Unbalance Identification Algorithm For Gyrowheel System

This paper,taking the Gyrowheel as the background,analyzed a various machining errors for the actual system,resulting in a significant difference between the actual system characteristics of the Gyrowheel and the theoretical derivation model.Through the method of theoretical modeling analysis,simulation verification and experiment,it is proved that the method of dynamic balance can be used to reduce the influence of various frequency factors on the gyro flywheel system caused by various undesirable factors.First of all,it is the introduction the main working principle of Gyrowheel,and the analysis of the unsatisfactory factors based on the machining and assembling of the gyro flywheel experimental mechanism.Secondly,based on the existing ideal model,the dynamic imbalance of the gyro flywheel is established,as well as the cross universal joint drive model and accurate measurement model of tilting angle.Combining with the feature that the rotor of Gyrowheel has three degrees of freedom,this paper introduces a dynamic unbalanced rotation tensor matrix definition form.Then,through the theoretical analysis of the Gyrowheel mechanical error,including the drive shaft and the internal flexible shaft is not vertical,inside and outside the flexible shaft is not vertical,the drive shaft torsion bar system does not intersect,the unbalance caused by centroid offset,the frequency of the rotation speed is the main ingredient of the interference torque is proved,and it can be suppressed by dynamic balance.Furthermore,the method of dynamic balance correction is used to realize the frequency suppression of the Gyrowheel system,including the dynamic unbalance response characteristics of the Gyrowheel,the measurement of the sensor and the method of signal processing.Based on the traditional influence coefficient method,the improvement of least squares optimization is introduced to improve the accuracy of the dynamic balance of the gyro flywheel by increasing the number of test points,and the stability of the equation solution.And the ADAMDS model of the gyro flywheel is simulated and verified.Finally,the experimental experiment is carried out,and the dynamic unbalance test of the Gyrowheel is divided into couple-unbalance and static imbalance correction,which correspond to the dip angle and the lateral vibration.It is proved that the method of reducing the gyroscope and the vibration of the gyro flywheel can be achieved by dynamic balancing method.