摘要
受载体随机振动影响,惯性测量单元(IMU)需计算随机振动响应最大值,判断加速度计是否存在输出饱和风险。同时,受输入轴冗余构型约束,减振坐标系原点未过减振组件质心,各减振器阻尼和刚度参数存在离散性,在随机振动时各陀螺输出存在“线角耦合”误差,需进行补偿或消除。为解决上述两类问题,建立了含阻尼参数、刚度参数的IMU多点减振三维动力学模型,给出了3类共计7项多点减振设计约束。针对总均方根20.4 g随机谱开展了仿真分析与实验验证,在固有频率80 Hz~140 Hz、阻尼比0.25~0.55区域加速度响应理论值优于21.0 g,实测值优于20.8 g。在“线角耦合”误差方面,过质心的X向随机振动“线角耦合”误差为-0.42(°)/h,未过质心的Y向、Z向随机振动“线角耦合”误差分别为8.49(°)/h、8.45(°)/h,所建模型为捷联惯导系统振动误差补偿提供了理论依据。
Affected by the random vibration of the carrier,the inertial measurement unit(IMU)needs to calculate the maximum value of random vibration response to determine whether there is a risk of output saturation of the accelerometer.At the same time,due to the constraint of input axis redundancy configuration,the origin of the damping coordinate system does not pass the mass center of the damping component,the damping and stiffness parameters of each damper are discrete,and the output of each gyro has"line angle coupling"error under random vibration,which needs to be compensated or eliminated.In order to solve the above two types of problems,a three-dimensional dynamic model of IMU multi-point vibration reduction with damping parameters and stiffness parameters is established,and a total of seven multi-point vibration reduction design constraints of three types are given.The simulation analysis and experimental verification are carried out for the total root mean square 20.4 g random spectrum.The theoretical acceleration response value is better than 21.0 g and the measured value is better than 20.8 g in the region of natural frequency 80 Hz~140 Hz and damping ratio 0.25~0.55.In terms of the"line-angle coupling"error,the"line-angle coupling"error of the x-direction random vibration passing the center of mass is-0.42(°)/h,and the"line-angle coupling"error of the y-direction and z-direction random vibration without passing the center of mass is 8.49(°)/h and 8.45(°)/h,respectively,The established model provides a theoretical basis for the vibration error compensation of the strapdown inertial navigation system.
作者
冯士伟
郅银周
李勇
王月
王琪伟
FENG Shiwei;ZHI Yinzhou;LI Yong;WANG Yue;WANG Qiwei(Beijing Institute of Control Engineering,Beijing100190,China;Laboratory of Space Inertial Measurement Technology,Beijing100190,China)
出处
《中国惯性技术学报》
北大核心
2025年第12期1175-1182,共8页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(62205016)。
关键词
惯性测量单元
随机振动
线角耦合
误差分析
inertial measurement unit
random vibration
linear angle coupling
error analysis
