CN102650525A - Method for calibrating resolution of photoelectric sensor of electrostatic gyro polar axis - Google Patents
Method for calibrating resolution of photoelectric sensor of electrostatic gyro polar axis Download PDFInfo
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- CN102650525A CN102650525A CN2011104151238A CN201110415123A CN102650525A CN 102650525 A CN102650525 A CN 102650525A CN 2011104151238 A CN2011104151238 A CN 2011104151238A CN 201110415123 A CN201110415123 A CN 201110415123A CN 102650525 A CN102650525 A CN 102650525A
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Abstract
The invention relates to a method for calibrating the resolution of a photoelectric sensor of an electrostatic gyro polar axis. A spherical cap which has the same external diameter as that of a gyrorotor is provided by the method, connected onto an air static pressure floating axis and rotates at a high speed under the free suspension state to simulate an electrostatic attraction state. An air static pressure bearing system applies support control moment to adjust the static pressure suspension force on a rotor, so that the rotor is in a stable balance state in a ceramic bowl, and a disturbance moment which causes a gyro to generate drifting is overcome. A piezoelectric ceramics micrometric displacement device piezoelectric transducer (PZT) drives an operating platform to generate micrometric displacement, a polar axis is made to do small angle tangential movement between an optical axis of the photoelectric sensor and a spherical cap rotor which is fixedly connected with a geographic coordinate system, so that the relation between the output and the corresponding small angle displacement of the photoelectric sensor of the electrostatic gyro is simulated, and the sensor resolution which corresponds to the practical working state of the electrostatic gyro is measured within a small angle scope. The method can accurately obtain the true value of the resolution of the photoelectric sensor of the polar axis.
Description
The ■ technical field
The present invention is the scaling method of pole axis photoelectric sensor resolution in the electrostatic gyro.Because the drift of electrostatic gyroscope and the existence of earth apparent motion, the resolution of pole axis photoelectric sensor and precision can't record on gyro body or The Gyro Test Turntable.For measuring the actual value of pole axis photoelectric sensor resolution, need probe into the scaling method of pole axis photoelectric sensor resolution, before the gyroscope photoelectric angular measurement system is normally measured, the resolution of pole axis photoelectric sensor is demarcated.The present invention props up the state of outstanding rotor with the electrostatic suspension in the static air pressure supporting simulation electrostatic gyro; The rotor that makes the optical axis of pole axis photoelectric sensor be fixed on geographic coordinate system is relatively made tangential motion; Obtain the output and the pairing angular deflection relation of photoelectric sensor, in small angle range, measure the pole axis photoelectric sensor resolution suitable with the electrostatic gyroscope actual working state.Because the drift of electrostatic gyroscope and the existence of earth apparent motion, the resolution of pole axis photoelectric sensor and precision can't record on gyro body or The Gyro Test Turntable.Before photoelectric angular measurement system is measured, its measuring accuracy is demarcated.
The ■ background technology
The inertial navigation system that with the gyroscope is sensitive element is a complete autonomous type system.Do not rely on extraneous any information, outwards do not launch any energy yet, have disguise, round-the-clock and worldwide navigation ability.At present, inertial navigation technology has obtained at aspects such as space remote sensing, geophysical survey, geodetic surveyings using widely.
Electrostatic gyro is to utilize electrostatic force to make the high precision inertance element of spherical spinner high speed rotating under free suspended state; Compare with other gyroscope; Have distinct feature, have several ceramic shell and spherical metal rotors by one on the structure and form, do not have Mechanical Contact between rotor and the supporting metal electrode; Reduce interference source, had the unapproachable high precision of general restrained gyroscope.Its drift rate is little, and stable performance is simple in structure.Electrostatic gyro mainly is through measuring its apparent motion angle with respect to local level, estimate local meridian direction, reaching the purpose of seeking north.Gyroscope has perturbed force inevitably and makes it and produces drift, thereby causes that axis of rotation relative inertness space changes the orientation, influences the precision of electrostatic gyroscope.
Electrostatic gyro is provided with two photoelectric sensors in the pole axis position and the equatorial positions of rotor, claims pole axis sensor and equator sensor.Collection of illustrative plates on gyrorotor pole axis place, surface and place, equator vapor deposition reads the figure spectrum information with pole axis, equator sensor respectively, obtains the position signalling of rotor pole axis with respect to housing through the signal Processing link.This method is applicable to that the rotor pole axis is with respect to the less situation of gyro housing deflection angle; On the pole axis of spherical spinner and equator, engrave opaque rectangle diffuse reflection figure; Collection of illustrative plates is diffuse reflection to light; The position signalling of the pole axis photoelectric sensor output gyro momentum moment, equator photoelectric sensor output speed pulse signal is as the benchmark of pole axis position separating.When the pole axis sensor was consistent with the gyro pole axis, pole axis photoelectric sensor spot center was aimed at limit, and the half the of hot spot overlaps with the pole axis groove, and light is scattered, and second half is reflected by rotor cover, is converted into electric signal by the sensor receiving element.At this moment, rotor rotation in one week this signal be a constant.When housing changed with respect to the position of rotor, the area that hot spot overlaps with the trochanter reflex face also constantly changed, and the signal of sensor output is modulated by rotating speed, was output as and was similar to sinusoidal signal.Simultaneously, the equator photoelectric sensor receives the gyrorotor rotational speed pulse signal, and this signal amplification, shaping, quadrature are separated the square-wave signal that obtains the two-way quadrature.This two-way square-wave signal and pole axis signal are carried out phase demodulation relatively, can obtain the location deflection angle of rotor pole axis with respect to housing pairwise orthogonal axle.Pole axis sensor output gyro position signalling, equator sensor output gyro rotational speed pulse signal.The resolution of pole axis sensor directly affects the angle measurement accuracy of gyro.
Electrostatic gyroscope pole axis photoelectric sensor low-angle reads and generally all adopts photoelectric detecting method, and with regard to domestic and international existing low-angle photoelectric measurement method, the optical system that is adopted can be divided into following several types: micro-amplification system; Collimation (looking in the distance) system; Triangulation system; Fibre-optic transmission system (FOTS).
The detection mode of micro-amplification system is that the light that light source sends is gathered into a luminous point to light through Amici prism, collector lens, is mapped on the rotor surface, reflects intensity variations through detection, comes the drift angle of detection rotor.The problem that this mode exists is, the efficiency of light energy utilization is low, heating is big, complex structure, but it is also more convenient that adjustment is installed, and can satisfy the requirement of pole axis signal performance.
The detection mode of collimation (looking in the distance) system is to pass through the light that light source sends collimation, Amici prism, be mapped to the rotor pole axis, and reflected light directly gets into photodetector through Amici prism.The hot spot of autocollimation formula is relatively big, if be used on the little gyro, the angle of divergence that reflects light is bigger, influences precision.Because there is Amici prism in the light path, the luminous energy loss is bigger, and overall utilization ratio is lower.In addition, collimation ceremony sensor construction is complicated, and volume is also bigger, but the installation adjustment is more convenient.
The triangulation mode be exactly the light direct irradiation that comes out from light emitted in the rotor limit, photodetector receives the light that reflects.Light source, photodetector, reflecting surface, three's structure triangular in shape.This mode biggest advantage is that the efficiency of light energy utilization is high, adjusts reflection angle meticulously, and the efficiency of light energy utilization can reach more than 90%.In addition, it relatively simple for structure, required element seldom, reliability is than higher.But its light path can not incide the rotor limit with vertical angle, even the circularity of the hot spot that sends is fine, the hot spot that shines on the limit also is an ellipse, thereby poor signal quality, and the zero-bit noise is big.
The electrostatic gyroscope angle measuring system of optical fiber mode is a kind of novel sensor.It utilizes the biography light function of optical fiber, and the optically-coupled of sending laser diode gets in the optical fiber, and the other end of optical fiber is near the rotor pole axis, and the optical fiber of transmission light source energy is in the centre, and distributing on every side receives catoptrical optical fiber.Fibre diameter is little, generally has only the hundreds of micron, is prone to realize the microminiaturization of sensor; The optical fiber angle measuring system is relatively simple for structure, and sensor can be fixed in the metallic sheath, and it is relatively easy to install and adjust.
At present; The above several method of the many employings of electrostatic gyro photoelectric sensor resolution scaling method; But also there are some problems in these several kinds of modes aspect luminous energy loss and the noise, angular sensitivity is not high, can't realize better resolution demarcation; Therefore, seeking new photoelectric sensor scaling method comes sophisticated systems imperative.
The ■ summary of the invention:
The objective of the invention is to demarcate the resolution of pole axis photoelectric sensor in the electrostatic gyro, this kind method is applied to navigate in the angle measuring system, before the angle measuring system routine work, its precision is demarcated.This method is made identical with the gyro external diameter and can simulate an electrostatic gyroscope duty spherical crown rotor, and it is connected on the shaft extension end of static air pressure air-bearing shafts, and the pole axis photoelectric sensor is fixed on the china bowl.Between the two radially micrometric displacement to realize the zero-bit centering between photoelectric sensor and model rotor; The axioversion displacement; Make the optical axis and the model rotor intercropping low-angle tangential motion that is fixed on geographic coordinate system of pole axis photoelectric sensor; With the output and the pairing minute angle offset relationship of photoelectric sensor in the simulation electrostatic gyro, in small angle range, measure the sensor resolution suitable with the electrostatic gyroscope actual working state.This kind method can access the actual value of pole axis photoelectric sensor resolution, and simple in structure.
The objective of the invention is to realize: 1. be the moment of inertia minimum when making high speed rotating, will simulate gyrorotor and be designed to spherical crown, simulate the motion of electrostatic gyroscope spherical spinner with the high speed rotary motion of spherical crown rotor by following technical scheme.2. plane, model rotor bottom is connected on the shaft extension end of static air pressure air-bearing shafts, a simulation electrostatic suspension technology outstanding rotor, rotor connect spiral pull bar tension the moving axially with restrict rotor of back by main shaft with air supporting electricity main shaft; The Self-centering Action of air-bearing can be controlled the malalignment of rotor and air-floating main shaft during high speed rotating.3. for guaranteeing the structural symmetry degree of spherical crown, required the right alignment and the face runout on spherical crown surface during design; Be that the surface smoothness that guarantees spherical crown reaches the symmetry that does not destroy it, add to go out minute surface by the diamant car man-hour, and do not need the spherical grinding operation.4. design venthole, under high-speed motion state, overcome the air block phenomenon that clearance too small between model rotor and china bowl produces.
The ■ beneficial effect
The rotor that adopts the present invention can make the optical axis of pole axis photoelectric sensor in the electrostatic gyro be fixed on geographic coordinate system is relatively made tangential motion; With the output and the pairing angular deflection relation of photoelectric sensor in the simulation electrostatic gyro, in small angle range, measure the sensor resolution suitable with the electrostatic gyroscope actual working state.
The ■ description of drawings
Fig. 1 is based on pole axis photoelectric sensor of the present invention angle measurement, demarcation, center support system principle schematic
Fig. 2 is a pole axis photoelectric sensor angle read-out principle synoptic diagram
Wherein: 1-photoelectric sensor, 2-model rotor, 3-china bowl, 4-laser interferometer, 5-PZT, 6-air-bearing, 7-sheet spring
The ■ embodiment
Below in conjunction with accompanying drawing the present invention is done and to further describe:
Fig. 1 is the angle measurement of pole axis photoelectric sensor, demarcation, center support system principle schematic.The simulation gyrorotor is the spherical crown rotor that a bottom is the plane, to reduce moment of inertia.Plane, model rotor bottom is connected on the shaft extension end of air-bearing shafts a simulation electrostatic suspension technology outstanding rotor.The pole axis photoelectric sensor is fixed on the china bowl, and china bowl links to each other with worktable.Cut the adjustment pad through repairing, regulate the end play of china bowl and spherical spinner; The radially micrometric displacement of china bowl is driven by piezo-ceramic micro displacement unit PZT and regulates, and its regulated quantity is the gap of screw; Be installed in three pairs of capacitive transducers (figure is last not to be drawn) on the china bowl and survey the radial play amount of china bowl and spherical spinner, adjustment makes the working clearance that reaches electrostatic gyro between the two with detection the time.Another PZT makes spherical model rotor make tangential motion with respect to photoelectric sensor to the worktable micrometric displacement, to realize the low-angle skew of photoelectric sensor.The amount of movement of laser interferometer measurement worktable, promptly photoelectric sensor is with respect to the tangential motion amount of model rotor and be converted into offset.
During work, the aerostatic bearing system applies support and control moment, adjusts epitrochanterian static pressure suspending power, makes rotor in ceramic bowl, be in stable equilibrium state.This method has overcome makes actual gyroscope produce the disturbance torque of drift, makes axis of rotation relative inertness space that definite orientation arranged, and an accurate measurement of bearing benchmark is provided.
Claims (8)
1. the scaling method of pole axis photoelectric sensor in the electrostatic gyro; It is characterized in that: because the drift of gyro and the existence of earth apparent motion; The resolution of pole axis photoelectric sensor can't record on gyro body or The Gyro Test Turntable; Employing can be simulated the model rotor of gyro duty and utilized the levitation effect of static air pressure air-bearing shafts to make the method for this rotor high speed rotating under the electrostatic attraction emulation mode; Realize centering and minute angle skew between pole axis photoelectric sensor and model rotor, after precision measurement goes out this minute angle side-play amount, can calibrate the actual value of pole axis photoelectric sensor resolution.
2. the scaling method of pole axis photoelectric sensor as claimed in claim 1; It is characterized in that: the moment of inertia when making high speed rotating is minimum; Model rotor is designed to the spherical crown shape, with the motion of spherical spinner in the high speed rotary motion simulation electrostatic gyro of spherical crown rotor.
3. the scaling method of pole axis photoelectric sensor as claimed in claim 2 is characterized in that: spherical crown rotor and static air pressure air-bearing shafts are connected firmly one, make the spherical crown rotor under free suspended state high speed rotating with simulation electrostatic attraction state.
4. the scaling method of pole axis photoelectric sensor as claimed in claim 3; It is characterized in that: the static air pressure air-bearing shafts applies support and control moment with the epitrochanterian static pressure suspending power of adjustment spherical crown to the spherical crown rotor, the spherical crown rotor is overcome drift about disturbance torque and be in stable equilibrium state.
5. the scaling method of pole axis photoelectric sensor as claimed in claim 4 is characterized in that: the spherical crown rotor revolving shaft that the uneven offset the when Self-centering Action of air static pressure air-bearing axle can restrict spherical crown working rotor rotating speed during high speed rotating and this amount of unbalance cause and the malalignment of static air pressure air-bearing shafts.
6. the scaling method of pole axis photoelectric sensor as claimed in claim 1 is characterized in that: the light that the pole axis photoelectric sensor sends projects the spherical crown rotor surface, and when the spherical crown rotor did not squint, hot spot was that the center is symmetrically distributed with the pole axis.
7. the scaling method of pole axis photoelectric sensor as claimed in claim 6; It is characterized in that: after the spherical crown rotor squints; Its angular displacement meeting brings the energy deviation of light beam; Variation has taken place in the symmetrical distribution that is hot spot, and the luminous energy that reflexes on the pole axis photoelectric sensor also changes, and the variation of the variation of luminous energy and pole axis photoelectric sensor and spherical crown rotor relative position is interrelated.
8. the scaling method of pole axis photoelectric sensor as claimed in claim 7; It is characterized in that: when spherical crown rotor low-angle squints; Change-detection through detecting pole axis photoelectric sensor luminous energy goes out this low-angle side-play amount; The spot displacement information that angular variation is brought converts the amplitude and the frequency information of output signal into after the processing of circuit system handles, thereby calibrates the actual value of pole axis photoelectric sensor resolution.
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| CN201110415123.8A CN102650525B (en) | 2011-12-13 | 2011-12-13 | The scaling method of electrostatic gyro pole axis resolution of photoelectric sensor |
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| CN201110415123.8A CN102650525B (en) | 2011-12-13 | 2011-12-13 | The scaling method of electrostatic gyro pole axis resolution of photoelectric sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672537A (en) * | 2012-05-23 | 2012-09-19 | 北京理工大学 | Precise shafting circular grating optical indexing method |
| CN104807433A (en) * | 2015-03-25 | 2015-07-29 | 杭州电子科技大学 | Optical auto-collimation principle based two-dimensional space turning angle detection method of spherical rotor |
| CN105115522A (en) * | 2015-09-16 | 2015-12-02 | 清华大学 | Electrostatic gyro servo testing device based on turntable position working mode |
| CN112378512A (en) * | 2020-11-26 | 2021-02-19 | 西安航天动力试验技术研究所 | Method for checking and using multi-measuring-point piezoelectric vibration sensor |
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| CN101113896A (en) * | 2007-08-06 | 2008-01-30 | 中国科学院电工研究所 | Magnetic suspension device used for measuring spherical spinner pole axis deflection angle and measurement method thereof |
| CN101285684A (en) * | 2008-05-22 | 2008-10-15 | 长安大学 | Gyro positioning measuring method |
| RU2338999C1 (en) * | 2007-05-11 | 2008-11-20 | Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт "Электроприбор" | Method of electrostatic gyroscope rotor suspension operation |
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| RU2338999C1 (en) * | 2007-05-11 | 2008-11-20 | Федеральное государственное унитарное предприятие "Центральный научно-исследовательский институт "Электроприбор" | Method of electrostatic gyroscope rotor suspension operation |
| CN101113896A (en) * | 2007-08-06 | 2008-01-30 | 中国科学院电工研究所 | Magnetic suspension device used for measuring spherical spinner pole axis deflection angle and measurement method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672537A (en) * | 2012-05-23 | 2012-09-19 | 北京理工大学 | Precise shafting circular grating optical indexing method |
| CN104807433A (en) * | 2015-03-25 | 2015-07-29 | 杭州电子科技大学 | Optical auto-collimation principle based two-dimensional space turning angle detection method of spherical rotor |
| CN105115522A (en) * | 2015-09-16 | 2015-12-02 | 清华大学 | Electrostatic gyro servo testing device based on turntable position working mode |
| CN105115522B (en) * | 2015-09-16 | 2018-08-03 | 清华大学 | Electrostatic gyroscope servo test device based on revolving table position operating mode |
| CN112378512A (en) * | 2020-11-26 | 2021-02-19 | 西安航天动力试验技术研究所 | Method for checking and using multi-measuring-point piezoelectric vibration sensor |
| CN112378512B (en) * | 2020-11-26 | 2022-10-28 | 西安航天动力试验技术研究所 | Method for checking and using multi-measuring-point piezoelectric vibration sensor |
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