Funcion de Transferencia de Un Giroscpio

8/17/2019 Funcion de Transferencia de Un Giroscpio

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N 2010

2. A A.

2.1

U aa a a a a

a. S a a aa a a.

P P a a a a

a aa a aa. Daa a a

a a a a a a a aa, a a

aa a :

Ca: M P C a aa:

E " a (a ).

La a aa a a aa, a a a a a a , a , a a a a aa aa , a a ,

a aa a a a a a aa a, a , "a " a a a a a a a a aa a aaa a a

Paa "a ", aa aa a

a aa a aa, a a a a a a ,a

aa aa a aa P N a a Ta a

, aa a a a a a ;

a a aa ,

a , aa a a P

N.

La a a a a

N, aa a a a

a a a. A, a , a

a a a, a a a a aa.


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CONTROL EN TIEMPO REAL DE UN GIRSCOPO

L a a a a aa aa

a a a, a aa, , , a a.

L a a a a

aa a a a a aa . Ea

a aa a a aa, a a a a aa a

a.

2.2

E a a aa aa a

a. S aa a a aa aa a

a a, aa a aa. U a

a a a a , a a aaa

(aaa 90), a a a A B.

Fa 5 E.

E a a a aa , a

aa a a a a a A

B. a aaa a a aaa aa a a

aa aa a a a A B. a aaa a a

aaa aa a a aa aa a a

a A B, a a a aa a .

Ia a a .

E a a A B aaa a aa a a a

aa , a a a aa (C CW)

a (CCW CCW).


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Fa 6 Sa aaa

La a a aa a A B, a

a a aa, a a a a

aaa: aa 4096 , aa

a 360/4096=0.087. Paa a a aa

aa a; a a a aa a.

S a F F D, a a A a a B a ,

CW (Ia a) aa a A. Paa CCW

(DaIa) a a B a A.

Fa 7 Sa SRV02.

3.A

3.1 (/ AB AA)

E a a :


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1.

Paa a.

2.

Paa S.

3.

M G:

A)

M DC.

B)

D Ia.

C)

RD) S Ea.

Fa 8 M a SRV02

(Paaa aa aa a a a aa)

E a aa a , a a

a a. E a a a aa a a, a

a a a aa a a a a a a a.

3.2 02

C a :

Fa 9 M


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Ca a a a a aa ω. Ca a a a a a

a ω a a , aa a , aa : = D H aa a a a :

= L a a a a a a :

= = D a .A a

a

, aa

a :

= ℎ La aaa aa :

=

=

A a a a a a a a a a a

a a a a. (Sa a a. N a a

a , a a∝ = ), a

a α a aa a a a

aaa a a a a a a.

Fa 10 M a


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E a a a a a .Ua a aa 4:1, a a = 4, a a a a a a :

4 = 4 E a a aa a a a a.

ξ= σ

3.3 A a SRV02 :

• :

E DC 12V, a a aa :

= − D a a a , a a aa . Paa a a a a

aa :

= − D:

= 12 = 5.3Ω = 0.0235

Ca a a a : = 510


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Ua a a a a a,

a 0.23 a a a a:

510

.

• :

La a aa :

= 2

= 0.82 0.254

2 = 1.0323

A :

ℎ = 457 1.0323 ℎ0.4718

•

L a a aa:

Fa 11 M

La a a aa a aa:


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A a a a , aa a (α=0) a aa L.

a a a aa α, a 2 a a aa :

= = − − = = − + E a a a a a :

= − = 2 E a aa a aa :

=

= 2

= 20.02541.9089 = 2.4631 − / •

La a a (α), :

= 2.46310.4718 = 5.2205


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Y a a a (β) aa :

= 4

= 1.3051 •

S a aa ( ) a a a a, Y

, a a a θ. E a

a a a a a :

ξ = γ + θQ a a aa ξ a Y a a a β .

Da a a a a :

S a aa ( ) a a a a, Y

a a a θ. E a

a a a a a :

= γ + θ =

=

4

Ra:

= 4 γ + θ = 4 γ + θ


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P a a a a β a .

La a (SRV02) :

+ = + = = R aa :

=

−

S a a β :

= 4 γ + −

= 4 γ + 4 − D a a aa:

= S :

= 4 γ + 4 −

Da a aa aa , a a, :


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= + O a aa:

=

+

+ +

D:

= 4 = −4 = = − − 4

= −4 N a a, a aaa a aa , aa

a γ, ε, a , a (γ

+ θ) a . E θ a

a (γ), aa a.

Aa a a a (Z) 0.707 a a aa 5H(

a a a a 5H) a aa aa:

+ 2 + Aa aa a aaa aa :

= −1/4 = −62.37 / = −1/4 2 +


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= 2.9159/ C a a :

= −1.0 = −0.5 / E aaa a a a:

Fa12: Daaa .

La a a a a a aaa a a a (

) a a a a a a aaa

γ. Ea a aa a a α a a aa a γ.a a α a a aaa

4(a a) aa β.

Β aa aa a ε. N ε aa aa ( ε)

a aa. E a β, aa a , aa

. E a V aa a a

a a a θ a γ a a ξ a .


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Fa13: La a.

D:

() a a a, a (S ) a.

() a a

() a a aa a a

() a a a

() a a aa (aa aa)

Aa aa a a aa a a, a aaa a

a aa aa a a a aa a a a a

Fa14: Ra a aa.

La a a a a 0.25, :

25.0=a

b

Ea a a a aa a a

0.2176. E a, a aaa a, a:


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K: a K aa a a a a a aa a a

a a 0.25.

T: a a a a a a aa aa a

aa.

La a a :

Taa 1.Fa Sa

5.1

oT

6

oT

4.13 ( 1942

E a a a aaa a a

a, a a a a a a a. Ua a

aaa a a. La aaa

: a aa a a aa a a

a, a a a a a a.


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Fa 15: Ra a.

E a a a aa a a a a a a.Ea a a a aaa a

aa , a a a. E a

aa a a a a a a a a aaa.

La a a a aa:

Taa 2. Pa Sa.

T a

P

m RT

1

PI

m RT

9.0

2.0

mT

PID

m RT

2.1

3.0

mT

mT 8.0

: a a a a a a aa aa a

aa.


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4.2 AA A () AB 7.1

La a aa a a a a LaVIEW,

a a a aa a PCI7041/6040E aaa LaVIEWRUNTIME7.1 a a aaNaa I.

A a a aa aa a a a a

a:


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Fa 16. Paa a PD LABVIEW RUNTIME 7.1


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4.21

E aa a a , a a

a aaa, a a a:

Fa 17. Ca .

La a a aa :

: Ca a aa.

: Ca ( a 1)

: Ea a aa a

a a, a 1, a a a

a a a aa.

4.22 ()

Fa 18. P a a

E a a a a aa a a

aa a a aa a.


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Fa 19. Ca aa a

A a a a a a , a a a a aa

BNC 2120 Naa I. Ta aa aa A B a

a a aa aa A aa 1 aa B.

Fa 20. La aa a

S aa a a aa a a a a

a a a.

A a aa a aa a a.

Fa 21. Pa a a aa a

D a aa A B a aa a

a a a.

4.23

Fa 22. Ra a a a.


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S a a a a aa a a a a . La a

a aa a.

Fa 23: R .

E a a a a a a ()

a .

Fa 25. La a aa a aa A B

E a aa, a a a a a a a a

a XOR aaa, a a a a aa aa A B (A B) a a

(A B), aa aa a a () a aa, a

aa a ( A A B B a a )

a a a OR a a a a, aa a aa a

a .(E a Aa a a a aa)

Fa 26. Da .

E a a a a a a , aa a a a a () a aa a a

a a a, a a aa B

a aa aa A (A) a a a a

a, aa A a B, a a

. Ma a a a a , a a

.


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Fa 26. Ga a a. Fa 27. D a.

E a a aa a a a a a a, a a

aa, a a aa a a, aa aa a a,

a a, a a a a a , a

a a a, a a a (

a a), a a aa a a .

Fa 28. R a

E aa a a , , a a

a aa , aa a a a a a.

Fa 29 C a a a.

E a , a a a a a a, a a , a a

a , a a a a 360,

a a a a a a, 4096 a a a

a a (4096[a]=1[RPM]). E a a a a a a

aaa, a a a a a a ,


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a 1.3051 (a β), a a aa

a a.

Fa 30. D a

E a a a a a a aaa a, a

a, a (E 02) a a (β), a a

a a a aa aa (α) aa a a a a a

aa.

4.24 A ()

Fa 31. C PD

E aa a a aa β.

Paa a, a aa a a aa ,

a aa a a a a a a a, a

a.


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Fa 32. Ia. O (ε)

E a a a a a a a aa , a

a a , a a a 1(0.001), a a a a

aa a a, a a aa a a aa aaa

(ε).

Fa 33. C PD

La aa a a aa aa , aa a

a a a a a aa, , a, a a a a a a,

a a a a a PD (a a),

a a aa a., a a a a

a a aa. S a a aa .

Fa 34. Saa .


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La aa aa, a α aa β aa (

H), a a aa aa, aa a a a a

+10 (V) 10(V)( a a UPM), a aa

aaa, a a a , aaa, a a

aa aa aaa, a a a a aaa a

a a a a aa a UPM(a 1),

Fa 35. M UPM

Fa 36. E a a .

Ua aa , a a a a, a aa

, a aa a aa a a a aa ,

aa aa a a a , a a

aa a, a a a aa aa aa a,

a aa a a aa a, a a aa

a a a a a .

4.25 02

Iaa aa aa (aa a a a )


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Fa 37 Ca aa a aa aa.

E a a aa aa aa, a a a, a aa

aa a a (D/1/a00), a (+9[V]) a (9 [V]) a

aa (V[V]) a a aa (RSE). , a

aa aa a a a a aa a.

Fa 38. E a aa a a .

E a aa a a a aa

a, a a a(a) a a a a a a a

, a a a a a aa.

Fa 39. D aa aa a .

E a a a 0[V] a , a

aa aa a a a .


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Fa 40. S aa D Paa.

E a aa aa a a , a aa aa

a a a a a.

Fa 41. Saa

Ea aa a, a a aa

aa.

Fa 42. D a a a (V ())

E a aaa a a aa , a V (),

a a .

4.26

Iaa aa aa (aa a a a ).

Fa 43. Ca aa a aa aa.


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Ea a a a aa, a a

aa a (+9V aa a), a a a

aaa ( a a), a a a aaa (

a a a a a), a aa aa a aa

( a aa 1). L a , a aa

aa a a aa . a aa a a aa aa a a a aa.

Ua a a aa a, a a a a

aa, a a a a a a a a a aa

aa a a.

D a a, a aa a a a , aa

a aa, a aaa.

Fa 44. Gaa a.

Ua aa a a, a a aa a a a a a a a

a a aa 1, a 02 aaa a a

aa, a a a = 46.75 −0.556 a a a a a.

Fa 45: Taa a a a

Paa a


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( a a a ).

Da a a a a a a.

A a aa a a aa a a a a

a a, a aa , a a

aa a a , a α, a

aa:

Fa 46. O a aa a α a a Ta.

D a a a a a a aa

a aaa, a 1.

Ua a a , a aa a aa a aa,

aa a a a a aa.

Fa 47: Raa a aa a.

(Ta aa (a )).

4.27 & A

A a a a aa a a a a aa

PCI7041/6040E Naa I a a M & Aa E


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Fa 48. Paaa M & Aa E

D a a a NI D a Ia a a 640E.,

a aa a a.

Fa 49. M & Aa E


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4.28 .

D a a a aa aa a a aa a.

Fa 50. Daa aa.

Fa 51. Pa a aa . (Paa a)


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Fa 52. Pa .

C aa aa a K_ K_.

Fa 53. Ta.

D a a a a aa a.

Fa 54. Aaa a aa a.

Fa 55. B aa a aa.

Fa 56. B aa a a, a a a aa

a a, a a aa.


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Fa 57. D a aa Fa, a a a a a a.

Fa 58. D a aa a a a a a.

4.3 AA A () AB 8.6

S a a LaVIEW, a a aaa a a a aa

PCI6024E, a a aaa a a W ( a) aa a

aa a 8.6 LaVIEW, a a a a a:

Fa 59. Paaa LaVIEW 8.6


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Fa 60.Paa PD LaVIEW 8.6


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S a a aa a a a a7.1 ,

a a, aaa a

24 ( W).

Fa 61. Pa a PD LaVIEW 8.6

E a a a a LaVIEWRUNTIME7.1. E aa a

a a aa PCI6024E a a a aa a aVIEWRUNTIME7.1.

4.4

Paa aa , a aa TaTSa Ta VI TaT S Ta a S VI LaVIEW E Ta T. S a

a Fa a a , a aa a a a LaVIEW Ta T.


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Fa 62. Ra aa a aa.

C a a E Ta T a a a aa, a aa PD, a a a aa a .

Fa 63. E Ta T aa a aa NI PCI6024E.

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Funcion de Transferencia de Un Giroscpio