CN114894218B - Rapid test method for angular acceleration response capability of fiber optic gyroscope - Google Patents
Rapid test method for angular acceleration response capability of fiber optic gyroscopeInfo
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- CN114894218B CN114894218B CN202210453338.7A CN202210453338A CN114894218B CN 114894218 B CN114894218 B CN 114894218B CN 202210453338 A CN202210453338 A CN 202210453338A CN 114894218 B CN114894218 B CN 114894218B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
本发明公开了一种光纤陀螺角加速度响应能力的快速测试方法。本发明将待测陀螺安装在六面体工装上，放置到防静电橡胶垫上，陀螺和工控机、电源箱之间连接快速采样电缆，使用电源箱给陀螺供电，之后打开工控机上的陀螺测试软件，进行角加速度响应能力实验。本发明无需角振动台、突停台等大型测量设备，无需针对不同接口和协议的光纤陀螺编写软件，无需复杂的数据处理过程，采用本发明的通用型高精度光纤陀螺角加速度响应能力的测试及数据处理方法，仅通过普通六面体工装，依托不同角加速度的生成技术和1000Hz以上的快速采样以及数据更新技术，即可简易快捷地得到待测陀螺的角加速度响应能力水平。
The present invention discloses a method for quickly testing the angular acceleration response capability of a fiber optic gyroscope. The method mounts the gyroscope to be tested on a hexahedron fixture and places it on an antistatic rubber mat. A fast sampling cable is connected between the gyroscope, an industrial computer, and a power supply box. The power supply box is used to power the gyroscope. The gyroscope test software on the industrial computer is then opened to conduct an angular acceleration response capability experiment. The present invention does not require large-scale measuring equipment such as an angular vibration table or a sudden stop table, does not require software to be written for fiber optic gyros with different interfaces and protocols, and does not require a complex data processing process. By using the universal high-precision fiber optic gyroscope angular acceleration response capability test and data processing method of the present invention, the angular acceleration response capability level of the gyroscope to be tested can be quickly and easily obtained using only an ordinary hexahedron fixture, relying on different angular acceleration generation technologies and rapid sampling and data updating technologies at a rate of more than 1000 Hz.
Description
Technical Field
The invention relates to a low-cost rapid test method for the angular acceleration response capability of a high-precision fiber optic gyroscope rate sensitive shaft without depending on large-scale precise angular acceleration measuring equipment, and belongs to the technical field of fiber optic gyroscope testing.
Background
In recent years, fiber optic gyroscopes have become one of the mainstream instruments in the field of inertial navigation technology with their unique advantages. Along with the development of various technologies, high-precision fiber-optic gyroscopes gradually go to practical use and enter the market. For the fiber-optic gyroscope, the response capability of the angular acceleration is one of important design indexes, and the application of the fiber-optic gyroscope in the fields of large dynamics, high precision and the like is directly affected. The high-precision fiber optic gyroscope generally adopts the mode of increasing demodulation time and integration times to suppress noise, so that the response bandwidth of a gyroscope loop is reduced, the delay is increased, and the response capability of corresponding angular acceleration is further affected. The level of angular acceleration response capability of the fiber optic gyroscope is measured necessarily and accurately to evaluate the dynamic response design index of the high-precision fiber optic gyroscope.
However, the measurement of angular acceleration response capability of the fiber optic gyroscope generally adopts the swing of large-scale angular vibration tables, sudden stop tables and other large-scale measuring equipment to generate angular acceleration input for the fiber optic gyroscope, and has high precision requirements on the measuring equipment, long test time, complex process and large data processing capacity.
Therefore, it is necessary to provide a method for testing and processing data of angular acceleration response capability of a fiber optic gyroscope with high accuracy, simplicity, convenience and rapidness, which is easy to operate and does not depend on large-scale equipment, so that the economical efficiency and the benefit of the testing are improved.
Disclosure of Invention
The invention solves the problem of changing the measurement mode that large-scale equipment such as a triaxial test turntable is needed to generate different angular accelerations in the current angular acceleration response capability test process, and provides a simple, convenient and quick measurement mode of the angular acceleration response capability of the high-precision fiber-optic gyroscope without depending on the large-scale equipment.
The technical scheme of the invention is as follows:
a rapid test method for angular acceleration response capability of an optical fiber gyroscope comprises the following steps:
1) Fixing the fiber optic gyroscope to be tested in a hexahedral tool, and placing the hexahedral tool on an antistatic rubber pad;
2) Connecting a sampling cable between the fiber optic gyroscope to be tested and the industrial personal computer as well as between the fiber optic gyroscope to be tested and the power supply box;
3) Supplying power to the fiber optic gyroscope to be tested, and obtaining the initial output of the fiber optic gyroscope to be tested in a static state;
4) Selecting an edge from the hexahedral tool as a rotating shaft, placing the rotating shaft on the antistatic rubber pad, rotating the hexahedral tool by a certain angle by taking the rotating shaft as an axis, and removing external force to enable the hexahedral tool to freely rotate under the action of gravity and fall back on the antistatic rubber pad;
5) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output data of the fiber-optic gyroscope to be tested in a static state is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 6), otherwise, entering the step 7);
6) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, repeating the steps 4) to 5) until the output of the fiber-optic gyroscope to be tested is inconsistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), and entering the step 7);
7) Removing output data of the fiber optic gyroscope in the rotating process, accumulating the number of times that the output of the fiber optic gyroscope to be detected is inconsistent with the initial output of the fiber optic gyroscope to be detected obtained in the step 3) by 1, powering off the fiber optic gyroscope to be detected, powering on the fiber optic gyroscope to be detected again, reducing the rotating angle after the output of the fiber optic gyroscope to be detected is consistent with the initial output, enabling the rotating angle to be smaller than the last rotating angle, and repeating the step 4) and then entering the step 8);
8) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output of the fiber-optic gyroscope to be tested is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, repeating the step 4) and then entering the step 8) until the number of times that the output of the fiber-optic gyroscope to be detected is inconsistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3) is larger than m, and entering the step 10);
10 According to the output data of the fiber optic gyroscope to be tested in the rotating process, acquiring the angular acceleration of the fiber optic gyroscope to be tested in the rotating process, and taking the maximum angular acceleration of the fiber optic gyroscope to be tested in the rotating process as a test result when the rotating angle is maximum;
11 And (3) comparing the test result with the design index, if the test result is larger than the design index, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested meets the requirement, otherwise, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested does not meet the requirement.
Preferably, the rotating shaft is always positioned on the antistatic rubber pad in the rotating process.
Preferably, the initial rotation angle θ 1 is 15 ° to 35 °.
Preferably, the increasing rotation angle in step 6) is θ k+1＝θk+εk+1,εk+1 =a, a is smaller than the initial rotation angle.
Preferably, a has a value in the range of 5 ° to 10 °.
Preferably, the rotation angle is reduced in step 7) toWherein epsilon k is the change of the last rotation angle.
Preferably, the step 9) increases the rotation angle to
Preferably, m has a value in the range of 3 to 5.
Preferably, MATLAB software is used for acquiring the angular acceleration of the fiber optic gyroscope to be tested in the rotating process.
Preferably, in step 4), an edge parallel to the sensitive axis of the fiber optic gyroscope to be measured is selected as the rotation axis.
Compared with the prior art, the invention has the advantages that:
1) According to the universal high-precision optical fiber gyroscope angular acceleration response capability testing and data processing method, large-scale measuring equipment such as an angular vibration table and a sudden stop are not needed, software for optical fiber gyroscopes with different interfaces and protocols is not needed, and the angular acceleration response capability level of the gyroscope to be measured can be simply and quickly obtained by means of a common hexahedral tool and by means of different angular acceleration generation technologies, rapid sampling and data updating technologies above 1000 Hz.
2) According to the invention, in the whole angular acceleration response capability test process, an antistatic rubber pad is paved and a gyro tool is installed and placed only a few minutes before the experiment starts, the equipment is common, the operation is simple, the process is safe, the complete can be smoothly completed by only one person, and the angular acceleration response capability result of the gyro after the experiment is completed is calculated by Matlab and visually displayed.
3) The testing method and the data processing are realized by the gyro testing software and Matlab, are suitable for rate gyroscopes with different software protocols, and have universality.
Drawings
FIG. 1 is a rapid test method of angular acceleration response capability of a fiber optic gyroscope according to the present invention;
FIG. 2 is a schematic diagram of the fiber optic gyroscope placement and testing process of the present invention;
FIG. 3 is output data of the high-precision fiber optic gyroscope of the present invention in an angular acceleration response capability test;
Fig. 4 is a graph showing the angular acceleration response capability calculated by Matlab in accordance with the present invention.
Detailed Description
The optical fiber gyroscope to be tested is arranged on the protective tool, the test is carried out according to a specified method, and the gyroscope continuously collects data in the whole process. The diagonal acceleration response capability is calculated and output using MATLAB software.
The invention discloses a rapid test method for angular acceleration response capability of an optical fiber gyroscope, which is shown in figure 1. The method specifically comprises the following steps:
1) Fixing the fiber optic gyroscope to be tested in a hexahedral tool, and placing the hexahedral tool on an antistatic rubber pad as shown in fig. 2 (the hexahedral tool provides a placing reference surface and protection for the gyroscope, and an angular rate sensitive axis of the gyroscope is parallel to the horizontal direction during standing so as to ensure the safety and accuracy of testing);
2) And connecting a rapid sampling cable between the fiber optic gyroscope to be tested and the industrial personal computer as well as between the fiber optic gyroscope to be tested and the power supply box, wherein the rapid sampling cable is a synchronous cable with the sampling frequency of more than 1000Hz so as to ensure enough data updating speed.
3) Supplying power to the fiber optic gyroscope to be tested by using a power box, and obtaining the initial output of the fiber optic gyroscope to be tested in a static state;
4) The method comprises the steps of selecting an edge parallel to a sensitive shaft of a fiber optic gyroscope to be tested from a hexahedral tool as a rotating shaft, placing the rotating shaft on an antistatic rubber pad, rotating the hexahedral tool by a certain angle theta k by taking the rotating shaft as an axis, removing external force, enabling the hexahedral tool to freely rotate under the action of gravity and fall back onto the antistatic rubber pad, and enabling the rotating shaft to be always positioned on the antistatic rubber pad in the rotating process. The value range of the initial rotation angle theta 1 is 15-35 degrees.
5) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output data of the fiber-optic gyroscope to be tested in a static state is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 6), otherwise, entering the step 7);
6) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, and attempting to increase the lifting height if θ k+1＝θk+εk+1,εk+1 =a, repeating the steps 4) to 5) until the output of the fiber-optic gyroscope to be detected is inconsistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3), and entering the step 7)
Wherein, the value range of a is 5 degrees to 10 degrees, and the phenomenon that the closed loop failure or the mode jump of the gyro is a phenomenon that the normal gyro output is overlapped with the angular velocity value corresponding to the integral multiple phase of 2 pi is caused by that the input angular acceleration reaches or exceeds the maximum angular acceleration response capability of the gyro, and whether the gyro reaches the designed maximum angular acceleration response capability can be verified by continuously increasing the angular acceleration input.
7) Removing the output data of the fiber optic gyroscope to be tested in the rotation process, accumulating the number of times of inconsistent output of the fiber optic gyroscope to be tested and the initial output of the fiber optic gyroscope to be tested obtained in the step 3) by 1, powering off the fiber optic gyroscope to be tested, powering on again, reducing the rotation angle after the output of the fiber optic gyroscope to be tested is consistent with the initial output, enabling the rotation angle to be smaller than the previous rotation angle,Step 8) is entered after repeating step 4), wherein ε k is the change of the last rotation angle.
8) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output of the fiber-optic gyroscope to be tested is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, Step 8) is carried out after the step 4) is repeated until the number of times that the output of the fiber-optic gyroscope to be detected is inconsistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3) is more than m, step 10) is carried out, and the value range of m is 3 to 5.
10 The output angular velocity of the gyroscope acquired by the gyroscope testing software on the industrial personal computer is saved, the derivative of the output angular velocity of the gyroscope at the speed of the gyroscope, namely the angular acceleration, is calculated by a custom program of MATLAB, and the angular acceleration response capability of the fiber-optic gyroscope is judged by combining the output of the angular velocity. Obtaining output data of the fiber optic gyroscope to be tested in the rotation process, obtaining angular acceleration in the rotation process by using MATLAB software, and obtaining the maximum angular acceleration of the fiber optic gyroscope to be tested in the rotation process as a test result when the rotation angle is maximum;
11 And (3) comparing the test result with the design index, if the test result is larger than the design index, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested meets the requirement, otherwise, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested does not meet the requirement.
The specific working principle of the present invention is explained below with reference to the drawings.
The principle of the generation technology of different angular accelerations in the invention is the angular impulse principle, namely
Wherein G is the gravity applied to the gyro tool, l is the distance from the gravity to the rotating shaft, J is the moment of inertia of the gyro around the rotating shaft, and alpha is the angular acceleration.
Under the condition that sliding is not considered, the hexahedral tool rotates by a certain angle theta, then external force is removed, and the gyroscope can rotate around the contact edge under the action of gravity G. Due to the short collision time deltat, the gyro sensitive axis has a larger angular acceleration input according to the angular impulse principle. The different angles theta of the rotation of the gyroscope correspond to different angular momentum when the gyroscope collides with the antistatic rubber pad, so that the gyroscope obtains different angular acceleration inputs.
The invention provides a rapid test method for angular acceleration response capability of an optical fiber gyroscope. According to the method, a gyro to be tested is mounted on a fixture, and finally the gyro to be tested is placed on a horizontal antistatic rubber pad, after a cable is connected, gyro test software is opened and set, an angular acceleration response capability experiment is carried out, gyro output data are continuously collected in the whole process, and finally an experimental result of the angular acceleration response capability of the gyro is calculated by Matlab.
The output angular rate data of the gyro processed by Matlab is shown in figure 3, and the numerical result of the processed gyro angular acceleration is shown in figure 4. By combining the two graphs, it can be seen that the angular acceleration corresponding to 47s is maximum, and the gyro output can return to a normal zero position when the gyro is at rest after that, according to the method for testing the angular acceleration response capability of the optical fiber gyro, the angular acceleration response capability of the test gyro can be obtained within 1min, and is about 10 5°/s2, so that the design index (more than or equal to 80000 degrees/s 2) is met.
Although the present application has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present application by using the methods and technical matters disclosed above without departing from the spirit and scope of the present application, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present application are within the scope of the technical matters of the present application. The embodiments of the present application and technical features in the embodiments may be combined with each other without collision.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (10)
1. A method for rapidly testing angular acceleration response capability of an optical fiber gyroscope is characterized by comprising the following steps:
1) Fixing the fiber optic gyroscope to be tested in a hexahedral tool, and placing the hexahedral tool on an antistatic rubber pad;
2) Connecting a sampling cable between the fiber optic gyroscope to be tested and the industrial personal computer as well as between the fiber optic gyroscope to be tested and the power supply box;
3) Supplying power to the fiber optic gyroscope to be tested, and obtaining the initial output of the fiber optic gyroscope to be tested in a static state;
4) Selecting an edge from the hexahedral tool as a rotating shaft, placing the rotating shaft on the antistatic rubber pad, rotating the hexahedral tool by a certain angle theta k by taking the rotating shaft as an axis, and removing external force to enable the hexahedral tool to freely rotate under the action of gravity and fall back on the antistatic rubber pad;
5) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output data of the fiber-optic gyroscope to be tested in a static state is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 6), otherwise, entering the step 7);
6) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, repeating the steps 4) to 5) until the output of the fiber-optic gyroscope to be tested is inconsistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), and entering the step 7);
7) Removing output data of the fiber optic gyroscope in the rotating process, accumulating the number of times that the output of the fiber optic gyroscope to be detected is inconsistent with the initial output of the fiber optic gyroscope to be detected obtained in the step 3) by 1, powering off the fiber optic gyroscope to be detected, powering on the fiber optic gyroscope to be detected again, reducing the rotating angle after the output of the fiber optic gyroscope to be detected is consistent with the initial output, enabling the rotating angle to be smaller than the last rotating angle, and repeating the step 4) and then entering the step 8);
8) After the hexahedral tooling falls back to the antistatic rubber pad and is static again, judging whether the output of the fiber-optic gyroscope to be tested is consistent with the initial output of the fiber-optic gyroscope to be tested obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) Increasing the rotation angle to make the rotation angle larger than the previous rotation angle, repeating the step 4) and then entering the step 8) until the number of times that the output of the fiber-optic gyroscope to be detected is inconsistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3) is larger than m, and entering the step 10);
10 According to the output data of the fiber optic gyroscope to be tested in the rotating process, acquiring the angular acceleration of the fiber optic gyroscope to be tested in the rotating process, and taking the maximum angular acceleration of the fiber optic gyroscope to be tested in the rotating process as a test result when the rotating angle is maximum;
11 And (3) comparing the test result with the design index, if the test result is larger than the design index, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested meets the requirement, otherwise, judging that the angular acceleration response capability of the fiber optic gyroscope to be tested does not meet the requirement.
2. The method for rapidly testing angular acceleration response capability of an optical fiber gyroscope according to claim 1, wherein the rotating shaft is always located on the antistatic rubber pad during rotation.
3. The method for rapidly testing angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein the initial rotation angle isThe value range of (2) is 15-35 degrees.
4. The method for rapidly measuring angular acceleration response capability of a fiber optic gyroscope according to claim 3, wherein the increasing rotation angle in step 6) is;Less than the initial rotation angle.
5. The method for rapidly testing angular acceleration response capability of a fiber optic gyroscope according to claim 4, wherein,The value of (2) is in the range of 5 DEG to 10 deg.
6. The method for rapidly testing angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein the decreasing rotation angle in step 7) is, wherein,Is the change amount of the last rotation angle.
7. The method for rapidly measuring angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein the increasing rotation angle in step 9) is, wherein,Is the change amount of the last rotation angle.
8. The method for rapidly testing angular acceleration response capability of a fiber optic gyroscope according to claim 1, wherein m is in the range of 3 to 5.
9. The method for rapidly testing angular acceleration response capability of an optical fiber gyroscope according to claim 1, wherein MATLAB software is used to obtain angular acceleration of the optical fiber gyroscope to be tested during rotation.
10. The method for rapidly testing angular acceleration response capability of an optical fiber gyroscope according to any one of claims 1-9, wherein in the step 4), an edge parallel to a sensitive axis of the optical fiber gyroscope to be tested is selected as a rotation axis.
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| CN203785687U (en) * | 2014-03-27 | 2014-08-20 | 中航捷锐（北京）光电技术有限公司 | Testing device of angular acceleration tracking performance of closed loop fiber-optic gyroscope |
| CN114201903A (en) * | 2021-12-27 | 2022-03-18 | 重庆大学 | Rapid prediction method for vibration response of local nonlinear system |
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| JP5618002B2 (en) * | 2011-05-12 | 2014-11-05 | 株式会社村田製作所 | Angular acceleration detection element |
| WO2020006723A1 (en) * | 2018-07-05 | 2020-01-09 | 大连理工大学 | Structure angular acceleration measurement apparatus and method based on dynamic measurement of centrifugal force |
| CN112485467B (en) * | 2020-11-10 | 2024-04-09 | 广东工业大学 | A temperature compensated accelerometer based on polarization-maintaining fiber dual-arm off-axis interferometer |
| CN113252071B (en) * | 2021-04-20 | 2023-04-14 | 北京航天时代光电科技有限公司 | Critical angular acceleration test system and test method based on double fiber-optic gyroscope |
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| CN203785687U (en) * | 2014-03-27 | 2014-08-20 | 中航捷锐（北京）光电技术有限公司 | Testing device of angular acceleration tracking performance of closed loop fiber-optic gyroscope |
| CN114201903A (en) * | 2021-12-27 | 2022-03-18 | 重庆大学 | Rapid prediction method for vibration response of local nonlinear system |
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