静电陀螺仪对准误差产生的系统伺服随动误差分析

介绍了采用平行光管式光电位置探测器(PSD)测角的静电陀螺仪在伺服测试转台上测试时,陀螺坐标系与平台台体坐标系之间的两种对准误差,然后推导出由该对准误差引起的反射光斑中心点在PSD平面坐标系上的坐标变化公式,给出了当陀螺坐标系与台体坐标系之间存在对准误差时,计算伺服随动误差的步骤,并根据静电陀螺仪的结构及工作情况,选取一组数据进行了计算。结果表明:第一种对准误差比第二种对准误差约大两个数量级;为减小系统伺服随动误差,第一种对准误差应不大于4'。其结论对静电陀螺仪的设计与测试具有理论指导意义。

Analysis of system servo following error caused by alignment error of ESG

Two kinds of alignment errors between the gyro coordinate system and platform coordinate system were introduced when Electrostatic-Suspended Gyroscope(ESG) was used in measuring drift angle on servo turntable by Position Sensitive Detector(PSD).Then formulas for calculating the coordinate change of spot center of reflected beam on PSD caused by the alignment errors were derived,and the calculating methods of servo following errors were presented when alignment errors existed between the gyro coordinate system and platform coordinate system.According to the structure and the working condition of ESG,a group of data were chosen to calculate the servo following errors.The computational results show that the first error is two orders of magnitude larger than the second one.In order to reduce the system servo following error,the first error must be less than 4'.This conclusion plays an important theoretical guiding role in ESG designing and testing.