CN101936734B - Harmonic oscillator of solid fluctuation gyro and solid fluctuation gyro - Google Patents
Harmonic oscillator of solid fluctuation gyro and solid fluctuation gyro Download PDFInfo
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- CN101936734B CN101936734B CN2010102949126A CN201010294912A CN101936734B CN 101936734 B CN101936734 B CN 101936734B CN 2010102949126 A CN2010102949126 A CN 2010102949126A CN 201010294912 A CN201010294912 A CN 201010294912A CN 101936734 B CN101936734 B CN 101936734B
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- fluctuation gyro
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Abstract
The invention discloses a harmonic oscillator of a solid fluctuation gyro, which comprises a resonance ring (1), a resonance transmission part (2), a chassis (3) and a piezoelectric element (4), wherein, the resonance ring (1) is connected with the chassis (3) through the resonance transmission part (2), the resonance transmission part (2) is composed of support beams (21) which are uniformly distributed in the circumferential direction, and the piezoelectric element (4) is arranged on the support beams (21). The invention further discloses the solid fluctuation gyro provided with the harmonic oscillator. The solid fluctuation gyro and the harmonic oscillator of the invention have the advantages of high sensitivity, good sensing effect, convenient machining, low machining cost, simple mechanical balance procedure and the like.
Description
Technical field
The present invention relates to angle or angular-rate sensor field, relate in particular to a kind of solid fluctuation gyro and harmonic oscillator thereof.
Background technology
Solid fluctuation gyro is to utilize the inertial effect of symmetrical housing Elastic Wave to realize angular velocity measurement.Precision is high because it has, advantages such as energy consumption is little, setup time is short, operating temperature range is big, the ionizing radiation-resistant ability is strong, anti shock and vibration good, long service life, uses always and makes angular-rate sensor, has very wide development and application prospect.
The harmonic oscillator of existing solid fluctuation gyro is the hoop symmetrical structure; Common version has annular, cup-shaped and semisphere, and its principle of work is generally: drive through static, piezoelectricity or electromagnetic mode; Make the hoop symmetry harmonic oscillator of solid fluctuation gyro motivate harmonic oscillator as shown in Figure 1 first mode; Visible by Fig. 1, harmonic oscillator first mode is 2 standing wave for the hoop wave number, and wherein the amplitude at antinodal point place is maximum; The amplitude at nodal point place is zero, and the antinodal point line constitutes intrinsic rigidity axle system; When axial angle speed is imported; Harmonic oscillator produces second modal vibration (being 45 ° of distributions with first mode) of another intrinsic rigidity axle system as shown in Figure 2 under the effect of coriolis force; The vibration of harmonic oscillator second mode is through the mode of static, piezoelectricity or electromagnetic induction, and the output sensitive signal can obtain input angular velocity through oversampling circuit and software processes.
The version of solid fluctuation gyro harmonic oscillator in the manufacture process of solid fluctuation gyro, is the direct parts that influence solid fluctuation Gyro Precision and sensitivity.And there are high, the problems such as difficulty of processing is big, manufacturing cost height of requirement on machining accuracy in existing solid fluctuation gyro version.
Summary of the invention
Technical matters to be solved by this invention is: to the deficiency that prior art exists, provide a kind of simple in structure, be suitable for processing and the harmonic oscillator of mechanical equilibrium and precision and highly sensitive solid fluctuation gyro and the solid fluctuation gyro that is equiped with this harmonic oscillator.
For solving the problems of the technologies described above; The present invention proposes a kind of harmonic oscillator of solid fluctuation gyro; Comprise resonant ring, pass shake portion, chassis and piezoelectric element; Said resonant ring is connected with said chassis through the biography portion of shaking, and said biography is shaken portion by forming along the equally distributed brace summer of resonant ring circumferencial direction, and said piezoelectric element is located on the said brace summer.
The technique scheme that the present invention proposes creatively adopts hoop to be uniformly distributed with the biography that the supports beam type portion of shaking, and piezoelectric element is attached at the surface of brace summer, to be used to encourage and detect the vibration of resonant ring, realizes the measurement of angle speed.
In the harmonic oscillator of the invention described above, said resonant ring can be various cirque structure, is preferably cylinder ring or circular cone ring.
In the harmonic oscillator of the invention described above, the height of said resonant ring is preferably greater than the width of said brace summer, and the thickness of said resonant ring is preferably greater than said brace summer thickness.This preferred design can improve the vibrational energy ratio that resonant ring accounts for whole harmonic oscillator, the effective inertia mass of solid fluctuation gyro is increased, and then improve the sensitivity of solid fluctuation gyro.
In the harmonic oscillator of the invention described above, said brace summer is preferably the strip thin slice, and the quantity of said brace summer is preferably 8+4n root (for example 8,12,16 etc.), and wherein n gets the integer (comprising 0) more than 0; Preferably be provided with a piezoelectric element on the every brace summer.This equally distributed brace summer 21 makes that the stickup orientation of the piezoelectric element 4 on it is more accurate, has improved the precision of solid fluctuation gyro.
In the harmonic oscillator of the invention described above, the bus preferred vertical of said brace summer perhaps is an inclination angle with the plane that the chassis belongs in the plane at place, said chassis, and the numerical values recited at said inclination angle preferably is no more than 1 °.
In the harmonic oscillator of the invention described above, said piezoelectric element can be covered with on the outside surface and/or inside surface of said brace summer (be covered be meant that piezoelectric element is close to the brace summer surface, and the edge of piezoelectric element flushes with the edge of brace summer).Concrete, said piezoelectric element can be to be fitted on the outside surface and/or inside surface of said brace summer through modes such as welding, sputter or stickups.During actual the use, the surface of brace summer should be smooth as far as possible, so that piezoelectric element is sticked on the surface (flexible support beam surface) of brace summer more easily; Preferably, the height of piezoelectric element covers 1/2～2/3 of brace summer height as far as possible, and its width is equated with the width of brace summer, so bigger driving force can be provided, and exports bigger detection signal, thereby improves the signal to noise ratio (S/N ratio) of solid fluctuation gyro.
In the harmonic oscillator of the invention described above, the harmonic oscillator that said harmonic oscillator is preferably processed by fused silica material.
As a total technical conceive; The present invention also provides a kind of solid fluctuation gyro; Be equiped with the harmonic oscillator (center chassis of harmonic oscillator is provided with the mount pad that is used to connect other peripheral hardware members of solid fluctuation gyro, adopts existing connected mode to connect and gets final product) of the invention described above on the said solid fluctuation gyro.
Compared with prior art, the invention has the advantages that:
1, the harmonic oscillator of solid of the present invention fluctuation gyro adopts the equally distributed support beam structure of hoop as the biography portion of shaking; To connect chassis resonant ring; Each piezoelectric element evenly is laid on each brace summer; Space between brace summer and the brace summer has reduced the structural damping and the air damping of harmonic oscillator, makes that harmonic oscillator can be with bigger amplitude vibration, and its mechanical quality factor is higher than conventional solid fluctuation gyro;
2, harmonic oscillator of the present invention only comprises resonant ring, brace summer and chassis, and unnecessary material all is removed, and this makes the part of harmonic oscillator consumed energy, generation noise significantly reduce, and has improved the signal to noise ratio (S/N ratio) of harmonic oscillator greatly;
3, harmonic oscillator of the present invention is simple in structure, can select multiple manufacturing process to process (for example grinding, turning etc.), needs accurately machined part to have only resonant ring; For brace summer, if brace summer designs thinly more, its requirement on machining accuracy is also just low more; And the hoop symmetry that improves resonant ring is the key point that harmonic oscillator of the present invention is made; With current process technology, it is also relatively easy to process the resonant ring of degree of precision and thin brace summer, and therefore harmonic oscillator of the present invention has not only reduced processing request; Can practice thrift manufacturing cost, and be easy to guarantee machining precision;
4, always more or less there is certain defective in the harmonic oscillator of considering machine-shaping; The for example mass unbalance of harmonic oscillator, mechanical quality factor skewness etc.; Adopt harmonic oscillator of the present invention to make the mechanical equilibrium operation of harmonic oscillator become more simple; Only need lean on the width on top just can remove the part quality of harmonic oscillator, change its region of interest rigidity, and then realize the balance of harmonic oscillator through the adjustment brace summer.
To sum up, harmonic oscillator of the present invention and the solid fluctuation gyro that is equiped with this harmonic oscillator have highly sensitive, sensing is effective, easy to process, remarkable advantage such as processing cost is low, the mechanical equilibrium operation is simple.
Description of drawings
The first mode synoptic diagram when Fig. 1 is the harmonic oscillator vibration of solid fluctuation gyro.
The second mode synoptic diagram when Fig. 2 is the harmonic oscillator vibration of solid fluctuation gyro.
Fig. 3 is the harmonic oscillator perspective view of the solid fluctuation gyro in the embodiment of the invention.
Fig. 4 is the harmonic oscillator cut-open view vertically of the solid fluctuation gyro in the embodiment of the invention.
Fig. 5 is the first mode synoptic diagram of the harmonic oscillator finite element simulation of the solid fluctuation gyro in the embodiment of the invention.
Fig. 6 is the second mode synoptic diagram of the harmonic oscillator finite element simulation of the solid fluctuation gyro in the embodiment of the invention.
Marginal data:
1, resonant ring; 2, pass the portion of shaking; 21, brace summer; 3, chassis; 4, piezoelectric element; 41, excitation piezoelectric element; 42, detect piezoelectric element.
Embodiment
Below will combine Figure of description and specific embodiment that the present invention is explained further details.
Embodiment
Like Fig. 3, shown in Figure 4, the harmonic oscillator of the solid of present embodiment fluctuation gyro comprises resonant ring 1, passes shake portion 2, chassis 3 and piezoelectric element 4, and resonant ring 1 is connected with chassis 3 through the biography portion 2 of shaking.Resonant ring 1 is cylinder ring (also can be the circular cone ring), its external diameter R=25mm, thickness t 1=1mm, height h=5mm.The biography portion 2 of shaking is made up of eight brace summers 21 that are evenly arranged on resonant ring 1 circumferencial direction; Brace summer 21 is the strip thin slice; Its height L1=15mm; Width b=2mm; Thickness t 2=0.5mm, the bus L of brace summer 21 is perpendicular to the plane (inclination angle that also can be a trace certainly with plane, 3 place, chassis) at 3 places, chassis, and resonant ring 1 promptly is connected with chassis 3 through the brace summer 21 of these eight same sizes.On the outside surface of every brace summer 21, be provided with a piezoelectric element 4 (this piezoelectric element is piezoelectric electrode); This piezoelectric element 4 is closely to be pasted on the brace summer 21, and the edge of piezoelectric element 4 flushes (width that is the two equates) with the edge of brace summer 21; Eight piezoelectric elements 4 of present embodiment are divided into four of mutual vertical distribution excitation piezoelectric elements 41 (being used to encourage harmonic oscillator under first mode, to vibrate) and detect piezoelectric elements 42 (being used to detect the vibration of harmonic oscillator because of second mode of angular velocity generation) with four; The height L2=8mm of each piezoelectric element 4, the thickness t 3=0.15mm of piezoelectric element 4.
Therefore; The height h of resonant ring 1 is greater than the width b of brace summer 21 in the present embodiment; The thickness t 1 of resonant ring 1 is greater than the thickness t 2 of brace summer 21; Can improve the vibrational energy ratio that this cylinder annular resonant ring 1 accounts for whole harmonic oscillator like this, the effective inertia mass of gyro increased, and then improve the sensitivity of gyro.But harmonic oscillator of the present invention is not limited to above concrete size, and the size of harmonic oscillator is different because of the difference that solid fluctuation Gyro Precision requires, and the precision of the solid fluctuation gyro of the harmonic oscillator correspondence that general size is less is also less.
In theory; The harmonic oscillator of solid fluctuation gyro of the present invention can use the metal material of any kind of to make; But the harmonic oscillator of present embodiment is to use the fused silica material manufacturing with high mechanical quality factor, and it can guarantee the high stability and the high precision of harmonic oscillator.
Like Fig. 3, shown in Figure 4; The principle of work of the harmonic oscillator of solid fluctuation gyro of the present invention is: four the excitation piezoelectric elements 41 (being piezoelectric electrode) to being attached at the mutual vertical distribution on the harmonic oscillator brace summer 21 apply alternating voltage; Because inverse piezoelectric effect; Excitation piezoelectric element 41 produces stretching vibration, and is delivered on the resonant ring 1 through brace summer 21, motivates first mode of harmonic oscillator as shown in Figure 1; When axial angle speed is imported; Resonant ring 1 produces second modal vibration as shown in Figure 2 under the effect of coriolis force; The vibration of resonant ring 1 second mode is delivered on all the other four the detection piezoelectric elements 42 of mutual vertical distribution through brace summer 21, and the sensitive signal that is produced by piezoelectric effect can obtain input angular velocity through oversampling circuit and software processes.
The mode of the novel solid fluctuation harmonic oscillator through finite element simulation analysis means simulation present embodiment, result such as Fig. 5, shown in Figure 6.Can be known that by Fig. 5, Fig. 6 the resonance frequency of the resonant ring 1 of external diameter 25mm is 4000Hz～5000Hz, it significantly is different from noise frequency.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.
Claims (5)
1. the harmonic oscillator of solid fluctuation gyro; Comprise resonant ring (1), pass shake portion (2), chassis (3) and piezoelectric element (4); Said resonant ring (1) is connected with said chassis (3) through the biography portion (2) of shaking; It is characterized in that: said biography is shaken portion (2) by forming along the equally distributed brace summer of resonant ring circumferencial direction (21), and the height of said resonant ring (1) is greater than the width of said brace summer (21); The thickness of said resonant ring (1) is greater than the thickness of said brace summer (21); Said piezoelectric element (4) is located on the said brace summer (21); Said brace summer (21) is the strip thin slice; The quantity of said brace summer (21) is the 8+4n root, and wherein n gets the integer more than 0, and every brace summer (21) is provided with a described piezoelectric element (4); Said piezoelectric element (4) is fitted on the outside surface and/or inside surface of said brace summer (21); The width of said piezoelectric element (4) equates that with the width of said brace summer (21) height of piezoelectric element (4) is 1/2～2/3 of brace summer (a 21) height.
2. the harmonic oscillator of solid fluctuation gyro according to claim 1, it is characterized in that: said resonant ring (1) is cylinder ring or circular cone ring.
3. the harmonic oscillator of solid fluctuation gyro according to claim 1 and 2, it is characterized in that: the bus of said brace summer (21) is perpendicular to the plane at said chassis (3) place.
4. the harmonic oscillator of solid fluctuation gyro according to claim 1 and 2, it is characterized in that: said harmonic oscillator is the harmonic oscillator of being processed by fused silica material.
5. a solid fluctuation gyro is characterized in that: the harmonic oscillator that is equiped with each described solid fluctuation gyro in the aforesaid right requirement 1～4 on the said solid fluctuation gyro.
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| CN102353369B (en) * | 2011-07-08 | 2013-08-21 | 中国人民解放军国防科学技术大学 | Combination type quartz cup-shaped fluctuation top harmonic oscillator |
| CN102305627B (en) * | 2011-07-22 | 2013-02-27 | 上海交通大学 | All solid dual-axis gyroscope with discoid piezoelectric vibrator |
| CN103308041B (en) * | 2013-06-04 | 2016-01-13 | 南京航空航天大学 | A kind of piezoelectric type rotational speed meters |
| CN104165624B (en) * | 2014-07-25 | 2017-01-11 | 中国人民解放军国防科学技术大学 | Sidewall piezoelectric-driven ring vibrating gyroscope and driving and detection method |
| CN104215234B (en) * | 2014-09-18 | 2017-08-11 | 中国人民解放军国防科学技术大学 | A kind of method that utilization binodal point electrode eliminates cylindrical shell gyro temperature drift |
| CN105547271B (en) * | 2016-01-04 | 2018-01-05 | 中国人民解放军国防科学技术大学 | Oscillation gyro based on integrative cylindrical housing quartz resonance and piezoelectric membrane |
| CN113011070B (en) * | 2021-03-30 | 2022-08-16 | 河北工业大学 | Preparation method and device of mechanical harmonic oscillator |
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| GB2061502A (en) * | 1979-10-19 | 1981-05-13 | Marconi Co Ltd | A Sensor for Detecting Rotational Movement |
| US4793195A (en) * | 1986-10-20 | 1988-12-27 | Northrop Corporation | Vibrating cylinder gyroscope and method |
| UA79166C2 (en) * | 2005-05-31 | 2007-05-25 | Yurii Oleksiiovych Yatsenko | Detecting element of a vibratory gyroscope sensitive to coriolis acceleration |
| US8011245B2 (en) * | 2005-05-31 | 2011-09-06 | Innalabs Technologies, Inc. | Sensing element of coriolis force gyroscope |
| KR100930901B1 (en) * | 2007-09-05 | 2009-12-10 | 주식회사 한화 | Integrated axial vibrator with ring laser gyroscope |
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