單自由度積分陀螺儀之數位扭矩制衡迴路設計

Abstract

積分陀螺儀用以量測飛行器的轉動角速度時，必須加入具有電子彈簧作用 的力矩制衡迴授電路，它的目的是當有輸入角速度時，維持浮子於零值位 置，這樣陀螺儀才能夠精確量測其輸入軸向的角速度。由於迴路要求很高 的增益值，所以在設計迴路時，除必須之解調、放大、濾波、信號擷取等 單元外，尚須加入補償器以保持迴路之穩定、反應速度及準確度之性能。 本文設計一種以PC為基礎之數位扭矩制衡迴路，並以具體的硬體電路實現 ，利用飛行平台作單自由度模擬飛行的實際測試，結果良好。 As a rate integrating gyro is used to measure the angular rate of a vehicle, a torque to balance loop is necessary which acts as an electrical spring to restrain the gimbal from rotating in the presence of a rate input, such that the gyro can precisely measure the angular rate of its input axis. The required open loop gain is very high. Besides demodulation, amplification, noise filtering, information acquisition circuits are necessary parts, high quality compensator is also needed to improve the stability and other performance specifications of the attitude measurement system. The object of this thesis is to design a PC based Digital Torque to Balance Loop and implemented by hardware. Flight table is used to test and evaluate the DTBL system. The exprement results are acceptable.