Modelling And Control System Scheme Design Of High-precision Gryo Test Turntable

In order to obtain high-precision inertial navigation system, it is necessary toimprove the precision of gyroscopes, the key component part of inertial navigationsystem. However, under the current technical condition, the only feasible way toimprove gyroscope’s precision is to improve the precision of test turntable. Rateprecision and rate stability are the two most important indexes of turntable’s precision.In allusion to the current domestic dilemma where angle measuring devices are usedto measure the mean angular velocity which leads to a relatively low test and controlprecision, a new method is proposed which is to introduce high-precision inertialdevices to the turntable system to measure the instantaneous angular velocity so thatthe rate precision and rate stability can be improved through the feedback and controlof the instantaneous velocity. According to the new turntable, the following work willbe conducted with regard to the method of introducing inertial devices.Firstly, a brief summary of the domestic and foreign research on test turntables isconducted. After analysis of the working and rate measuring principle of traditionalturntables, the influence of such rate measuring principle on rate precision and ratestability is pointed out.Secondly, the dynamic model of new turntable is built up. Based on the analysisof the inertial device’s function in the system, the new turntable’s working principle isdemonstrated in detail. The general mathematical model is summarized. Afterbuilding necessary coordinate system, the kinematic differential equation is deduceddetailedly which lays a foundation for the turntable structure configuration.Thirdly, different functional-kinematic principles are obtained by changing thecategory and number of the introduced inertial devices. Different tested gyroscopescorresponding to the various functional-kinematic principles are determined. Takingone typical functional-kinematic principle as an example, the controllers of mainfeedback loop are designed with regard to the tested gyroscopes with and withoutmechanical rotator.Lastly, according to the function, the main control loop of new turntable isdivided into the measurement loop and stabilization loop. The design of the twoloops’ controllers is completed and the design results are simulated and verified. Inthe end, the algorithm realization of a compound controller which combines themeasurement loop and stabilization loop is proposed.