导航专业课实验3.docx

导航专业课实验3.docx

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导航专业课实验3

实验三角速度传感器动态特性实验

一、实验目的

测量陀螺角速度传感器的动态特性，并求出仪表的主要动态参数。

二、实验设备

1：

TSZ-65陀螺仪实验转台

2：

角速度传感器

3：

数字繁用表

4：

双线笔录仪

5：

频率响应台

6：

直流稳压电源

7：

马达用电源36V

三、实验内容

（一）、实验线路

略

北侧的陀螺角速度传感器输出信号，由笔录仪记录下来

（二）、实验步骤

1：

将被测陀螺角速度传感器3安装在旋转版2上、旋转版2与转台的旋转平台1是同轴的，两者之间具有一定的摩擦。

当转台以一定得角速度旋转时，由于平台的中心与旋转版2之间的摩擦力矩作用，带动旋转版2及与其固定的的被测仪表一起旋转，当旋转版与被测仪器突然停止转动时，这相当于給被测仪表输入一个阶跃的变化。

（1）、将转台的转速调至6

/秒。

打开记录仪开关。

（2）、将旋转版2调至离挡块大约120

左右，开动转台。

（3）、当旋转版距离挡块4约30

-50

时，按动记录仪上的走纸速度按键

（4）、旋转版和被测仪表突然停止时，按下记录仪上停止按键，同时将转台停止。

2：

根据记录的曲线。

按照附录所介绍的计算方法，计算出被测仪表的主要动态参数。

四、频率特性曲线

当被测的陀螺角速度传感器的输入角速度为ω，是一个正弦规律变化量ω=WmSinγt.。

那么仪表的输出新也以相同的频率变化。

但是随着输入角速度频率的变化，输出信号的幅值相位也不同。

试验将在“速度陀螺频率响应”上进行。

这个相应具有三个基本功能：

使被测仪表输入轴产生一个正弦震荡，这个功能是由一个速率震动控制组件和振荡器完成的。

它是有一个大功率的动圈永磁式力矩器来推动一个由叉簧支撑的活动块，绕着中心轴y转动。

被测仪表就固定在活动块上，而且使其输入轴与绕Y轴左右转动。

使输入角速度的频率可调节。

这个功能可以使一个通用的低频十进位振荡器和一个大功率放大器来完成

指示被测仪表的输出的实频分量Q（r）和虚频分量Q（r），这个功能可以用一个低频分量指示器来完成。

在实验中，我们仅仅需要改变低频十进位震荡发生器的信号频率，从接近于零开始，逐渐增大，并注意当实频分量指示为零，测度出虚频分量的指示数值及角速度指示器的度数ω。

。

然后再逐渐增大频率，理论上应该接近无穷大，实际上只需要做到80-100Hz即可。

五、（三）实验数据处理与分析

由X-Y数据采集器采集到图像如下：

（数据见附表）

1、

1

3

4

选取图像三作为分析对象：

原始数据整理如下：

σ%=△U/UX100%=30.7%

=8.5S△=0.9ε=△/

=0.10

ζ=0.73

=1.92rad/s

△

ζ=0.73

=8.5S

ε=0.10

=1.92

ζ=0.73

附表：

*************t=0x=-9.99512t=0.01x=-9.99512t=0.02x=-9.99512t=0.03x=-9.99512t=0.04x=-9.99512t=0.05x=-9.99512t=0.06x=-9.99512t=0.07x=-9.99512t=0.08x=-9.99512t=0.09x=-9.99512t=0.1x=-9.99512t=0.11x=-9.99512t=0.12x=-9.99512t=0.13x=-9.99512t=0.14x=-9.99512t=0.15x=-9.99512t=0.16x=-9.99512t=0.17x=-9.99512t=0.18x=-9.99512t=0.19x=-9.99512t=0.2x=-9.99512t=0.21x=-9.99512t=0.22x=-9.99512t=0.23x=-9.99512t=0.24x=-9.99512t=0.25x=-9.99512t=0.26x=-9.99512t=0.27x=-9.99512t=0.28x=-9.99512t=0.29x=-9.99512t=0.3x=-9.99512t=0.31x=-9.99512t=0.32x=-9.99512t=0.33x=-9.99512t=0.34x=-9.99512t=0.35x=-9.99512t=0.36x=-9.99512t=0.37x=-9.99512t=0.38x=-9.99512t=0.39x=-9.99512t=0.4x=-9.99512t=0.41x=-9.99512t=0.42x=-9.99512t=0.43x=-9.99512t=0.44x=-9.99512t=0.45x=-9.99512t=0.46x=-8.67188t=0.47x=-5.72754t=0.48x=-3.30078t=0.49x=-0.766602t=0.5x=1.3623t=0.51x=3.73535t=0.52x=5.06836t=0.53x=6.875t=0.54x=8.59375t=0.55x=9.79004t=0.56x=10t=0.57x=10t=0.58x=10t=0.59x=10t=0.6x=10t=0.61x=10t=0.62x=9.66797t=0.63x=8.7793t=0.64x=7.81738t=0.65x=6.71387t=0.66x=5.92773t=0.67x=4.8877t=0.68x=3.80371t=0.69x=2.89063t=0.7x=1.84082t=0.71x=0.551758t=0.72x=-0.356445t=0.73x=-1.12793t=0.74x=-1.3916t=0.75x=-1.99707t=0.76x=-2.27051t=0.77x=-2.77832t=0.78x=-3.05664t=0.79x=-3.33496t=0.8x=-3.57422t=0.81x=-3.75488t=0.82x=-3.87695t=0.83x=-3.99414t=0.84x=-3.99902t=0.85x=-4.10156t=0.86x=-3.95996t=0.87x=-4.00391t=0.88x=-3.71094t=0.89x=-3.73047t=0.9x=-3.2959t=0.91x=-3.20313t=0.92x=-2.74414t=0.93x=-2.48535t=0.94x=-1.35742t=0.95x=-0.947266t=0.96x=-0.195313t=0.97x=-0.107422t=0.98x=0.390625t=0.99x=0.620117t=1x=0.97168t=1.01x=1.02539t=1.02x=1.31348t=1.03x=1.26465t=1.04x=1.51367t=1.05x=1.37207t=1.06x=1.5625t=1.07x=1.42578t=1.08x=1.54297t=1.09x=1.29395t=1.1x=1.34277t=1.11x=0.986328t=1.12x=1.01074t=1.13x=0.717773t=1.14x=0.463867t=1.15x=-0.371094t=1.16x=-0.712891t=1.17x=-1.2793t=1.18x=-1.41113t=1.19x=-1.82617t=1.2x=-1.81641t=1.21x=-2.08008t=1.22x=-2.00195t=1.23x=-2.23145t=1.24x=-2.11426t=1.25x=-2.30469t=1.26x=-2.1582t=1.27x=-2.34375t=1.28x=-2.17773t=1.29x=-2.33398t=1.3x=-2.17285t=1.31x=-2.29492t=1.32x=-2.06055t=1.33x=-2.12402t=1.34x=-1.75293t=1.35x=-1.58203t=1.36x=-0.825195t=1.37x=-0.410156t=1.38x=0.102539t=1.39x=0.224609t=1.4x=0.458984t=1.41x=0.405273t=1.42x=0.576172t=1.43x=0.473633t=1.44x=0.634766t=1.45x=0.522461t=1.46x=0.664063t=1.47x=0.561523t=1.48x=0.722656t=1.49x=0.581055t=1.5x=0.556641t=1.51x=0.175781t=1.52x=-0.3125t=1.53x=-0.786133t=1.54x=-1.12305t=1.55x=-1.39648t=1.56x=-1.55273t=1.57x=-1.71387t=1.58x=-1.79688t=1.59x=-1.88477t=1.6x=-1.89941t=1.61x=-1.97754t=1.62x=-1.91406t=1.63x=-1.97754t=1.64x=-1.81152t=1.65x=-1.7334t=1.66x=-1.56738t=1.67x=-1.2793t=1.68x=-1.05469t=1.69x=-0.844727t=1.7x=-0.463867t=1.71x=-0.0732422t=1.72x=0.0537109t=1.73x=0.273438t=1.74x=0.336914t=1.75x=0.424805t=1.76x=0.498047t=1.77x=0.610352t=1.78x=0.65918t=1.79x=0.629883t=1.8x=0.600586t=1.81x=0.595703t=1.82x=0.532227t=1.83x=0.541992t=1.84x=0.175781t=1.85x=0.00976563t=1.86x=-0.351563t=1.87x=-0.483398t=1.88x=-1.01074t=1.89x=-1.09375t=1.9x=-1.50391t=1.91x=-1.38672t=1.92x=-1.88965t=1.93x=-1.87988t=1.94x=-2.13379t=1.95x=-1.93848t=1.96x=-1.97266t=1.97x=-1.7627t=1.98x=-1.82617t=1.99x=-1.29395t=2x=-1.37207t=2.01x=-1.06934t=2.02x=-0.78125t=2.03x=-0.229492t=2.04x=-0.0878906t=2.05x=0.249023t=2.06x=0.214844t=2.07x=0.46875t=2.08x=0.356445t=2.09x=0.541992t=2.1x=0.395508t=2.11x=0.527344t=2.12x=0.292969t=2.13x=0.429688t=2.14x=0.170898t=2.15x=0.302734t=2.16x=0.224609t=2.17x=0.258789t=2.18x=0.0488281t=2.19x=0.273438t=2.2x=0.0683594t=2.21x=0.234375t=2.22x=0.0878906t=2.23x=0.249023t=2.24x=0.0878906t=2.25x=0.151367t=2.26x=-0.200195t=2.27x=-0.0830078t=2.28x=-0.288086t=2.29x=-0.229492t=2.3x=-0.458984t=2.31x=-0.332031t=2.32x=-0.424805t=2.33x=-0.229492t=2.34x=-0.361328t=2.35x=-0.15625t=2.36x=-0.332031t=2.37x=-0.317383t=2.38x=-0.410156t=2.39x=-0.322266t=2.4x=-0.581055t=2.41x=-0.463867t=2.42x=-0.585938t=2.43x=-0.478516t=2.44x=-0.761719t=2.45x=-0.830078t=2.46x=-1.00098t=2.47x=-1.00586t=2.48x=-1.26953t=2.49x=-1.33789t=2.5x=-1.46973t=2.51x=-1.47461t=2.52x=-1.51855t=2.53x=-1.40625t=2.54x=-1.30371t=2.55x=-1.02051t=2.56x=-0.854492t=2.57x=-0.478516t=2.58x=-0.27832t=2.59x=-0.0439453t=2.6x=0.0634766t=2.61x=0.283203t=2.62x=0.205078t=2.63x=0.395508t=2.64x=0.415039t=2.65x=0.410156t=2.66x=0.390625t=2.67x=0.258789t=2.68x=0.288086t=2.69x=0.126953t=2.7x=0.0537109t=2.71x=-0.136719t=2.72x=-0.161133t=2.73x=-0.244141t=2.74x=-0.273438t=2.75x=-0.380859t=2.76x=-0.541992t=2.77x=-0.751953t=2.78x=-0.81543t=2.79x=-0.864258t=2.8x=-0.771484t=2.81x=-0.898438t=2.82x=-0.74707t=2.83x=-0.722656t=2.84x=-0.561523t=2.85x=-0.952148t=2.86x=-0.854492t=2.87x=-1.08887t=2.88x=-0.981445t=2.89x=-1.29395t=2.9x=-1.18164t=2.91x=-1.37695t=2.92x=-1.25488t=2.93x=-1.45996t=2.94x=-1.30859t=2.95x=-1.47461t=2.96x=-1.20605t=2.97x=-1.28418t=2.98x=-1.03027t=2.99x=-1.24023t=3x=-1.20117t=3.01x=-1.40625t=3.02x=-1.25t=3.03x=-1.44043t=3.04x=-1.29395t=3.05x=-1.34766t=3.06x=-0.913086t=3.07x=-0.825195t=3.08x=-0.43457t=3.09x=-0.244141t=3.1x=0.214844t=3.11x=0.180664t=3.12x=0.3125t=3.13x=0.307617t=3.14x=0.537109t=3.15x=0.390625t=3.16x=0.532227t=3.17x=0.375977t=3.18x=0.380859t=3.19x=0.00976563t=3.2x=0.102539t=3.21x=-0.356445t=3.22x=-0.478516t=3.23x=-0.712891t=3.24x=-0.595703t=3.25x=-1.00098t=3.26x=-1.02051t=3.27x=-1.28906t=3.28x=-1.27441t=3.29x=-1.45996t=3.3x=-1.35742t=3.31x=-1.54297t=3.32x=-1.48438t=3.33x=-1.60156t=3.34x=-1.49414t=3.35x=-1.65039t=3.36x=-1.46484t=3.37x=-1.35254t=3.38x=-1.28418t=3.39x=-1.4502t=3.4x=-1.15234t=3.41x=-1.06934t=3.42x=-0.961914t=3.43x=-1.03027t=3.44x=-0.727539t=3.45x=-0.703125t=3.46x=-0.634766t=3.47x=-0.668945t=3.48x=-0.556641t=3.49x=-0.46875t=3.5x=-0.541992t=3.51x=-0.693359t=3.52x=-0.634766t=3.53x=-0.59082t=3.54x=-0.507813t=3.55x=-0.615234t=3.56x=-0.537109t=3.57x=-0.371094t=3.58x=-0.0439453t=3.59x=-0.292969t=3.6x=-0.390625t=3.61x=-0.400391t=3.62x=-0.249023t=3.63x=-0.361328t=3.64x=-0.742188t=3.65x=-0.864258t=3.66x=-0.9375t=3.67x=-0.888672t=3.68x=-1.12305t=3.69x=-1.22559t=3.7x=-1.30859t=3.71x=-1.12305t=3.72x=-1.1084t=3.73x=-1.18164t=3.74x=-1.27441t=3.75x=-1.16699t=3.76x=-1.08398t=3.77x=-1.04492t=3.78x=-1.16699t=3.79x=-0.976563t=3.8x=-0.981445t=3.81x=-0.751953t=3.82x=-0.957031t=3.83x=-0.688477t=3.84x=-0.893555t=3.85x=-0.59082t=3.86x=-0.698242t=3.87x=-0.498047t=3.88x=-0.546875t=3.89x=-0.141602t=3.9x=-0.146484t=3.91x=0.136719t=3.92x=0.0488281t=3.93x=0.283203t=3.94x=0.136719t=3.95x=0.307617t=3.96x=0.166016t=3.97x=0.332031t=3.98x=0.131836t=3.99x=0.258789t=4x=0.117188t=4.01x=0.268555t=4.02x=-0.0537109t=4.03x=-0.0683594t=4.04x=-0.424805t=4.05x=-0.454102t=4.06x=-0.834961t=4.07x=-0.805664t=4.08x=-1.04004t=4.09x=-1.1377t=4.1x=-1.39648t=4.11x=-1.26953t=4.12x=-1.47461t=4.13x=-1.34766t=4.14x=-1.54297t=4.15x=-1.37207t=4.16x=-1.5625t=4.17x=-1.4209t=4.18x=-1.61621t=4.19x=-1.44531t=4.2x=-1.58203t=4.21x=-1.37207t=4.22x=-1.49414t=4.23x=-1.30859t=4.24x=-1.40625t=4.25x=-1.09863t=4.26x=-1.11816t=4.27x=-0.878906t=4.28x=-0.996094t=4.29x=-0.839844t=4.3x=-0.888672t=4.31x=-0.712891t=4.32x=-0.839844t=4.33x=-0.683594t=4.34x=-0.795898t=4.35x=-0.625t=4.36x=-0.830078t=4.37x=-0.698242t=4.38x=-0.776367t=4.39x=-0.644531t=4.4x=-0.820313t=4.41x=-0.742188t=4.42x=-0.761719t=4.43x=-0.756836t=4.44x=-0.898438t=4.45x=-0.913086t=4.46x=-1.02539t=4.47x=-1.09863t=4.48x=-1.17188t=4.49x=-1.19141t=4.5x=-1.27441t=4.51x=-1.23535t=4.52x=-1.28418t=4.53x=-1.19141t=4.54x=-1.15723t=4.55x=-0.957031t=4.56x=-0.883789t=4.57x=-0.78125t=4.58x=-0.571289t=4.59x=-0.532227t=4.6x=-0.410156t=4.61x=-0.297852t=4.62x=-0.244141t=4.63x=-0.249023t=4.64x=-0.229492t=4.65x=-0.307617t=4.66x=-0.34668t=4.67x=-0.483398t=4.68x=-0.517578t=4.69x=-0.532227t=4.7x=-0.537109t=4.71x=-0.517578t=4.72x=-0.517578t=4.73x=-0.600586t=4.74x=-0.541992t=4.75x=-0.610352t=4.76x=-0.527344t=4.77x=-0.717773t=4.78x=-0.566406t=4.79x=-0.78125t=4.8x=-0.561523t=4.81x=-0.620117t=4.82x=-0.46875t=4.83x=-0.678711t=4.84x=-0.43457t=4.85