混合式陀螺仪的闭环检测技术研究

研究了一种新型的混合式陀螺仪,它既具有实现传统动力调谐陀螺仪较高精度的潜力,又具有硅微陀螺仪体积小、价格低等优点.混合式陀螺仪以电容极板实现差分电容检测和力矩反馈的技术替代传统动力调谐陀螺仪的信号器及力矩器.以再平衡回路技术为基础,建立了混合式陀螺仪闭环检测系统.与开环检测相比,闭环检测系统具有输出信号线性度较好、检测带宽较宽的优点.进行了系统开环和闭环情况下的频率特性仿真.对混合式陀螺仪进行了初步实验,结果验证了方案的可行性.     

基于振动信号分析的动力调谐陀螺仪滚珠轴承故障诊断

作为动力调谐陀螺仪重要支撑部件的滚珠轴承,其性能好坏直接影响到陀螺仪甚至整个惯性导航系统的正常运转,因此对其工作状态进行实时监测并作出及时准确地故障诊断具有重要现实意义.对此本文首先分析了动力调谐陀螺仪滚珠轴承产生振动时的特征频率,然后基于石英挠性加速度计和LabVIEW软件设计了振动测试实验,完成振动信号的采集、处理.针对振动信号进行频域分析和小波分析并作出故障诊断,最后对诊断结果进行验证.     

惯性导航系统扰动基座对准仿真研究

为了实现惯性导航系统在扰动基座上的初始对准,解决惯性导航系统动基座对准过程中,扰动干扰信号强度大,有用量测信号强度小,系统信噪比弱,对准过程收敛慢的问题,设计了基于位置信息观测的马尔科夫递推滤波参数估计动基座对准方案,通过开路粗对准及舒拉调谐闭路估计精对准,实现游移方位惯导系统在扰动基座上的平台调平、航向确定及陀螺漂移测定,仿真结果表明,所设计的动基座对准方案,在10分钟内实现惯导系统动基座对准,达到了较好的效果,可以应用于实际系统.     

挠性陀螺组件模拟再平衡回路的改进与实现

为了提高挠性陀螺组件动、静态性能,必须考虑传统再平衡回路中陀螺仪章动特性对组件性能的影响,需对挠性陀螺仪数学模型和校正网络进行优化.通过挠性陀螺仪运动方程分析和扫频试验测试,在原有挠性陀螺仪工程简化模型中增加了一个二阶振荡环节,得出了一种更能真实反映陀螺特性的精确数学模型.运用期望校正法对回路中校正网络进行了改进设计,...     

动力调谐陀螺仪温度补偿技术研究

为了减小温度变化对动力调谐陀螺仪性能稳定性的影响,设计了温度补偿方案.利用控温箱,有计划地改变陀螺仪工作温度,实验测得各温度下陀螺仪的漂移,建立陀螺仪输出的温度模型,通过测温元件,实测该时刻的陀螺仪温度值,估计出陀螺仪当前温度下的漂移输出值,从陀螺仪实测的输出值中将估计出的漂移值扣除,即为陀螺仪补偿后的输出.仿真表明:在26℃～50℃温度范围内,温度补偿后的陀螺仪漂移输出小于0.050/h,满足设计指标要求.可见,此温度补偿方案能有效减小陀螺仪温度漂移.     

动力调谐陀螺仪的模拟式再平衡回路系统的设计

本文介绍了动力调谐陀螺仪（DTG）模拟式再平衡回路系统的设计方法，提出了把最大输入角速度和最大稳态主轴偏转角指标转化为系统静态指标的设计原则，同时对校正网络进行了设计，使系统具有1－2－1－2型对数型幅频特性，系统的静态和动态特性满足预定的设计要求，此外还讨论了用硬件来消除两条回路之间的解耦问题。     

一种宽动态范围高速数据采集系统的设计

船用动调陀螺仪捷联惯性系统中，需要对陀螺仪力反馈回路中的宽动态范围电流信号进行精确，实时的测量，详细介绍了一种采用串行ADC线路的大动态范围高速数据采集系统。该系统动态范围优于138dB，采样频率可达75ksps，较好地解决了动调陀螺仪的信号采集问题。     

一种宽动态范围高速数据采集系统的设计

船用动调陀螺仪捷联惯性系统中，需要对陀螺仪力反馈回路中的宽动态范围电流信号进行精确、实时测量。本详细介绍了一种采用串行ADC线路的大动态范围高速数据采集系统，其动态范围优于138dB，采样频率可达75kS/s，较好地解决了动调陀螺仪的信号采集问题。     

基于结构模型的系统级测试性设计(DFT)技术研究

测试性是解决系统维护问题的有效手段,必须从产品的概念设计到实际设计过程的各个阶段并行地考虑.本文从结构模型出发,研究了系统级测试性设计的概念、理论和实现算法,并以动力调谐陀螺仪为例,进行了设计分析.结果表明,该方法可以有效地对系统级测试性问题作出设计决策,保证系统故障定位到功能单元.     

基于四元数姿态估计的捷联惯导初始对准算法

针对传统动基座捷联惯导系统OBA粗对准算法,在低精度传感器中,易受到陀螺零偏的影响,存在累计误差导致观测矢量精度低的缺点,本文研究了基于四元数的无迹卡尔曼滤波来进行载体的姿态估计.该方法可以估计陀螺仪的零偏,并在预测方程中将其去除,能够有效地抑制陀螺零偏带来的累计误差,从而提高姿态误差角的收敛精度.最后设计了仿真与车载实验,验证本文所研究算法的有效性.     

谐振式光纤陀螺环路锁频技术研究

谐振式光纤陀螺(Resonator Fiber Optic Gyro,R-FOG)是基于Sagnac效应产生的谐振频率差来测量旋转角速率的一种新型光学传感器.对基于调相谱检测技术R-FOG系统中的环路频率锁定技术进行了研究.通过对系统光学回路和处理电路部分分别进行建模,利用反馈控制系统理论,分析了整个环路的传递函数,得到了整个环路起主导作用的简化模型.利用该简化模型,在一定的光学回路参数条件下,得到了处理电路的最佳锁定参数,并进一步在实验中得到验证.     

利用手机信息精确定位伪基站的方法研究

随着公众移动通信的发展,多种制式的伪基站越来越多,它们大量发送广告信息,乃至诈骗短信,干扰了群众的日常生活,危及他们的财产安全.通过深入分析伪基站的工作原理及伪基站对手机的影响,提出利用伪基站覆盖区域用户位置信息及收到垃圾短信的时间定位伪基站的运行轨迹,并结合市区摄像头锁定伪基站的方法.为公安机关查获伪基站提供先进的技术支持,打击伪基站的违法行为.     

Reduzierung von Prozeßstauungen vor kritischen Abschnitten mittels Teillistensperrung

Processes execute in critical sections, if they acces a common data base (list). Many solutions of the necessary mutual exclusion so far lock the total list (total list locking) by the processP ^*, which is authorized to access, whereas all other processesP _i demanding access have to wait untilP ^* has left the critical section. However, in the following proposal only certain subsets of the list are locked for a single accessing process (partial list locking), whereas the rest of the list remains accessable for further processes. The organization of this solution is presented on the basis of typical list operations and known list types; finally simulation results to the behaviour of partial list locking in comparison with total list locking are presented.     

Motion control and obstacle avoidance of a mobile robot with an onboard manipulator

Navigation and control of autonomous mobile vehicles with onboard manipulator systems are currently being investigated for intelligent manufacturing applications. A systematic approach for modeling and base motion control of a mobile vehicle with an onboard robot arm is presented. Feedback linearization is used to take into account the complete dynamics with non-holonomic constraints, yet methods from potential field theory are incorporated to provide resolution among possibly conflicting performance goals (e.g. path following and obstacle avoidance). The feedback linearization provides an inner loop that accounts for possible motion of the onboard arm. The two cases of maintaining a desired course and speed, and following a desired Cartesian trajectory are considered. The outer control loop is designed using potential field theory, with the two objectives of homing and avoiding an obstacle. This simple result obtained using potential functions provides very naturally the necessary intelligence for online resolution of conflicting performance objectives. It gives capabilities to these autonomous vehicles for maintaining a desired course and speed or tracking a Cartesian trajectory, avoiding obstacles during the course of travel, and initiating new online path planning when the size of the object is large so that unnecessary wandering in the work space is avoided.     

Digital rebalance loop design for a dynamically tuned gyroscope using H2 methodology

Presented in this paper is a wide-bandwidth digital torquing rebalance loop for a dynamically tuned gyroscope (DTG) based on H₂ methodology. The role and the importance of a rebalance loop are explained first. The augmented plant model including gyroscope and integrator is composed. Next, an H₂-based controller is designed for the augmented plant model. Frequency analyses show that the proposed controller maintains a linear relationship between applied input rate and the output of the controller over a wide operating range and keeps the tilt angle small thereby reducing dynamic errors. To verify the performance of the controller in a real environment, a digital rebalance loop for a DTG is designed, fabricated, and examined. From simulation and experimental results, it is confirmed that the controller is robustly stable and has a wide bandwidth, significantly improving the performance of a DTG.     

The input amplitude saturation problem in QFT: A survey

In this work the input amplitude saturation problem is analysed in the Quantitative Feedback Theory (QFT) framework. This paper reviews previous works in the literature dealing with the input amplitude saturation problem in the presence of an uncertain plant in the frequency domain using QFT. The objective of this paper is to compare the different available approaches and summarize the design process for each case so that this paper can be used as a tutorial; there are six main approaches to this problem. Two of these approaches use the classical two degrees of freedom control scheme for QFT; in both of these, the design constraints of a linear QFT compensator are added in the loop shaping stage: they are added in the first approach to avoid excitation of the actuator saturation and in the second one to guarantee global stability. The other three techniques are considered as anti-windup (AW) approaches. Starting from a base design in QFT with two degrees of freedom, the first AW approach introduces a third degree of freedom that guarantees the stability of the system, allowing for base designs for high performance. The other two AW approaches also introduce a third degree of freedom, but they take simple stability considerations into account and focus on the performance of the system. The last solution consists of using a reference governor technique, which guarantees the computation of a reference signal for an inner control loop that is shaped using QFT in such a way that robust stability will be guaranteed. The reference governor technique is a time domain approach that implies the resolution of an optimization problem. The rest of the approaches are frequency domain techniques based on a loop shaping method in the traditional QFT sense.     

基于虚拟维修仿真的体力疲劳恢复方法研究

在维修过程中,人体可能会因作业劳动强度过大产生疲劳,合理地安排休息时间是恢复人体疲劳的主要方法之一.介绍了一种基于虚拟人维修作业仿真确定休息时间的方法.首先将维修作业分解成一系列可执行的动作单元,累计计算每个执行动作单元的能量代谢,并将累计结果作为完成作业所需要的能耗,然后根据避免人体产生累计疲劳的准则,计算出维修作业中的休息时间和休息次数,并以空间站电池维修为例,在Jack平台上对该方法进行了仿真.     

Assessment of workload from measurements of stature

The height of the body in the erect position varies by about 1% during the course of the day. It decreases rapidly after getting up and, depending on the pattern of work and rest, continues to reduce during the day; then overnight, it recovers. These changes result from changes in the height of the intervertebral discs. With conventional methods of measuring stature, these changes would go unrecognised. Apparatus has therefore been developed, allowing measurement to an accuracy of at least 1 mm. Studies have been made of static loading, dynamic lifting, running, in different types of seating and in resting postures. In general, height losses are proportional to the magnitude of lumbosacral compression, to the perception of exertion during physical exercise and to the levels of postural discomfort. Gains in height in positions of rest are proportional to the ratings for relaxation and comfort. For the ergonomist, therefore, the method offers a reliable means of assessing the effects on the spine of both physical work and rest-pauses.     

无人机方向舵有限卡死两轮起飞滑跑分析

故障无人机地面滑跑起飞时的运动特性与正常无人机不同。描述了无人机两轮起飞滑跑的过程,通过详细分析方向舵卡死在固定角度时,无人机两轮滑跑的受力情况,建立了纵向和侧向的非线性动力学方程。并在此基础上通过无人机的安全起飞要求和最小离地速度,确定了使无人机可控的方向舵最大卡死角度。最后以某型飞机为例进行计算,结果证明本文分析的有效性。为故障无人机起飞安全提供了理论依据,对控制律的设计具有重要的指导作用。