四频激光陀螺平台罗经关键技术研究
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摘要
平台罗经是一种重要的舰载导航设备,经典的平台罗经系统均采用机械陀螺实现。论文立足于激光陀螺的本质特点和性能优势,研究探讨了将其应用于平台罗经导航系统中的可能方式与途径,建立了一种基于四频激光陀螺的平台罗经导航控制模型,设计并研制了一套简约的两轴四频激光陀螺平台罗经实验验证系统,对平台罗经的方位回路和水平回路进行了深入的仿真分析和实验验证。论文的主要研究工作和创新如下:
1、探索了激光陀螺用于平台导航系统的适应性问题。通过理论分析、实验测试和采用实测数据的仿真,验证了激光陀螺用于平台导航系统的可行性,总结了激光陀螺漂移对平台系统精度的影响规律。
2、研究并建立了四频激光陀螺平台罗经伺服控制及导航理论模型。四频激光陀螺平台的修正与稳定都是通过伺服控制来实现,其稳定基准是数字基准。
3、设计并研制了一套简约的两轴四频激光陀螺平台罗经实验验证系统。根据平台罗经两个水平回路的等效性,通过合理配置传感器,独立实现了平台罗经的方位回路和水平回路工作方式,检验了罗经找北和地垂线稳定的性能;从而实现对三轴四频陀螺平台罗经理论和关键技术的验证。
4、对激光陀螺平台罗经的关键技术和控制参数进行了深入的研究。解决了光栅角编码器应用于平台系统的若干问题;详细测试了所研制两轴平台系统的电气参数和摩擦特性;辨识了平台控制对象的传递函数,设计了速度-位置双环结构的稳定平台控制系统,具有比机电陀螺平台伺服系统高得多的力矩刚度。
5、对激光陀螺平台罗经的标定方法进行了研究。基于分立标定的思想,建立了标定坐标系和传感器测量模型。利用光栅角编码器伺服控制平台自身的旋转轴实现自主标定的方法,标定了陀螺和加速度计的比例因子、零偏和安装误差,同时还标定出了两轴平台旋转轴之间的垂直度。
6、进行了系统实验与仿真研究。完成了伺服控制系统的动静态实验、平台罗经水平回路和方位回路的静态实验,并利用实测陀螺数据仿真分析了陀螺漂移对平台系统精度的影响,获得了实验与理论相一致的结果,从而验证了四频激光陀螺平台罗经伺服控制导航理论的正确性。
The platform gyrocompass system is an important kind of shipborne navigation systems, and the electromechanical gyros are widely used in classical platform gyrocompass systems. Considering the substaintial characteristics and excellent performance of the RLG (Ring Laser Gyro), the possible ways and methods, applying RLGs in a platform gyrocompass system, are researched and discussed in this dissertation, the navigation and control models of the platform gyrocompass system based on four-mode differential laser gyro are established, a simplified dual axis experimental platform gyrocompass system is designed and developed, simulation analyses and related experiments are carried out to research the azimuth loop and horizontal loop. The main work and innovations of this dissertation are as follows:
1. The applicability using RLGs in a platform gyrocompass system is discussed and studied. Based on theoretical analyses, experimental tests, and simulation with experimental data, the feasibility using RLGs in a platform gyrocompass system is verified, and the influence of RLGs’drift on the platform gyrocompass’s accuracy is summarized.
2. The servocontrol and navigation theoretical models of the four-mode differential laser gyro platform gyrocompass system are studied and developed. The correction and stabilization of four-frequency differential RLG platform are realized by the servocontrol system, whose stabilization reference is digital.
3. A simplified dual axis four-mode differential laser gyro experimental platform gyrocompass system is designed and developed. By properly setting the sensors, the platform gyrocompass system can work at the azimuth loop state and horizontal loop state independently, which verified the gyrocompass’s north finder and plumb line stabilization capability.
4. The key technologies and control parameters of the RLG platform gyrocompass system are specially studied. Some problems caused by the grating angular encoder are hurdled; the electric parameters and frictional characteristic are tested; the transfer functions of the control system are identified; and a rate-position double loops platform stabilization control system is designed as well.
5. The calibration methods of the RLG platform gyrocompass are investigated. Based on the separate calibration thought, the calibration reference and sensor error models are presented. The self-calibration is realized by rotating the platform system with its own axes, by which RLGs and accelerometers’scale-factor errors, bias errors and installation error can be calibrated, and the verticality degree between the two rotating axes are identified as well.
6. System experiments and simulation analyses are carried out. The servocontrol system’s static and dynamic experiments, the static experiments of azimuth loop and horizontal loop are completed, the influence of RLGs’drift on the platform system’s performance accuracy is simulated using the experimental data. The experiment results coincide with the theoretical analyses, which verified the servocontrol, control and navigation theoretics’correctness in four-frequency RLG platform gyrocompass.
1、探索了激光陀螺用于平台导航系统的适应性问题。通过理论分析、实验测试和采用实测数据的仿真,验证了激光陀螺用于平台导航系统的可行性,总结了激光陀螺漂移对平台系统精度的影响规律。
2、研究并建立了四频激光陀螺平台罗经伺服控制及导航理论模型。四频激光陀螺平台的修正与稳定都是通过伺服控制来实现,其稳定基准是数字基准。
3、设计并研制了一套简约的两轴四频激光陀螺平台罗经实验验证系统。根据平台罗经两个水平回路的等效性,通过合理配置传感器,独立实现了平台罗经的方位回路和水平回路工作方式,检验了罗经找北和地垂线稳定的性能;从而实现对三轴四频陀螺平台罗经理论和关键技术的验证。
4、对激光陀螺平台罗经的关键技术和控制参数进行了深入的研究。解决了光栅角编码器应用于平台系统的若干问题;详细测试了所研制两轴平台系统的电气参数和摩擦特性;辨识了平台控制对象的传递函数,设计了速度-位置双环结构的稳定平台控制系统,具有比机电陀螺平台伺服系统高得多的力矩刚度。
5、对激光陀螺平台罗经的标定方法进行了研究。基于分立标定的思想,建立了标定坐标系和传感器测量模型。利用光栅角编码器伺服控制平台自身的旋转轴实现自主标定的方法,标定了陀螺和加速度计的比例因子、零偏和安装误差,同时还标定出了两轴平台旋转轴之间的垂直度。
6、进行了系统实验与仿真研究。完成了伺服控制系统的动静态实验、平台罗经水平回路和方位回路的静态实验,并利用实测陀螺数据仿真分析了陀螺漂移对平台系统精度的影响,获得了实验与理论相一致的结果,从而验证了四频激光陀螺平台罗经伺服控制导航理论的正确性。
The platform gyrocompass system is an important kind of shipborne navigation systems, and the electromechanical gyros are widely used in classical platform gyrocompass systems. Considering the substaintial characteristics and excellent performance of the RLG (Ring Laser Gyro), the possible ways and methods, applying RLGs in a platform gyrocompass system, are researched and discussed in this dissertation, the navigation and control models of the platform gyrocompass system based on four-mode differential laser gyro are established, a simplified dual axis experimental platform gyrocompass system is designed and developed, simulation analyses and related experiments are carried out to research the azimuth loop and horizontal loop. The main work and innovations of this dissertation are as follows:
1. The applicability using RLGs in a platform gyrocompass system is discussed and studied. Based on theoretical analyses, experimental tests, and simulation with experimental data, the feasibility using RLGs in a platform gyrocompass system is verified, and the influence of RLGs’drift on the platform gyrocompass’s accuracy is summarized.
2. The servocontrol and navigation theoretical models of the four-mode differential laser gyro platform gyrocompass system are studied and developed. The correction and stabilization of four-frequency differential RLG platform are realized by the servocontrol system, whose stabilization reference is digital.
3. A simplified dual axis four-mode differential laser gyro experimental platform gyrocompass system is designed and developed. By properly setting the sensors, the platform gyrocompass system can work at the azimuth loop state and horizontal loop state independently, which verified the gyrocompass’s north finder and plumb line stabilization capability.
4. The key technologies and control parameters of the RLG platform gyrocompass system are specially studied. Some problems caused by the grating angular encoder are hurdled; the electric parameters and frictional characteristic are tested; the transfer functions of the control system are identified; and a rate-position double loops platform stabilization control system is designed as well.
5. The calibration methods of the RLG platform gyrocompass are investigated. Based on the separate calibration thought, the calibration reference and sensor error models are presented. The self-calibration is realized by rotating the platform system with its own axes, by which RLGs and accelerometers’scale-factor errors, bias errors and installation error can be calibrated, and the verticality degree between the two rotating axes are identified as well.
6. System experiments and simulation analyses are carried out. The servocontrol system’s static and dynamic experiments, the static experiments of azimuth loop and horizontal loop are completed, the influence of RLGs’drift on the platform system’s performance accuracy is simulated using the experimental data. The experiment results coincide with the theoretical analyses, which verified the servocontrol, control and navigation theoretics’correctness in four-frequency RLG platform gyrocompass.
引文
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