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双框架力矩控制陀螺仪(DGCMG)的章动动力学极大地影响着框架控制回路的综合。本文提出了两种控制回路模式的优点和局限性。直接控制方法将控制力矩加到每一个框架上,此力矩正比于该框架控制回路被调整的误差。而进动控制方法是利用被调整的内框架回路的误差给外框架加控制力矩,或者反过来。良好的动态响应要求直接控制回路的带宽大于陀螺章动频率,或者进动控制回路的带宽应小于章动频率。直接控制回路的高增益对噪声很敏感。进动控制回路在转子速度较低时以及碰撞框架制动器后是不稳定的。也有出现框架摩擦极限环的可能。文中提出了扩大进动控制回路带宽的方法。最后讨论了双模式混合系统,即在转子速度较低时应用直接控制,而把进动控制作为正常工作模式。
The nutation dynamics of the dual frame torque control gyroscope (DGCMG) greatly affects the synthesis of the frame control loop. This article presents the advantages and limitations of the two control loop modes. The direct control method adds the control moment to each frame, which moment is proportional to the adjusted error of the frame control loop. The precession control method is to use the adjusted error of the inner frame circuit to the outer frame plus control torque, or vice versa. A good dynamic response requires the bandwidth of the direct control loop to be greater than the gyro nutation frequency, or the bandwidth of the precession control loop should be less than the nutation frequency. The high gain of the direct control loop is sensitive to noise. The precession control loop is not stable at low rotor speeds and after hitting the frame brakes. There is also the possibility of frame friction limit rings. The paper proposes a method to expand the bandwidth of the precession control loop. Finally, we discuss a dual-mode hybrid system that uses direct control at low rotor speeds and precession control as a normal operating mode.