CN102494679B - Superconducting magnetic levitation based north-seeking device - Google Patents
Superconducting magnetic levitation based north-seeking device Download PDFInfo
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- CN102494679B CN102494679B CN2011103699315A CN201110369931A CN102494679B CN 102494679 B CN102494679 B CN 102494679B CN 2011103699315 A CN2011103699315 A CN 2011103699315A CN 201110369931 A CN201110369931 A CN 201110369931A CN 102494679 B CN102494679 B CN 102494679B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
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Abstract
The invention provides a superconducting magnetic levitation based north-seeking device, which comprises a turntable pedestal (1), a horizontal turntable (2), a gradienter (3), a clamp (4), a low temperature container (5), a refrigerating machine (6), a direction datum line (7), a heat transfer screen (8), a rotor cavity (9), a superconducting rotor (10), a radiation shield (11), an equatorial signal read-out figure (12), levitation coils (13), a driving coil (14), a polar axis sensor (15), an equatorial sensor 1 (16) and an equatorial sensor 2 (17). The equatorial signal read-out figure (12) on the surface of the superconducting rotor (10) is detected by the equatorial sensors, and then through calculation, the angular velocity component omega 1 and omega 2 of the horizontal components of a rotational angular velocity of the earth in directions of the optical axes of the two equatorial sensors can be obtained. And by means of the calculation formula alpha=arctan(omega 1/omega 2), the numerical value of angle alpha between the direction datum line (7) and the true north can be calculated.
Description
Technical field
The present invention relates to a kind of north finding device, particularly the north finding device of super-conductive magnetic suspension.
Background technology
The development of new material and cryogenic technique has been accelerated the application of superconductor technology, and the physical characteristics of superconductor uniqueness can have the incomparable application advantage of other material, as without hindrance current capacity, perfect diamagnetism and quantum coherence effect etc.The high precision superconduction instrument and equipment of based superconductor various characteristics research and development has important application at aspects such as the energy, information, environment detection, track traffic, medical diagnosis and scientific instrument.Seeking northern instrument is the instrument of measuring angle between its reference edge and geographical real north, can be other equipment the information such as orientation and attitude are provided, be widely used in the initial attitude measurement of carrier, the fields such as aligning, geophysical exploration, constructing tunnel, mining, geodetic surveying and resource exploration of radar antenna.Magnetometer is sought northern instrument and is determined north orientation by measuring terrestrial magnetic field, owing to affected by the external magnetic field that electric equipment produces on every side, and the magnetic direction difference of each position of earth surface, the precision that magnetometer is sought northern instrument is lower.Astronomy is sought northern instrument and is determined and can reach very high precision in orientation by measuring celestial body, still under water, in tunnel and in the bad situation of weather, can't use.The positioning precision that the pendulum-type compass is sought northern instrument is higher, but seek north the time longer.
Summary of the invention
In order to overcome the shortcoming of prior art, realize that high precision slewing seeks north, the present invention proposes the maglev north finding device of a kind of based superconductive.It is high and seek the characteristics such as the north time is short that apparatus of the present invention have a north finding precision.
North finding device of the present invention comprises rotary table base, horizontal revolving stage, fixture, level meter, lubber line, low-temperature (low temperature) vessel, refrigeration machine, protective shield of radiation, heat transfer screen, rotor chamber, superconducting rotor, suspended coil, drive coil, equator sensor, pole axis sensor.
Described horizontal revolving stage is placed on rotary table base, and low-temperature (low temperature) vessel is fixed on the fixture of horizontal revolving stage.Utilize the level meter on the horizontal revolving stage face to carry out Level tune to horizontal revolving stage and low-temperature (low temperature) vessel, make the turning axle of horizontal revolving stage and the turning axle of low-temperature (low temperature) vessel keep vertical with the earth surface level, horizontal revolving stage be take the ground vertical line as the turning axle rotation.
Near described superconducting rotor position under the line is carved with signal reading graph, two equator sensor quadratures are fixed on rotor chamber, the optical axis of two equator sensors is mutually vertical and point to the centre of sphere of superconducting rotor on surface level under the line, and the equator surface level is parallel with local level.The equator sensor is measured the horizontal component of the rotational-angular velocity of the earth that the superconducting rotor sensitivity arrives and the rotating speed of superconducting rotor by the signal reading graph that detects equatorial positions.Lubber line is engraved on horizontal revolving stage, and lubber line is parallel with the optical axis of one of them equator sensor.
Described signal reading graph forms by being engraved in rotor equator end to end two identical right-angle triangles of a week, a long right-angle side of right-angle triangle is parallel with equator, the center line of right-angle triangle overlaps with equatorial line, the hypotenuse of right-angle triangle and the angle of equatorial line are u, and the measurement range of superconducting rotor angular deflection is directly proportional to angle u.
Described refrigeration machine is arranged on the upper end of low-temperature (low temperature) vessel, and low-temperature (low temperature) vessel is inner by the protective shield of radiation of pull bar dead block shape, arranges the screen that conducts heat in the protective shield of radiation cylinder, and the screen that conducts heat is fixed by screws in the secondary cold head lower end of refrigeration machine.Place rotor chamber in the screen that conducts heat, the outer wall of rotor chamber is close to the inwall of the screen that conducts heat.Adopt the heat transfer screen directly to conduct the cooled rotor chamber by the cold of the secondary cold head of refrigeration machine.Superconducting rotor is positioned at rotor chamber, and the rotor chamber upper and lower side is furnished with suspended coil, by described suspended coil, superconducting rotor is suspended.Drive coil is arranged near position, superconducting rotor endoporus center, by drive coil, makes the superconducting rotor rotation, by the pole axis sensor that is arranged on the superconducting rotor top, detects the superconducting rotor levitation position.
The north finding method that uses described contrive equipment is that the optical axis of setting equator sensor one and the angle of real north are α, when the superconducting rotor High Rotation Speed, relative changes in deflection by superconducting rotor with rotor chamber, utilize the component of two equator sensor measurement rotational-angular velocity of the earth horizontal components on two equator sensor light direction of principal axis, i.e. rotational-angular velocity of the earth ω
IEIn local geographic latitude, be
The horizontal component of position
Component on the optical axis direction of sensor one and equator sensor two under the line, this component is respectively
With
Optical axis by calculating equator sensor one and angle α=arctan (ω of real north again
1/ ω
2), can obtain the angle α value of horizontal revolving stage upper position datum line and real north.
The accompanying drawing explanation
Fig. 1 low-temperature (low temperature) vessel inner structure schematic diagram.In figure: 5 low-temperature (low temperature) vessels, 6 refrigeration machines, 8 conduct heat shields, 9 rotor chamber, 10 superconducting rotors, 11 protective shield of radiations, 12 equator signal reading graphs, 13 suspended coils, 14 drive coils, 15 pole axis sensors, 16 equator sensor one, 17 equator sensors two;
Fig. 2 super-conductive magnetic suspension north finding device schematic diagram.In figure: 1 rotary table base, 2 horizontal revolving stages, 3 level meters, 4 fixtures, 7 lubber lines;
Fig. 3 equator signal reading graph launches schematic diagram.In figure: 18 rotor equatorial lines, 19 superconducting rotor smooth surfaces;
The position view of Fig. 4 equator sensor and superconducting rotor.
Embodiment
Below in conjunction with the drawings and the specific embodiments, the present invention is further described.
As shown in Figure 1, the low-temperature (low temperature) vessel inner structure comprises low-temperature (low temperature) vessel 5, refrigeration machine 6, screen 8, rotor chamber 9, superconducting rotor 10, protective shield of radiation 11, equator signal reading graph 12, suspended coil 13, drive coil 14, pole axis sensor 15, equator sensor 1 and equator sensor 2 17 conduct heat.Refrigeration machine 6 is arranged on the upper end of low-temperature (low temperature) vessel 5, and low-temperature (low temperature) vessel 5 is inner by the protective shield of radiation 11 of pull bar dead block shape, in 11 of protective shield of radiations, arranges the screen 8 that conducts heat, and the screen 8 that conducts heat is fixed by screws in the lower end of refrigeration machine 6 secondary cold heads.In the screen 8 interior placement rotor chamber 9 of conducting heat, the outer wall of rotor chamber 9 is close to the inwall of the screen 8 that conducts heat.Adopt the cold of screen 8 cold heads of the secondary by refrigeration machine 6 that conduct heat directly to conduct cooled rotor chamber 9, replaced general employing liquid helium to soak the type of cooling of rotor chamber 9, reduced and installed the complicated property that needs the input liquid helium, reduced the volume and weight of device.Superconducting rotor 10 is positioned at rotor chamber 9, and rotor chamber 9 upper and lower sides are furnished with suspended coil 13, by described suspended coil 13, superconducting rotor 10 is suspended.Drive coil 14 is arranged near position, superconducting rotor 10 endoporus centers, by drive coil 14, makes superconducting rotor 10 rotations, by the pole axis sensor 15 that is arranged on superconducting rotor 10 tops, detects the superconducting rotor levitation position.Near superconducting rotor 10 position under the line is carved with equator signal reading graph 12, and the general methods such as mechanical graduating with cutters and laser ablation that adopt of equator signal reading graph 12 are processed to form.Two equator sensors comprise that equator sensor 1 and equator sensor 2 17 quadratures are fixed on rotor chamber, the optical axis of equator sensor 1 and equator sensor 2 17 is mutually vertical and point to the centre of sphere of superconducting rotor 10 on surface level under the line, and the equator surface level is parallel with local level.
As shown in Figure 2, north finding device of the present invention comprises rotary table base 1, horizontal revolving stage 2, level meter 3, fixture 4, low-temperature (low temperature) vessel 5, refrigeration machine 6 and lubber line 7.Described horizontal revolving stage 2 is placed on rotary table base 1, and low-temperature (low temperature) vessel 5 is fixed on the fixture 4 of horizontal revolving stage 2.3 pairs of horizontal revolving stages 2 of level meter and low-temperature (low temperature) vessel 5 that utilization is arranged on horizontal revolving stage 2 table tops carry out Level tune, make the turning axle of horizontal revolving stage 2 and the turning axle of low-temperature (low temperature) vessel 5 keep vertical with the earth surface level, horizontal revolving stage 2 be take the ground vertical line as turning axle 360 degree rotations.Horizontal revolving stage 2 low speed rotation drive low-temperature (low temperature) vessel 5 around the rotation of ground vertical line, can eliminate superconducting rotor 10 constant value drift relevant with rotor chamber 9 housings such as grade of low-temperature (low temperature) vessel 5 inside, make measuring accuracy higher.
As Fig. 3 is launched into equator signal reading graph 12 as shown in planar graph, equator signal reading graph 12 is comprised of near two the identical right-angle triangles that join end to end of week rotor equatorial line 18 that is engraved in superconducting rotor 10, a long right-angle side of right-angle triangle is parallel with rotor equatorial line 18, and the center line of right-angle triangle overlaps with rotor equatorial line 18.The angle of the hypotenuse of right-angle triangle and rotor equatorial line 18 is u, and the measurement range of superconducting rotor 10 angular deflections is directly proportional to angle u.It is shorter to seek the north time, and the deflection angle of superconducting rotor 10 relative rotor chamber 9 is less, and the range of deflection angles of measuring superconducting rotor 10 relative rotor chamber 9 is less, and the value of u is just less.Sensor output high level in equator when the equator sensor is surveyed light and beaten under the line on signal reading graph 12, the equator sensor is surveyed light and is beaten equator sensor output low level when superconducting rotor smooth surface 19.As shown in Figure 4, lubber line 7 is parallel with the optical axis of equator sensor 1, with the angle of geographical north N direction be α.When the turning axle of superconducting rotor 10 and low-temperature (low temperature) vessel 5 all is parallel to the ground vertical line, the optical axis of equator sensor 1 and equator sensor 2 17 is all on the surface level of the equator of superconducting rotor 10, now superconducting rotor 10 rotates a circle, equator sensor 1 and equator sensor 2 17 are exported respectively two pulse signals that pulsewidth is equal, and pulsewidth can be scaled the certain angle that superconducting rotor 10 rotates through.Number of pulses by acquisition units in the time, can calculate the rotating speed of superconducting rotor 10.The superconducting rotor 10 suspended is with extraneous contactless, its turning axle is invariable at dimensional orientation, and rotor chamber 9 is connected on low-temperature (low temperature) vessel 5 and rotation platform 2, affected by earth rotation, make the relative rotor chamber 9 of turning axle of superconducting rotor 10 deflect, when superconducting rotor 10 rotates a circle, two unequal pulse signals of pulsewidth of equator sensor 1 output, the rotating speed of difference, angle u and superconducting rotor 10 by two pulse signal pulsewidths can calculate ω
1, its direction is the direction along equator sensor 2 17 optical axises.In like manner, two unequal pulse signals of pulsewidth of equator sensor 2 17 outputs, by calculating ω
2, its direction is the direction along equator sensor one 16 optical axises.Rotational-angular velocity of the earth in local geographic latitude is
The horizontal component of position
Component on the optical axis direction of sensor 1 and equator sensor 2 17 under the line, this component is respectively
With
Can pass through formula α=arctan (ω
1/ ω
2) solve the numerical value of the angle α that obtains lubber line 7 and real north N.
Claims (1)
1. the north finding device of a super-conductive magnetic suspension, described north finding device comprises low-temperature (low temperature) vessel (5), refrigeration machine (6), protective shield of radiation (11), rotor chamber (9), superconducting rotor (10), suspended coil (13), drive coil (14), refrigeration machine (6) is arranged on the upper end of low-temperature (low temperature) vessel (5), low-temperature (low temperature) vessel (5) is inner by the protective shield of radiation (11) of pull bar dead block shape, superconducting rotor (10) is positioned at rotor chamber (9), the interior upper and lower side of rotor chamber (9) is arranged suspended coil (13), drive coil (14) is arranged in superconducting rotor (10) endoporus, it is characterized in that: described device also comprises rotary table base (1), horizontal revolving stage (2), level meter (3), fixture (4), lubber line (7), screen (8) conducts heat, equator signal reading graph (12), pole axis sensor (15), equator sensor one (16) and equator sensor two (17), it is upper that described horizontal revolving stage (2) is placed in rotary table base (1), and low-temperature (low temperature) vessel (5) is fixed on the fixture (4) of horizontal revolving stage (2), the level meter (3) that utilization is arranged on horizontal revolving stage (2) table top carries out Level tune to horizontal revolving stage (2) and low-temperature (low temperature) vessel (5), make the turning axle of horizontal revolving stage (2) and the turning axle of low-temperature (low temperature) vessel (5) keep vertical with the earth surface level, horizontal revolving stage (2) be take the ground vertical line as the turning axle rotation, be furnished with the screen (8) that conducts heat in protective shield of radiation (11) cylinder, the screen (8) that conducts heat is fixed by screws in the secondary cold head lower end of refrigeration machine (6), place rotor chamber (9) in the screen (8) that conducts heat, the outer wall of rotor chamber (9) is close to conduct heat and is shielded the inwall of (8), utilizes the cold of refrigeration machine (6) secondary cold head to shield (8) by heat transfer and directly conducts cooled rotor chamber (9), near described superconducting rotor (10) position under the line is carved with signal reading graph (12), equator sensor one (16) and equator sensor two (17) quadratures are fixed on rotor chamber (9), the optical axis of equator sensor one (16) and equator sensor two (17) is mutually vertical and point to the centre of sphere of superconducting rotor (10) on surface level under the line, and the equator surface level is parallel with local level, it is upper parallel with the optical axis of equator sensor one (16) at horizontal revolving stage (2) that lubber line is carved (7),
Use the north finding method of described north finding device to be: by suspended coil (13) and drive coil (14), superconducting rotor (10) to be suspended and High Rotation Speed, utilize superconducting rotor (10) and the relatively rotation place of rotor chamber (9) to change, by equator sensor one (16) and equator sensor two (17), measure rotational-angular velocity of the earth ω
IEIn local geographic latitude, be
The horizontal component of position
Component on the optical axis direction of sensor two (17) and equator sensor one (16), be respectively under the line
With
Calculate the angle α of the optical axis that obtains equator sensor one (16) and real north=arctan(ω by computing machine again
1/ ω
2), can obtain the numerical value of lubber line (7) on horizontal revolving stage (2) and the angle α of real north, in above-mentioned formula, ω
1Measure ω by equator sensor one (16)
1Direction be the optical axis direction along equator sensor two (17), ω
2Measure ω by equator sensor two (17)
2Direction be the optical axis direction along equator sensor one (16).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103699315A CN102494679B (en) | 2011-11-18 | 2011-11-18 | Superconducting magnetic levitation based north-seeking device |
| PCT/CN2012/079750 WO2013071775A1 (en) | 2011-11-18 | 2012-08-07 | Superconducting magnetic levitation based north-seeking device and north-seeking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103699315A CN102494679B (en) | 2011-11-18 | 2011-11-18 | Superconducting magnetic levitation based north-seeking device |
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| Publication Number | Publication Date |
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| CN102494679A CN102494679A (en) | 2012-06-13 |
| CN102494679B true CN102494679B (en) | 2013-12-04 |
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| CN2011103699315A Active CN102494679B (en) | 2011-11-18 | 2011-11-18 | Superconducting magnetic levitation based north-seeking device |
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| WO (1) | WO2013071775A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102494679B (en) * | 2011-11-18 | 2013-12-04 | 中国科学院电工研究所 | Superconducting magnetic levitation based north-seeking device |
| CN102866431B (en) | 2012-09-13 | 2015-09-09 | 中国科学院电工研究所 | Measure the low-temperature superconducting device of gravity |
| CN106031599A (en) * | 2015-11-25 | 2016-10-19 | 江门市恒天科技有限公司 | Stirring assembly of liquid stirrer |
| CN105897063B (en) * | 2016-05-27 | 2017-12-15 | 湖北三江航天万峰科技发展有限公司 | A kind of magnetic levitation system with self-centering function |
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| DE3541259A1 (en) * | 1985-11-22 | 1987-05-27 | Bodenseewerk Geraetetech | DEVICE FOR DETERMINING THE NORTHERN DIRECTION |
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| CN102494679B (en) * | 2011-11-18 | 2013-12-04 | 中国科学院电工研究所 | Superconducting magnetic levitation based north-seeking device |
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2011
- 2011-11-18 CN CN2011103699315A patent/CN102494679B/en active Active
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2012
- 2012-08-07 WO PCT/CN2012/079750 patent/WO2013071775A1/en active Application Filing
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| CN102494679A (en) | 2012-06-13 |
| WO2013071775A1 (en) | 2013-05-23 |
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