MSCSG随机误差测试及误差源分析

耿梦梦; 任元; 樊亚洪; 王丽芬; 于春淼

doi:10.13700/j.bh.1001-5965.2020.0269

MSCSG随机误差测试及误差源分析

doi: 10.13700/j.bh.1001-5965.2020.0269

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

基金项目:

国家自然科学基金 51475472

国家自然科学基金 51605489

详细信息

通讯作者:
任元. E-mail: renyuan_823@aliyun.com

中图分类号: V448.2
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- 被引次数: 0
出版历程
- 收稿日期: 2020-06-16
- 录用日期: 2020-07-03
- 网络出版日期: 2021-08-20

Random error test and error source analysis of MSCSG

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

Funds:

National Natural Science Foundation of China 51475472

National Natural Science Foundation of China 51605489

More Information

Corresponding author: REN Yuan. E-mail: renyuan_823@aliyun.com

摘要

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。
- 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.
- Magnetically Suspended Control & Sensing Gyroscope (MSCSG) /
- random error /
- Allan variance analysis method /
- least square fitting /
- error compensation

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图 1 MSCSG机械结构图

Figure 1. Mechanical structure of MSCSG

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图 2 LFMB工作原理图

Figure 2. Schematic diagram of LFMB

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图 3 MSCSG原理样机的测试实验实物图

Figure 3. Experimental photo of MSCSG prototype

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图 4 MSCSG采样输出曲线

Figure 4. Sample output curves of MSCSG

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图 5 MSCSG的Allan标准差双对数及拟合曲线图

Figure 5. Double logarithm of Allan standard deviation and fitting curve of MSCSG

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图 6 误差补偿前后Allan标准差对比曲线图

Figure 6. Comparison of Allan standard deviation before and after error compensation

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表 1 Allan标准差与5项典型误差的对应关系

Table 1. Corresponding relations between Allan standard deviation and five typical errors

随机误差项	Allan标准差
量化噪声Q/(°)

零偏不稳定性B/((°)·h^-1)	σ_B=B/0.664 8

速率斜坡R/((°)·h^-2)
注：τ为时间变量。

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表 2 MSCSG各项随机误差统计

Table 2. Statistics of random errors in MSCSG

随机误差项	结果
量化噪声Q/(°)	0.963 036
	2.525 648
零偏不稳定性B/((°)·h^-1)	12.023 988
	32.724 570
速率斜坡R/((°)·h^-2)	38.789 995

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表 3 误差补偿后MSCSG各项随机误差统计

Table 3. Statistics of random errors of MSCSG after error compensation

随机误差项	补偿后结果	误差降低率/%
量化噪声Q/(°)	0.916 159	4.87
	2.365 199	6.35
零偏不稳定性B/((°)·h^-1)	3.235 266	73.09
	10.682 979	36.80
速率斜坡R/((°)·h^-2)	23.970 946	38.20

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