旋转载体驱动硅微机械陀螺幅频特性

摘要

A new silicon micromachined gyro on rotating body was introduced for attitude control of rotating body. The gyro uses rotating carrier rolling to obtain angular momentum. When the carrier has yaws and pitches, the periodic Coriolis force acts on sensitive mass, and the mass senses the angular velocity of yaw and pitch. Because of the rudder partial hit in flight test, the gyro is liable to generate resonance and the output signal can not meet the demands of rotating body attitude control. Therefore the natural frequency needs to be accurately measured. To solve this problem, the amplitude-frequency characteristics and natural frequency were analyzed based on the gyro motion equation, and the simulation was done by using numerical calculation software. A measurement method for amplitude-frequency characteristics was presented and the amplitude-frequency characteristic curve was obtained, in which the natural frequency was determined to be 70 Hz. The measurement results show that the measurement curve is fitted with the simulation curve and the error is about 2.1% between the measured natural frequency and the resonance point. In flight test, the gyro signal is good by avoiding the natural frequency of 70 Hz.%　　介绍了一种安装在旋转体上，用于旋转体姿态控制的新型微机械陀螺。陀螺利用旋转载体的滚转获得角动量，当载体发生偏航或俯仰，敏感质量块受到周期性哥氏力的作用，从而敏感载体的偏航或俯仰角速度。飞行试验中舵机的舵偏打容易使陀螺发生共振，陀螺输出信号无法满足旋转载体姿态控制的要求。针对这一问题，需精确测量陀螺的固有频率。首先基于陀螺运动方程分析了其幅频特性和固有频率，并利用数值计算软件进行了仿真，最后提出了一种对该陀螺幅频特性的测量方法，得到了幅频特性曲线，确定了固有频率70 Hz。实际测量的幅频特性曲线和仿真曲线一致，测量的固有频率相对于舵偏打产生的共振频率点误差为2.1%，通过避开测得的70 Hz 固有频率，获得了符合姿态控制要求的陀螺输出信号。