The Model Analysis And Teaching System Design Based On Dynamic Tuned Gyroscope

Aiming at the shortages of traditional experiment equipment for measuring and control teaching in simple module and single function,this paper designed a teaching system based on Dynamic Tuning Gyroscope(DTG),which combines system model identification,desktop simulation,digital filter and noise reduction,virtual instrument and some other technology,and according to the design process of measuring and control system,theoretical analysis,hardware design and experiment tests were carried out in this paper.First of all,based on the DTG mechanical structure and Euler dynamics,the DTG simplified open-loop model was derived.Then,the model parameters are obtained through system identification,which was used to design the gyro header simulator and teaching experiment system.Finally,the circuit and system identification experiments were designed to verify the whole system.The main research contents of this paper were as follows:1.This paper analyzed the DTG open-loop model and model error.Through Euler dynamics analysis of the complex mechanical structure in DTG,the open-loop model was derived.And based on the mechanical structure characteristics of gyro rotor,the model error was analyzed to obtain the prior knowledge for DTG open-loop model identification.2.The orthogonal levy identification method was proposed to identify DTG open-loop model.According to the strong colored noise in the DTG,an orthogonal Levy identification method was proposed,which combines the orthogonal projection algorithm and the traditional Levy identification method,whose noise suppression ability was improved,and the identification fitting degree was more than 90%.And the identified model parameters could be used to design gyro header simulator and the rebalance loop.3.Gyro header simulator and teaching experiment system was designed,including header simulator design,integrator selection,damping parameter calculation and the parameter design for each circuit module in the rebalance loop.And through theoretical calculation and desktop simulation,the design parameters are determined,which could guide the parameter adjustment in experiments.4.The circuit and system identification experiments were designed.Circuit experiments included gyro header simulator experiment,rebalance loop experiment and circuit experiment of closed loop system,which could test the time-domain response characteristics of each circuit and the whole system;System identification experiments included gyro header simulator identification experiment and closed-loop system identification experiments,which were mainly used to analyze its frequency-domain model.