CN1020210C - Static-inertial gyroscope and its manufacturing method - Google Patents

Abstract

The present invention has a method that the static inertia principle of objects and photoelectric detection are utilized to generate an angular displacement electric signal which is processed by a control circuit to make a motor reversely rotate a container provided with a static inertia sensing body; as a result, the container tracks the initial direction of the static inertia sensing body to generate the angular displacement between the container and a casing. By an angular displacement sensor, the angular displacement is converted into an electric signal which is transmitted to a display device or a controller. A gyroscope manufactured by the method of the present invention has the advantages of short starting time, long service time and small pointing error, and is suitable for all automatic navigation equipment and guiding and balancing attitude controlling equipment for spaceflight, aviation, sailing, on-land application and underground application.

Description

Static-inertial gyroscope and its manufacturing method

The present invention relates to the method for a kind of gyroscope and manufacturing thereof.

As everyone knows, present gyroscope in the world can be divided into two big classes.One class is inertial gyroscope, and another kind of is SANGNAC effect optical gyroscope.

So-called moving inertial gyroscope is a kind of gyroscope that was proposed in 1852 by French physicist's Foucault (LEON FOUCAULT).It is the gyroscope that manufactures with the moving principle of inertia of symmetrical rigid body around the fixed point high speed rotating.The high speed rotor that this gyroscope has a per minute 24000 to change.The wearing and tearing of the bearing of supporting rotor are very serious, and are therefore, very harsh to the quality requirements of bearing.Secondly, rotor must strictly be symmetrical in its turning axle, otherwise can cause noise and bigger frictional error when rotating.Moreover, start gyroscope and make it to arrive stable running status required start-up time, difference person needs 4 hours; Even quality better, what the acceleration starting device was housed also needs 15 minutes.In addition, be suspended on the equalization frame owing to move the rotor of inertial gyroscope, so its impact resistance is poor especially; And structure is very numerous and diverse, the processing request precision.In addition, the disadvantage of moving inertial gyroscope is that its speed autodyne is bigger, therefore can not use on flying body at a high speed.

With the SANGNAC effect is the gyroscope that make on the basis, comprises lasergyro and fiberoptic gyroscope, and it is that time-delay with light beam produces Light Interference Streaks, and is therefore very strict to the coherence request of fibre-optic material and optical characteristics; The particularly fibre-optic effect of expanding with heat and contract with cold seriously influences the precision of detection." modern military " the 153rd phase report of publishing in September, 1989 according to China: the fibre optic gyroscope by the development of West Germany Lai Tefu (LITEF) company carried out initial test flight in April, 1989, and this is taking a flight test of optical fibre gyro for the first time in the world.Its result shows that this gyrostatic bearing swing is per hour 5 °.Therefore also there is one section suitable distance apart from practical application.

The object of the present invention is to provide a kind of manufacture method of novel gyroscope.This gyroscope has adopted the quiet principle of inertia of object to make, and there are not the parts of any high-speed rotation in its structure; Do not adopt optical fibers and SANGNAC effect yet.Therefore, it is simple in structure; Life-span can reach 2,000,000 hours; Be shorter than for 1 second start-up time; And error in pointing is less than 0.001 °, and static-inertial gyroscope of the present invention is to temperature and insensitive; Do not have the speed autodyne, do not have SANGNAC effect fibre optic gyroscope to require the accurate and strict shortcoming of temperature control of technology like that; The cost of making is low than existing various gyroscopes.

Hereinafter at length narrate with reference to the accompanying drawings by making the static-inertial gyroscope that method of the present invention is made, wherein:

Fig. 1 is the static-inertial gyroscope front-view schematic diagram according to an embodiment manufacturing of method of the present invention.

Fig. 2 is the schematic top view of the container (16) among Fig. 1.

Fig. 3 is by the static-inertial gyroscope Photoelectric Detection of making method manufacturing of the present invention and the sketch of control circuit.

Come enumeration structure of the present invention and principle referring now to accompanying drawing 1.Wherein, the hollow posts body that the top is arranged that housing (10) is made for metal material, the opening portion and the base (13) of its bottom are tightly connected, so that housing forms annular seal space.Top in the chamber is a container (16), and this container (16) is the cylinder bodily form of bottom and top transparent.Place quiet inertia sensing body (8) in this container (16), the cuboid that this quiet inertia sensing body (8) is made for lighttight material, be 0.01 millimeter steel wire or be the messenger wire (1) made of 0.1 millimeter bungee as the axis of symmetry of this quiet inertia sensing body (8) so that quiet inertia sensing body (8) is connected to the top of container (16) and the central point of bottom with diameter with diameter, make this quiet inertia sensing body be suspended in the center of container, the tensioning degree of this messenger wire (1) should make its rotation tractive force minimum to quiet inertia sensing body.In addition, must fill with a kind of liquid (7) in this container, the physical characteristics of this liquid (7) is that viscosity is little to optical transparency, and solidifying point is low and than great.The whole equivalent proportion of quiet inertia sensing body (8) must be equal to the proportion of this liquid (7).On the outside surface of the top of container (16) and bottom, ultrared receiver (14) and (14 ') and infrared transmitter (15) and (15 ') are set respectively, the position of its setting should meet following condition: in the time of (a) on container (16) is quiet, the received light quantity from transmitter (15) and (15 ') in receiver (14) and (14 ') can make the internal resistance of receiver (14) and (14 ') equate; (b) when container (16) rotated with respect to quiet inertia sensing body (8) clockwise direction, quiet inertia sensing body (8) will block the light quantity that is transmitted into infrared receiver 14 by infrared generator 15; And when container counterclockwise rotated, quiet inertia sensing body must be able to block the light quantity that is transmitted into infrared receiver (14 ') by infrared generator (15 ').Torque motor (3) is a kind of reversible motor, is fixed on by rights on the sidewall of housing (10) by web member (4).In gyroscope of the present invention without any need for speed change gear.The rotating shaft of torque motor (3) is fixedlyed connected with the bottom centre of container (16), and on this coupling shaft, settle three brush rings (9) of insulation separately, photosignal on the container of rotation can be transferred in the control circuit board (12) that does not rotate at any time carry out processing and amplifying.Angular displacement sensor (11) is fixed on the sidewall of housing (10) by rights by web member (5), and simultaneously, its rotating part is connected with the rotating shaft of motor (3).This angular displacement sensor (11) outputs to display outside the present invention or controller (because of this display and controller belong to device outside the present invention, not making enumeration here) with detected angular displacement electric signal through socket (6).The effect of control circuit board is amplified infrared receiver (14) and (14 ') detected angular displacement electric signal and is handled the rotation of controlling motor (3) afterwards.The sketch of this control circuit is shown in the accompanying drawing 3, and its principle of work is understood by this field those of ordinary skill.

The following principle of work that the static-inertial gyroscope of making by method of the present invention is described with reference to accompanying drawing 2:

When static-inertial gyroscope of the present invention is in stationary state, suppose that this static-inertial gyroscope has an axis of orientation MM ', this MM ' supposes that by the center of circle O point of container infrared receiver (14) and the angle of axis of orientation MM ' are φ.Now container (16) is rotated counterclockwise when some angles are S along the direction of arrow P.Reason owing to the quiet inertia of object, quiet inertia sensing body (8) in the liquid will keep former stationary state (at this moment putting aside liquid (7) and messenger wire (1) rotation traction traction power) thereby the received light quantity of infrared receiver (14 ') is reduced because of being subjected to blocking of quiet inertia sensing body (8), the light quantity that opposite infrared receiver (14) is received increases to some extent, the light quantity that such two infrared receivers receive changes the variation that causes its internal resistance, just produce an electric signal and be transported to (referring to the control circuit sketch of accompanying drawing 3) in the operational amplifier A, make torque motor (3) (referring to Fig. 1) container 16 counter-rotatings.Set up by relational expression following as can be known among Fig. 2; Promptly

φ+S＝-φ-y-S …（A）

In (A) formula: φ is receiver (14) and the angle of axle MM ' when gyroscope remains static

S is the container anglec of rotation,

-S is the angle of motor (3) inversion container (16),

-y is that motor (3) reverses container (16), the size of the angular displacement that the moving inertia after the dead electricity produces.

-φ: for container (16) gone back to former bit motion and finish by motor after the angle that become with axis of orientation MM ' of receiver (14).

To be quiet inertia sensing body (8) make its angle to the counter clockwise direction displacement because of the viscosity of liquid body (7) and the rotation traction traction power of hang spring (1) to x.

By the operational amplifier A in the strict modulation control circuit: can make x=-y, because x=-y then draws following relational expression (referring to Fig. 2)

S＝-S-y …（B）

In (B) substitution (A) formula, can get:

φ=-φ promptly: gyroscope is before rotation, and its infrared receiver (14) and axis of orientation MM ' equal to rotate the angle of back receiver (14) and axis of orientation MM '.

This presentation of results, static-inertial gyroscope of the present invention are through rotation, no matter the number of times of rotation is how, and container (16), liquid (7) and quiet inertia sensing body (8) three remain in original sensing.But, but having produced a certain amount of angular displacement between container (16) and the shell (10), this angular displacement then detects by angular displacement sensor (11).By socket (6) electric signal is delivered to the outer display of the present invention.

Because highly sensitive (being about 80 millivolts/0.001 degree) of infrared transmitter and receptacle, so, Angular Displacement Detecting analysis shown in Fig. 2 is to be that unit carries out from 0.001 degree promptly with small angle, therefore, can be considered container (16) quiet inertia sensing body (8) is followed the tracks of fully, and error amount is less than 0.001 degree.In addition, because the liquid specific gravity in the container is equal to the equivalent proportion of quiet inertia sensing body (8), therefore, the speed of any nonrotary and acceleration can not cause the error of static-inertial gyroscope of the present invention.

The gyroscope made from method of the present invention can be applicable to space flight, aviation, and navigation, land face and all underground self-navigations are in the equipment of guidance and attitude control.

Except that the above structure of having narrated, still can be to structure of the present invention and part, take some to change, use the quiet inertia static-inertial gyroscope of making for referencial use of object in every case, all belong within the scope that the present invention looks for protection.

Claims (1)

1, make a kind of method of static-inertial gyroscope, it is characterized in that described method, comprising:

A. in filling with the container of certain liquid, place an opaque quiet inertia sensing body, utilize the quiet inertia of this sensing body, produce angular displacement;

B. utilize Photoelectric Detection to convert the angular displacement that quiet inertia sensing body produces to electric signal;

C. the electric signal control electric device inversion container that converts to of the angular displacement that produces with described quiet inertia sensing body is so that container is followed the tracks of the initial position of quiet inertia sensing body;

D. utilize angular displacement sensor to convert the angular displacement between container and the shell to electric signal, be transported on the display or controller outside the present invention.

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