| Citation: | GENG Mengmeng, REN Yuan, FAN Yahong, et al. Random error test and error source analysis of MSCSG[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(8): 1697-1704. doi: 10.13700/j.bh.1001-5965.2020.0269(in Chinese)
|
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.
| [1] |
任元, 王卫杰, 刘强, 等. 一种磁悬浮控制敏陀螺: 中国, ZL201510006597.5[P]. 2017-04-28.
REN Y, WANG W J, LIU Q, et al. A kind of magnetically suspended control sensitive gyroscope: China, ZL201510006597.5[P]. 2017-04-28(in Chinese).
|
| [2] |
夏长峰, 蔡远文, 任元, 等. MSCSG转子不平衡振动原理分析与建模[J]. 北京航空航天大学学报, 2018, 44(11): 2321-2328. doi: 10.13700/j.bh.1001-5965.2018.0044
XIA C F, CAI Y W, REN Y, et al. Principle analysis and modeling of rotor imbalance vibration in magnetically suspended control and sensing gyroscope[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2321-2328(in Chinese). doi: 10.13700/j.bh.1001-5965.2018.0044
|
| [3] |
ZHENG S Q, LI H T, HAN B C, et al. Power consumption reduction for magnetic bearing systems during torque output of control moment gyros[J]. IEEE Transactions on Power Electronics, 2017, 32(7): 5752-5759. doi: 10.1109/TPEL.2016.2608660
|
| [4] |
HAN B C, ZHENG S Q, LI H T, et al. Weight-reduction design based on integrated radial-axial magnetic bearing of a large-scale MSCMG for space station application[J]. IEEE Transactions on Industrial Electronics, 2016, 64(3): 2205-2214. http://ieeexplore.ieee.org/document/7739998
|
| [5] |
LIU X K, ZHAO H, YAO Y, et al. Modeling and analysis of micro-spacecraft attitude sensing with gyrowheel[J]. Sensors, 2016, 16(8): 1321. doi: 10.3390/s16081321
|
| [6] |
FANG J C, ZHENG S Q, HAN B C. Attitude sensing and dynamic decoupling based on active magnetic bearing of MSDGCMG[J]. IEEE Transactions on Instrumentation and Measurement, 2012, 61(2): 338-348. doi: 10.1109/TIM.2011.2164289
|
| [7] |
霍元正. MEMS陀螺仪随机漂移误差补偿技术的研究[D]. 南京: 东南大学, 2015: 12-19.
HUO Y Z. Research in measurement of MEMS gyroscope random drift compensation[D]. Nanjing: Southeast University, 2015: 12-19(in Chinese).
|
| [8] |
熊必凤. 低成本MEMS陀螺仪随机漂移误差的建模及修正[D]. 重庆: 西南大学, 2017: 13-16.
XIONG B F. Modeling and correction of random drift error of low cost MEMS gyroscope[D]. Chongqing: Southwest University, 2017: 13-16(in Chinese).
|
| [9] |
ALLAN D W, LEVINE J. A historical perspective on the development of the allan variances and their strengths and weaknesses[J]. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 2016, 63(4): 513-519. doi: 10.1109/TUFFC.2016.2524687
|
| [10] |
REN Y F, KE X Z, LIU Y J. MEMS gyroscope performance estimate based on allan variance[C]//2007 8th International Conference on Electronic Measurement and Instruments. Piscataway: IEEE Press, 2007: 301-304.
|
| [11] |
杜少林, 陈书钊, 陈鹏光, 等. 基于Allan方差的MEMS陀螺仪噪声分析[J]. 仪表技术与传感器, 2018(5): 20-22, 27. https://www.cnki.com.cn/Article/CJFDTOTAL-YBJS201805005.htm
DU S L, CHEN S Z, CHEN P G, et al. Analysis of MEMS gyroscope noise based on allan variance[J]. Instrument Technique and Sensor, 2018(5): 20-22, 27(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-YBJS201805005.htm
|
| [12] |
马群, 王庆, 阳媛, 等. 基于Allan方差的MEMS陀螺仪随机误差辨识与抑制[J]. 传感器与微系统, 2019, 38(6): 62-65. https://www.cnki.com.cn/Article/CJFDTOTAL-CGQJ201906018.htm
MA Q, WANG Q, YANG Y, et al. Random error identification and suppression of MEMS gyroscope based on Allan variance[J]. Transducer and Microsystem Technologies, 2019, 38(6): 62-65(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-CGQJ201906018.htm
|
| [13] |
贾瑞才. 低成本IMU误差辨识与补偿算法[J]. 四川兵工学报, 2014, 35(5): 97-101. https://www.cnki.com.cn/Article/CJFDTOTAL-CUXI201405028.htm
JIA R C. Algorithm of error identification and compensation for low cost IMU[J]. Journal of Sichuan Ordnance, 2014, 35(5): 97-101(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-CUXI201405028.htm
|
| [14] |
严恭敏, 李四海, 秦永元. 惯性仪器测试与数据分析[M]. 北京: 国防工业出版社, 2015: 142-143.
YAN G M, LI S H, QIN Y Y. Inertial instrument test and data analysis[M]. Beijing: National Defense Industry Press, 2015: 142-143(in Chinese).
|
| [15] |
夏长峰, 蔡远文, 任元, 等. MSCSG转子系统的扩展双频Bode图稳定性分析方法[J]. 宇航学报, 2018, 39(2): 168-176. https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201802008.htm
XIA C F, CAI Y W, REN Y, et al. Stability analysis method with extended double-frequency bode diagram for rotor of MSCSG[J]. Journal of Astronautics, 2018, 39(2): 168-176(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-YHXB201802008.htm
|
| [16] |
辛朝军, 蔡远文, 任元, 等. 磁悬浮敏感陀螺动力学建模与关键误差源分析[J]. 北京航空航天大学学报, 2016, 42(10): 2048-2058. doi: 10.13700/j.bh.1001-5965.2015.0650
XIN C J, CAI Y W, REN Y, et al. Dynamic modeling and key error sources analysis of magnetically suspended sensitive gyroscopes[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2048-2058(in Chinese). doi: 10.13700/j.bh.1001-5965.2015.0650
|
| [17] |
YU C M, WANG Z, REN Y, et al. MSCSG two degree of freedom attitude measurement method[C]//Proceedings of the 2nd International Conference on Electrical, Control and Automation(ICECA2018). Beijing: Space Engineering University, 2018: 390-396.
|
| [18] |
李磊, 任元, 陈晓岑, 等. 基于ADRC和RBF神经网络的MSCSG控制系统设计[J]. 北京航空航天大学学报, 2020, 46(10): 1966-1972. doi: 10.13700/j.bh.1001-5965.2019.0536
LI L, REN Y, CHEN X C, et al. Design of MSCSG control system based on ADRC and RBF neural network[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(10): 1966-1972(in Chinese). doi: 10.13700/j.bh.1001-5965.2019.0536
|
| [19] |
REN Y, CHEN X C, CAI Y W, et al. Attitude-rate measurement and control integration using magnetically suspended control and sensitive gyroscopes[J]. IEEE Transactions on Industrial Electronics, 2018, 65(6): 4921-4932. http://ieeexplore.ieee.org/document/8106733/
|
| [20] |
中国人民解放军战略支援部队航天工程大学. 一种基于磁悬浮控制敏感陀螺平行构型的角运动测量方法: 中国,
CN110068336A[P]. 2019-07-30. Space Engineering University, Strategic Support Force of the People's Liberation Army of China. Angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes: China, CN110068336A[P]. 2019-07-30(in Chinese).
|
| [21] |
辛朝军. 磁悬浮控制敏感陀螺误差分析与补偿方法研究[D]. 北京: 航天工程大学, 2017: 121-162.
XIN C J. Compensation method investigation and error analysis for a magnetically suspended control & sensing gyroscope[D]. Beijing: Space Engineering University, 2017: 121-162(in Chinese).
|
Figures(6) / Tables(3)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
