Fault Diagnosis Of Dynamically Tuned Gyroscope Based On Model Parameter Identification And Vibration Analysis

The gyroscope is one of the core components of the inertial navigation system,used to measure the angular rate of the carrier.Early gyroscopes were mechanical,such as liquid floating gyroscopes,dynamic tuning gyroscopes and electrostatic gyroscopes.Later,laser gyroscopes,fiber optic gyroscopes and MEMS gyroscopes were developed.But with its advantages-dual degrees of freedom,small size,high precision,low cost,etc.,dynamic tuning gyroscopes are still widely used in many fields.Due to long-term repeated motor start,vibration and shock,etc.,the accuracy of the power-tuned gyroscope will decrease or the gyroscope will fail,which will cause irreparable damage to the inertial navigation system that is performing the task.For this reason,the fault diagnosis of the dynamic tuning gyroscope is carried out,which has certain guiding significance for the improvement and design of the dynamic tuning gyroscope.In this paper,the dynamic tuning gyroscope ball bearing failure,flexible joint unequal elasticity caused by the gyroscope vibration failure,analysis of the mechanism of each failure,fusion model parameter identification and vibration signal analysis methods,comprehensive use of their respective Advantages: Analyze the characteristic frequency of the signal and complete the fault diagnosis of the specific vibration fault of the dynamic tuning gyroscope.The main research contents are as follows:1.According to the basic principles and structural characteristics of the dynamic tuning gyroscope,the open-loop transfer function model of the gyroscope’s instrument body is derived from the perspective of dynamics,and the corresponding relationship between specific faults and the parameters of the gyroscope model is explained through the open-loop transfer function model.Based on the physical structure of the gyroscope,the gyroscope vibration faults caused by the structure and components are analyzed,and the corresponding vibration frequencies and directions are listed.These characteristic frequencies can be used as the basis for the diagnosis and judgment of the gyroscope fault.2.From the perspective of gyroscope model identification,the mechanism of fault diagnosis of dynamic tuning gyroscope is explained,and a test platform is built.Use Lab VIEW software to collect the output data of the gyroscope sensor,and use the Levy frequency response identification method to obtain the gyroscope open-loop transfer function.After Fourier processing,the amplitude-frequency characteristic curve is obtained.The unequal elasticity of the flexible joint corresponding to the nutation frequency of the gyroscope The gyroscope fault is compared and analyzed,and the fault location prediction is made,and the fault verification is compared with the gyroscope’s eight position accuracy test results.3.From the perspective of vibration signal analysis,the mechanism of fault diagnosis of the dynamic tuning gyroscope is explained,and a test platform is built.Using Lab VIEW to realize the graphical programming of signal acquisition and conversion,decoupling and correction network in the rebalance loop,the frequency domain analysis and wavelet transform analysis of the vibration signal are carried out,and the energy corresponding to the characteristic frequency is used to make the fault location prediction.The test results of the instrument eight position accuracy and the actual dismantling results of the faulty gyroscope are compared for fault verification.Through the above theoretical analysis and experimental verification,it is verified that the combination of model parameter identification and vibration analysis can comprehensively and accurately diagnose certain parts of the gyroscope.