电动陀螺仪的研究与开发
|
摘要
本文着重介绍了为短程火箭弹提供滚转速度和滚转角度测定的电动陀螺仪的工作原理及其组成结构。在文中对陀螺仪各部分的控制,包括转子和光电编码器的控制进行了详细的阐述。在介绍陀螺仪原理的基础上研究了各部分组装过程中的摩擦带来的影响,介绍了减少漂移的方法。在陀螺转子部分,在全面分析研究了无位置传感器无刷直流电动机工作原理及换向方法的的基础上,细致阐述了反电势交叉过零检测,相位判断及其相位沿时的方法。系统采用XC164CM 16位单片机进行调速控制.为提高电机的转速精度,采用数字PID算法进行精确控制,进一步提高了陀螺仪的稳定工作程度。在火箭弹滚转速度测试部分,为减小摩擦给陀螺仪带来的影响以及提高火箭弹滚转速度测量精度,采用了增量式光电编码器,文中详细介绍了增量式光电编码器的工作原理及其软硬件设计,以及安装过程中的误差及其补偿。
本陀螺仪是针对短程火箭弹的工作状态反馈而设计的。它要求陀螺仪漂移小,电机启动速度快,稳速转动时精度高,光电编码器输出脉冲稳定,角度速度输出准确。从仿真和原理样机实测波形来看,该陀螺仪结构简单,实用性强,工作稳定。满足设计要求。
The gyroscope is an instrument used for testing the estate of moving object.It is mainly used to test the parameters of the vehicles such as aircraft, missiles and other flight. There are many different types of gyroscopes such as mechanical inertial gyroscope, silicon micro-gyroscopes and fiber-optic gyroscopes. They are used in the different fields.
High-precison low-cost weapons have been the goal pursuited by various weapons manufacturers in the increasingly fierce competition. In the domestic short-range rockets,the roll gyroscope is mechanical frame gyroscaope driven by gunpowder in the past.The Gyroscope can not be tested before lunching the rocket because of the limit of the quantity of gunpowder.With the depletion of gunpowder, gyroscopic drift will become larger and larger,and eventual loss after lunch. Gunpowder-driven gyroscope is generally used contact potentiometer for output.it may have a large effect on the high-precision gyroscope.
Now with the development of high-speed brushless DC motor without position sensors bring in a new approach of enhancing the stability of the gyroscope.The continuing development of Precision Machining Technology play an important role in the decrease of gyro-drift as well as the improvement of the accuracy of the output.Therefore,the replacement of rotor by special high-speed motor and using a photoelectric rotary encoder for speed test without friction will greatly improve the performance of the gyroscope,such as reducing the gyroscope drift and improving the accuracy of the gyroscope output.
This papers is composed of eight chapters.It’s structure and content as follows:
Chapter 1 is the introduction and Summary of the electric gyroscope development and research significance, as well as the main researches.
The second chapter describes the working principle of the gyroscope in detail,and deduce the precession function through the gyroscope movement equation.It comes to two important conclusions:the first one is increasing the gyroscope rotor inertia and rotational speed, and reducing the quality of the framework can decrease the drift of the gyroscope;The second one is deceasing the frictions on axis of framework can reduce the drift of the gyroscope.Based on these two important conclusions,a special sensorless brushless DC motor can replace the rotor,and we can use photoelectric rotary encoder to measure speed and roll- angle of rocket.
The structure and working principle of the sensorless BLDCM was introduced in the third chapter. On this basis, the paper discusses the control of the BLDCM with a method of three–step variable frequency start based on the back EMF detection.With the use of digital PID law in the motor speed control,the speed of motor increasing to 10000rpm gradually,then the motoer will work on expected speed.The errors are limited to within 0.01.
The running principles of the photoelectric rotary encoder used for output of the rolling speed and angle of the gyroscope are described in the fourth chapter.It presents that improving the accuracy of output by a method which use hardware for multiplying frequency four times.
Chapter V introduces the hardware circuit of the system in detail.The photoelectric rotary encoder control and motor control are integrated into only one microprocessor.This improves resource utilization.We also design a circuit used for testing before the lunch of the rocket.
Chapter 6 describes the soft section of the system.It includes motor part and encoder part.It discusses how to realize the PID control by software in motor part and puts forward take different PID algorithm at different stages.
Chapter 7 of the paper is the results and analysis of the experiments.We take a simulation of the system using Matlab/simulink.After receiving the expected outputs,We weld hardware circuit,prepare the program,and made a large number of experiments. Simulation and the experimental results show that the system can work stably with high accurate output and high repeatability.It realizes the expected functions.
Chapter 8 mainly summarizes the full paper.It describes the whole work and the research results,then puts forward some advises of further work.
本陀螺仪是针对短程火箭弹的工作状态反馈而设计的。它要求陀螺仪漂移小,电机启动速度快,稳速转动时精度高,光电编码器输出脉冲稳定,角度速度输出准确。从仿真和原理样机实测波形来看,该陀螺仪结构简单,实用性强,工作稳定。满足设计要求。
The gyroscope is an instrument used for testing the estate of moving object.It is mainly used to test the parameters of the vehicles such as aircraft, missiles and other flight. There are many different types of gyroscopes such as mechanical inertial gyroscope, silicon micro-gyroscopes and fiber-optic gyroscopes. They are used in the different fields.
High-precison low-cost weapons have been the goal pursuited by various weapons manufacturers in the increasingly fierce competition. In the domestic short-range rockets,the roll gyroscope is mechanical frame gyroscaope driven by gunpowder in the past.The Gyroscope can not be tested before lunching the rocket because of the limit of the quantity of gunpowder.With the depletion of gunpowder, gyroscopic drift will become larger and larger,and eventual loss after lunch. Gunpowder-driven gyroscope is generally used contact potentiometer for output.it may have a large effect on the high-precision gyroscope.
Now with the development of high-speed brushless DC motor without position sensors bring in a new approach of enhancing the stability of the gyroscope.The continuing development of Precision Machining Technology play an important role in the decrease of gyro-drift as well as the improvement of the accuracy of the output.Therefore,the replacement of rotor by special high-speed motor and using a photoelectric rotary encoder for speed test without friction will greatly improve the performance of the gyroscope,such as reducing the gyroscope drift and improving the accuracy of the gyroscope output.
This papers is composed of eight chapters.It’s structure and content as follows:
Chapter 1 is the introduction and Summary of the electric gyroscope development and research significance, as well as the main researches.
The second chapter describes the working principle of the gyroscope in detail,and deduce the precession function through the gyroscope movement equation.It comes to two important conclusions:the first one is increasing the gyroscope rotor inertia and rotational speed, and reducing the quality of the framework can decrease the drift of the gyroscope;The second one is deceasing the frictions on axis of framework can reduce the drift of the gyroscope.Based on these two important conclusions,a special sensorless brushless DC motor can replace the rotor,and we can use photoelectric rotary encoder to measure speed and roll- angle of rocket.
The structure and working principle of the sensorless BLDCM was introduced in the third chapter. On this basis, the paper discusses the control of the BLDCM with a method of three–step variable frequency start based on the back EMF detection.With the use of digital PID law in the motor speed control,the speed of motor increasing to 10000rpm gradually,then the motoer will work on expected speed.The errors are limited to within 0.01.
The running principles of the photoelectric rotary encoder used for output of the rolling speed and angle of the gyroscope are described in the fourth chapter.It presents that improving the accuracy of output by a method which use hardware for multiplying frequency four times.
Chapter V introduces the hardware circuit of the system in detail.The photoelectric rotary encoder control and motor control are integrated into only one microprocessor.This improves resource utilization.We also design a circuit used for testing before the lunch of the rocket.
Chapter 6 describes the soft section of the system.It includes motor part and encoder part.It discusses how to realize the PID control by software in motor part and puts forward take different PID algorithm at different stages.
Chapter 7 of the paper is the results and analysis of the experiments.We take a simulation of the system using Matlab/simulink.After receiving the expected outputs,We weld hardware circuit,prepare the program,and made a large number of experiments. Simulation and the experimental results show that the system can work stably with high accurate output and high repeatability.It realizes the expected functions.
Chapter 8 mainly summarizes the full paper.It describes the whole work and the research results,then puts forward some advises of further work.
引文
[1]陆元九,陀螺及惯性导航原理,科学出版社,1964
[2]《惯性导航系统》编著小组,惯性导航系统,1983
[3]以光衢等著,惯性导航原理,1987
[4]马隽,陀螺用无刷直流电动机控制系统研究,中国航天第二研究院硕士学位论文,2004,3
[5]赵旭,基于专用 DSP 的陀螺电机控制器的设计,哈尔滨工程大学硕士论文, 2005,2
[6]张平,无刷直流电机无位置传感器的研究,华南理工大学硕士论文,2005.5
[7]董莉莉,高分辨率光电编码器电子学细分方法的研究,中国科学院长春精密机械与物理研究所硕士学位论文,2000,6
[8]Nobuyuki kasa.A Mechanical Sensorless Control System for Salient-pole Brushless DC Motor with Autocalibration of Estimated Position Angles[J].IEEE Trans.Apr.2000,389-395
[9]Y S.Chen,Z.Q.Zhu,D.Howe.Slotless Brusthless Permanent Magnet Machines.Influence of Desighn Parameter[J].IEEE.Transactions on Energy Loversion,1999,14(3),686~691
[10]H.C.Chen,C.M.Liaw.Sensorless Control Via Intelligent Commutation Tuning for Brushless DC Motor [J].IEEE,Por-Electr Power Aool,1999,146(6),678~684
[11]应科炜,吴文贡,胡洪平,ADXRS 角度检测陀螺仪原理及应用,传感器世界,2006,(1),45~48
[12]刘丰军,尹利国,一种陀螺仪自动测试系统的设计与实现,计算机测量与控制,(1),36~39
[13]唐海林,微陀螺设计中的阻尼和信号失真分析,信息与电子工程,2006,(1),23~25
[14]陈亮,黄玉美,林义忠,陀螺仪角速度的检测与处理, 传感器与微系统,2006,(04),33~35
[15]梁阁亭,惠俊军,陀螺仪的发展及应用,飞航导弹,2006,(04)
[16]铁跃焕,伍继林,裴杰,陀螺仪轻重误差的分析与校正,信阳农业高等专科学校学报,2006,(02),7~9
[17]李建华,邓四二,陀螺仪框架灵敏轴承摩擦力矩影响因素分析,轴承,2006,(07),21~24
[18]潘盛辉,汪渤,角加速度陀螺仪自动测试系统的设计,传感器技术,2005,(12),31~35
[19]沙占友,王彦朋,张永昌,单片偏航角速度陀螺仪的原理与应用,传感器世界,2004,(09),23~25
[20]廖耀发,佘守宪,陀螺与陀螺仪进动及章动的一种初等分析,湖北工业大学学报,2004,(05),7~9
[21] 冯 永 利 , 杨 文 淑 , 陀 螺 稳 定 控 制 系 统 设 计 与 仿 真 , 光 电 工程,2003,(01),12~13
[22] 董 劲 峰 , 和 德 安 , 液 浮 速 率 陀 螺 仪 的 研 究 和 改 进 , 传 感 器 技术,2003,(07),52~54
[23]齐占元,张靖,李淼,近程导弹捷联惯导初始对准实验与仿真研究,弹箭与制导学报,2003,(1),9~12
[24]杨功流,杨君,李俊,陀螺仪安装误差的测量方法研究,华中科技大学学报,2003,(07),13~15
[25]万俊,潘鸿飞,杨柏军,陀螺仪随机漂移的测取和数学模型的确立,微计算机信息,2003,(02),34~35
[26]李仁定,电机的微机控制,机械工业出版社,1999
[27]李宁,刘启新,电机自动控制系统,机械工业出版社,2003
[28]马隽,孙纯祥,林洪怡,无刷直流陀螺电机稳速系统动态性能分析与仿真,微电机,2005,(01),11~13
[29]李晓斌,张辉,刘建平,利用 DSP 实现无刷直流电机的位置控制,机电工程,2005,(03)22~24
[30]吴春华,陈国呈,孙承波,一种改进的无刷直流电机无位置传感器检测技术,电气传动自动化,2005,(03),33~35
[31]孟朝霞,牛百齐,无刷直流电机无位置传感器控制系统,机电工程,2005,(06),21~24
[32]贺灿花,杨向宇,无刷直流电机无位置传感器的检测方法,电机电器技术,2005,(02),34~35
[33]马隽,孙纯祥,一种高精度无刷直流陀螺电机锁相稳速系统,中国惯性技术学报,2005,(04),11~13
[34]程小华,刘杰,反电势法检测转子位置的无刷直流电机启动方法,微电机,2005,(04),35~36
[35]郑许峰,林明耀,葛善兵,无位置传感器无刷直流电机直接反电势检测方法的研究,江苏电器,2005,(06),23~25
[36]曹华平,彭达洲,胥布工,基于 DSP 的直流无刷电机控制器的硬件设计,自动化博览,2005,(02),14~16
[37]毛怿弘,邹俊忠,姚晓东,无刷直流电机无位置换相控制,微电机,2004,(03),34~36
[38]羊彦,景占荣,陈文斌,无位置传感器直流无刷电机转子位置检测新方法的研究,电气传动,2004,(02),12~14
[39]韦鲲,任军军,熊宇,无位置传感器无刷直流电机 SIMULINK 仿真模型的建模,微电机,2004,(05),13~15
[40]堵杰,林小玲,无位置传感器无刷直流电机位置检测技术的研究,微特电机,2003,(02),21~24
[41]Lizuka K.UzuhashiH,Kano M.Microcomputer Control for Sensorless Brushless Motor[J].IEEE Trans .Ind.1985,4,595~601
[42]Ogasawara.S.,Akagi,H.An Approach to Position Sensorless Drive for Brushless DC Motors[C].Conference Record of the 1990 Industry Applications Sosciety Annual Meeting,1990,1,443~447
[43]段海滨,王道波,黄向华,光电轴角编码器在飞行仿真伺服系统中的应用,传感器技术.2004,(05),28~29
[44]方艳辉,龙科慧,刘焕雨,增量式编码器数字量相加技术的研究,长春理工大学学报,2004,(03),11~13
[45]高玉水,王护利,王辉,光电旋转编码器在导弹模拟器中的应用,电子设计应用,2003,(08),22~24
[46]徐洲,胡晓东,罗长洲,增量式轴角编码器的电子细分及零位处理,光子学报,2002,(12),35~37
[47]陈移风,刑安娜,光电增量式轴角编码器的数字信号处理,小型微型计算机系统,1996,(08),23~26
[48]张星晔,马丛笑,光电编码器的微机控制,哈尔滨师范大学自然科学学报,1994,(04),7~9
[2]《惯性导航系统》编著小组,惯性导航系统,1983
[3]以光衢等著,惯性导航原理,1987
[4]马隽,陀螺用无刷直流电动机控制系统研究,中国航天第二研究院硕士学位论文,2004,3
[5]赵旭,基于专用 DSP 的陀螺电机控制器的设计,哈尔滨工程大学硕士论文, 2005,2
[6]张平,无刷直流电机无位置传感器的研究,华南理工大学硕士论文,2005.5
[7]董莉莉,高分辨率光电编码器电子学细分方法的研究,中国科学院长春精密机械与物理研究所硕士学位论文,2000,6
[8]Nobuyuki kasa.A Mechanical Sensorless Control System for Salient-pole Brushless DC Motor with Autocalibration of Estimated Position Angles[J].IEEE Trans.Apr.2000,389-395
[9]Y S.Chen,Z.Q.Zhu,D.Howe.Slotless Brusthless Permanent Magnet Machines.Influence of Desighn Parameter[J].IEEE.Transactions on Energy Loversion,1999,14(3),686~691
[10]H.C.Chen,C.M.Liaw.Sensorless Control Via Intelligent Commutation Tuning for Brushless DC Motor [J].IEEE,Por-Electr Power Aool,1999,146(6),678~684
[11]应科炜,吴文贡,胡洪平,ADXRS 角度检测陀螺仪原理及应用,传感器世界,2006,(1),45~48
[12]刘丰军,尹利国,一种陀螺仪自动测试系统的设计与实现,计算机测量与控制,(1),36~39
[13]唐海林,微陀螺设计中的阻尼和信号失真分析,信息与电子工程,2006,(1),23~25
[14]陈亮,黄玉美,林义忠,陀螺仪角速度的检测与处理, 传感器与微系统,2006,(04),33~35
[15]梁阁亭,惠俊军,陀螺仪的发展及应用,飞航导弹,2006,(04)
[16]铁跃焕,伍继林,裴杰,陀螺仪轻重误差的分析与校正,信阳农业高等专科学校学报,2006,(02),7~9
[17]李建华,邓四二,陀螺仪框架灵敏轴承摩擦力矩影响因素分析,轴承,2006,(07),21~24
[18]潘盛辉,汪渤,角加速度陀螺仪自动测试系统的设计,传感器技术,2005,(12),31~35
[19]沙占友,王彦朋,张永昌,单片偏航角速度陀螺仪的原理与应用,传感器世界,2004,(09),23~25
[20]廖耀发,佘守宪,陀螺与陀螺仪进动及章动的一种初等分析,湖北工业大学学报,2004,(05),7~9
[21] 冯 永 利 , 杨 文 淑 , 陀 螺 稳 定 控 制 系 统 设 计 与 仿 真 , 光 电 工程,2003,(01),12~13
[22] 董 劲 峰 , 和 德 安 , 液 浮 速 率 陀 螺 仪 的 研 究 和 改 进 , 传 感 器 技术,2003,(07),52~54
[23]齐占元,张靖,李淼,近程导弹捷联惯导初始对准实验与仿真研究,弹箭与制导学报,2003,(1),9~12
[24]杨功流,杨君,李俊,陀螺仪安装误差的测量方法研究,华中科技大学学报,2003,(07),13~15
[25]万俊,潘鸿飞,杨柏军,陀螺仪随机漂移的测取和数学模型的确立,微计算机信息,2003,(02),34~35
[26]李仁定,电机的微机控制,机械工业出版社,1999
[27]李宁,刘启新,电机自动控制系统,机械工业出版社,2003
[28]马隽,孙纯祥,林洪怡,无刷直流陀螺电机稳速系统动态性能分析与仿真,微电机,2005,(01),11~13
[29]李晓斌,张辉,刘建平,利用 DSP 实现无刷直流电机的位置控制,机电工程,2005,(03)22~24
[30]吴春华,陈国呈,孙承波,一种改进的无刷直流电机无位置传感器检测技术,电气传动自动化,2005,(03),33~35
[31]孟朝霞,牛百齐,无刷直流电机无位置传感器控制系统,机电工程,2005,(06),21~24
[32]贺灿花,杨向宇,无刷直流电机无位置传感器的检测方法,电机电器技术,2005,(02),34~35
[33]马隽,孙纯祥,一种高精度无刷直流陀螺电机锁相稳速系统,中国惯性技术学报,2005,(04),11~13
[34]程小华,刘杰,反电势法检测转子位置的无刷直流电机启动方法,微电机,2005,(04),35~36
[35]郑许峰,林明耀,葛善兵,无位置传感器无刷直流电机直接反电势检测方法的研究,江苏电器,2005,(06),23~25
[36]曹华平,彭达洲,胥布工,基于 DSP 的直流无刷电机控制器的硬件设计,自动化博览,2005,(02),14~16
[37]毛怿弘,邹俊忠,姚晓东,无刷直流电机无位置换相控制,微电机,2004,(03),34~36
[38]羊彦,景占荣,陈文斌,无位置传感器直流无刷电机转子位置检测新方法的研究,电气传动,2004,(02),12~14
[39]韦鲲,任军军,熊宇,无位置传感器无刷直流电机 SIMULINK 仿真模型的建模,微电机,2004,(05),13~15
[40]堵杰,林小玲,无位置传感器无刷直流电机位置检测技术的研究,微特电机,2003,(02),21~24
[41]Lizuka K.UzuhashiH,Kano M.Microcomputer Control for Sensorless Brushless Motor[J].IEEE Trans .Ind.1985,4,595~601
[42]Ogasawara.S.,Akagi,H.An Approach to Position Sensorless Drive for Brushless DC Motors[C].Conference Record of the 1990 Industry Applications Sosciety Annual Meeting,1990,1,443~447
[43]段海滨,王道波,黄向华,光电轴角编码器在飞行仿真伺服系统中的应用,传感器技术.2004,(05),28~29
[44]方艳辉,龙科慧,刘焕雨,增量式编码器数字量相加技术的研究,长春理工大学学报,2004,(03),11~13
[45]高玉水,王护利,王辉,光电旋转编码器在导弹模拟器中的应用,电子设计应用,2003,(08),22~24
[46]徐洲,胡晓东,罗长洲,增量式轴角编码器的电子细分及零位处理,光子学报,2002,(12),35~37
[47]陈移风,刑安娜,光电增量式轴角编码器的数字信号处理,小型微型计算机系统,1996,(08),23~26
[48]张星晔,马丛笑,光电编码器的微机控制,哈尔滨师范大学自然科学学报,1994,(04),7~9