本文選題：光纖陀螺 + 動態(tài)性能��； 參考：《哈爾濱工程大學(xué)》2012年博士論文

【摘要】：光纖陀螺廣泛應(yīng)用于捷聯(lián)慣性導(dǎo)航系統(tǒng)中,它的工作性能在很大程度上決定著整個慣性系統(tǒng)的精度。目前國內(nèi)外對處于靜止或勻速運(yùn)動狀態(tài)下的光纖陀螺性能即光纖陀螺的靜態(tài)性能進(jìn)行了大量的研究報道,而對處于角加速運(yùn)動狀態(tài)的光纖陀螺性能即光纖陀螺的動態(tài)性能則研究的較少。本文系統(tǒng)研究了光纖陀螺動態(tài)條件下的誤差理論、測試方法、測試結(jié)果的分析方法和性能的改進(jìn)方法。 捷聯(lián)系統(tǒng)直接與運(yùn)動載體固連,在實(shí)際運(yùn)動中經(jīng)常處于角加速運(yùn)動狀態(tài)。因此,角加速運(yùn)動下光纖陀螺性能的優(yōu)劣決定著捷聯(lián)慣導(dǎo)系統(tǒng)的導(dǎo)航精度。在分析光纖陀螺系統(tǒng)模型和角加速運(yùn)動響應(yīng)特性的基礎(chǔ)上,建立了光纖陀螺動態(tài)條件下的誤差模型。詳細(xì)剖析了光纖陀螺的穩(wěn)定性條件,結(jié)構(gòu)參數(shù)、信號處理周期以及外界環(huán)境對光纖陀螺動態(tài)性能的影響。從理論上闡述了光源平均波長和反饋通道增益的變化作用于結(jié)構(gòu)參數(shù)的機(jī)理,臺階高度信號和輸出信號的濾波作用于信號處理周期的機(jī)理。仿真結(jié)果證明所建立的光纖陀螺動態(tài)條件下的誤差模型準(zhǔn)確可靠。 為了對光纖陀螺的動態(tài)性能進(jìn)行合理評價,采用三軸慣導(dǎo)測試轉(zhuǎn)臺來模擬光纖陀螺的角加速運(yùn)動狀態(tài),給光纖陀螺施加瞬時變化的角速度輸入,對其進(jìn)行動態(tài)測試。對測試原理和測試步驟進(jìn)行詳細(xì)闡述。采用位置差商法、分周期離散理論曲線法和公式變換法確定動態(tài)測試中的基準(zhǔn)值。分析結(jié)果表明分周期離散理論曲線法和公式變換法較適合。 三軸轉(zhuǎn)臺的精度是制約光纖陀螺測試結(jié)果精確性的瓶頸因素。根據(jù)轉(zhuǎn)臺在搖擺狀態(tài)下輸出信號的特點(diǎn),采用皮薩倫科譜分解法對其進(jìn)行辨識。由此得到轉(zhuǎn)臺信號的幅度失真、頻率失真以及夾雜在其中的分量諧波的幅度和頻率。并通過比較辨識前后轉(zhuǎn)臺誤差的標(biāo)準(zhǔn)差,證明了辨識結(jié)果的可靠性。同時,分析了不同轉(zhuǎn)臺框在相同搖擺條件下的失真規(guī)律和同一轉(zhuǎn)臺框在不同搖擺條件下的失真規(guī)律。實(shí)驗(yàn)結(jié)果表明,皮薩倫科譜分解法應(yīng)用于轉(zhuǎn)臺正弦信號的失真辨識中是非常適用的。 為了避免轉(zhuǎn)臺搖擺運(yùn)動軌跡中夾雜的噪聲傳遞到動態(tài)測試的基準(zhǔn)信號中,結(jié)合小波多分辨分析和空間局部化的性質(zhì),選用db5小波對轉(zhuǎn)臺的運(yùn)動軌跡進(jìn)行降噪。結(jié)果表明,小波濾波法的噪聲濾除效果理想,提高了對光纖陀螺動態(tài)測試結(jié)果評定的準(zhǔn)確性。 采用時延估計理論分析和補(bǔ)償動態(tài)測試中基準(zhǔn)信號與實(shí)際信號之間的時間延遲。利用測試中信號與噪聲、噪聲與噪聲互不相關(guān)的特點(diǎn),對兩個信號進(jìn)行相關(guān)運(yùn)算,估計出兩信號之間的時間延遲,并進(jìn)一步對其補(bǔ)償。結(jié)果表明,時間延遲對測試結(jié)果有較大影響,經(jīng)過補(bǔ)償后的動態(tài)誤差更符合實(shí)際情況。 為了更好的分析光纖陀螺的動態(tài)性能,采用動態(tài)Allan方差法對光纖陀螺的動態(tài)誤差進(jìn)行分析。根據(jù)動態(tài)Allan方差法中窗函數(shù)的原理,討論了不同窗口長度對動態(tài)誤差分析結(jié)果的影響。并且,提供了單一搖擺運(yùn)動和兩種復(fù)合搖擺運(yùn)動的分析結(jié)果。從分析圖中方差的起伏變化可以看出,動態(tài)Allan方差法可以準(zhǔn)確地反映動態(tài)誤差里的突變和周期性變化等非穩(wěn)定性因素,能夠清晰地辨識出隱藏在動態(tài)誤差里的不同搖擺狀態(tài)。由理論分析和實(shí)驗(yàn)結(jié)果可知,動態(tài)Allan方差法對光纖陀螺的動態(tài)性能分析是非常適用的。 動態(tài)Allan方差法是一種分析非平穩(wěn)性信號的有效工具,但在辨識噪聲時存在功率泄漏和定量表示單一的缺陷。為此,提出窗函數(shù)組合法和噪聲量值的二維表示法對其改進(jìn),并將其用于分析和定量描述光纖陀螺動態(tài)誤差中的各種噪聲項(xiàng)。窗函數(shù)組合法在光纖陀螺動態(tài)誤差分解的基礎(chǔ)上采用矩形窗和漢寧窗對其中的低頻噪聲和高頻噪聲分別進(jìn)行分析。噪聲量值的二維表示法根據(jù)動態(tài)Allan方差法原理得到噪聲量值隨采樣點(diǎn)數(shù)目增加的變化規(guī)律。實(shí)驗(yàn)結(jié)果表明窗函數(shù)組合法可以滿足不同頻段噪聲的辨識要求,減小功率泄漏；噪聲量值的二維表示法可以準(zhǔn)確地反映出動態(tài)誤差中噪聲項(xiàng)的變化特征。 為了改善光纖陀螺的動態(tài)性能,將普通PID控制器的設(shè)計思想應(yīng)用到光纖陀螺的動態(tài)誤差控制器中,并進(jìn)一步基于光纖陀螺動態(tài)條件下的誤差特性設(shè)計出一種新型的動態(tài)誤差控制器結(jié)構(gòu)。前者主要通過普通PID控制器的設(shè)計思想與光纖陀螺的控制方式相結(jié)合,即基于光纖陀螺內(nèi)部控制方式實(shí)現(xiàn)。而后者將微分環(huán)節(jié)設(shè)置在輸出信號之前,使輸出信號和反饋信號同時具有提前預(yù)測功能,并在微分環(huán)節(jié)后面加一個低通濾波器以抑制微分環(huán)節(jié)帶來的高頻干擾。這一新控制器結(jié)構(gòu)既可以使控制量減小,各個時刻的控制誤差不累積,還可以使輸出跟蹤輸入,反映輸入的變化。兩種動態(tài)誤差控制器均通過在光纖陀螺數(shù)字信號處理芯片F(xiàn)PGA的各模塊中編寫VHDL語言實(shí)現(xiàn)。實(shí)驗(yàn)結(jié)果表明兩種動態(tài)誤差控制器都可以明顯地改善光纖陀螺的動態(tài)性能,且基于光纖陀螺動態(tài)條件下誤差特性的動態(tài)誤差控制器具有更優(yōu)的控制效果。
[Abstract]:Fiber optic gyroscope is widely used in strapdown inertial navigation system. Its performance determines the precision of the whole inertial system to a large extent. At present, a lot of research reports on the static performance of fiber optic gyroscope in the state of static or uniform motion are carried out at home and abroad, and it is in the state of angular acceleration. The performance of fiber optic gyroscope is less studied. This paper systematically studies the error theory, test method, analysis method and performance improvement method of the fiber optic gyroscope under the dynamic condition.
The strapdown system is directly connected with the motion carrier and is often in angular acceleration in actual motion. Therefore, the performance of the fiber optic gyroscope under angular acceleration is determined by the navigation precision of the sins. Based on the analysis of the model of the optical fiber gyroscope and the response characteristics of the angular acceleration motion, the dynamic condition of the fiber optic gyroscope is established. The stability conditions, the structure parameters, the signal processing period and the influence of the external environment on the dynamic performance of the fiber optic gyroscope are analyzed in detail. The mechanism of the change of the average wavelength of the light source and the gain of the feedback channel on the structure parameters is expounded in theory, and the filtering of the step height signal and the output signal is acted on the effect of the filtering of the step height signal and the output signal. The simulation results show that the error model established under the dynamic condition of fog is accurate and reliable.
In order to reasonably evaluate the dynamic performance of fiber optic gyroscope, three axis inertial navigation test turntable is used to simulate the angular acceleration motion state of fiber optic gyroscope. The instantaneous variation of angular velocity input is applied to the fiber optic gyroscope, and the dynamic test is carried out. The test principle and test steps are detailed and detailed. The position difference commercial method is used and the periodic discrete principle is adopted. The curve method and the formula transformation method are used to determine the reference values in dynamic testing. The analysis results show that the discrete periodic curve method and the formula transformation method are more suitable.
The accuracy of the three axis turntable is the bottleneck factor that restricts the accuracy of the test results of the fiber optic gyroscope. According to the characteristics of the output signal of the turntable in the swing state, the spectrum decomposition method is used to identify it. Thus the amplitude distortion, frequency distortion and the amplitude and frequency of the component harmonics in the turntable signal are obtained. Compared with the standard deviation of the turntable error before and after identification, the reliability of the identification results is proved. At the same time, the distortion law of different turntable frames under the same swing condition and the distortion law of the same turntable under different swing conditions are analyzed. The experimental results show that the spectral decomposition method of pzararlco should be used in the distortion identification of the sinusoidal signal of the turntable. It is applicable.
In order to avoid the noise in the swing movement track of the turntable to the datum signal of dynamic testing, combined with the properties of wavelet multi-resolution analysis and spatial localization, db5 wavelet is used to denoise the motion trajectory of the turntable. The results show that the noise filtering of the wavelet filtering method is ideal and improves the dynamic test result of the fiber optic gyroscope. The accuracy of the assessment.
Using the time delay estimation theory to analyze and compensate the time delay between the reference signal and the actual signal in dynamic testing. Using the characteristics of the signal and noise, noise and noise in the test, the correlation operation between the two signals is performed, the time delay between the two signals is estimated, and the compensation is further compensated. The result shows that the time delay is the same. The test result has great influence, and the dynamic error after compensation is more consistent with the actual situation.
In order to better analyze the dynamic performance of fiber optic gyroscope, dynamic Allan variance method is used to analyze the dynamic error of fiber optic gyroscope. According to the principle of window function in the dynamic Allan variance method, the influence of the length of different window on the result of dynamic error analysis is discussed. And the single swing motion and two kinds of compound swaying motion are provided. It can be seen from the fluctuation and fluctuation of the analysis diagram that the dynamic Allan variance method can accurately reflect the unstable factors such as the sudden change and the periodic variation in the dynamic error, and can clearly identify the different swaying states hidden in the dynamic error. The dynamic Allan variance method is known to the light by the theoretical analysis and the experimental results. The dynamic performance analysis of the fiber gyroscope is very suitable.
The dynamic Allan variance method is an effective tool for analyzing non-stationary signals, but there is a single defect in the power leakage and quantitative representation of the noise. Therefore, a two dimensional representation method of window function combination and the value of noise is proposed, and it is used to analyze and quantify all kinds of noise items in the dynamic error of fiber optic gyroscope. The window function combination method uses the rectangular window and Hanning window to analyze the low frequency noise and the high frequency noise respectively on the basis of the dynamic error decomposition of the fiber optic gyroscope. The two-dimensional representation method of the noise value is based on the principle of the dynamic Allan variance method to obtain the variation of the noise value with the number of the sampling points. The experimental results show the window function group. The method can satisfy the identification requirements of different frequency bands and reduce the power leakage, and the two-dimensional representation of the value of the noise can accurately reflect the change characteristics of the noise term in the dynamic error.
In order to improve the dynamic performance of fiber optic gyroscope, the design idea of ordinary PID controller is applied to the dynamic error controller of fiber optic gyroscope, and a new type of dynamic error controller structure is designed based on the error characteristics of the dynamic condition of fiber optic gyroscope. The former is mainly based on the design idea of ordinary PID controller and optical fiber. The control mode of the gyroscope is combined, which is based on the internal control mode of the fiber optic gyroscope. The latter sets the differential link before the output signal, so that the output signal and the feedback signal have the pre prediction function simultaneously, and a low pass filter is added to the differential link to suppress the high frequency interference caused by the differential link. The structure can not only reduce the control amount, not accumulate the control error at all time, but also can make the output tracking input and reflect the change of input. The two kinds of dynamic error controllers are realized by VHDL language in each module of the fiber optic gyroscope digital signal processing chip FPGA. The experimental results show that the two kinds of dynamic error controllers are all clear. The dynamic performance of fog is obviously improved, and the dynamic error controller based on the error characteristics of fog has better control effect.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2012
【分類號】：TN966;TP212

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