Tracking System of Moving Objects on MEMS-Gyroscopes

Abstract

The tracking system of moving objects is analyzed on the basis of a biaxial cardan suspension with MEMS gyroscopes in the control loop. The kinematics of the tracking system in one of the guidance planes is considered. A block diagram of one channel of the tracking system, consisting of correction and stabilization circuits, is given. It is shown that the time of the transition process, the bandwidth, the phase delay between the angular velocity of the accompanied object and the platform is largely determined by the quality factor of the correction circuit speed. The given numerical estimates give an idea of the characteristics of the tracking system. Relations are given that make it possible to estimate the influence of the noise of a MEMS gyroscope on the angular velocity of a stabilized platform. The occurrence of synchronous errors of the tracking system on an oscillating carrier is explained. It is shown that the influence of dry friction forces in the axes of suspension on the tracking system is equivalent to the action of the sum of harmonics with frequencies multiple to the oscillation frequency of the carrier with odd coefficients. The effect of the moment of viscous friction forces in conditions of carrier oscillations is illustrated. An experimental spectral characteristic of the tracking system model on a swinging stand is presented, confirming the theoretical conclusions. An analytical relation is given to estimate the relative synchronous error of the tracking system.