CN102147253A - Vibrating-beam gyro of vibrating-beam-type dual-cantilever-face bracing structure - Google Patents

Abstract

The invention discloses a vibrating-beam gyro of a vibrating-beam-type dual-cantilever-face bracing structure, which comprises a gyro vibrating beam and piezoelectric sheets, wherein the gyro vibrating beam is provided with nodes on two ends and has a rectangular section, and the piezoelectric sheets are respectively bonded and fixed on four surfaces of the gyro vibrating beam. The vibrating-beam gyro is characterized in that the two vibrating nodes of the gyro vibrating beam are respectively and fixedly provided with bracing faces. Experiments show that because face-structure bracing vibrating beams are adopted for the vibrating-beam type gyro disclosed by the invention on the basis that the advantages of the traditional dual-node bracing gyro are maintained, the shock-resistant vibration value of the vibrating-beam gyro is improved to the gravity acceleration of 105 orders of magnitude, and the expansion of the application range of the dual-node vibrating beam gyro is greatly promoted. Meanwhile, the vibrating-beam gyro has the advantages of small size, light weight, low cost, low power consumption and high reliability.

Description

The walking beam gyro of the two cantilever face supporting constructions of vibration beam type

Technical field

The present invention relates to a kind of gyro, relate in particular to the walking beam gyro of the two cantilever face supporting constructions of a kind of vibration beam type.

Background technology

Two cantilever vibration gyros are the local vibration gyros in the solid-state oscillation gyro.The girder construction design of adopting node to support, two nodes of fundamental frequency mould can be reached as point of fixity that at any time (two ends are downward, middle making progress) the instantaneous linear momentum of beam is zero effect, the node of realizing ideal is again simultaneously fixed, be zero by driving the caused pressure of beam motion like this to fixed mechanism, the interaction of beam and external environment also is zero, therefore shakes to have better mechanics isolation between beam and the supporter; Compare with the other types gyro and to have the advantages that structure is more simplified, its Sensitive Apparatus is very simple, just a solid elastomeric alloy rectangular beam.Because designs simplification, corresponding stability improves greatly.The binode supporting construction is that the strong point to beam is chosen on the beam vibration node that shakes simultaneously, can draw theoretically, and the vibration of beam of shaking like this will be subjected to minimum influence, the energy loss minimum of the beam that shakes, and sensitivity is the highest.

Existing binodal point type cantilever shakes the beam gyro in order to keep above-mentioned advantage, and when choosing fulcrum, that often this support point is done is very little, makes so originally can resist the performance of more HI high impact to be weakened.

And the weakening of anti shock and vibration performance, limit the major obstacle of gyro application often, particularly along with the development of society, not the stopping of exploitation of mineral resources difficulty increases, it is more and more important that subsurface investigation shows, the broken brill in oil development field is measured, technology such as oriented perforating, all be unable to do without accurate in locating, that can be competent at present has only optical fibre gyro and fluxgate technology, but these two technology all are subjected to the restriction of service condition deeply, and the small size of solid-state oscillation gyro in theory, low-cost and higher performance index such as measuring accuracy can be competent at measurement while drilling fully, but traditional point-supported beam gyro that shakes of binodal is the maximum technical bottleneck that is applied to measurement while drilling aspect anti shock and vibration.

Summary of the invention

In order to address the above problem, the invention provides the walking beam gyro of the two cantilever face supporting constructions of a kind of vibration beam type, by increasing the face supporting construction, the shake shock resistance of beam gyro of cantilever is improved greatly.

The technical solution used in the present invention is such, and the walking beam gyro of the two cantilever face supporting constructions of promptly a kind of vibration beam type comprises that the cross section is the gyro of the rectangle beam and bonding respectively and be fixed on the shake piezoelectric patches on four surfaces, beam stage casing of described gyro that shakes; It is characterized in that: on described gyro shakes two vibration nodal point positions of beam, be fixed with supporting surface respectively.

Experiment showed, that the present invention supports and adopts the face support structure beam that shakes on the basis of advantage of gyro having preserved existing binode, makes its anti shock and vibration value bring up to 10 ⁵The acceleration of gravity of individual magnitude is for very big impetus has been played in the shake expansion of beam gyro usable range of binode.

Description of drawings

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing:

Accompanying drawing 1 is the gyrostatic fundamental diagram of vibration beam type;

Accompanying drawing 2 structural representations of the present invention;

Accompanying drawing 3 is the detailed mark figure of Fig. 2;

Accompanying drawing 4 is the contrast synoptic diagram of driving frequency experiment;

Accompanying drawing 5 is the synoptic diagram of supporting surface 1.

In the accompanying drawing: the 1-supporting surface; The 2-gyro beam that shakes, the 4-piezoelectric patches, 6-bonding agent, 7-are the piezoelectric patches binding post.

Embodiment

The embodiment of the indefiniteness that provides below with reference to accompanying drawing is described in detail superiority of the present invention.

Referring to accompanying drawing: the walking beam gyro of the two cantilever face supporting constructions of described vibration beam type comprise one exist at two ends vibration nodal point, the cross section is shake beam 2 and be adhesively fixed on the shake piezoelectric patches 4 on four surfaces, beam 2 stage casings of described gyro respectively of the gyro of rectangle; Wherein on shaking two vibration nodal point positions of beam, described gyro is fixed with supporting surface 1 respectively.

Further, described supporting surface 1 is for having and the gyro corresponding center pit in beam 2 cross sections that shakes, and pass gyro beam 2 expanded joint or bonding with it that shakes, or be weldingly fixed on the vibration nodal point position, and vertical with the gyro beam 2 that shakes.

Further, described supporting surface 1 is identical rectangular surfaces or circular face.

Further, described piezoelectric patches 4 is connected with lead by welding binding post 7 with it.The length of described piezoelectric patches is whole gyro 30% of beam 2 length of shaking, the width of piezoelectric patches is slightly less than the shake height of beam 2 of gyro, piezoelectric patches is extremely thin, and by the minimum dimension decision that processing technology and piezoelectric itself allow, the height of piezoelectric patches is more little, and it is also more little to the gyro Effect on Performance.Adopt bonding agent piezoelectric patches to be bonded on four surfaces of the beam that shakes, bond by 204 glue of more finally selecting for use to various bonding agents.Each term system energy parameter that draws 204 glue by actual measurement is as shown in the table.

The technology title	204 gluing connecing
		Electric contact	Very
Bonding strength	Very
		Sensing unit normal temperature performance	Very
The senser element temperature stability	Very
		The senser element high-temperature behavior	Difference

Further, adopt 204 glue 6 that lead is bonded on the piezoelectric patches, and keep good being electrically connected.

Referring to accompanying drawing 3, supporting surface 1 is divided into two part supporting surfaces 11 and supporting surface 12, these two supporting surfaces lay respectively on two vibration nodal points of the beam that shakes, two nodes of fundamental frequency mould can be reached as point of fixity at any time (two ends are downward, middle making progress) the instantaneous linear momentum of beam is zero effect, the node of realizing ideal is again simultaneously fixed, be zero by driving the caused pressure of beam motion like this to fixed mechanism, the interaction of beam and external environment also is zero, therefore shakes to have better mechanics isolation between beam and the supporter; The gyro beam 2 supported faces that shake are divided into three parts, the beam 21,22 and 23 that promptly shakes, and the division of these three parts is division points with the vibration nodal point; Supporting surface 11 is by connected structure 31, and supporting surface 12 is engaged togather with supporting surface by connected structure 32 beam that will shake at the node place of the beam that shakes, and described connected structure 31 and 32 is expanded joint structure or bonded structure or welded structure; Piezoelectric patches 4 is made of four piezoelectric patches 41,42,43 and 44, and it is right that piezoelectric patches 41 and piezoelectric patches 42 have constituted the driving piezoelectric patches, and it is right that piezoelectric patches 43 and piezoelectric patches 44 have constituted responsive piezoelectric patches; Two groups of piezoelectric patches 41,42 and 43,44 are bonded on four surfaces of the beam that shakes by bonding agent 6; Binding post 7 is made of four binding posts 71,72,73 and 74, links to each other with piezoelectric patches 41,42,43,44 respectively by bonding agent 6.

In use, it is right that piezoelectric patches 41 and 42 is combined to form the driving piezoelectric patches of gyro, it is right that piezoelectric patches 43 and 44 has been combined to form the responsive piezoelectric patches of gyro, piezoelectric patches 41,42 is respectively by being connected with external drive circuit, piezoelectric patches 43 and 44 is connected outside sensitive circuit respectively, by preceding surface analysis as can be known the driving circuit frequency be equal to the shake natural frequency of beam drive surface of gyro, the frequency of sensitive circuit equals the shake natural frequency of beam sensitive area of gyro.Peripheral drive circuit is applied to driving voltage and drives piezoelectric patches to above 41 and 42 by binding post, piezoelectric patches 41 and 42 drives the beam vibration that shakes under the effect of inverse piezoelectric effect, beam 2 will produce the vibration envelope under the drive of piezoelectric patches because gyro shakes, and then generation linear momentum, the whole gyro beam 2 that shakes is made of three parts beam 21,22 and 23 that shakes, when shaking beam vibration, owing to the motion equal and opposite in direction of particle on the beam 21 that shakes with particle on shake beam 22 and 23, direction is opposite, and therefore the aggregate momentum of the whole beam that shakes is zero; But there is linear momentum in the Liang21Chu that shakes, under the effect of coriolis force, when the angle input is arranged on the Liang Zaiyan that shakes shakes the beam length direction, the direction of vertical drive face (deck-molding of shaking) and angle input (beam length shakes) produces one with the proportional vibration of input angle at the same time, because the existence of piezoelectric effect, piezoelectric patches 43 and 44 converts this vibration to and vibrates the voltage that is directly proportional, binding post 6 is given peripheral sensitive circuit with the voltage transmission that piezoelectric patches 43 and 44 produces, and further the subsequent treatment realization by peripheral sensitive circuit is to the measurement of angular velocity

Referring to accompanying drawing 5, among the embodiment, the width 52 of the center pit of two supporting surfaces 11,12 and height 51 depend on the width and the height of the beam that shakes respectively, the external width 53 of two supporting surfaces 11,12 and height 54 depend on pedestal and the distance of the beam that shakes, but the minimum value of the external width 53 of two supporting surfaces 11,12 and height should be greater than the peak swing of the beam that shakes.When supporting surface was circle, its circumference should be greater than the peak swing of the beam that shakes to the minor increment of the beam that shakes.

Process of experimental about anti-shock resistance

Referring to Fig. 1, the described gyro beam 2 that shakes is a real core constant modulus alloy rectangular beam.The beam that shakes vibrates on driving shaft (x axle) direction and produces linear momentum, when on the input shaft direction (z axle) when input angular velocity is arranged, can produce, can try to achieve the angular velocity of pedestal by the size that detects this Corioli's acceleration along the 3rd direction of principal axis (y axle) De Geshi acceleration.

Its principle of work is as follows:

In the ideal case, the beam gyro of only considering to shake is in drive surface and the motion of reading face, and its corresponding dynamics equation is as follows:

$\frac{1}{m}\left(\begin{array}{c}{F}_x\\ F_y\end{array}\right)=\left(\begin{array}{c}\stackrel{\&CenterDot;\&CenterDot;}{x}\\ \stackrel{\&CenterDot;\&CenterDot;}{y}\end{array}\right)+\left(\begin{array}{cc}0& -2{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="z"\; filenames="HSA00000404473600021.png"\; state="\{\{state\}\}">z</figure-callout>}}\\ 2{\mathrm{\&omega;}}_z& 0\end{array}\right)\left(\begin{array}{c}\stackrel{\&CenterDot;}{x}\\ \stackrel{\&CenterDot;}{y}\end{array}\right)+\left(\begin{array}{cc}-{\mathrm{\&omega;}}_z^2& -{\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_z\\ {\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_z& -{\mathrm{\&omega;}}_z^2\end{array}\right)\left(\begin{array}{c}x\\ y\end{array}\right)---\left(1\right)$

ω in the formula _zBe the input angular velocity of gyro along the Z axle, Be acceleration with respect to inertial space,

Speed for the relative inertness space.

F makes a concerted effort _xAnd F _yMainly formed by the constraining force of vibration material and internally-damped power and by electricity, magnetic or external force that mechanical transducer produced.If all motion amplitudes are all very little, then the damping force of y and x direction and constraining force are uncorrelated mutually.Therefore

C _x, C _y---vibrating shaft, the axial ratio of damping of output shaft;

K _x, K _y---vibrating shaft, output shaft axle spring rigidity.

(1) (2) are merged, and the equation of motion of beam on the Y face is:

$\frac{f_y}{m}=\stackrel{\&CenterDot;\&CenterDot;}{y}+2\&CenterDot;{\mathrm{\&omega;}}_z\&CenterDot;\stackrel{\&CenterDot;}{x}+\frac{{\mathrm{\&omega;}}_o}{Q_o}\&CenterDot;\stackrel{\&CenterDot;}{y}+{\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_z\&CenterDot;x+({\mathrm{\&omega;}}_o^2-{\mathrm{\&omega;}}_z^2)\&CenterDot;y---\left(3\right)$

ω _c, ω _o---the natural frequency of vibrating shaft, output shaft;

Q _c, Q _o---the mechanical quality factor of vibrating shaft, output shaft;

Centrifugal force that motion produced and coriolis force in " y " axle can be ignored in vibrating shaft " x " axle.Therefore following formula is reduced to:

$\frac{f_y}{m}=\stackrel{\&CenterDot;\&CenterDot;}{y}+\frac{{\mathrm{\&omega;}}_o}{Q_o}\&CenterDot;\stackrel{\&CenterDot;}{y}+{\mathrm{\&omega;}}_o^2\&CenterDot;y---\left(4\right)$

Driving transducer power f _xDriving under the beam that shakes be in vibrational state, the position of particle is

x＝x ₀sin(ω _ct) (5)

Here, x ₀Be the peak swing of vibration, ω _cFor driving angular velocity.

The speed of particle correspondence then

For

$\stackrel{\&CenterDot;}{x}=x_0{\mathrm{\&omega;}}_c\cos \left({\mathrm{\&omega;}}_{c}t\right)---\left(6\right)$

Suppose that moving coordinate system relative inertness system is with Constant Angular Velocity ω _zDuring rotation, the beam that shakes just can produce Corioli's acceleration on the y direction, and its size is:

$2{\mathrm{\&omega;}}_z\stackrel{\&CenterDot;}{x}=2{\mathrm{\&omega;}}_z{\mathrm{\&omega;}}_c{x}_0\cos \left({\mathrm{\&omega;}}_{c}t\right)---\left(7\right)$

Wushu (7) is brought can the shake equation of motion of beam of formula (4) into:

$\frac{f_y}{m}=\stackrel{\&CenterDot;\&CenterDot;}{y}+\frac{{\mathrm{\&omega;}}_o}{Q_o}\&CenterDot;\stackrel{\&CenterDot;}{y}+{\mathrm{\&omega;}}_o^2\&CenterDot;y=2{\mathrm{\&omega;}}_z{\mathrm{\&omega;}}_c{x}_0\cos \left({\mathrm{\&omega;}}_{c}t\right)---\left(8\right)$

The steady state solution of equation correspondence is:

$S=\frac{{2x}_0{\mathrm{\&omega;}}_c}{{\mathrm{\&omega;}}_o^2{[{(1-\frac{{\mathrm{\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HSA00000404473600021.png"\; state="\{\{state\}\}">c</figure-callout>}}^2}{{\mathrm{\&omega;}}_o^2})}^2+{\left(\frac{{\mathrm{\&omega;}}_c}{{\mathrm{\&omega;}}_o{Q}_o}\right)}^2]}^{\frac{1}{2}}},$

In the formula:

From (9) formula, S is the mechanical sensitivity of gyro as can be seen.The amplitude x of mechanical sensitivity and driving shaft as can be seen simultaneously ₀Be directly proportional, simultaneously still resonance frequency omega with vibrating shaft and output shaft _cAnd ω _oThe relevant function of ratio, work as ω _c=ω _oThe sensitivity of gyro is the highest, if but two frequencies equate, piezolectric gyroscope in the gain of reading the plane because Q _oHigh and increase, driving and read the plane exists mechanical-electric coupling, reads the zero-bit instability.On the contrary, then do not have coupling, it is low to gain, and zero-bit is stable, and the bandwidth of piezolectric gyroscope is approximately equal to frequency interval simultaneously.Therefore determine the gap size of resonance frequency usually according to above-mentioned factor.

Drive choosing of mode and responsive mode:

Because driving frequency is very big to the amplitude influence of the beam that shakes.Choosing the natural frequency of shaking the beam drive surface and reading face respectively is reference frequency, then extraneous driving frequency is chosen from low to high successively natural frequency 0.5 times, and 1 times, 1.5 times, 2 times.Test figure as shown in Figure 4, on drive surface, when extraneous driving frequency is the natural frequency of drive surface, the amplitude maximum of the beam that shakes, extraneous driving effect is best; On sensitive area drives, when extraneous driving frequency equals natural frequency, the shake amplitude maximum of beam of correspondence, responsive effect is best.Therefore, drive the driving frequency under the mode and read the natural frequency that the driving frequency under the mode is all got the beam that shakes.

Drive the vibratory response of mode: (a) ω _f=0.5 ω 0 (c) ω _f=ω ₀

(e)ω _f＝1.5ω ₀ (g)ω _f＝2ω ₀

The vibratory response of responsive mode: (b) ω _f=0.5 ω ₀(d) ω _f=ω ₀

(f)ω _f＝1.5ω ₀ (g)ω _f＝2ω ₀

The anti shock and vibration that face supports calculates:

The higher limit that beam can be shock-resistant of shaking is impulsive force that the joist support that shakes is subjected to less than making the beam that shakes find maximum flexibility deformation power.Deformation need be satisfied following condition to rectangular beam generation maximum flexibility:

${\mathrm{\&sigma;}}_{\max }=\frac{M}{W_z}---\left(10\right)$

σ in the formula _MaxBe maximum stress, W _zBe the counter-bending coefficient of rectangular beam, M is the moment of flexure of beam of shaking.

When the beam that shakes is subjected to an acceleration and is the impact of a, the beam that shakes will produce a moment of flexure:

$M=\mathrm{\&rho;a}{\&Integral;}_0^l\frac{l-x}{l}\mathrm{xdx}=\frac{{\mathrm{\&rho;<figure-callout\; id="2"\; label="al"\; filenames="HSA00000404473600021.png"\; state="\{\{state\}\}">al</figure-callout>}}^2}{6}---\left(11\right)$

ρ is a surface density in the formula.

The counter-bending coefficient of rectangular beam is:

$W_z=\frac{{\mathrm{<figure-callout\; id="2"\; label="BH"\; filenames="HSA00000404473600021.png"\; state="\{\{state\}\}">BH</figure-callout>}}^2}{6}---\left(12\right)$

B is the wide of beam of shaking in the formula, and H is the height of beam of shaking.

With formula (10), formula (11) formula (12) combination

$a=\frac{{\mathrm{\&sigma;<figure-callout\; id="2"\; label="BH"\; filenames="HSA00000404473600021.png"\; state="\{\{state\}\}">BH</figure-callout>}}^2}{{\mathrm{\&rho;l}}^2}---\left(13\right)$

The parameter of the known beam that shakes is as follows:

The beam length that shakes is long l=60mm, wide b=4.14mm, and high h=4.1mm shakes girder connection apart from the beam two-end-point that shakes and is respectively 13.5mm (0.225*60), and beam maximum stress σ shakes _Max=1310MPa.

The impact resisting vibrating value of the center sill 21 between two supporting surfaces is:

$a=\frac{1310*{10}^6*4.14*{10}^{-3}*{4.1}^2*{10}^{-6}}{7900*4.14*4.1*{10}^{-6}*{33}^2*{10}^{-6}}=\frac{1310*4.14*16.81}{7900*4.14*4.1*1089}*{10}^9$

$=6.243098*{10}^5=6.37050*{10}^{4}g$

For two ends cantilever 22,23 impact resistance values:

$a=\frac{1310*{10}^6*4.14*{10}^{-3}*{4.1}^2*{10}^{-6}}{7900*4.14*4.1*{10}^{-6}*{13.5}^2*{10}^{-6}}=\frac{1310*4.14*16.81}{7900*4.14*4.1*182.25*1089}*{10}^9$

$=3.73044399*{10}^6=3.8065755*{10}^{5}g---\left(15\right)$

The impact value that the Liang Suoneng that shakes becomes to bear, the minimal impact value that be can bear by the whole beam that shakes determines, by formula (14) (15) as can be known, the maximum impact value that the beam that shakes can bear is by the impact value decision that the beam 21 that shakes can bear, and the shock resistance value of the beam that therefore shakes is 6.37050*10 ⁴G.

Above-mentioned experiment shows that the present invention's shock resistance value in the measuring accuracy of preserving existing binode support gyro can reach 6.37050*10 ⁴G increases significantly than original 421.5G shock resistance value that does not add the gyro of supporting surface.

Claims (4)

1. the walking beam gyro of the two cantilever face supporting constructions of a vibration beam type comprises that the cross section is the gyro of the rectangle beam (2) and bonding respectively and be fixed on the shake piezoelectric patches (4) on four surfaces, beam (2) stage casing of described gyro that shakes; It is characterized in that: on described gyro shakes two vibration nodal point positions of beam, be fixed with supporting surface (1) respectively.

2. the walking beam gyro of the two cantilever face supporting constructions of vibration beam type according to claim 1, it is characterized in that: described supporting surface (1) is for having and the gyro corresponding center pit in beam (2) cross section that shakes, pass gyro shake beam (2) vibration on node location with gyro beam (2) expanded joint or bonding that shakes, or welding is fixing, and vertical with the gyro beam (2) that shakes.

3. according to the walking beam gyro of claim 1, the two cantilever face supporting constructions of 2 described vibration beam types, it is characterized in that: described supporting surface (1) is identical rectangular surfaces or circular face.

4. the walking beam gyro of the two cantilever face supporting constructions of vibration beam type according to claim 1, it is characterized in that: described piezoelectric patches (4) is connected with lead by welding binding post (7) with it.

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