Research And Implementation Of Dynamic Characteristic Test System For Attitude Sensor

As a measuring instrument,the attitude sensor is an important device for detecting the position and attitude of the carrier,and its measurement accuracy must be guaranteed at all times.For this reason,the attitude sensor needs to be tested before it is used.The static test of the attitude sensor can be tested manually with the help of corresponding calibration equipment,but the test work in a dynamic environment cannot be completed manually.In order to carry out the dynamic test of the XGZT-? attitude sensor developed by the laboratory and ensure its detection accuracy in various dynamic environments,this paper designs and implements a set of attitude sensor dynamic characteristics test system.In this paper,a right-angle push rod attitude sensor dynamic characteristics test system is implemented.The angle and angular rate of the test system are used as the controlled variables.The fuzzy self-tuning PID control method is adopted,and the dual-axis structure control of the system is used to make the test platform achieve a step.,Sway,acceleration and deceleration signals.The attitude sensor collects test data through communication under a variety of excitation signal inputs,and provides the time domain and frequency domain characteristic index tests of the attitude sensor,as well as dynamic angular accuracy and angular rate accuracy tests.This article aims to realize the test of the dynamic characteristics of the attitude sensor,in-depth study of the mechanical structure of the test system,by analyzing the relationship between the length of the push rod and the angle of the test system,establishing the single-axis,dual-axis and arbitrary angle motion models of the test platform,and conducting simulation experiments.The experimental results prove the correctness of the built model;the feedback part of the system adopts a circular grating encoder.This paper proposes a method combining Hilbert transform method and least squares segmented phase modeling to calculate the output of the circular grating encoder Signal,obtain the angular rate of the test system,and improve the detection accuracy of the system;this paper constructs a torque and frequency curve stepping motor acceleration and deceleration control method,which reduces the system error caused by the out-of-step of the motor acceleration and deceleration process;the system motion control part design The fuzzy self-tuning PID dual-axis test system control method is adopted.Through simulation analysis,compared with the conventional PID,the response time is shortened and the system overshoot is reduced;the test system collects the attitude sensor and the test system data at the same time,The sensor data is analyzed to obtain its various dynamic characteristic parameters.Realize the software and hardware of the upper and lower computers of the test system,complete the construction of the test system,and debug each module.The test experiment uses 7 XGZT-? attitude sensors,and the dynamic characteristic parameters of the sensor under test are obtained through dynamic testing.This system uses a high-precision quadrant to verify the performance indicators of the test platform.The verification test data shows that the attitude sensor dynamic characteristics test system implemented in this paper meets its performance indicators.