本文關(guān)鍵詞： 超流體干涉陀螺 交流約瑟夫森效應(yīng) 估計濾波的角速度信息提取 幅值鎖定 超流體干涉陀螺噪聲　出處：《南京航空航天大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：超流體陀螺是基于超流氦低溫物理性質(zhì)的新型陀螺，其中基于物質(zhì)波干涉的超流體干涉陀螺具有明顯的技術(shù)優(yōu)勢，因而成為當(dāng)前超流體陀螺的主要研究方向。目前超流體干涉陀螺經(jīng)過長期的研究已經(jīng)取得了一定的研究成果，但是還存在一些關(guān)鍵性問題亟待解決。本文針對熱相移注入實時性、噪聲來源和噪聲抑制方案展開了深入研究。 論文首先研究陀螺的工作介質(zhì)——超流氦的基本物理特性和超流氦干涉的基本原理——交流約瑟夫森效應(yīng)，同時以美國伯克利分校Packard小組實驗中的陀螺為原型，詳細研究了超流體干涉陀螺各環(huán)節(jié)的工作原理，并且建立了相應(yīng)的數(shù)學(xué)模型，，為后續(xù)的研究做了相應(yīng)的理論準(zhǔn)備，同時也提出了可能存在的關(guān)鍵問題。 通過對超流體干涉陀螺系統(tǒng)中熱相移注入原理的研究，表明熱相移的注入具有一定的滯后特性。為保證熱相移注入的實時性，論文采用了基于Fuzzy-PID的控制系統(tǒng)實現(xiàn)對熱相移注入的控制，同時仿真對比了加入控制器前后超流體干涉陀螺的輸出特性。仿真結(jié)果表明該控制器的加入能夠有效改善熱相移注入慣性對超流體干涉陀螺解算誤差的影響，提高了超流體陀螺的測量精度。 噪聲是影響超流體干涉陀螺輸出精度的關(guān)鍵因素之一，論文研究了陀螺各環(huán)節(jié)中可能存在的噪聲來源，分析總結(jié)了相關(guān)的噪聲特性，指出基于數(shù)值分析的角速度信息提取方法并不適合噪聲條件下的角速度信息的提取。論文提出了對超流體物質(zhì)波相位噪聲和薄膜位移的檢測噪聲采用了基于EKF濾波的方法進行抑制和角速度信息的提取，仿真結(jié)果表明基于EKF濾波估計的角速度信息提取方法能夠減小上述兩種噪聲對陀螺輸出的影響。 為更好的對超流體干涉陀螺系統(tǒng)和噪聲抑制方案進行研究，論文搭建了基于PCPC104的半物理仿真平臺，并利用該平臺對加入Fuzzy-PID控制器的陀螺系統(tǒng)和采用EKF濾波估計的角速度信息提取方案進行了綜合性的仿真分析。綜合仿真輸出結(jié)果表明，雖然控制器的加入一定程度上放大噪聲的影響，但是本文提出的基于EKF濾波的角速度信息提取方案對陀螺輸出特性的改善和噪聲的抑制依然有效。
[Abstract]:Superfluid gyroscope is a new type of gyroscope based on the physical properties of superfluid helium at low temperature. Therefore, it has become the main research direction of superfluid gyroscope. At present, the superfluid interference gyroscope has made some achievements after a long period of research. However, there are still some key problems to be solved. In this paper, the real-time performance of thermal phase shift injection, the source of noise and the scheme of noise suppression are studied. In this paper, the basic physical properties of superfluid helium and the basic principle of superfluid helium interference, the AC Josephson effect, are studied firstly. The gyroscope in the Packard team experiment at Berkeley, USA, is used as the prototype. The working principle of the superfluid interference gyroscope is studied in detail, and the corresponding mathematical model is established. The corresponding theoretical preparation is made for the subsequent research, and the possible key problems are also put forward. By studying the principle of thermal phase shift injection in superfluid interferometric gyroscope system, it is shown that the thermal phase shift injection has some hysteresis characteristics. In this paper, the control system based on Fuzzy-PID is used to realize the control of thermal phase shift injection. At the same time, the output characteristics of the superfluid interference gyroscope before and after adding the controller are simulated and compared. The simulation results show that the controller can effectively improve the influence of the thermal phase shift injection inertia on the calculation error of the superfluid interference gyroscope. The measurement accuracy of superfluid gyroscope is improved. Noise is one of the key factors affecting the output accuracy of superfluid interference gyroscope. It is pointed out that the method of extracting angular velocity information based on numerical analysis is not suitable for the extraction of angular velocity information under noise condition. In this paper, the detection noise of wave phase noise and film displacement of superfluid matter based on EKF filter is proposed. The method of wave suppression and the extraction of angular velocity information, The simulation results show that the method of extracting angular velocity information based on EKF filter can reduce the influence of the above two kinds of noise on the gyroscope output. In order to better study the superfluid interference gyroscope system and noise suppression scheme, a semi-physical simulation platform based on PCPC104 is built in this paper. By using this platform, the gyroscope system with Fuzzy-PID controller and the scheme of extracting angular velocity information estimated by EKF filter are comprehensively simulated and analyzed. The synthetic simulation results show that, Although the controller can amplify the effect of noise to a certain extent, the scheme of extracting angular velocity information based on EKF filter is still effective to improve the output characteristics of gyroscope and suppress the noise.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：V241.5;TB535

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