Study On Crucial Technologies Of Dynamically Tuned Gyroscope

Dynamically Tuned Gyro (DTG) is a kind of 2-DOF (degree of freedom) inertial sensor with a specially flexible joint. Because of its advantages of simple structure, small size and low cost, DTG is widely used in military and civil fields, such as guidance and orientation of aviation, spaceflight, navigation, land vehicle or exploitation of oil mines. Since gyro is the most important component of the inertial system, the precision of carrier's attitude and position data provided by the system are closely related to gyros' performances.In order to improve the control quality and test efficiency of DTG, some methods and technology are proposed and researched, which are listed as follows:Concerning that DTG is a two-input two-output system, the decoupling problem of DTG rebalance loop is resolved firstly. Prepositive compensation decoupling methods (including matrix inverse decoupling method, invariance decoupling method and converse decoupling method ) in frequency domain and state variable feedback decoupling method in time domain are proposed to transform the DTG equation into an ideal SISO model.Based on decoupled model of DTG, the auto-disturbance rejection control theory and H_∞ robust control theory are studied and applied in the compensation of the rebalance loop in order to improve the system robustness when the loop model changed and external disturbance inserted. At last, results of simulative experiments in different assumed conditions are shown and compared with PID control theory.It is the fact that noises are the main error that affects the precision of inertial instrument test data and navigation system. So wavelets de-noise methods for DTG output signal processing are analyzed. After comparing de-noise results between soft/hard threshold method and their improved method (interpolation threshold, eclectic threshold and coefficient square threshold), the best suitable wavelet function and wavelet coefficient estimation method for DTG signal processing are chosen.Based on advanced virtual instrument technology, the procedure of design and development for DTG test system are also introduced in detail in this...