摆式陀螺寻北仪悬带摆角及质心平动分析

摘要

为了分析悬挂式摆式陀螺寻北仪悬带摆角和质心平动,从摆式陀螺寻北原理出发,由动静法推导了重力矩下摆式陀螺寻北运动的动力学方程,分析悬带摆角、转子轴垂直摆角与质心平动的关系,建立并解算其运动模型,通过实验验证,悬带摆角与垂直角是由相同的高低频率的简谐运动组成,并非传统解释的前者是后者的高频振动;质心平动是二者的线性叠加,且随垂直角在摆动中心水平两侧呈对称分布.%In order to analyze swing angle of suspension tape and centriod translational motion of pendulous gyro north finder, dynamic equation of north-seeking movement of gyro under gravity was deduced by static and dynamic method from theory of pendulous gyroscope north- seeking. The relationship of swing angle of suspension tape, rotor axis vertical swing angle and centriod translational motion was analyzed whose model of motion was established and solved. It was showed by experiments that swing angle of suspension tape and rotor axis vertical swing angle are composed by the same high and low frequency of simple harmonic motion, but not the traditional explanation that the former is the high-frequency vibration of the latter, and centriod translational motion is the linear superposition of the two who is symmetrical on both sides of the swing center with the vertical angle.