The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological ...The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological noise,there is still a significant gap between its actual precision and theoretical precision.This study identifies the key factor limiting the precision of the SERF gyroscope as coupling noise.By optimizing the detection loop structure,a distinction between the dual-axis signals'response to optical and magnetic fields was achieved-where the optical errors responded similarly,while the response to magnetic noise was opposite.Based on the differences in the optical-magnetic response of the dual-axis signals,empirical mode decomposition was used to decompose the dual-axis gyroscope signals into multiple intrinsic mode functions,and Allan deviation analysis was applied to analyze the noise characteristics of the intrinsic mode functions over various periods.This study successfully reveals that optical errors caused by thermal-optical coupling and long-period magnetic noise induced by thermal-magnetic coupling are the dominant factors limiting the long-term stability of the SERF gyroscope.Based on these analyses,the study concludes that to achieve strategic-grade precision for the SERF gyroscope,it is essential to effectively address the noise issues caused by multi-physical field couplings.展开更多
Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has seve...Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has severely restricted the applications of high-precision FOGs.The conventional methods for suppressing vibration-induced errors mostly concentrate on reinforcing the mechanical structure and optical path as well as the compensation under some specific operation parameters,which have very limited effects for high-precision FOGs maintaining performances under vibration.In this work,a technique of suppressing the vibration-induced bias deviation through removing the part related to the varying gain from the rotation-rate output is put forward.Particularly,the loop gain is extracted out by adding a gain-monitoring wave.By demodulating the loop gain and the rotation rate simultaneously under distinct frequencies and investigating their quantitative relationship,the vibrationinduced bias error is compensated without limiting the operating parameters or environments,like the applied modulation depth.The experimental results show that the proposed method has achieved the reduction of bias error from about 0.149°/h to0.014°/h during the random vibration with frequencies from20 Hz to 2000 Hz.This technique provides a feasible route for enhancing the performances of high-precision FOGs heading towards high environmental adaptability.展开更多
This paper presents a novel experimental design to greatly improve the calibration accuracy of the acceleration-insensitive bias and the acceleration-sensitive bias of the dynamically tuned gyroscopes（DTGs）.In order...This paper presents a novel experimental design to greatly improve the calibration accuracy of the acceleration-insensitive bias and the acceleration-sensitive bias of the dynamically tuned gyroscopes（DTGs）.In order to reduce experimental cost,the D-optimal criteria with constraints are constructed.The turntable positions and the number of test points are chosen to build D-optimal experimental designs.The D-optimal experimental designs are tested by multi-position calibration experiment for tactical-grade DTGs.Test results show that,with the same cost,the fit uncertainty is reduced by about 50% by using the D-optimal 8-position experimental procedure,compared to using a defacto standard experimental procedure in ANSI/IEEE Std 813-1988.Furthermore,the new experimental procedure almost achieves optimal accuracy with only 12-position which is half the cost of the widely adopted 24-position experimental procedure for achieving optimal accuracy.展开更多
An adaptive sliding mode control （ASMC） law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with th...An adaptive sliding mode control （ASMC） law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom （DOF）. A cluster of control moment gyroscopes （CMGs） is mounted on each link and the base to actuate the system. The modified Rodrigues parameters （MRPs） are employed to describe the angular displacements, and the equations of motion are derived using Kane＇s equations. The controller for each link or the base is designed sep- arately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a ＂lumped＂ matched uncertainty with unknown upper bound, and a continuous sliding mode control （SMC） law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A gen- eral amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov＇s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.展开更多
Dynamic characteristics of the resonant gyroscope are studied based on the Mathieu equation approximate solution in this paper.The Mathieu equation is used to analyze the parametric resonant characteristics and the ap...Dynamic characteristics of the resonant gyroscope are studied based on the Mathieu equation approximate solution in this paper.The Mathieu equation is used to analyze the parametric resonant characteristics and the approximate output of the resonant gyroscope.The method of small parameter perturbation is used to analyze the approximate solution of the Mathieu equation.The theoretical analysis and the numerical simulations show that the approximate solution of the Mathieu equation is close to the dynamic output characteristics of the resonant gyroscope.The experimental analysis shows that the theoretical curve and the experimental data processing results coincide perfectly,which means that the approximate solution of the Mathieu equation can present the dynamic output characteristic of the resonant gyroscope.The theoretical approach and the experimental results of the Mathieu equation approximate solution are obtained,which provides a reference for the robust design of the resonant gyroscope.展开更多
A high-performance vibration isolation platform （VIP） has been developed for a cluster of control moment gyroscopes （CMGs）. CMGs have long been used for satellite attitude control. In this paper, the influence of ...A high-performance vibration isolation platform （VIP） has been developed for a cluster of control moment gyroscopes （CMGs）. CMGs have long been used for satellite attitude control. In this paper, the influence of flexible solar arrays on a passive multi-strut VIP of CMGs for a satellite is analyzed. The reasonable parameters design of flexi- ble solar arrays is discussed. Firstly, the dynamic model of the integrated satellite with flexible solar arrays, the VIP and CMGs is conducted by Newton-Euler method. Then based on reasonable assumptions, the transmissibility matrix of the VIP is derived. Secondly, the influences of the flexible solar arrays on both the performance of the VIP and the stability of closed-loop control systems are analyzed in detail. The parameter design limitation of these solar arrays is discussed. At last, by selecting reasonable parameters for both the VIP and flexible solar arrays, the attitude stabilization performance with vibration isolation system is predicted via simulation.展开更多
Gyroscopes are one of the most interesting and everlasting nonlinear nonautonomous dynamical systems that exhibit very complex dynamical behavior such as chaos. In this paper, the problem of robust stabilization of th...Gyroscopes are one of the most interesting and everlasting nonlinear nonautonomous dynamical systems that exhibit very complex dynamical behavior such as chaos. In this paper, the problem of robust stabilization of the nonlinear non-autonomous gyroscopes in a given finite time is studied. It is assumed that the gyroscope system is perturbed by model uncertainties, external disturbances, and unknown parameters. Besides, the effects of input nonlinearities are taken into account. Appropriate adaptive laws are proposed to tackle the unknown parameters. Based on the adaptive laws and the finite-time control theory, discontinuous finite-time control laws are proposed to ensure the finite-time stability of the system. The finite-time stability and convergence of the closed-loop system are analytically proved. Some numerical simulations are presented to show the efficiency of the proposed finite-time control scheme and to validate the theoretical results.展开更多
In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematica...In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account, a feedback control law is designed for the system based on a method of nonlinear model predictive control （NMPC）. The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.展开更多
The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based...The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based approach for the error parameters online identification for the WAMG.The significance is that it can separate physical and error fingerprints to enable online calibration.The nonlinear WAMG dynamics are discretized to meet the requirement of numerical precision and computation efficiency.The optimized estimation methods are then constructed and compared to track asymmetry error parameters continuously.In the validation part,its results firstly prove that the proposed scheme can accurately identify constant asymmetry parameters with an overall tracking error of less than 1 ppm and the extreme numerical convergence can reach 10^(-12)ppm.Under the dynamic asymmetry variation condition,the root mean square errors(RMSE)indicate that the tracking accuracy can reach the level of10^(-3),which shows the robustness of the proposed scheme.In summary,the proposed method can effectively estimate the WAMG asymmetry errors online with satisfied performance and practical values.展开更多
Gyro's fault diagnosis plays a critical role in inertia navigation systems for higher reliability and precision. A new fault diagnosis strategy based on the statistical parameter analysis (SPA) and support vector ...Gyro's fault diagnosis plays a critical role in inertia navigation systems for higher reliability and precision. A new fault diagnosis strategy based on the statistical parameter analysis (SPA) and support vector machine (SVM) classification model was proposed for dynamically tuned gyroscopes (DTG). The SPA, a kind of time domain analysis approach, was introduced to compute a set of statistical parameters of vibration signal as the state features of DTG, with which the SVM model, a novel learning machine based on statistical learning theory (SLT), was applied and constructed to train and identify the working state of DTG. The experimental results verify that the proposed diagnostic strategy can simply and effectively extract the state features of DTG, and it outperforms the radial-basis function (RBF) neural network based diagnostic method and can more reliably and accurately diagnose the working state of DTG.展开更多
The mode coupling is a major factor to affect the precision of the micro electromechanical systems（MEMS） gyroscope. Currently, many MEMS gyroscopes with separate oscillation modes for drive and detection have been d...The mode coupling is a major factor to affect the precision of the micro electromechanical systems（MEMS） gyroscope. Currently, many MEMS gyroscopes with separate oscillation modes for drive and detection have been developed to decrease the mode coupling, but the gyroscope accuracy can not satisfy the high-precision demand well. Therefore, high performance decoupled MEMS gyroscopes is still a hot topic at present. An innovative design scheme for a MEMS gyroscope is designed, and in this design, the inertial mass is divided into three parts including the inner mass, the outer mass and the main frame mass. The masses are supported and separated by a set of mutually orthogonal beams to decouple their movements. Moreover, the design is modelled by multi-port-element network（MuPEN） method and the simulation results show that the mode coupling of the gyroscope between driving and sensing mode was eliminated effectively. Furthermore, we proposed a new silicon-on-insulator（SOI） process to fabricate the gyroscope. The scale factor of the fabricated gyroscope is 8.9 mV/（（~）os） and the quality factor（Q-factor） is as high as 600 at atmosphere pressure, and then, the resonant frequency, scale factor and bias drift has been test. Process and test results show that the proposed MEMS gyroscope are effective for decrease mode coupling, furthermore, it can achieve a high performance at atmosphere pressure. Furthermore, the MEMS gyroscope can achieve a high performance at atmosphere pressure. The research can be taken as good advice for the design and fabrication of MEMS gyroscope, meanwhile, it also provides technical support for speeding up of MEMS gyroscope industrialization.展开更多
In order to suppress the noise of gyroscopes,the method based on lock-in amplifier and capacitor matching of the low-noise readout circuit is proposed. Firstly,the principle to suppress the noise by lock-in amplifier ...In order to suppress the noise of gyroscopes,the method based on lock-in amplifier and capacitor matching of the low-noise readout circuit is proposed. Firstly,the principle to suppress the noise by lock-in amplifier is analyzed,and the noise model of front end is proposed. Secondly,the noise optimization for the charge amplifier is presented according to the noise model of front end. Finally,a readout circuit is constructed by this approach. The measurement results show that the parasitic capacitance of front end is 18 p F,and the noise at resonant frequency( 4 k Hz) is 133 n V / Hz1 / 2,and the overall bias stability is 30° /h,and the noise level is 0. 003° /( s·Hz1 / 2). The noise of the gyroscope with the low-noise readout by this method is suppressed effectively.展开更多
In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these...In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these kinds of gyroscopes have poor performances in initial zero-bias,temperature drift,In-Run bias stability,bias repeatability,etc.,their output errors need to be compensated before being used.Based on a lot of experiments,the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data.Due to the poor repeatability of temperature drift,the temperature compensation coefficients need to be recalculated every time before using.In order to recalculate parameters of the temperature compensation model quickly,a 1st-order polynomial model of temperature is established,then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time.Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.展开更多
Integrated photonic gyroscopes(IPGs)have emerged as a promising alternative to other gyroscopes,providing high sensitivity,compactness,and low power consumption,especially being more conducive to integration.In this r...Integrated photonic gyroscopes(IPGs)have emerged as a promising alternative to other gyroscopes,providing high sensitivity,compactness,and low power consumption,especially being more conducive to integration.In this review,we discuss recent advances in IPG technology and research,including the different types of IPGs currently being developed,such as waveguide spiral-based,ring laser gyroscope,and passive ring resonator based IPGs.We highlight the efforts dedicated to improve the stability,accuracy,and resolution of IPGs,such as using narrow-band laser diodes and using a high-stability,low-noise power supply system.Additionally,we provide an overview of the key performance measures of IPGs,including resolution,drifting,stability,noise cancellation as well as their interrelationships.Finally,we discuss challenges and future directions for the IPG research,including improving long-term stability and addressing sensitivity to shock and vibrations.展开更多
Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the in...Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared errors.The major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically incorrect.The same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS gyroscopes.By comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the former is of better accuracy than the latter.As a result,to suppress the significant amplification of noise in GNSS attitudes,larger regularization parameters have to be chosen for the high-rate GNSS attitudes,resulting in smaller peak angular accelerations by a maximum factor of 37.55 percent in the angular velocity to a maximum factor of 6.20 times in the angular acceleration in comparison of the corresponding IMU results.Nevertheless,the regularized angular acceleration waveforms for both GNSS and IMU look more or less similar in pattern or waveform shape.展开更多
A direction related polarizer was inserted into a ring laser cavity to eliminate one of the two eigen-modes as well as spatial hole burning of the gain medium in a bidirectional Er-doped fiber ring laser. Thus, a fibe...A direction related polarizer was inserted into a ring laser cavity to eliminate one of the two eigen-modes as well as spatial hole burning of the gain medium in a bidirectional Er-doped fiber ring laser. Thus, a fiber ring laser gyroscope （FRLG） operating in continuous wave was demonstrated. A beat signal of over 30-dB noise was observed and a good linear relation between the beat frequency shift and cavity rotation rate was obtained.展开更多
With the development of manufacturing technology,the propagation loss of the planar waveguide is getting lower and lower,and the shot-noise-limited sensitivity of an HOG will be greatly improved.When the propagation l...With the development of manufacturing technology,the propagation loss of the planar waveguide is getting lower and lower,and the shot-noise-limited sensitivity of an HOG will be greatly improved.When the propagation loss is getting lower,improper coupling-out waveguide in the waveguide coil may lead to non-ignorable bending loss and crosstalk because of the small radius of curvature and X-junction.In this paper,different couplingout waveguides have been designed.After calculation and optimization by the beam propagation method,we found the proper coupling-out waveguide having relatively low propagation loss,which can improve the sensitivity of the HOG.展开更多
Output voltage drifting was observed in MEMS gyroscopes. Other than the quadrature error, frequency mismatch and quality factor, the dielectric parasitic charge was thought to be a major determinant. We studied the me...Output voltage drifting was observed in MEMS gyroscopes. Other than the quadrature error, frequency mismatch and quality factor, the dielectric parasitic charge was thought to be a major determinant. We studied the mechanism and variation of the parasitic charge in the MEMS gyroscopes, and analyzed the effect of the parasitic charge on the output stability. This phenomenon was extremely obvious in the Pyrex encapsulated MEMS gyroscopes. Due to the DC voltage required for the electrostatic actuation, the parasitic charge in the dielectric layer would accumulate and induce a residual voltage. This voltage had an impact on the resonant frequency of the gyroscopes, so as to affect the output stability. The theoretical studies were also confirmed by our experimental results. It was shown that the parasitic charge was harmful to the output stability of MEMS gyroscopes.展开更多
Rollover accidents involving agricultural wheeled robots,accompanied by severe mechanical impacts,pose serious threats to operational safety and reduce functional efficiency.To address this issue,an active rollover pr...Rollover accidents involving agricultural wheeled robots,accompanied by severe mechanical impacts,pose serious threats to operational safety and reduce functional efficiency.To address this issue,an active rollover prevention strategy is proposed,utilizing a single‐gimbal control moment gyro(SGCMG),to stabilize typical agricultural robots and prevent potential rollovers.To match the free oscillation of the pivot front axle,a novel recovery torque model of the coupled robot‐SGCMG system is established,in which two patterns are introduced to refine the rollover process with uncertain parameters.Additionally,a lateral stability index is adopted and analyzed to assess the hazard level of potential rollovers.Aimed at handling uncertain parameters and hazard levels,an adaptive backstepping control strategy is developed for real‐time anti‐rollover implementation.Within this strategy,control gains are adaptively tuned based on theoretical derivations,thereby suppressing rollover tendency while minimizing tuning effort.For verification,a scaled experimental platform,designed according to similarity theory,is constructed to ensure safety of personnel and equipment.Experimental results show that the proposed method can precisely regulate the output torque of the gyro,rapidly and effectively mitigating the risk of imminent rollover.This method provides a promising solution for wheeled robot stability and a theoretical basis for advanced safety control in agricultural robotics.展开更多
As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely...As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.展开更多
基金supported by Hefei National Laboratory,Innovation Program for Quantum Science and Technology(2021ZD0300400/2021ZD0300402)the Beijing Natural Science Foundation(3252013)the China Postdoctoral Science Foundation(2024T171116).
文摘The spin-exchange relaxation-free atomic gyroscope,with its exceptionally high theoretical precision,demonstrates immense potential to become the next-generation strategic-grade gyroscope.However,due to technological noise,there is still a significant gap between its actual precision and theoretical precision.This study identifies the key factor limiting the precision of the SERF gyroscope as coupling noise.By optimizing the detection loop structure,a distinction between the dual-axis signals'response to optical and magnetic fields was achieved-where the optical errors responded similarly,while the response to magnetic noise was opposite.Based on the differences in the optical-magnetic response of the dual-axis signals,empirical mode decomposition was used to decompose the dual-axis gyroscope signals into multiple intrinsic mode functions,and Allan deviation analysis was applied to analyze the noise characteristics of the intrinsic mode functions over various periods.This study successfully reveals that optical errors caused by thermal-optical coupling and long-period magnetic noise induced by thermal-magnetic coupling are the dominant factors limiting the long-term stability of the SERF gyroscope.Based on these analyses,the study concludes that to achieve strategic-grade precision for the SERF gyroscope,it is essential to effectively address the noise issues caused by multi-physical field couplings.
基金Fundamental Research Funds for the Central Universities(YWF-23-L-1225)National Natural Science Foundation of China(62201025)Chinese Aeronautical Establishment(2022Z037051001)。
文摘Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has severely restricted the applications of high-precision FOGs.The conventional methods for suppressing vibration-induced errors mostly concentrate on reinforcing the mechanical structure and optical path as well as the compensation under some specific operation parameters,which have very limited effects for high-precision FOGs maintaining performances under vibration.In this work,a technique of suppressing the vibration-induced bias deviation through removing the part related to the varying gain from the rotation-rate output is put forward.Particularly,the loop gain is extracted out by adding a gain-monitoring wave.By demodulating the loop gain and the rotation rate simultaneously under distinct frequencies and investigating their quantitative relationship,the vibrationinduced bias error is compensated without limiting the operating parameters or environments,like the applied modulation depth.The experimental results show that the proposed method has achieved the reduction of bias error from about 0.149°/h to0.014°/h during the random vibration with frequencies from20 Hz to 2000 Hz.This technique provides a feasible route for enhancing the performances of high-precision FOGs heading towards high environmental adaptability.
基金National Natural Science Foundation of China (61071014)National Basic Research Program of China(2009CB72400201)
文摘This paper presents a novel experimental design to greatly improve the calibration accuracy of the acceleration-insensitive bias and the acceleration-sensitive bias of the dynamically tuned gyroscopes（DTGs）.In order to reduce experimental cost,the D-optimal criteria with constraints are constructed.The turntable positions and the number of test points are chosen to build D-optimal experimental designs.The D-optimal experimental designs are tested by multi-position calibration experiment for tactical-grade DTGs.Test results show that,with the same cost,the fit uncertainty is reduced by about 50% by using the D-optimal 8-position experimental procedure,compared to using a defacto standard experimental procedure in ANSI/IEEE Std 813-1988.Furthermore,the new experimental procedure almost achieves optimal accuracy with only 12-position which is half the cost of the widely adopted 24-position experimental procedure for achieving optimal accuracy.
基金supported by the National Natural Science Foundation of China(No.11272027)
文摘An adaptive sliding mode control （ASMC） law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom （DOF）. A cluster of control moment gyroscopes （CMGs） is mounted on each link and the base to actuate the system. The modified Rodrigues parameters （MRPs） are employed to describe the angular displacements, and the equations of motion are derived using Kane＇s equations. The controller for each link or the base is designed sep- arately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a ＂lumped＂ matched uncertainty with unknown upper bound, and a continuous sliding mode control （SMC） law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A gen- eral amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov＇s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China (Grant No. 60927005)the Innovation Foundation of BUAA for Ph. D. Graduates,Chinathe Fundamental Research Funds for the Central Universities,China (Grant No. YWF-10-01-A17)
文摘Dynamic characteristics of the resonant gyroscope are studied based on the Mathieu equation approximate solution in this paper.The Mathieu equation is used to analyze the parametric resonant characteristics and the approximate output of the resonant gyroscope.The method of small parameter perturbation is used to analyze the approximate solution of the Mathieu equation.The theoretical analysis and the numerical simulations show that the approximate solution of the Mathieu equation is close to the dynamic output characteristics of the resonant gyroscope.The experimental analysis shows that the theoretical curve and the experimental data processing results coincide perfectly,which means that the approximate solution of the Mathieu equation can present the dynamic output characteristic of the resonant gyroscope.The theoretical approach and the experimental results of the Mathieu equation approximate solution are obtained,which provides a reference for the robust design of the resonant gyroscope.
文摘A high-performance vibration isolation platform （VIP） has been developed for a cluster of control moment gyroscopes （CMGs）. CMGs have long been used for satellite attitude control. In this paper, the influence of flexible solar arrays on a passive multi-strut VIP of CMGs for a satellite is analyzed. The reasonable parameters design of flexi- ble solar arrays is discussed. Firstly, the dynamic model of the integrated satellite with flexible solar arrays, the VIP and CMGs is conducted by Newton-Euler method. Then based on reasonable assumptions, the transmissibility matrix of the VIP is derived. Secondly, the influences of the flexible solar arrays on both the performance of the VIP and the stability of closed-loop control systems are analyzed in detail. The parameter design limitation of these solar arrays is discussed. At last, by selecting reasonable parameters for both the VIP and flexible solar arrays, the attitude stabilization performance with vibration isolation system is predicted via simulation.
文摘Gyroscopes are one of the most interesting and everlasting nonlinear nonautonomous dynamical systems that exhibit very complex dynamical behavior such as chaos. In this paper, the problem of robust stabilization of the nonlinear non-autonomous gyroscopes in a given finite time is studied. It is assumed that the gyroscope system is perturbed by model uncertainties, external disturbances, and unknown parameters. Besides, the effects of input nonlinearities are taken into account. Appropriate adaptive laws are proposed to tackle the unknown parameters. Based on the adaptive laws and the finite-time control theory, discontinuous finite-time control laws are proposed to ensure the finite-time stability of the system. The finite-time stability and convergence of the closed-loop system are analytically proved. Some numerical simulations are presented to show the efficiency of the proposed finite-time control scheme and to validate the theoretical results.
基金supported by the National Natural Science Foundation of China(Nos.11372130,11290153,and 11290154)
文摘In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes （VSCMGs） with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account, a feedback control law is designed for the system based on a method of nonlinear model predictive control （NMPC）. The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.
基金funded by the National Natural Science Foundation under grant No.62171420Natural Science Foundation of Shandong Province under grant No.ZR201910230031。
文摘The whole angle mode gyroscope(WAMG)is considered to be the next generation architecture,but it is suffered from the asymmetry errors to conduct real products.This paper proposes a novel high frequency injection based approach for the error parameters online identification for the WAMG.The significance is that it can separate physical and error fingerprints to enable online calibration.The nonlinear WAMG dynamics are discretized to meet the requirement of numerical precision and computation efficiency.The optimized estimation methods are then constructed and compared to track asymmetry error parameters continuously.In the validation part,its results firstly prove that the proposed scheme can accurately identify constant asymmetry parameters with an overall tracking error of less than 1 ppm and the extreme numerical convergence can reach 10^(-12)ppm.Under the dynamic asymmetry variation condition,the root mean square errors(RMSE)indicate that the tracking accuracy can reach the level of10^(-3),which shows the robustness of the proposed scheme.In summary,the proposed method can effectively estimate the WAMG asymmetry errors online with satisfied performance and practical values.
文摘Gyro's fault diagnosis plays a critical role in inertia navigation systems for higher reliability and precision. A new fault diagnosis strategy based on the statistical parameter analysis (SPA) and support vector machine (SVM) classification model was proposed for dynamically tuned gyroscopes (DTG). The SPA, a kind of time domain analysis approach, was introduced to compute a set of statistical parameters of vibration signal as the state features of DTG, with which the SVM model, a novel learning machine based on statistical learning theory (SLT), was applied and constructed to train and identify the working state of DTG. The experimental results verify that the proposed diagnostic strategy can simply and effectively extract the state features of DTG, and it outperforms the radial-basis function (RBF) neural network based diagnostic method and can more reliably and accurately diagnose the working state of DTG.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA04Z320)Xi’an Municipal Applied Materials Innovation Fund of China (Grant No. XA-AM-200801)
文摘The mode coupling is a major factor to affect the precision of the micro electromechanical systems（MEMS） gyroscope. Currently, many MEMS gyroscopes with separate oscillation modes for drive and detection have been developed to decrease the mode coupling, but the gyroscope accuracy can not satisfy the high-precision demand well. Therefore, high performance decoupled MEMS gyroscopes is still a hot topic at present. An innovative design scheme for a MEMS gyroscope is designed, and in this design, the inertial mass is divided into three parts including the inner mass, the outer mass and the main frame mass. The masses are supported and separated by a set of mutually orthogonal beams to decouple their movements. Moreover, the design is modelled by multi-port-element network（MuPEN） method and the simulation results show that the mode coupling of the gyroscope between driving and sensing mode was eliminated effectively. Furthermore, we proposed a new silicon-on-insulator（SOI） process to fabricate the gyroscope. The scale factor of the fabricated gyroscope is 8.9 mV/（（~）os） and the quality factor（Q-factor） is as high as 600 at atmosphere pressure, and then, the resonant frequency, scale factor and bias drift has been test. Process and test results show that the proposed MEMS gyroscope are effective for decrease mode coupling, furthermore, it can achieve a high performance at atmosphere pressure. Furthermore, the MEMS gyroscope can achieve a high performance at atmosphere pressure. The research can be taken as good advice for the design and fabrication of MEMS gyroscope, meanwhile, it also provides technical support for speeding up of MEMS gyroscope industrialization.
文摘In order to suppress the noise of gyroscopes,the method based on lock-in amplifier and capacitor matching of the low-noise readout circuit is proposed. Firstly,the principle to suppress the noise by lock-in amplifier is analyzed,and the noise model of front end is proposed. Secondly,the noise optimization for the charge amplifier is presented according to the noise model of front end. Finally,a readout circuit is constructed by this approach. The measurement results show that the parasitic capacitance of front end is 18 p F,and the noise at resonant frequency( 4 k Hz) is 133 n V / Hz1 / 2,and the overall bias stability is 30° /h,and the noise level is 0. 003° /( s·Hz1 / 2). The noise of the gyroscope with the low-noise readout by this method is suppressed effectively.
文摘In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these kinds of gyroscopes have poor performances in initial zero-bias,temperature drift,In-Run bias stability,bias repeatability,etc.,their output errors need to be compensated before being used.Based on a lot of experiments,the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data.Due to the poor repeatability of temperature drift,the temperature compensation coefficients need to be recalculated every time before using.In order to recalculate parameters of the temperature compensation model quickly,a 1st-order polynomial model of temperature is established,then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time.Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.
基金supported by the National Natural Science Foundation of China(Grant Nos.62293495 and 62201021)the Young Elite Scientists Sponsorship Program(Grant No.2023QNRC001).
文摘Integrated photonic gyroscopes(IPGs)have emerged as a promising alternative to other gyroscopes,providing high sensitivity,compactness,and low power consumption,especially being more conducive to integration.In this review,we discuss recent advances in IPG technology and research,including the different types of IPGs currently being developed,such as waveguide spiral-based,ring laser gyroscope,and passive ring resonator based IPGs.We highlight the efforts dedicated to improve the stability,accuracy,and resolution of IPGs,such as using narrow-band laser diodes and using a high-stability,low-noise power supply system.Additionally,we provide an overview of the key performance measures of IPGs,including resolution,drifting,stability,noise cancellation as well as their interrelationships.Finally,we discuss challenges and future directions for the IPG research,including improving long-term stability and addressing sensitivity to shock and vibrations.
基金supported by the National Natural Science Foundation of China under projects Nos.42174045 and 41874012 awarded to Yun Shi.
文摘Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared errors.The major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically incorrect.The same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS gyroscopes.By comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the former is of better accuracy than the latter.As a result,to suppress the significant amplification of noise in GNSS attitudes,larger regularization parameters have to be chosen for the high-rate GNSS attitudes,resulting in smaller peak angular accelerations by a maximum factor of 37.55 percent in the angular velocity to a maximum factor of 6.20 times in the angular acceleration in comparison of the corresponding IMU results.Nevertheless,the regularized angular acceleration waveforms for both GNSS and IMU look more or less similar in pattern or waveform shape.
文摘A direction related polarizer was inserted into a ring laser cavity to eliminate one of the two eigen-modes as well as spatial hole burning of the gain medium in a bidirectional Er-doped fiber ring laser. Thus, a fiber ring laser gyroscope （FRLG） operating in continuous wave was demonstrated. A beat signal of over 30-dB noise was observed and a good linear relation between the beat frequency shift and cavity rotation rate was obtained.
基金Project supported by the National Natural Science Foundation of China(Nos.61274066,61504138,61474115)the National Key Research and Development Program of China(No.2016YFA02005003)
文摘With the development of manufacturing technology,the propagation loss of the planar waveguide is getting lower and lower,and the shot-noise-limited sensitivity of an HOG will be greatly improved.When the propagation loss is getting lower,improper coupling-out waveguide in the waveguide coil may lead to non-ignorable bending loss and crosstalk because of the small radius of curvature and X-junction.In this paper,different couplingout waveguides have been designed.After calculation and optimization by the beam propagation method,we found the proper coupling-out waveguide having relatively low propagation loss,which can improve the sensitivity of the HOG.
基金supported by the National Natural Science Foundation of China(No.61504130)
文摘Output voltage drifting was observed in MEMS gyroscopes. Other than the quadrature error, frequency mismatch and quality factor, the dielectric parasitic charge was thought to be a major determinant. We studied the mechanism and variation of the parasitic charge in the MEMS gyroscopes, and analyzed the effect of the parasitic charge on the output stability. This phenomenon was extremely obvious in the Pyrex encapsulated MEMS gyroscopes. Due to the DC voltage required for the electrostatic actuation, the parasitic charge in the dielectric layer would accumulate and induce a residual voltage. This voltage had an impact on the resonant frequency of the gyroscopes, so as to affect the output stability. The theoretical studies were also confirmed by our experimental results. It was shown that the parasitic charge was harmful to the output stability of MEMS gyroscopes.
基金supported by the National Natural Science Foundation of China(No.52175259)the 2115 Talent Development Program of China Agricultural University.
文摘Rollover accidents involving agricultural wheeled robots,accompanied by severe mechanical impacts,pose serious threats to operational safety and reduce functional efficiency.To address this issue,an active rollover prevention strategy is proposed,utilizing a single‐gimbal control moment gyro(SGCMG),to stabilize typical agricultural robots and prevent potential rollovers.To match the free oscillation of the pivot front axle,a novel recovery torque model of the coupled robot‐SGCMG system is established,in which two patterns are introduced to refine the rollover process with uncertain parameters.Additionally,a lateral stability index is adopted and analyzed to assess the hazard level of potential rollovers.Aimed at handling uncertain parameters and hazard levels,an adaptive backstepping control strategy is developed for real‐time anti‐rollover implementation.Within this strategy,control gains are adaptively tuned based on theoretical derivations,thereby suppressing rollover tendency while minimizing tuning effort.For verification,a scaled experimental platform,designed according to similarity theory,is constructed to ensure safety of personnel and equipment.Experimental results show that the proposed method can precisely regulate the output torque of the gyro,rapidly and effectively mitigating the risk of imminent rollover.This method provides a promising solution for wheeled robot stability and a theoretical basis for advanced safety control in agricultural robotics.
基金supported by the National Natural Science Foundation of China(62375013).
文摘As the core component of inertial navigation systems, fiber optic gyroscope (FOG), with technical advantages such as low power consumption, long lifespan, fast startup speed, and flexible structural design, are widely used in aerospace, unmanned driving, and other fields. However, due to the temper-ature sensitivity of optical devices, the influence of environmen-tal temperature causes errors in FOG, thereby greatly limiting their output accuracy. This work researches on machine-learn-ing based temperature error compensation techniques for FOG. Specifically, it focuses on compensating for the bias errors gen-erated in the fiber ring due to the Shupe effect. This work pro-poses a composite model based on k-means clustering, sup-port vector regression, and particle swarm optimization algo-rithms. And it significantly reduced redundancy within the sam-ples by adopting the interval sequence sample. Moreover, met-rics such as root mean square error (RMSE), mean absolute error (MAE), bias stability, and Allan variance, are selected to evaluate the model’s performance and compensation effective-ness. This work effectively enhances the consistency between data and models across different temperature ranges and tem-perature gradients, improving the bias stability of the FOG from 0.022 °/h to 0.006 °/h. Compared to the existing methods utiliz-ing a single machine learning model, the proposed method increases the bias stability of the compensated FOG from 57.11% to 71.98%, and enhances the suppression of rate ramp noise coefficient from 2.29% to 14.83%. This work improves the accuracy of FOG after compensation, providing theoretical guid-ance and technical references for sensors error compensation work in other fields.
