陀螺

For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

Full quanta theory was used in analysis the working principle of laser, educed the photon states of single pattern radiate in two energy-step system, and simulated the establishment of laser mode and statistical distribute of photon.According to elf consistent equations of RLG; build the simulated program with LabWindows/CVI and do some simulation experiments,The result of simulation matched the theory perfect perfectly and conform to the experiments, the locked-in and pattern competition coursed the periodic light intensity.

在激光陀螺自洽场方程组的基础上，运用LabWindows/CVI软件建立了灵活方便的激光陀螺仿真平台，并进行仿真试验，仿真试验结果与理论分析很好的相符合，且能够较好地说明陀螺试验现象，即在闭锁阈值附近，由于闭锁效应和模竞争相互影响，使得激光腔中两行波相互关联，光强差随时间呈周期性变化。

The key components in laser gyro is He-Ne ring laser, and the reciprocal action theory between light and medium is the base in studying the ring laser, use the Lamb half classical theory, and on the base of density matrix theory, the optical Brounch equation was established, which described the movement of amplifying medium atom in the ring syntonic cavity, and according to the medium polarize theory the self consistent equations was deduced, which describe the light intensity and phasic of the counter-propagating wave. On the basis of this equations, adopted the simulation software MATLAB and virtual instrument programming language LabWindows/CVI, we can do some simulated experiments in study the phenomenas such as amplify and dispersive characteristic of medium, mode pushing effection, burned hole effection and pattern competition, lock-in of frequency and the characteristic of light intensity and phasic of the counter-propagating wave in laser gyro.

激光陀螺的核心部件为He-Ne环形激光器，而掌握光与介质的相互作用理论是研究激光器的关键，采用拉姆半经典理论为主，在密度矩阵理论的基础上，推导环形谐振腔中描述He-Ne气体增益介质原子运动的光学布洛赫方程，运用介质极化理论得出描述激光陀螺反向行波的光强、位相所满足的自洽场方程组，在此基础上，运用MATLAB仿真软件和虚拟仪器编程语言LabWindows/CVI，对激光陀螺中的介质增益色散特性、频率牵引效应、烧孔效应及模竞争、闭锁效应及环激光的光强和相位特性进行仿真试验研究，并且运用全量子理论，对激光工作原理进行分析，得出二能级系统单模辐射场的光子数密度分布，得出激光场的光子统计分布，仿真激光场的动态建立过程。

On the basis of direct modelling method by using extended Kalman filter, a new method combining extended Kalman filter with adaptive extended Kalman filter is presented to model gyro drift directly from rotate angle of turntable. Extended Kalman filter has great estimation error, what is more, may be divergent if the model and noise statistic are not accurate or wrong. The new method solves the problem of general extended Kalman filter by using fictious noise with timevarying statistic to compensate the linearized model error of extended Kalman filter. The parameter estimators of single-axis and double-axis servo test are designed from it.

本文深入研究了根据伺服试验数据进行陀螺仪漂移误差模型建模的方法，在应用广义Kalman滤波器直接建模的方法基础上，针对广义Kalman滤波器对于不精确或错误的模型和噪声统计，估计误差较大，甚至滤波发散的缺陷，借助于用带时变噪声统计的虚拟噪声补偿广义Kalman滤波的线性化模型误差的新思想，提出了用广义Kalman滤波和自适应广义Kalman滤波算法相结合的方法由转台的转角数据直接建模陀螺仪漂移误差模型，并设计了陀螺仪单轴伺服和双轴伺服测试时参数估计的滤波器。

The temperature drift is one of the most important error sources and influences the measuring accuracy of gyroscope greatly.

温度漂移是陀螺角度误差的主要误差源之一，严重影响了陀螺的测量精度，因此需要对陀螺角度输出误差进行补偿。

It also discusses the effect upon the dynamic performance of this gyrostabilizer system when the gyro error compensation has been complted.

本文紧密结合工程实践，详细讨论了在陀螺稳定系统中通常所采用的两种不同的陀螺仪误差模型，并实施误差补偿之后，对陀螺稳定系统动态性能的影响，同时给出了仿真结果。

The effects of linear acceleration on gyro 's drift have been analyzed.

分析了各种加速度对陀螺漂移的影响，列表给出了载体在各种线振动情况下陀螺的漂移，为工程应用上建立补偿陀螺漂移误差模型提供了理论依据。

Gyro drift is an important target that can affect the precision of gyroscope, so the research on gyro drift filtering is much more important.

陀螺漂移是影响陀螺精度的重要指标，因而对陀螺漂移进行滤波的研究显得越来越重要。

The empirical mode decomposition method is introduced to extract the trend item of gyro's drift, but the local mean estimation isn't precision and the end effects exist in the conventional EMD method. The two-tap adaptive time-varying filter and the adaptive border estimation are used to modify the EMD. After the trend extraction, the method of time series analysis is used to make the autoregressive moving average model for stationary time series.

根据陀螺漂移的特性，提出采用经验模分解的方法对其趋势项进行提取，但传统的经验模分解方法存在局部均值估值不准，插值过程存在端点效应的问题，因此，本文又引入二拍自适应滤波及自适应边界估值来对原方法加以改进；在成功提取趋势项后，通过采用时间序列的分析方法，建立了陀螺漂移平稳时间序列的自回归滑动平均模型；并得出陀螺漂移模型可近似为常值加一阶马尔可夫过程这样一个结论。

In this paper, the basic mathematical model was derived by means of two methods, the first is the twostar positioning algorithm in celestial navigation theory and the second is based on the gyro dynamics theory. The results from these two methods are identical and therefore are correct. The latitude is equal to the elevation-angle of the polar gyro. The course is the ideal output from the sensor fitted to the outer gimbal. The longitude is a function of the equator gyro's azimuth and elevation angles.

本论文用天文导航中的双星定位法和经典的陀螺力学原理两种方法建立了ESGM的基本数学模型，并且得到一致的结果，说明所建模型是正确的，即载体的纬度等于极轴陀螺主轴相对水平面的高度角，载体的航向等于极轴陀螺外环轴上角度传感器的理想输出，载体的经度是赤道陀螺的方位角和高度角的函数。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐