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摘要:
由于机械结构误差和电气干扰，实际生产的挠性陀螺存在交叉耦合。分析交叉耦合影响因素，确定其为差动式电感传感器铁芯柱垂直度和力矩器线圈周向偏移角度，由此建立传感器、力矩器的误差模型，定量分析了各影响因素对交叉耦合的影响程度。设计铁芯柱精密装配工装、线圈精密装配工装，并对力矩器进行可调设计，控制挠性陀螺交叉耦合。工程实践表明：各项控制方法均取得较好效果，交叉耦合稳定控制为不大于1%；各项控制方法提高了挠性陀螺对角速度的测量精度，进而提高了惯导系统的导航精度。
Abstract:Due to mechanical structure error and electrical interference, the produced flexible gyro has cross coupling. The influencing factors of cross coupling were analyzed, which were positioned as the perpendicularity of the iron core column of the differential inductance sensor and the circumferential deviation angle of the torquer coil. The error models of the sensor and torquer were established, and the influencing degree of each influencing factor on cross coupling was quantitatively analyzed. Precision assembly tools of the iron core column and coil were designed, and an adjustable design of torquer was carried out to control the cross coupling of the flexible gyro. The engineering practice shows that all the control methods achieve good results, and the cross coupling stability control is less than 1%, which has a positive significance for improving the measurement accuracy of the diagonal velocity of the flexible gyro and the navigation accuracy of the inertial navigation system.
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Key words:
- flexible gyro /
- cross coupling /
- influencing factors /
- differential inductance sensor /
- torquer /
- adjustable design
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表 1 铁芯柱垂直度计量结果
Table 1. Measurement results of perpendicularity of iron core column
传感器编号 垂直度指标/mm 是否
合格① ② ③ ④ ⑤ ⑥ ⑦ ⑧ 1 0.0096 0.0087 0.0010 0.0032 0.0059 0.0052 0.0020 0.0116 是 2 0.0012 0.0066 0.0085 0.0080 0.0047 0.0119 0.0043 0.0121 是 3 0.0077 0.0117 0.0013 0.0061 0.0117 0.0110 0.0054 0.0010 是 4 0.0029 0.0081 0.0092 0.0100 0.0038 0.0061 0.0113 0.0021 是 5 0.0088 0.0016 0.0037 0.0068 0.0027 0.0092 0.0060 0.0030 是 
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表 2 线圈安装角度计量及拟合结果
Table 2. Measurement and fitting results of coil installation angle
力矩器编号 各点实测值/（°） 各点拟合值/（°） 是否
合格1 2 3 4 5 6 7 8 1、2 3、4 5、6 7、8 1 25.00 64.30 115.10 153.80 204.60 244.40 294.90 336.20 44.65 134.45 224.50 315.55 是 2 24.70 65.20 115.20 154.70 204.30 244.60 294.20 335.90 44.95 134.95 224.45 315.05 是 3 25.00 65.20 115.00 154.80 204.30 245.10 294.80 334.20 45.10 134.90 224.70 314.50 是 4 25.10 65.00 115.10 154.50 204.70 244.50 295.70 335.00 45.05 134.80 224.60 315.35 是 5 25.30 65.50 116.00 154.50 204.20 245.00 294.30 334.80 45.40 135.25 224.60 314.55 是
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表 3 挠性陀螺测试结果
Table 3. Test results of flexible gyro
挠性陀螺编号 旋转轴及角度 $ U_{x, + {\text{20}}}^{{\mathrm{DC}}} $/ mV $ U_{x, - {\text{20}}}^{{\mathrm{DC}}} $/ mV $ U_{y{\text{,}} + {\text{20}}}^{{\mathrm{DC}}} $/ mV $ U_{y{\text{,}} - {\text{20}}}^{{\mathrm{DC}}} $/ mV $ {\psi _x} $/% $ {\psi _y} $/% 220036# 绕y轴±20(°)/s旋转 −12.8 21.0 1996.2 − 1965.5 0.85 220037# 18.9 −8.7 1981.8 − 2022.3 0.69 220041# −6.6 20.4 1974.2 − 2022.0 0.68 220044# 18.5 −17.8 2023.2 − 2019.1 0.90 220057# −6.8 17.0 2009.4 − 2010.5 0.59 220036# 绕x轴±20(°)/s旋转 2016.3 − 1979.2 7.6 7.1 0.01 220037# 2053.6 − 2093.4 0.9 7.5 0.16 220041# 2022.0 − 2037.9 −9.9 4.7 0.36 220044# 2050.0 − 2050.4 2.9 −7.9 0.26 220057# 1994.2 − 1983.5 5.1 −3.8 0.22
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表 4 220012#、220018#调试过程数据
Table 4. Debugging process data of 220012# and 220018#
挠性陀螺编号 $\psi_x $/% $\psi_y $/% 初测 顺时针旋转 逆时针旋转 复测 初测 顺时针旋转 逆时针旋转 复测 220012# 1.1 1.6 0.3 0.2 2.1 2.7 0.8 0.9 220018# 2.1 2.4 0.4 0.4 0.4 0.1 0.8 0.8
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