ANSI IEEE 529-1980 Supplement for Strapdown Applications to IEEE Standard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating Gyros (Supplem.pdf

1、_Copyright 1980 byThe Institute of Electrical and Electronics Engineers, Inc.No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without the priorwritten permission of the publisher.IEEE Std 529-1980(R2010)(Supplement to IEEE Std 517-1974, R1980

2、)Supplement for Strapdown Applicationsto IEEE Standard Specification FormatGuide and Test Procedure for Single-Degree-of-Freedom Rate-IntegratingGyrosSponsorGyro and Accelerometer Panelof theIEEE Aerospace and Electronic Systems SocietyReaffirmed September 30, 2010Approved September 27, 1979IEEE-SA

3、Standards BoardReaffirmed June 7, 2000Approved May 5, 1983American National Standards InstituteiiApproved September 27, 1979IEEE Standards BoardJoseph L. Koepfinger, ChairIrvin N. Howell, Jr, Vice Chair Ivan G. Easton, Secretary C. Y. R. AllenWilliam E. AndrusC. N. BerglundEdward ChellottiEdward J.

4、CohenWarren H. CookR. O. DuncanJay ForsterHarold S. GoldbergRichard J. GowenH. Mark GroveLoering M. JohnsonIrving KolodnyW. R. KruesiLeon LevyJ. E. MayDonald T. Michael*R. L. PritchardF. RosaRalph M. ShowersJ. W. SkooglundW. E. VannahB. W. Whittington*Member emeritusiiiForeword(This Foreword is not

5、a part of IEEE Std 529-1980, Supplement for Strapdown Applications to IEEE Standard Specification FormalGuide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating Gyros.)This standard was prepared by the Gyro and Accelerometer Panel of the Aerospace Electronics Systems Society of theInst

6、itute of Electrical and Electronics Engineers. It is a supplement to IEEE Std 517-1974 (R1980), StandardSpecification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating Gyros, which consistsof two parts.Part I of IEEE Std 517-1974 (R1980) is a specification format guide fo

7、r the preparation of a rate-integrating gyrospecification. Part II is a compilation of recommended procedures for testing a rate-integrating gyro.The paragraphs in this supplement are to be used in substitution for or in addition to comparable paragraphs of IEEEStd 517-1974 (R1980). The numerical id

8、entification should make it readily apparent when a paragraph is substitutedor added; a Users Cross Reference has also been included. The supplement contains additional performancerequirements and tests which should be specified for a single-degree-of-freedom rate-integrating gyro when it is usedas

9、a strapdown sensor in operating environments typical of aircraft and missile applications.This supplement applies to both parts of IEEE Std 517-1974 (R1980) and must be used in conjunction with both PartsI and II. The format of the supplement is the same as that of IEEE Std 517-1974 (R1980), and the

10、 same use is madeof blank spaces, brackets, and boxed comments. Refer to the Foreword in that standard for guidelines on their use. Theterminology used conforms to the gyro terminology that is contained in ANSI/IEEE Std 100-1977, StandardDictionary of Electrical and Electronics Terms.This supplement

11、, when combined with IEEE Std 517-1974 (R1980), defines the requirements and test procedures interms of characteristics unique to the gyro or those applications in which the dynamic angular inputs are significantlygreater than the limitations identified in IEEE Std 517-1974 (R1980). The strapdown ra

12、te-integrating gyro, because itis captured through an external loop using the gyro torquer, provides a voltage, current, or pulse train proportional toangular rate about the input axis. An example of a model equation containing the additional terms which describe thegyro in strapdown applications is

13、 contained in 6.3. The characteristics of the external capture loop are considered to theextent necessary to define the gyro performance, even though such a loop is not part of the gyro.This standard represents a group effort on a large scale. A total of 111 individuals attended 26 meetings of the G

14、yroand Accelerometer Panel while this standard was in preparation.At the time this standard was approved the members of the working group were:C. O. Swanson, ChairR. F. AsmarC. E. BossonA. T. CampbellJ. ClaassenJ. F. ConroyJ. H. CrittendenH. B. DiamondR. H. FallA. FerrarisT. A. FuhrmanK. N. GreenK.

15、W. HombC. A. JonesK. J. KlarmanM. G. KoningJ. J. MeehanG. E. MorrisonG. C. MurrayR. B. PetersM. J. RupertW. F. SappB. SchwartzA. ScovilleN. F. SinnottG. R. TaylorB. J. WimberivUsers Cross ReferenceThis cross reference compiles the sections of IEEE Std 517-1974 (R1980) affected by the Strapdown Suppl

16、ement. Allof the supplement sections of IEEE Std 517-1974 (R1980) are indicated by an asterisk (*) and the sections of thissupplement are listed as either superseding or providing additional information. The title of each subsection in thissupplement is listed in the table of contents.IEEE Std 517-1

17、974 (R1980) STRAPDOWN SUPPLEMENTSECTIONSUPERSEDINGINFORMATIONADDITIONALINFORMATIONPart I Specification Format*1. Scope 12. Applicable Documents*2.2 Standards 2.2.2(1)3. Requirements*3.2.2 Definitions 3.2.2*3.3.9 Torquer Performance 3.3.9.2.13.3.9.2.2*3.3.18 Output Noise 3.3.18*3.3.22 Reference Const

18、ants 3.3.22.53.3.23 Polarity3.3.243.3.253.3.25.13.3.25.23.3.25.33.3.263.3.273.3.28*3.6.4 Environments 3.6.4.13.6.4.1.13.6.4.1.24. Quality Assurance Provisions*4.6 Test Methods 4.64.6.18.5.14.6.18.5.25. Preparation for Delivery6. Notes*6.3 Model Equation 6.3Part II Test Procedure7. Scope8. Descriptio

19、nv9. Test Conditions and Test Equipment*9.1.1 Ambient Environment 9.1.1.49.1.1.4.19.1.1.4.2*9.2.2 Standard Operating Equipment9.2.210. Test Procedures*10.7 Torquer Test Series 10.7*10.7.1 Purpose 10.7.1*10.7.2 Test Equipment 10.7.2*10.7.3 Test Setup and Procedure 10.7.310.7.3.110.7.3.1.110.7.3.1.210

20、.7.3.1.310.7.3.1.410.7.3.1.510.7.3.1.610.7.3.1.6.110.7.3.1.6.210.7.3.4*10.7.4 Test Results 10.7.4.1.310.7.4.1.410.7.4.1.510.7.4.1.610.7.4.1.6.110.7.4.1.6.210.7.4.410.10 Axis Alignment 10.10.3.1*10.10.3 Test Setup and Procedure 10.10.3.210.10.4.1*10.10.4 Test Results10.13 Drift Rate Test Series*10.13

21、.1 Purpose 10.13.1*10.13.2 Test Equipment 10.13.2IEEE Std 517-1974 (R1980) STRAPDOWN SUPPLEMENTSECTIONSUPERSEDINGINFORMATIONADDITIONALINFORMATIONvi*10.13.3 Test Setup and Procedure 10.13.3.510.13.3.5.110.13.3.5.210.13.3.610.13.3.710.13.3.7.110.13.3.7.210.13.3.810.13.3.9*10.13.4 Test Results 10.13.41

22、0.13.4.510.13.4.5.110.13.4.5.210.13.4.610.13.4.6.110.13.4.6.210.13.4.710.13.4.7.110.13.4.7.210.13.4.810.13.4.910.14 Output Noise10.14.1 Purpose*10.14.2 Test Equipment 10.14.2*10.14.3 Test Setup and Procedure 10.14.310.14.3.110.14.3.2*10.14.4 Test Results 10.14.410.14.4.110.14.4.2*10.18 Environmental

23、 Test Series 10.18TABLES*Table 3 Environmental Test Series Table 3IEEE Std 517-1974 (R1980) STRAPDOWN SUPPLEMENTSECTIONSUPERSEDINGINFORMATIONADDITIONALINFORMATIONviiCLAUSE PAGEPart ISpecification Format1. Scope .13.2.2 Definitions .13.3.9.2.1 Command Rate Scale Factor Errors . 23.3.9.2.2 Command Rat

24、e Scale Factor Sensitivities 23.3.18 Output Noise. 23.3.22.5 Torquer Time Constant33.3.24 Anisoinertia Drift Rate Coefficient 33.3.25 Cross-Coupling Drift Rate 33.3.25.1 Nonoscillatory .33.3.25.2 Spin-Input Rectification 33.3.25.3 Spin-Output Rectification33.3.26 Torquer Current Rectification Drift

25、Rate . 33.3.27 Rate Hysteresis Error 33.3.28 Output Axis Rate Error. 43.6.4.1 Vibration. 43.6.4.1.1 Linear.43.6.4.1.2 Angular44.6 Test Methods 44.6.18.5.1 Vibration, Linear .44.6.18.5.2 Vibration, Angular.46.3 Model Equation 4Part IITest Procedure9.1.1.4 Vibration. 79.1.1.4.1 Linear.79.1.1.4.2 Angul

26、ar79.2.2 Standard Operating Equipment 710.7 Torquer Test Series. 710.7.1 Purpose 710.7.2 Test Equipment810.7.3 Test Setup and Procedure 810.7.3.1 Command Rate Scale Factor .810.7.3.1.1 High Input Rate Test .810.7.3.1.2 Low Input Rate Test 810.7.3.1.3 Nonlinearity.810.7.3.1.4 Asymmetry 810.7.3.1.5 Re

27、peatability810.7.3.1.6 Command Rate Scale Factor Sensitivities.910.7.3.1.6.1 Temperature.910.7.3.1.6.2 Magnetic910.7.3.4 Torquer Time Constant910.7.4.1.3 Nonlinearity, KTN910.7.4.1.4 Asymmetry, KTA.910.7.4.1.5 Repeatability910.7.4.1.6 Command Rate Scale Factor Sensitivities.910.7.4.1.6.1 Temperature

28、.9viiiCLAUSE PAGE10.7.4.1.6.2 Magnetic1010.7.4.4 Torquer Time Constant1010.10.3.1 Alignment of the IRA to the Projection of the IA on the IRA-SRA Plane .1010.10.3.2 Alignment of the IA to the IRA-SRA Plane1110.10.4.1 Alignment of the IRA to the Projection of the IA on the IRA-SRA Plane .1110.13.1 Pu

29、rpose 1110.13.2 Test Equipment1110.13.3.5 Anisoinertia Drift Rate Coefficient .1110.13.3.5.1 Constant Rate Method .1110.13.3.5.2 Oscillatory Method1210.13.3.6 Cross-Coupling Drift Rate.1210.13.3.7 Torquer Current Rectification Drift Rate 1310.13.3.7.1 Angular Rate Sensing Mode, Method 1 1310.13.3.7.

30、2 Angular Displacement Sensing Mode (Rate-Integrating Mode), Method 2 .1310.13.3.8 Rate Hysteresis Error.1410.13.3.9 Output Axis Rate Error1410.13.4 Test Results .1410.13.4.5 Anisoinertia Drift Rate Coefficient .1410.13.4.5.1 Constant Rate Method .1410.13.4.5.2 Oscillatory Method1510.13.4.6 Cross-Co

31、upling Drift Rate.1510.13.4.6.1 Spin-Output Rectification1510.13.4.6.2 Spin-Input Rectification 1510.13.4.7 Torquer Current Rectification Drift Rate 1510.13.4.7.1 Angular Rate Sensing Mode, Method 1 1510.13.4.7.2 Angular Displacement Sensing Mode (Rate-Integrating Mode), Method 2 .1510.13.4.8 Rate H

32、ysteresis Error.1610.13.4.9 Output Axis Rate Error1610.14.2 Test Equipment1610.14.3 Test Setup and Procedure 1610.14.3.1 Method 11610.14.3.2 Method 21710.14.4 Test Results .1710.18 Environmental Test Series.18Copyright 1998 IEEE All Rights Reserved 1Supplement for Strapdown Applications to IEEE Stan

33、dard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating GyrosPart ISpecification Format1. ScopeThis specification defines the requirements for a single-degree-of-freedom rate-integrating gyro to be used as astrapdown sensor for an inertial navigation system,

34、an attitude reference unit,_ in an aircraft,missile,_ application. The characteristics of the external capture electronics are considered wherenecessary to define gyro performance.2.2.21) ANSI/IEEE Std 1001977, Standard Dictionary of Electrical and Electronics Terms.3.2.2 DefinitionsThe following st

35、andard and the model equation of 6.3 define terminology used in this specification:ANSI/IEEE Std 1001977, Standard Dictionary of Electrical and Electronics Terms.2 Copyright 1998 IEEE All Rights ReservedIEEE Std 529-1980 SUPPLEMENT FOR STRAPDOWN APPLICATIONS TO SPECIFICATION FORMAT3.3.9.2.1 Command

36、Rate Scale Factor Errors1) Nonlinearity. The absolute value of the maximum deviation of the command rate scale factor from thenominal value (KTO) shall be less than _ (rad/s)/mA, (rad/h)/mA, (/s)/mA, (/h)/mA.2) Asymmetry. The difference between the command rate scale factor measured with positive an

37、d negativecommand rates shall not exceed _ (rad/s)/mA, (rad/h)/mA, (/s)/mA, (/h)/mA.3) Repeatability. _ (rad/s)/mA, (rad/h)/mA, (/s)/mA, (/h)/mA maximum spread, 1,_ .3.3.9.2.2 Command Rate Scale Factor Sensitivities1) Temperature. The change in command rate scale factor resulting from a change in st

38、eady-state operatingtemperature shall not exceed _(rad/s)/mA)/C, (rad/h)/mA)/C, (/s)/mA)/C, (/h)/m)/C.2) Magnetic. The change in command rate scale factor resulting from a change in steady-state ambient magneticfield shall not exceed _(rad/s)/mA)/mT, (rad/s)/mA)/G, (rad/h)/mA)/mT, (rad/h)/mA)/G, (/s

39、)/mA)/mT, (/s)/mA)/G, (/h)/mA)mT, (/h)mA)/G.3.3.18 Output NoiseThe equivalent input angle noise in the electrical output signal for zero input shall not exceed _ (rad, arcseconds) rms as determined by the square root of the integral of the power spectrum between _Hz and_Hz. The equivalent rate noise

40、 shall not exceed _ rad/s,/s,/h rms as determined by the square rootof the integral of the power spectrum between _Hz and _ Hz.This error can also be expressed in parts per million (ppm) of KTO.KTOis frequently obtained from a least-squares linear fit to the data. A higher order fit of scale factor

41、variationwith rate may be specified as an alternate to a linear model.This error can also be expressed in parts per million (ppm) of KTO.This error can also be expressed in parts per million of KTO. Repeatability involves changes in command ratescale factor that occur between periods of operation. M

42、otor shutdowns, cool downs, time between runs, and otherfactors pertinent to the particular application shall be specified.This sensitivity can also be expressed in ppm/C.This sensitivity can also be expressed in ppm/mT or ppm/G. Gyro axes and characteristics of the field shall bedefined. If exposur

43、e to a varying field is required, the nature of the variation shall be described. Demagnetizationmay be necessary following exposure.If necessary, the power spectral density of input angle noise and/or rate noise may be specified over a specificfrequency range in the place of rms error. In any case,

44、 it must be recognized that the electronics associated withthe gyro contribute to the total noise error.For certain applications, inputs other than zero may be specified.Copyright 1998 IEEE All Rights Reserved 3GUIDE FOR SINGLE-DEGREE-OF-FREEDOM RATE-INTEGRATING GYROS IEEE Std 529-19803.3.22.5 Torqu

45、er Time Constant_ s.3.3.24 Anisoinertia Drift Rate Coefficient_ _ (rad/h)/(rad/s)2, (/h)/(/s)2.3.3.25 Cross-Coupling Drift Rate3.3.25.1 Nonoscillatory0 _rad/h, /h.3.3.25.2 Spin-Input Rectification0 _ rad/h, /h.3.3.25.3 Spin-Output Rectification0 _ rad/h, /h.3.3.26 Torquer Current Rectification Drift

46、 Rate0 _ rad/h, /h.3.3.27 Rate Hysteresis Error_rad /h, /h, maximum.It should be noted that anisoinertia can vary due to decoupling of the spin-motor moment of inertia from themoment of inertia of the gimbal in the presence of angular acceleration about the spin axis. The decoupling willoccur at ang

47、ular accelerations which exceed the pull-out torque capability of the motor.This drift rate results from nonoscillatory and/or oscillatory rotations about an axis other than the input axis.The gyro input axis misalignment (3.3.20) and the hangoff angle due to the null offset and finite gain of theca

48、pture electronics must be considered when specifying this drift rate.The selected conditions under which the drift rate is to be specified should be defined.The selected conditions under which the drift rate is to be specified should be defined.The selected conditions under which the drift rate is to be specified should be defined.The selected conditions under which the rate error is to be specified should be defined.4 Copyright 1998 IEEE All Rights ReservedIEEE Std 529-1980 SUPPLEMENT FOR STRAPDOWN APPLICATIONS TO SPECIFICATION FORMAT3.3.28 Output Axis Rate Error_