微机械陀螺同步解调灵敏度分析

介绍了微机械陀螺工作原理和敏感输出信号组成,针对敏感输出中含有正交误差信号和同相误差信号的情况,分析了基于单相锁定放大的解调方法对陀螺性能的影响,分析表明该方法会降低解调的灵敏度,使标度因数产生衰减,在电气噪声水平一定的情况下,会使陀螺的零偏稳定性变差。针对以上不足,研究了基于双相锁定放大的解调改进方法,首先采用两路正交参考信号测量敏感信号的相位,然后通过移相使一路参考信号和哥氏信号精确同相,进而解调得到角速度输出。分析表明,该方法可使陀螺标度因数达到最大,从而提高了陀螺灵敏度,有利于改善零偏稳定性。     

激光捷联系统中的优化圆锥误差补偿算法

激光捷联系统中采用低通滤波器消除激光陀螺角增量输出中机械抖动引入的干扰信号,同时也对陀螺敏感的外界惯性输入角速度信号进行了频率整形,产生了视在圆锥误差,此时传统圆锥补偿算法未考虑滤波器影响补偿精度严重降低.针对本系统采用了31阶低通滤波器对陀螺的角增量输出整形,分析了其引入的视在圆锥误差,基于滤波器的频率特性,采用五子样圆锥误差补偿算法,即在旋转矢量更新周期内有五个陀螺采样信号,可以构成四种不同时间间隔的陀螺输出角增量信号的叉积,利用这些叉积的线性组合更新旋转矢量.仿真结果表明,对经过滤波器整形的陀螺输出角增量进行补偿,优化的圆锥补偿算法的补偿精度明显优于传统圆锥补偿算法,使系统姿态角的精度提高了两个数量级.     

双H型石英陀螺电容耦合分析与电极优化设计

双H型石英陀螺的音叉结构具有电极工艺简单的优点,但该陀螺的电容耦合噪声比H型石英陀螺的电容耦合噪声大.为减小电容耦合噪声,分析了双H型音叉的电容耦合噪声的影响和产生机理,采用ANSYS软件分析电容耦合噪声.在驱动电极上加载电压载荷,采用静态分析功能,在后处理器P0ST1中获取敏感电极的电荷量,利用电压和电荷的关系获取检测电极的耦合分布电容,采用这一指导原则,设计了一种新电极分布的音叉;通过仿真和测试对比了新电极和旧电极音叉的耦合分布电容,测试结果表明,新的电极设计的耦合电容值为旧电极的耦合电容值的50％左右.介绍了一种新的电极结构的双H型石英陀螺,并给出耦合电容的仿真分析及测试方法,该方法可以指导石英陀螺电极设计.     

线振动硅微机械陀螺结构误差参数分离和辨识

推导了线振动微机械陀螺的三自由度误差力学方程,并详细分析了陀螺耦合误差的产生机理。分析结果表明,各种结构误差是导致陀螺耦合误差信号的主要原因。在此基础上,利用振动和模态理论给出了陀螺结构误差参数的分离和辨识的试验方法和结果。试验结果表明,同相耦合分量和正交耦合分量是微机械陀螺的两种主要误差信号,造成正交耦合的主要原因是驱动轴和检测轴之间的刚度耦合以及驱动轴和检测轴各自的刚度不对称,造成同相耦合的主要原因是驱动轴和检测轴之间的阻尼耦合以及检测轴刚度不对称和驱动力不对称。结构误差参数的分离和辨识试验方法将为下一步的陀螺结构优化、微加工工艺改进以及耦合误差抑制提供基础。     

提高石英音叉陀螺驱动信号稳定性的数字电路设计

石英音叉陀螺通常采用模拟解调电路,现有模拟电路驱动电路幅度稳定性不高,限制了石英音叉陀螺整机性能,可以采用数字电路提高驱动幅度稳定性。文中先讨论了驱动信号幅度影响石英音叉陀螺性能的原因;然后设计了数字电路,采用数字信号处理算法实现了数字电路闭环驱动,并对数字电路闭环驱动的自动增益控制误差进行了分析;最后,对模拟电路和数字电路的驱动幅度稳定性进行了对比测试,定温情况下,模拟电路驱动幅度稳定性的均方差为4.77×10-4V,数字电路的幅度稳定性的均方差达到8.26×10-5V,模拟电路幅度稳定性在全温范围的均方差为0.0680 V,数字电路的均方差仅为0.0006V。实验表明,数字电路的驱动信号幅度稳定性显著提高。     

光纤陀螺捷联姿态算法的改进研究

传统的捷联姿态算法一般只采用陀螺角增量信号来进行设计，当应用于由输出为角速率的干涉型光纤陀螺构成的捷联姿态系统时，不仅在精度上存在局限，而且还由于通过角速率提取角增量而带来更大误差。因此，同时利用角速率及角增量信号，优化设计出一类新的旋转矢量姿态算法，给出了算法的圆锥误差表达式，并进行了仿真分析。结果表明，新的算法精度较传统算法有显提高。     

基于自适应神经模糊推理系统的陀螺建模方法

系统地介绍了近年来陀螺信号处理中出现的各种主要的滤波方法,并分析了各自的优缺点.针对陀螺输出信号自身的特点,提出了一种基于自适应神经模糊推理系统的陀螺滤波方法,建立了陀螺误差模型.提出的滤波方法同时具有神经网络与模糊逻辑推理的优点,从而有效地减小了建模误差.分别探讨了陀螺静态时的零偏信号估计模型与敏感动态信号时的滤波方案.由仿真结果可以看出,该方法可以有效地估计陀螺的零偏,并能抑制陀螺输出信号中的噪声.     

一种谐振式硅微机械陀螺的设计和加工

基于谐振式检测方式的高灵敏度、大动态范围、易于与数字电路接口等优点,提出了一种谐振式微机械陀螺的新型结构,研究了其工作原理,得到了双端音叉谐振器(DETF)振动Mathieu方程的稳态输出,并基于此稳态输出的贝塞尔曲线簇分解信号的幅相频率特性曲线进行了特性分析和Matlab仿真研究,从而提出了一种利用DETF输出信号xr中ωr0或ωr0 ωp频率分量来解算科氏力的方法,实现对输入角速度?的检测,并采用SOG工艺加工此新型结构得到样件。研究表明,此新型谐振式硅微机械陀螺结构具有准数字输出,并能有效提高其输出信号的信噪比。     

不等间隔角速率输出的捷联航姿算法研究

结合实际系统陀螺输出为不等间隔角速率信号且时间间隔已知的特点，将陀螺输出数据的时间间隔引入定时增量算法，提出了一种梯形积分增量算法。为补偿圆锥运动误差，推导了不等间隔角速率输出时的旋转矢量二子样算法，并在典型圆锥运动条件下，将本算法与甚童的捷联姿态算法进行比较。结果表明：在陀螺输出为不等间隔的角速率信号时，不等间隔的等效旋转矢量算法具有一定的优越性。     

小波滤波在单轴机抖激光陀螺输出信号处理中的应用

单轴机抖激光陀螺仪采用抖动偏频方案消除闭锁,于是陀螺输出信号中不仅包括外界输入的有用角速率信息,也包含了抖动信号和各种高频噪声,应用之前必须有效地去除抖动信号和各种高频噪声.本文采用小波阈值滤波方法对某型单轴激光陀螺输出信号进行了处理,选用Daubechies小波函数作为小波基,以强制消噪的方法,分别用db8,db6,db4小波和不同的小波分解层数对信号进行了滤波,发现采用db4小波对机抖激光陀螺输出信号的滤波效果最优,为工程应用打下了基础.     

Fuzzy adaptive high-gain-based observer backstepping control for SISO nonlinear systems with dynamical uncertainties

In this paper, a fuzzy adaptive output feedback control approach is developed for a class of SISO strict-feedback nonlinear systems with unmeasured states, unmodeled dynamics, and dynamical disturbances. In the backstepping recursive design, fuzzy logic systems are used to approximate the unknown nonlinear functions, a fuzzy adaptive high-gain observer is designed to estimate the unmeasured states; a dynamic signal is incorporated into the control scheme to dominate the dynamic uncertainties. Using the states estimates and combining the backstepping design technique, a fuzzy adaptive output feedback control is constructed recursively. It is proved that the proposed fuzzy adaptive output feedback control scheme can guarantee the all signals in the closed-loop system are semiglobally uniformly ultimately bounded (SUUB), and the observer and tracking error converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated via an example.     

An Experimental Evaluation of Two Potential Improvements for 3D Laser Vibrometer Based Operational Modal Analysis

The use of scanning laser doppler vibrometers (SLDV) is common practice in the context with experimental modal analysis. In recent years, commercial 3D SLDV have been developed, where three laser heads simultaneously point to the same measuring point and an input reference signal is used to combine the results of consecutive records. If the input reference signal is replaced by an additional output reference signal, an operational modal analysis (OMA) can be performed. However, in this case the use of single-point measurements may lead to difficulties identifying certain vibrational modes. Two improvements to reduce these issues were developed in this study: the application of pre-estimation multi-setup merging methods and the use of multi-point measurements with post-estimation coordinate transformation. An enhancement for the application of OMA methods is shown in both cases. In this context there are different possibilities to obtain output reference signals: a) from additional accelerometers or vibrometers and b) from the scan heads of the 3D SLDV itself. Their suitability is investigated in terms of data acqusition, modal analysis and multi-setup merging. Additionally, the feasibility of a “no-reference” measurement is shown. The developed methods have been applied to experimental data using the stochastic subspace identification (cov/ref) and three multi-setup merging methods.     

A model reference robust multiple-surfaces design for tracking control of radial pneumatic motion systems

A robust model reference backstepping (multiple-surfaces) controller is proposed for radial pneumatic motor motion systems with variable inlet pressure and mismatched uncertainties (time-varying payload). A radial pneumatic motor is first modeled by a non-autonomous equation with consideration of a ball screw table. A practical integral action and robust action are included in the backstepping design to compensate for the disturbance, mismatched uncertainty, and to eliminate the steady state error. The motion system is proved to have asymptotically stable performance and the experimental results show that the proposed controller is able to track the reference model output signal and maintain steady-state error.     

Cross-recurrence plot quantification analysis of input and output signals for the detection of chatter in turning

Metal cutting is a complex nonlinear dynamical process. Analysis of signals from turning operation shows that the machining exhibits a low-dimensional chaos. The self-excited vibration caused by the regenerative effect, usually called chatter, can be created during machining by increasing one cutting parameter, while keeping all other cutting parameters constant. A cross-recurrence plot (CRP) enables the study of synchronisation or time differences in two time series. CRP-based methodology is used to find the point of transition from normal cutting to chatter cutting. In this method, two signals, one input signal (power to the lathe motor) and one output signal (cutting tool vibration), are recorded simultaneously at a constant sampling rate during cutting. A time series is generated from the recorded values, and cross-recurrence plot is prepared. This CRP can be quantified using Cross-Recurrence Quantification Analysis (CRQA). Abrupt variation in the CRQA parameters indicates the onset of chatter vibration. The results are verified using permutation entropy (PE) to detect the onset of chatter from the time series. The present study ascertains that this CRP-based methodology is capable of recognising the transition from regular cutting to the chatter cutting irrespective of the machining parameters or work piece material.     

Polarimetry for spatiotemporal photoelastic analysis

This paper describes a new photoelastic technique for the spatiotemporal stress analysis. In a polarimeter developed, an elliptically polarized signal beam of light, modulated in state of polarization by two-dimensional principal-stress distributions interferes with a reference beam of light consisting of orthogonal linearly polarized two components. A time-sequential series of two-dimensional interference patterns are received one after another by a MOS video camera, followed by a computer. Of the elliptically polarized signal beam, the orthogonal field components along the directions of the principal stresses in a two-dimensional photoelastic sample can be computed from a recorded interference pattern, which offer the data needer for mapping the spatiotemporal principal-stress distribution over the sample. Not only each of the two orthogonal principal stresses but also the principal-stress difference are mapped in a time-sequential diagram. No use of any movable polarization element such as a rotating analyzer allows us to follow a rapid change in stress distribution within the maximum frame rate 2066 s⁻¹ of the MOS video camera.     

一种应对主基准速度误差跳变的局部基准速度输出平滑处理方法

对于采用主基准速度信息进行传递对准或持续校准的局部基准惯导而言,主基准速度误差跳变不仅影响局部基准的对准或校准结果,而且易使局部基准的输出修正速度误差也产生相应跳变,进而影响利用该局部基准速度进行传递对准的子惯导的对准过程。为应对该问题,提出了一种工程适用的局部基准速度输出平滑处理方法,该方法在Kalman滤波的基础上,利用残差χ2检测基准速度误差跳变时刻,对滤波得到的速度误差状态量进行平滑处理并用其修正局部基准惯导速度,从而得到无速度误差跳变的局部基准输出速度。通过主基准速度误差跳变三种不同情况的仿真,验证了该方法能够有效的控制局部基准输出速度误差的变化率在(0.4 m/s)/(15 min)范围内,满足子惯导对准要求,具有较强的工程适用性。     

转子轴承系统振动响应谱的仿真研究

在转子轴承系统振动信号处理中,针对平稳信号的传统傅里叶变换精度较低、快变启动过程的非平稳信号频谱分析方法较复杂的问题,本文仿真构造了两类响应信号。通过对比给定信号参数与信号识别参数的误差研究了几种谱分析方法或过程的简便性和准确性。对转子系统振动平稳信号离散频谱分析时存在的误差进行了定量分析,利用比例插值法对误差进行校正,开发了高精度谱分析测试软件;分析了转子轴承系统快变过程非平稳振动信号的特征,探索了一种将t时空域非平稳信号转变为tn时空间域平稳信号的办法或过程,然后结合比例插值校正法对其进行频谱分析,再返回到t时空域获得某时刻的谱特征参数;构造了转子系统振动仿真信号检验了上述过程的准确性。研究结果表明:比例插值法提取的谱特征数据近乎与仿真信号设定值相等;针对本文构造的快变过程非平稳仿真信号,利用本文给出的谱分析过程产生的频率误差最大值为0.47%,幅值误差最大值为0.2%。本文的仿真研究为提出和考证新的谱分析方法提供了手段。     

基于INS/ILS/RA组合导航的自动着陆系统

针对民航机精密进近着陆过程容易受地场环境、电磁干扰等空间噪声和接收机噪声的影响,对波束误差信号进行滤波相位滞后的问题,提出基于INS/ILS/RA组合导航的自动着陆系统(ALS)。该系统将仪表着陆系统(ILS)及无线电高度表(RA)和惯性导航系统(INS)输出的位置之差作为量测,运用卡尔曼滤波器进行估计,将组合导航系统的输出航迹角及纵向轨迹角替代波束偏差,分别送入横纵向控制回路。仿真结果表明,INS/ILS/RA组合位置解算方位角偏差精度优于0.3°,下滑角偏差精度优于0.2°。该系统可显著改善波束误差控制信号的动态品质,降低噪声影响,提高ILS自动进场着陆控制回路的稳定性和闭环性能。     

IMPEDANCE CONTROL METHOD OF STEPPED SWEPT SINE VIBRATION TEST BASED ON PERIODIC EXTENSION

针对步进式多输入多输出正弦扫频振动试验中相邻信号过渡不平顺以及多点相位控制精度差的问题,分析扫频频率切换机理,在保证试验时间以及多点相位差满足参考容差要求情况下,提出周期延拓法平稳地处理两段不连续信号;提出了阻抗多点控制算法,分析了压缩因子对收敛速度与控制精度的影响,设定频响函数矩阵条件数阈值以避免结构病态频率带来的过激励影响;开展多轴多点正弦扫频振动算法试验,结果验证了算法可靠性与有效性.