    Table  1.   Parameters of simulation system

    参数 取值
    LFMB支架半径/mm 55.695 5
    LFMB线圈匝数 200
    LFMB线圈电流/A 1
    LFMB磁场磁密/T 0.4
    转子径向转动惯量/(kg·m2) 0.003 4
    转子轴向转动惯量/(kg·m2) 0.005 2
    LFMB线圈半张角/(°) 37
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-09-26
  • 录用日期:  2018-01-05
  • 网络出版日期:  2018-08-20

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