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为了在闭环工作条件下监测动力调谐陀螺仪的性能,研究了动力调谐陀螺仪的闭环辨识方法。首先,根据动力调谐陀螺仪闭环模型的复杂结构,对其进行化简和离散化处理,获取辨识模型集和模型阶数。接着,将辅助变量法(Ⅳ)应用于动力调谐陀螺仪的闭环辨识,并根据传统Ⅳ法的不足,提出了BJIV辨识法。该方法能够应用于BJ模型,使系统模型与噪声模型不再受辨识模型的限制。然后,利用仿真分析的方法,分析BJIV法辨识结果的无偏性与渐进离散特性。最后,采用提出的方法对某型号动力调谐陀螺仪进行单次和连续闭环辨识实验。仿真结果表明:BJIV法的辨识结果在有噪声存在的条件下是一致无偏的,渐进方差能够接近最优;闭环辨识实验结果表明:辨识拟合度优于90%,连续跟踪2h,获得了可靠的辨识结果。
In order to monitor the performance of the power tuned gyroscope in closed-loop operating conditions, the closed-loop identification method of the power tuned gyroscope is studied. Firstly, according to the complex structure of the closed-loop model of the power-tuning gyroscope, the closed-loop and closed-loop model of the gyroscope is simplified and discretized to obtain the model set and model order. Then, the auxiliary variable method (Ⅳ) is applied to the closed-loop identification of the power tuned gyroscope. According to the deficiency of the traditional IV method, the BJIV identification method is proposed. The method can be applied to the BJ model, so that the system model and the noise model are no longer limited by the recognition model. Then, by using the method of simulation analysis, the unbiased and asymptotic behavior of BJIV method is analyzed. Finally, the proposed method is used to conduct single and continuous closed-loop identification experiments on a certain type of power tuned gyroscope. The simulation results show that the identification results of BJIV method are consistent and unbiased in the presence of noise, and the asymptotic variance can be approximated optimally. The experimental results of closed-loop identification show that the identification fitting degree is better than 90% and continuous tracking 2h, Reliable identification of results.