无驱动结构的硅微机械陀螺若干关键技术研究
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摘要
无驱动结构的硅微机械陀螺是一种基于哥氏力效应的新型角速度传感器,它利用旋转体自旋作为驱动,没有驱动结构,体积小,成本低,结构简单,可同时敏感旋转体的滚动、俯仰、偏航三个角速度。这种微机械陀螺是一种很有前景的传感器,可广泛应用于诸如滚转导弹等高速旋转体的姿态检测,它的研究具有重要的理论意义和实际应用价值。
本文分别完善了这种无驱动结构的硅微机械陀螺的数学模型,提出了抑制滚动角速度变化对陀螺输出信号影响的方法,实现了输出信号分离算法等关键技术问题,并在此基础上研制了以DSP2812为核心处理器的微机械陀螺姿态传感器样机。本文的创新工作包括以下具体内容：
1.针对前期所建微机械陀螺的数学模型只考虑偏航或俯仰的情况,利用欧拉方程,结合陀螺的结构特点,建立了微机械陀螺在俯仰和偏航并存时的数学模型,并通过仿真实验验证了所建模型的正确性,进一步完善了微机械陀螺的理论。
2.针对滚动角速度变化对微机械陀螺输出信号的影响,定义了滚动速度变化对刻度因子的影响率,提出了一种抑制滚动角速度变化对输出信号影响的方法,通过对具体微机械陀螺的实验、分析,结果表明,通过该方法处理后,其影响率降低了近23倍,提高了陀螺刻度因子的一致性。
3.研究了通过微机械陀螺输出信号和加速度计信号的相位差与旋转体空间偏转方向的关系,提出了利用相位差确定空间偏转方向的方法,进行了理论证明和实验验证；并深入分析了影响相位差的因素：如滚动角速度、输入角速度(俯仰和偏航合角速度)、温度及复杂运动形式下加速度计被调制等；针对两信号相位差受到滚动角速度及输入角速度影响突出,提出了一种相位差复合建模补偿的方法,实验表明补偿后相位差的最大绝对误差小于2°,减小了影响。
4.微机械陀螺输出信号是一包含滚动、偏航和俯仰角速度的调制信号,为了从微机械陀螺输出信号解调出滚动、俯仰、偏航三个角速度信息,以便用于旋转载体的多通道控制系统,提出了微机械陀螺输出信号的解调算法,并通过仿真实验验证了算法的有效性。结果表明：①该算法能够解调出旋转载体的滚动角速度、偏航角速度和俯仰角速度；②解调出来的滚动角速度与实际滚动角速度在5s内的最大相对误差小于0.3%,偏航角速度与实际偏航角速度最大绝对误差是5.2°/s,俯仰角速度与实际俯仰角速度的最大绝对误差是4.1°/s。
5.基于上述研究,设计并实现了以DSP2812为核心处理电路的微机械陀螺姿态传感器样机,并利用三轴转台模拟滚转导弹对样机进行了测试,测试结果表明,该姿态传感器可以将同时敏感的滚动、偏航和俯仰三个角速度直接以数字形式输出给上位机。解调出的滚动角速度的相对误差小于1%,俯仰、偏航角速度的相对误差小于17%,效果良好。
Non-driven structure micromechanical gyroscope is a novel angular rate sensor based on Coriolis force effect, which has not driven part, but utilizes itself circumrotation of the rotating carrier as driven force. It has the characteristics of small size, low cost, simple structure and can sense rolling, pitching and yaw angular rate of the rotating carrier at the same time. The micromechanical gyroscope is a promising sensor, which can be extensively applied to attitude measurement of high-speed-rotating airframe, e.g. rolling airframe missile. So its research has important theoretical significance and practical application value.
The dissertation has improved the mathematical model of micromechanical gyroscope, presented the method to compensate the effect of rolling angular rate on the output signal of the gyroscope and achieved the demodulation algorithm of the signal of the gyroscope. According to the above, the paper has designed and implemented the attitude sensor for high-speed-spin vehicle. The main contributions of this dissertation are listed as follows:
1. The previous model of micro-mechanical gyroscope fails to consider the existence of both pitching and yaw at the same time. The paper has presented the mathematical model of the micromechanical gyroscope based on Euler equations and the structure characters of the gyroscope. The simulation test has shown that the model is correct. And the theory of the non-driven Silicon micromechanical gyroscope has been improved furthermore.
2. In the order to reduce the effect of rolling angular rate on the output signal of the micromechanical gyroscope, the paper has defined the parameter about the influence on the scale factor caused by the change of rolling velocity, and presented a method to restrain the influence. The experiment results have shown that the ratio is reduced nearly by 23 times and improves the scale factor consistency of the gyroscope.
3. Though researching the relationship between phase difference, which is caused by output signal of the micromechanical gyroscope and accelerometer signal, and the deflection direction of the rotating carrier, the paper has proposed a method to determine the space deflection direction of rotating carrier based on the phase difference. Theoretical analysis and experimental results has verified the rationality and effectiveness of the method. Then the paper has analyzed the factors, i.e. rolling angular rate, the input angular, temperature and the demodulated accelerometer in the form of complex motion, which could influence the phase difference. Base on the rolling and input angular rate effecting phase difference, the paper has proposed composite phase difference compensation method. The test results have shown that the maximum absolute error of the compensated phase difference is less than 2°. The experiments have verified the validity of the compensation model.
4. The micromechanical gyroscope output signal is a modulation signal including rolling, pitching and yaw angular rate. With the aim to demodulate the information to get the three angular rates used in the multi-channel control system of the rotating carrier, the demodulation algorithm of the micro-mechanical gyroscope output signal has been advanced and the simulation experiment has demonstrated the effectiveness of the algorithm. The results have shown that:(1) the algorithm can demodulate three angular rates i.e. rolling, pitching and yaw; (2) within the 5s, the maximum relative error between the demonstrated rolling rate and the actual rolling rate is less than 0.3%, the maximum absolute error between the demonstrated pitching rate and the actual pitching rate is 5.2°/s, the maximum absolute error between the demonstrated yaw rate and the actual yaw rate is 4.1°/s.
5. Based on the above research, the paper has designed and implemented the micromechanical gyroscope attitude sensor prototype, whose core processing circuit is DSP2812. Then the prototype has been tested on the three-axis turntable, which can simulate the rolling missile. The results show that:the attitude sensor can sense rolling, yaw and pitching angular simultaneously and can output three angular rates in digital form directly to the host computer; the relative error of the demodulated rolling angular rate is less than 1%, the relative error of pitching (yaw) angular rate is less than 17%.
本文分别完善了这种无驱动结构的硅微机械陀螺的数学模型,提出了抑制滚动角速度变化对陀螺输出信号影响的方法,实现了输出信号分离算法等关键技术问题,并在此基础上研制了以DSP2812为核心处理器的微机械陀螺姿态传感器样机。本文的创新工作包括以下具体内容：
1.针对前期所建微机械陀螺的数学模型只考虑偏航或俯仰的情况,利用欧拉方程,结合陀螺的结构特点,建立了微机械陀螺在俯仰和偏航并存时的数学模型,并通过仿真实验验证了所建模型的正确性,进一步完善了微机械陀螺的理论。
2.针对滚动角速度变化对微机械陀螺输出信号的影响,定义了滚动速度变化对刻度因子的影响率,提出了一种抑制滚动角速度变化对输出信号影响的方法,通过对具体微机械陀螺的实验、分析,结果表明,通过该方法处理后,其影响率降低了近23倍,提高了陀螺刻度因子的一致性。
3.研究了通过微机械陀螺输出信号和加速度计信号的相位差与旋转体空间偏转方向的关系,提出了利用相位差确定空间偏转方向的方法,进行了理论证明和实验验证；并深入分析了影响相位差的因素：如滚动角速度、输入角速度(俯仰和偏航合角速度)、温度及复杂运动形式下加速度计被调制等；针对两信号相位差受到滚动角速度及输入角速度影响突出,提出了一种相位差复合建模补偿的方法,实验表明补偿后相位差的最大绝对误差小于2°,减小了影响。
4.微机械陀螺输出信号是一包含滚动、偏航和俯仰角速度的调制信号,为了从微机械陀螺输出信号解调出滚动、俯仰、偏航三个角速度信息,以便用于旋转载体的多通道控制系统,提出了微机械陀螺输出信号的解调算法,并通过仿真实验验证了算法的有效性。结果表明：①该算法能够解调出旋转载体的滚动角速度、偏航角速度和俯仰角速度；②解调出来的滚动角速度与实际滚动角速度在5s内的最大相对误差小于0.3%,偏航角速度与实际偏航角速度最大绝对误差是5.2°/s,俯仰角速度与实际俯仰角速度的最大绝对误差是4.1°/s。
5.基于上述研究,设计并实现了以DSP2812为核心处理电路的微机械陀螺姿态传感器样机,并利用三轴转台模拟滚转导弹对样机进行了测试,测试结果表明,该姿态传感器可以将同时敏感的滚动、偏航和俯仰三个角速度直接以数字形式输出给上位机。解调出的滚动角速度的相对误差小于1%,俯仰、偏航角速度的相对误差小于17%,效果良好。
Non-driven structure micromechanical gyroscope is a novel angular rate sensor based on Coriolis force effect, which has not driven part, but utilizes itself circumrotation of the rotating carrier as driven force. It has the characteristics of small size, low cost, simple structure and can sense rolling, pitching and yaw angular rate of the rotating carrier at the same time. The micromechanical gyroscope is a promising sensor, which can be extensively applied to attitude measurement of high-speed-rotating airframe, e.g. rolling airframe missile. So its research has important theoretical significance and practical application value.
The dissertation has improved the mathematical model of micromechanical gyroscope, presented the method to compensate the effect of rolling angular rate on the output signal of the gyroscope and achieved the demodulation algorithm of the signal of the gyroscope. According to the above, the paper has designed and implemented the attitude sensor for high-speed-spin vehicle. The main contributions of this dissertation are listed as follows:
1. The previous model of micro-mechanical gyroscope fails to consider the existence of both pitching and yaw at the same time. The paper has presented the mathematical model of the micromechanical gyroscope based on Euler equations and the structure characters of the gyroscope. The simulation test has shown that the model is correct. And the theory of the non-driven Silicon micromechanical gyroscope has been improved furthermore.
2. In the order to reduce the effect of rolling angular rate on the output signal of the micromechanical gyroscope, the paper has defined the parameter about the influence on the scale factor caused by the change of rolling velocity, and presented a method to restrain the influence. The experiment results have shown that the ratio is reduced nearly by 23 times and improves the scale factor consistency of the gyroscope.
3. Though researching the relationship between phase difference, which is caused by output signal of the micromechanical gyroscope and accelerometer signal, and the deflection direction of the rotating carrier, the paper has proposed a method to determine the space deflection direction of rotating carrier based on the phase difference. Theoretical analysis and experimental results has verified the rationality and effectiveness of the method. Then the paper has analyzed the factors, i.e. rolling angular rate, the input angular, temperature and the demodulated accelerometer in the form of complex motion, which could influence the phase difference. Base on the rolling and input angular rate effecting phase difference, the paper has proposed composite phase difference compensation method. The test results have shown that the maximum absolute error of the compensated phase difference is less than 2°. The experiments have verified the validity of the compensation model.
4. The micromechanical gyroscope output signal is a modulation signal including rolling, pitching and yaw angular rate. With the aim to demodulate the information to get the three angular rates used in the multi-channel control system of the rotating carrier, the demodulation algorithm of the micro-mechanical gyroscope output signal has been advanced and the simulation experiment has demonstrated the effectiveness of the algorithm. The results have shown that:(1) the algorithm can demodulate three angular rates i.e. rolling, pitching and yaw; (2) within the 5s, the maximum relative error between the demonstrated rolling rate and the actual rolling rate is less than 0.3%, the maximum absolute error between the demonstrated pitching rate and the actual pitching rate is 5.2°/s, the maximum absolute error between the demonstrated yaw rate and the actual yaw rate is 4.1°/s.
5. Based on the above research, the paper has designed and implemented the micromechanical gyroscope attitude sensor prototype, whose core processing circuit is DSP2812. Then the prototype has been tested on the three-axis turntable, which can simulate the rolling missile. The results show that:the attitude sensor can sense rolling, yaw and pitching angular simultaneously and can output three angular rates in digital form directly to the host computer; the relative error of the demodulated rolling angular rate is less than 1%, the relative error of pitching (yaw) angular rate is less than 17%.
引文
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