A Study On Digital Control Technology Of Dynamically Tuned Gyroscope

Dynamically Tuned Gyroscope (DTG) is the third generation of precision gyroscope for strapdown system. It is widely accepted as a sensor for navigation and orientation in the fields of missile, aviation, spaceflight, navigation, etc. As DTG plays an important part in these systems, the demands for precision, volume micromation, stability and condition flexibility are becoming more and more high. Therefore, the digital DTG turns into the consequential trend of the development of technology. Focusing on the digital design of DTG, this paper lucubrated and did a research on the DTG working principle, the Dynamics modeling, the design of hardware platform, the experimental method of modeling on MIMO mechatronics equipment, and the design in Z-domain on digital rebalance loop decoupling control.The main work is organized as follows:1. Based on the Gyroscope Dynamics Principle and the Kinematics Analysis Principle, this paper set up the reference frames on DTG, definitely indicated the input angle, the output angle and the drift angle, made dynamical analysis on rotor reference frames and case reference frames, deduced out the DTG open loop transfer function model, and analyzed the principle on the rebalance loop decoupling control.2. This paper synthesized DSP technology, SVPWM frequency conversion drive technology, and digital control technology to realize the hardware platform of the digital double-DSP-structural DTG system.3. This paper made a research on the experimental modeling problems in MIMO machatronics control system. It brought out a digital method for measuring the frequency characteristics and precisely recognising models with dSPACE semi-physical simulaion system and Matlab system recognition toolbox, educed out the optimized estimating fundamental on frequency response function in theory, analyzed the principle for choosing test parameters on frequency characteristic in practice, and finally worked out the analysis results and experimental results. According to upward methods and principles, this paper referred to the DTG modeling results in theory, made an model differentiation on digital rebalance loop system, and gained the high-precise discrete transfer function model, which provided a basal condition for further developing the synthetical optimization of rebalance loop control.4. This paper made a research on two methods of Z-domain analyzing technology and discrete controller synthesis technology in sampling control system, which are emulation design method and directly digital design method, and expatiated the design process as well as the application condition of the two methods. Found on the methods, it made a algorithmic design on digital rebalance loop decoupling control, trough experiment and simulation, contrasted the effects between the two methods, and at last obtained a feasible discrete controller for actual systems.5. This paper introduced a measuring methods by DTG used for strapdown system, worked out the automatic measuring programmes. The actually testing skills tactics indicators of digital DTG proved the validity of the research and design works.