CN114894218A - Rapid test method for angular acceleration response capability of optical fiber gyroscope - Google Patents
Rapid test method for angular acceleration response capability of optical fiber gyroscope Download PDFInfo
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- CN114894218A CN114894218A CN202210453338.7A CN202210453338A CN114894218A CN 114894218 A CN114894218 A CN 114894218A CN 202210453338 A CN202210453338 A CN 202210453338A CN 114894218 A CN114894218 A CN 114894218A
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Abstract
The invention discloses a method for quickly testing angular acceleration response capability of an optical fiber gyroscope. According to the invention, a gyroscope to be tested is arranged on a hexahedral tool and is placed on an anti-static rubber pad, a rapid sampling cable is connected between the gyroscope, an industrial personal computer and a power box, the power box is used for supplying power to the gyroscope, and then gyroscope test software on the industrial personal computer is opened to perform an angular acceleration response capability experiment. The invention does not need large-scale measuring equipment such as an angular vibration table, a sudden stop table and the like, does not need to compile software aiming at optical fiber gyroscopes with different interfaces and protocols, does not need complex data processing processes, adopts the method for testing the angular acceleration response capability and processing the data of the universal high-precision optical fiber gyroscope, and can simply and quickly obtain the angular acceleration response capability level of the gyroscope to be tested only by a common hexahedral tool and relying on different angular acceleration generation technologies and rapid sampling and data updating technologies above 1000 Hz.
Description
Technical Field
The invention relates to a low-cost quick test method for the rate-sensitive axial angular acceleration response capability of a high-precision fiber-optic gyroscope only by a common hexahedral tool without depending on large-scale precise angular acceleration measurement equipment, and belongs to the technical field of fiber-optic gyroscope test.
Background
In recent years, fiber optic gyroscopes have become one of the mainstream instruments in the field of inertial navigation technology due to their unique advantages. Along with the development of various technologies, the high-precision fiber-optic gyroscope gradually becomes practical and enters the market. For the fiber optic gyroscope, the response capability of angular acceleration is one of important design indexes of the fiber optic gyroscope, and the application of the fiber optic gyroscope in the fields of large dynamics, high precision and the like is directly influenced. In general, a high-precision fiber optic gyroscope suppresses noise by increasing demodulation time and integration times, so that response bandwidth of a gyroscope loop is reduced, delay is increased, and response capability of corresponding angular acceleration is further influenced. Therefore, the angular acceleration response capability level of the fiber-optic gyroscope needs to be measured necessarily and accurately so as to evaluate the dynamic response design index of the high-precision fiber-optic gyroscope.
However, the angular acceleration response capability of the existing optical fiber gyroscope is generally measured by adopting the swinging of large-scale measuring equipment such as a large-scale angular vibration table, a sudden stop table and the like to generate angular acceleration input for the optical fiber gyroscope, and the measurement equipment has high precision requirement, long test time, complex process and large data processing capacity.
Therefore, a method for testing and processing data of angular acceleration response capability of a high-precision optical fiber gyroscope, which is not dependent on large-scale equipment, easy to operate, simple, convenient and quick, needs to be provided, and the test economy and the benefit of the method are improved.
Disclosure of Invention
The invention solves the problems that: the measuring method for generating different angular accelerations by using large equipment such as a three-axis testing turntable and the like in the current angular acceleration response capability testing process is changed, and the simple, convenient and quick measuring method for the angular acceleration response capability of the high-precision optical fiber gyroscope, which is independent of the large equipment, is provided.
The technical solution of the invention is as follows:
a method for rapidly testing angular acceleration response capability of a fiber-optic 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 anti-static rubber pad;
2) sampling cables are connected between the fiber-optic gyroscope to be tested and the industrial personal computer, and between the fiber-optic gyroscope to be tested and the power box;
3) supplying power to the fiber-optic gyroscope to be tested, and acquiring the initial output of the fiber-optic gyroscope to be tested in a static state;
4) selecting an edge from a hexahedron tool as a rotating shaft, placing the rotating shaft on an anti-static rubber pad, rotating the hexahedron tool by a certain angle by taking the rotating shaft as an axis, and removing external force to enable the hexahedron tool to freely rotate under the action of gravity and fall back to the anti-static rubber pad;
5) after the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output data of the fiber-optic gyroscope to be tested in the 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, enabling the rotation angle to be larger than the last rotation angle, repeating the steps 4) -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 then entering the step 7);
7) eliminating output data of the optical fiber gyroscope in the rotation process, accumulating the output of the optical fiber gyroscope to be detected and the times of inconsistency of the initial output of the optical fiber gyroscope to be detected obtained in the step 3) by 1, performing power-off processing, re-electrifying the optical fiber gyroscope to be detected, reducing the rotation angle after the output of the gyroscope is consistent with the initial output, enabling the rotation angle to be smaller than the previous rotation angle, repeating the step 4), and then entering the step 8);
8) after the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output of the fiber-optic gyroscope to be detected is consistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) increasing the rotation angle to enable the rotation angle to be larger than the previous rotation angle, and repeating the step 4) and then entering the step 8); entering step 10) 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 step 3) for more than m times;
10) acquiring the angular acceleration of the fiber-optic gyroscope to be tested in the rotation process according to the output data of the fiber-optic gyroscope to be tested in the rotation process, and acquiring 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 comparing the test result with the design index, if the test result is greater 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 anti-static rubber pad during the rotating process.
Preferably, the angle θ of the initial rotation 1 The value range of (A) is 15-35 degrees.
Preferably, the rotation angle is increased to θ in step 6) k+1 ＝θ k +ε k+1 ，ε k+1 A; a is smaller than the angle of initial rotation.
Preferably, a ranges from 5 ° to 10 °.
Preferably, the reduction of the rotation angle in step 7) is
Wherein epsilon k Is the change of the last rotation angle.
Preferably, the rotation angle is increased in step 9)Degree of
Preferably, m ranges from 3 to 5.
Preferably, MATLAB software is used for acquiring the angular acceleration of the optical fiber gyroscope to be detected in the rotating process.
Preferably, in the step 4), an edge parallel to the sensitive axis of the fiber optic gyroscope to be detected is selected as a rotating axis.
Compared with the prior art, the invention has the advantages that:
1) the invention does not need large-scale measuring equipment such as an angular vibration table, a sudden stop table and the like, does not need to compile software aiming at optical fiber gyroscopes with different interfaces and protocols, does not need complex data processing processes, adopts the method for testing the angular acceleration response capability of the optical fiber gyroscope with high universality and precision and processing the data, and can simply and quickly obtain the angular acceleration response capability level of the gyroscope to be tested only through a common hexahedral tool by means of different angular acceleration generation technologies and quick sampling and data updating technologies above 1000 Hz.
2) In the whole angular acceleration response capability test process, the anti-static rubber pad is laid and the gyro tool is installed and placed only a few minutes before the experiment begins, the equipment is common, the operation is simple, the process is safe, the test 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 gyros of different software protocols, and have universality.
Drawings
FIG. 1 is a method for rapidly testing the angular acceleration response capability of an optical fiber gyroscope according to the present invention;
FIG. 2 is a schematic diagram of a fiber-optic gyroscope placement and testing process according to the present invention;
FIG. 3 is the output data of the high-precision fiber-optic gyroscope in the angular acceleration response capability test;
fig. 4 shows the results of the angular acceleration response capability calculated by Matlab according to the present invention.
Detailed Description
The fiber-optic gyroscope to be tested is arranged on the protection tool and is tested according to a specified method, and the gyroscope continuously acquires data in the whole process. The angular acceleration response capability was calculated and output using MATLAB software.
The invention discloses a method for rapidly testing angular acceleration response capability of a fiber-optic 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 anti-static 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 the test);
2) connecting a rapid sampling cable between the fiber-optic gyroscope to be tested and the industrial personal computer and between the fiber-optic gyroscope to be tested and the power box; the fast sampling cable is a synchronous cable with the sampling frequency of more than 1000Hz so as to ensure the sufficient data updating speed.
3) A power box is used for supplying power to the fiber-optic gyroscope to be tested, and the initial output of the fiber-optic gyroscope to be tested in a static state is obtained;
4) selecting an edge parallel to a sensitive shaft of the fiber-optic gyroscope to be detected from the hexahedral tool as a rotating shaft, placing the rotating shaft on an anti-static rubber pad, and rotating the hexahedral tool by a certain angle theta by taking the rotating shaft as an axis k The external force is removed, so that the hexahedral tool can freely rotate under the action of gravity and fall back to the anti-static rubber pad; the rotating shaft is always positioned on the anti-static rubber pad in the rotating process. Angle of initial rotation theta 1 The value range of (a) is 15-35 deg.
5) After the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output data of the fiber-optic gyroscope to be tested in the 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 last rotation angle theta k+1 ＝θ k +ε k+1 ，ε k+1 Increasing the lifting height, 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 then entering the step 7)
(i.e., the gyro output has closed loop failure or mode jump); wherein the value range of a is 5-10 degrees; the phenomenon that the closed loop failure or the mode jump of the gyroscope occurs is the phenomenon that the normal gyroscope outputs and superposes angular velocity values corresponding to integral multiple phases of 2 pi, because the input angular acceleration reaches or exceeds the maximum angular acceleration response capability of the gyroscope, the angular acceleration input is continuously increased through the phenomenon to verify whether the gyroscope reaches the designed maximum angular acceleration response capability.
7) Eliminating the output data of the fiber-optic gyroscope to be detected in the rotation process, accumulating the times of inconsistency between the output of the fiber-optic gyroscope to be detected and the initial output of the fiber-optic gyroscope to be detected obtained in the step 3) by 1, performing power-off processing, re-electrifying the fiber-optic gyroscope to be detected, reducing the rotation angle after the output of the gyroscope is consistent with the initial output, and enabling the rotation angle to be smaller than the previous rotation angle,
repeating the step 4) and then entering the step 8); wherein epsilon k Is the change of the last rotation angle.
8) After the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output of the fiber-optic gyroscope to be detected is consistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) the rotating angle is increased to be larger than the last rotating angle,
repeating the step 4) and then entering the step 8); until the output of the fiber optic gyroscope to be tested and the fiber optic gyroscope to be tested obtained in the step 3)After the initial output of the spiral is inconsistent for times larger than m, the step 10) is carried out; m ranges from 3 to 5.
10) The output angular velocity of the gyroscope acquired by the gyroscope test software on the industrial personal computer is saved, the derivative of the output angular velocity of the rate gyroscope, namely the angular acceleration, is calculated by using a self-defined program of MATLAB, and the angular acceleration response capability of the fiber optic gyroscope is judged by combining the angular velocity output. Acquiring output data of the fiber-optic gyroscope to be tested in the rotating process, acquiring angular acceleration in the rotating process by using MATLAB software, and acquiring 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 comparing the test result with the design index, if the test result is greater 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 following explains a specific operation principle of the present invention with reference to the drawings.
The principle of the generation technology of different angular accelerations in the invention is the angular impulse principle, namely
In the formula, G is the gravity borne by the gyro tool, l is the distance from the gravity to the rotating shaft, the J gyro is the moment of inertia around the rotating shaft, and alpha is the angular acceleration.
Under the condition of not considering sliding, the hexahedral tooling rotates by a certain angle theta and then removes external force, and the gyroscope can rotate around the contact edge under the action of gravity G. Because the collision time delta t is short, the gyro sensitive shaft has a larger angular acceleration input according to the angular impulse principle. The gyroscope rotates by different angles theta corresponding to different angular momentum when the gyroscope is in contact with the anti-static rubber pad to collide, so that the gyroscope obtains different angular acceleration inputs.
The invention provides a method for quickly testing the angular acceleration response capability of an optical fiber gyroscope. According to the method, a gyroscope to be tested is installed on a tool, and finally the gyroscope to be tested is placed on a horizontal anti-static rubber pad together, a cable is connected, gyroscope test software is opened and set, then an angular acceleration response capability experiment is carried out, gyroscope output data are continuously collected in the whole process, and finally an experiment result of the angular acceleration response capability of the gyroscope is calculated by using Matlab.
The Matlab-processed gyro output angular rate data is shown in fig. 3, and the processed gyro angular acceleration numerical result is shown in fig. 4. With the two figures, it can be seen that the angular acceleration corresponding to the 47 th s is the maximum, and then the gyroscope output can return to the normal zero position when the gyroscope is static, according to the method for testing the angular acceleration response capability of the optical fiber gyroscope, the angular acceleration response capability of the tested gyroscope can be obtained within 1min, and is about 10 5 °/s 2 Meets the design index (more than or equal to 80000 degrees/s) 2 )。
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above. The embodiments of the present application and the technical features in the embodiments may be combined with each other without conflict.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A method for rapidly testing angular acceleration response capability of a fiber-optic 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 anti-static rubber pad;
2) sampling cables are connected between the fiber-optic gyroscope to be tested and the industrial personal computer, and between the fiber-optic gyroscope to be tested and the power box;
3) supplying power to the fiber-optic gyroscope to be tested, and acquiring the initial output of the fiber-optic gyroscope to be tested in a static state;
4) selecting an edge from a hexahedron tool as a rotating shaft, placing the rotating shaft on an anti-static rubber pad, rotating the hexahedron tool by a certain angle by taking the rotating shaft as an axis, and removing external force to enable the hexahedron tool to freely rotate under the action of gravity and fall back to the anti-static rubber pad;
5) after the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output data of the fiber-optic gyroscope to be tested in the 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, enabling the rotation angle to be larger than the last rotation angle, repeating the steps 4) -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 then entering the step 7);
7) eliminating output data of the optical fiber gyroscope in the rotation process, accumulating the output of the optical fiber gyroscope to be detected and the times of inconsistency of the initial output of the optical fiber gyroscope to be detected obtained in the step 3) by 1, performing power-off processing, re-electrifying the optical fiber gyroscope to be detected, reducing the rotation angle after the output of the gyroscope is consistent with the initial output, enabling the rotation angle to be smaller than the previous rotation angle, repeating the step 4), and then entering the step 8);
8) after the hexahedral tool falls back to the anti-static rubber pad and stands still again, judging whether the output of the fiber-optic gyroscope to be detected is consistent with the initial output of the fiber-optic gyroscope to be detected obtained in the step 3), if so, entering the step 9), otherwise, entering the step 7);
9) increasing the rotation angle to enable the rotation angle to be larger than the previous rotation angle, and after the step 4) is repeated, entering the step 8); entering step 10) 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 step 3) for more than m times;
10) acquiring the angular acceleration of the fiber-optic gyroscope to be tested in the rotation process according to the output data of the fiber-optic gyroscope to be tested in the rotation process, and acquiring 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 comparing the test result with the design index, if the test result is greater 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 the fiber-optic gyroscope according to claim 1, wherein the rotating shaft is always positioned on the anti-static rubber pad during the rotating process.
3. The method for rapidly testing angular acceleration responsiveness of a fiber-optic gyroscope according to claim 1, wherein the angle θ of initial rotation 1 The value range of (A) is 15-35 degrees.
4. The method for rapidly testing angular acceleration response capability of the fiber-optic gyroscope according to claim 3, wherein the rotation angle is increased to theta in the step 6) k+1 ＝θ k +ε k+1 ，ε k+1 A; a is smaller than the angle of initial rotation.
5. The method for rapidly testing angular acceleration responsiveness of a fiber-optic gyroscope according to claim 4, wherein a is a value ranging from 5 ° to 10 °.
6. The method for rapidly testing angular acceleration response capability of a fiber-optic gyroscope according to claim 1, wherein the rotation angle is reduced to 7)
Wherein epsilon k Is the change of the last rotation angle.
7. The method for rapidly testing angular acceleration response capability of a fiber-optic gyroscope according to claim 1, wherein the rotation angle is increased in step 9) to
Wherein epsilon k Is the change of the last rotation angle.
8. The method for rapidly testing angular acceleration response capability of the fiber-optic gyroscope according to claim 1, wherein the value range of m is 3 to 5.
9. The method for rapidly testing the angular acceleration response capability of the fiber-optic gyroscope according to claim 1, characterized in that MATLAB software is used to obtain the angular acceleration of the fiber-optic gyroscope to be tested during rotation.
10. The method for rapidly testing angular acceleration response capability of the fiber-optic gyroscope according to any one of claims 1 to 9, characterized in that in the step 4), an edge parallel to a sensitive axis of the fiber-optic gyroscope to be tested is selected as a rotating axis.
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