北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (8): 1697-1704.doi: 10.13700/j.bh.1001-5965.2020.0269

• 论文 • 上一篇    下一篇

MSCSG随机误差测试及误差源分析

耿梦梦1, 任元2, 樊亚洪3, 王丽芬2, 于春淼1   

  1. 1. 航天工程大学 研究生院, 北京 101416;
    2. 航天工程大学 宇航科学与技术系, 北京 101416;
    3. 北京控制工程研究所, 北京 100190
  • 收稿日期:2020-06-16 发布日期:2021-09-06
  • 通讯作者: 任元 E-mail:renyuan_823@aliyun.com
  • 基金资助:
    国家自然科学基金(51475472,51605489)

Random error test and error source analysis of MSCSG

GENG Mengmeng1, REN Yuan2, FAN Yahong3, WANG Lifen2, YU Chunmiao1   

  1. 1. Graduate School, Space Engineering University, Beijing 101416, China;
    2. Department of Aerospace Science and Technology, Space Engineering University, Beijing 101416, China;
    3. Beijing Institute of Control Engineering, Beijing 100190, China
  • Received:2020-06-16 Published:2021-09-06
  • Supported by:
    National Natural Science Foundation of China (51475472,51605489)

摘要: 针对磁悬浮控制敏感陀螺(MSCSG)的角速率测量信号中存在较大的随机误差,不利于提高MSCSG敏感精度,以MSCSG原理样机为研究对象,提出采用Allan方差分析法对MSCSG实测数据进行随机误差分析。首先,根据MSCSG角速率敏感原理推导出MSCSG转子偏转角速率的量测公式;其次,应用Allan方差分析法和最小二乘拟合方法计算出5种典型随机误差系数。计算结果显示:在MSCSG随机误差中,零偏不稳定性、速率随机游走以及速率斜坡占主要成分,而量化噪声和角度随机游走误差所占比重较小。依此,对MSCSG误差来源进行了指向性分析,并给出了随机误差的抑制补偿方法,为MSCSG敏感精度的提高奠定了理论基础。

关键词: 磁悬浮控制敏感陀螺(MSCSG), 随机误差, Allan方差分析法, 最小二乘拟合, 误差补偿

Abstract: There is a large random error in the angular rate measurement signal of Magnetically Suspended Control & Sensing Gyroscope (MSCSG), which is not conducive to improving the sensitivity accuracy of MSCSG. In this paper, taking the principle prototype of MSCSG as the research object, the Allan variance analysis method is proposed to analyze the random error of the measured data of MSCSG. According to the principle of MSCSG angular velocity sensitivity, the measurement formula of MSCSG rotor deflection angular velocity is derived. Five typical random error coefficients are calculated by Allan variance analysis and least square fitting. The calculation results show that, among MSCSG random errors, zero deviation instability, rate following and rate slope are the main components, while quantization noise and angle random walk error account for the smaller proportion. According to this, the directivity of MSCSG error source is analyzed, and the method of restraining and compensating random error is given, which lays a theoretical foundation for improving the sensitivity accuracy of MSCSG.

Key words: Magnetically Suspended Control & Sensing Gyroscope (MSCSG), random error, Allan variance analysis method, least square fitting, error compensation

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