哈工大惯性技术(导航原理)大作业

《哈工大惯性技术(导航原理)大作业》由会员上传分享，免费在线阅读，更多相关内容在教育资源-天天文库。

1、AssignmentofInertialTechnology《惯性技术》作业MyChineseNameMyStudentID15S004001Autumn2015Assignment1:2-DOFresponsesimulationA2-DOFgyroissubjectedtoasinusoidaltorquewithamplitudeof4g.cmandfrequencyof10Hzalongitsouterringaxis.Theangularmomentofitsrotoris10000g.cm/s,andtheangularinertiasinitse

2、quatorialplaneareboth4g.cm/s2.Pleasesimulatetheresponseofthegyrowithin1second,andpresentwhateveryoucandiscoverorconfirmfromtheresult.Inthissimulation,wearegoingtodiscusstheresponseofa2-DOFgyrotosinusoidaltorqueinput.Accordingtothetransferfunctionofthe2-DOFgyro,theoutputscanbeexpress

3、edas:Theoriginalsystemtransferfunctionisa2-input,2-outputcouplingsystem.Butthegiveninputonlyexistsoneinput,wecantreatthesystemas2separateFIFOsystemAsaconsequence,wecanestablishtheblockdiagramofthesysteminsimulinkinFig1.1.Substitutetheparametersintothesystemandinput,thenwehavetheinpu

4、tsignalsasfollow:ThentheinverseLaplacetransformoftheoutputequalstheresponseofthegyrointimedomainasfollows:Fig1.1TheblockdiagramofthesysteminsimulinkAndthesimulationresultsintimedomainwithin1secondareshowninthefollwingpictures.Fig1.2isthetheoutputofouterring.Fig1.3istheoutputofinnerr

5、ing.Fig1.4isthetrajectoryof2-DOFgyro’sresponsetosinusoidalinput.AswecanseefromtheFig1.3,thereareobvioussawtoothwaveintheoutputoftheinnerring.It’saunexpectedphenomenoninmyoriginaltheoreticalanalysis.Fig1.2TheoutputofinnerringFig1.3TheoutputofouterringIbelievethesawtoothwaveiscausedby

6、thenutation.Forthefrequencyofthenutationisobtainedas,whichisfarhigherthanthefrequencyoftheappliedsinusoidaltorque,namely.Fig1.4Trajectoryof2-DOFgyro’sresponsetosinusoidalinputThetrajectoryof2-DOFgyro’sresponsetosinusoidalinputareshowninFig1.4.Aswecansee,it’scouplingofXandYchannelsco

7、peoutput.Theoverallshapeisanellipse,whichisnotperfectfortherearesomanysawteethonthetopofit.Notethatthemajoraxisofellipseisinthedirectionoftheforcedprocession,amplitudeofwhichis,whereastheminoraxisisinthedirectionofthetorsionspringeffects,withamplitude.Thenutationcomponentsaremuchsma

8、llerthanthatofthefo