CN104457723A - Gyro automatic run-up method, automatic run-up circuit and run-up apparatus - Google Patents
Gyro automatic run-up method, automatic run-up circuit and run-up apparatus Download PDFInfo
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- CN104457723A CN104457723A CN201310424243.3A CN201310424243A CN104457723A CN 104457723 A CN104457723 A CN 104457723A CN 201310424243 A CN201310424243 A CN 201310424243A CN 104457723 A CN104457723 A CN 104457723A
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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
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Abstract
The invention discloses a gyro automatic run-up method, an automatic run-up circuit and a run-up apparatus. The automatic run-up circuit comprises a first position sensor, second position sensor, a run-up signal generation circuit, a first power amplification circuit and a second power amplification circuit; the first position sensor and the second position sensor are arranged on a gyro, are used to sense the position of a rotor, generate sensing voltage and further obtain two sensing voltages with orthogonal phases; the run-up signal generation circuit performs additive operation on the sensing voltages of the first position sensor and the second position sensor so as to obtain a first current signal and a second current signal of which the phases are orthogonal; the first power amplification circuit amplified the first current signal and transmits the amplified first current signal to a run-up coil; and the second power amplification circuit amplified the second current signal and transmits the second current signal to a steady-speed coil. The apparatus does not need to arrange a run-up solenoid and a corresponding run-up circuit, so that the gyro design is simple and the volume is small.
Description
Technical field
The present invention relates to and drive gyro from the method that runs up, particularly relate to the servo-actuated mechanical gyro of Three Degree Of Freedom from shifting method and from shifting circuit.
Background technology
Gyroscope is a kind of instrument accurately can determining the orientation of moving object, it is modern Aviation, navigation, widely used a kind of inertial navigation instrument in space flight and national defense industry, its development is to a national industry, and national defence and other high-tech development have very important strategic importance.In order to make gyro in use can run up fast and reach specific rotation speed requirements, the function and significance of gyro run-up device just clearly.The rotary-die type that rises of a kind of gyro of prior art runs up with reference to the mode of running up of brshless DC motor, and this mode position by tongue tube inductive magnetic steel N, S pole that runs up, carrys out control coil powering order, gyro is rotated.Under this pattern, need run up line bag and corresponding line packet control circuit that one external, Gyroscope Design more complicated, and volume is larger.
Summary of the invention
The problem that the present invention solves is that in prior art, gyro run-up device needs design to run up line bag and corresponding control circuit and make the problem that Gyroscope Design is complicated and bulky.
For solving the problem, the invention provides a kind of gyro from shifting method, this gyro comprise from switch coil and speed stabilizing coil, the method comprises the steps: S1, on gyro, arranges primary importance sensor and second place sensor, distance between these two position transducers is 1/4 girth, the position of sensing rotor and produce sensing voltage and obtain two sensing voltages of quadrature in phase; S2: additive operation is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal and second current signal of quadrature in phase, apply described first current signal to described from switch coil and the second current signal to described speed stabilizing coil make described gyro from running up.
In concrete scheme, additive operation is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal of quadrature in phase and the second current signal specifically comprises: the reference voltage being 2.5V by the sensing voltage of primary importance sensor and magnitude of voltage compares and produces the first square-wave signal, the reference voltage being 2.5V by the sensing voltage of second place sensor and magnitude of voltage compares and produces the second square-wave signal, added by first square-wave signal the second square-wave signal and the second square-wave signal to add the first square-wave signal and obtain described two orthogonal the first current signals and the second current signal.
The present invention also openly gyro from shifting circuit, this circuit comprises primary importance sensor and second place sensor, the signal generating circuit that runs up, the first power amplification circuit and the second power amplification circuit, wherein, described primary importance sensor and the second place sensor setting distance on gyro and between these two position transducers is 1/4 girth, the position of sensing rotor and produce sensing voltage and obtain two sensing voltages of quadrature in phase; The described sensing voltage of signal generating circuit to primary importance sensor and second place sensor that run up carries out additive operation and obtains the first current signal and second current signal of quadrature in phase; Described first power amplification circuit amplify described first current signal, and transmission amplify the first current signal to described from switch coil; Described second power amplifier amplifies described second current signal, and the second current signal that transmission is amplified is to described speed stabilizing coil.
In concrete scheme, the described signal generating circuit that runs up comprises the first hysteresis comparator circuit, the second hysteresis comparator circuit, the first adding circuit and the second adding circuit, and described first hysteresis comparator circuit compares the sensing voltage of primary importance sensor and reference voltage compares and produces the first square-wave signal; The sensing voltage that described second hysteresis circuitry compares second place sensor compares with reference voltage and produces the second square-wave signal; First square-wave signal is added the second square-wave signal and produces the first current signal by described first adding circuit; Second square-wave signal is added the first square-wave signal and produces the second current signal by described second adding circuit, the second current signal and the first current signal quadrature in phase.
In concrete scheme, the magnitude of voltage of described reference voltage is 2.5V.
The present invention also discloses gyro from cranking device, this cranking device comprises and aforementionedly plays shifting circuit, the first selection circuit, the second selection circuit and smooth rate apparatus described in any one, wherein, described first selection circuit connects an output terminal and the ground of the signal generating circuit that runs up, and the output terminal of this first selection circuit connects described first power amplifier; Described second selection circuit connects an output terminal of smooth rate apparatus and another output terminal of the signal generating circuit that runs up, and the output terminal of this second selection circuit connects described second power amplifier; Produce when gyroscope speed reaches setting speed and to run up settling signal, this settling signal that runs up controls the first selection circuit and the second selection circuit and disconnects the connection of run up signal generating circuit and the first power amplification circuit and the second power amplification circuit and be communicated with smooth rate apparatus and the second power amplification circuit.
Compared with prior art, the present invention has the following advantages:
1, the present invention arranges primary importance sensor and second place sensor, and the sensing voltage phase differential that primary importance sensor and second place sensor export is 90 degree, switch coil and speed stabilizing coil has been transferred to after these two sensing voltages are converted into square-wave signal, and then, make gyro from running up, so, need not arrange and run up line bag and play shifting circuit accordingly, also preparation is no longer needed to run up line bag when debugging, do not need the corresponding shifting circuit of design inside testing apparatus simultaneously yet, make whole process operation simply and no longer need to increase peripherals, Gyroscope Design is simple and volume is little.
2, owing to powering up the moment, primary importance sensor and second place sensor have and vibrate by a small margin near a certain level, cause the square wave of generation incorrect, so, the signal generating circuit that runs up adopts hysteresis comparator to prevent the fluctuation of voltage by the present invention, and such as, this threshold voltage is 2.5V.Being arranged so that sensing voltage produces in square-wave signal process and there will not be fluctuation, so gyro can normally run up at an arbitrary position, there is not the dead angle that runs up of hysteresis comparator.
Accompanying drawing explanation
Fig. 1 is the structural representation of gyro machine;
Fig. 2 is the schematic block circuit diagram of the servo-actuated mechanical gyro of Three Degree Of Freedom of the present invention from cranking device;
Fig. 3 is the oscillogram of the sensing voltage that primary importance sensor and second place sensor produce;
Fig. 4 is the oscillogram of the first current signal and the second current signal.
Embodiment
By describing technology contents of the present invention, structural attitude in detail, reached object and effect, accompanying drawing is coordinated to be described in detail below in conjunction with embodiment.
Refer to Fig. 1 to Fig. 4, gyro automatic starting gear of the present invention, be specially adapted to the servo-actuated mechanical gyro of Three Degree Of Freedom, comprise from shifting circuit, the first selection circuit 2, second selection circuit 3 and smooth rate apparatus 4.Described from shifting circuit comprises primary importance sensor 11, second place sensor 12, run up signal generating circuit 13, first power amplification circuit 14 and the second power amplification circuit 15.Described primary importance sensor 11 and second place sensor 12 are arranged on gyro, the position of these two position sensors sense rotors and produce two sensing voltage UH1 and UH2 of quadrature in phase, and the waveform of sensing voltage as shown in Figure 3.The distance between two position transducers can be made to be 1/4 girth (as shown in Figure 1) and to make two sensing voltages of sensing mutually orthogonal.The described sensing voltage running up signal generating circuit 13 pairs of primary importance sensors 11 and second place sensor 12 carry out additive operation and the oscillogram obtaining the first current signal IQ1 of quadrature in phase and the second current signal IQ2(first current signal and the second current signal as shown in Figure 4).In the present embodiment, the signal generating circuit 13 that runs up described in comprises the first hysteresis comparator circuit 131, second hysteresis comparator circuit 132, first adding circuit 133 and the second adding circuit 134.It is that the reference voltage of 2.5V compares and produces the first square-wave signal that described first hysteresis comparator circuit 131 compares the sensing voltage of primary importance sensor 11 and magnitude of voltage.The reference voltage that the sensing voltage that described second hysteresis circuitry 132 compares second place sensor 12 and magnitude of voltage are 2.5V compares and produces the second square-wave signal.First square-wave signal is added the second square-wave signal and produces the first current signal by described first adding circuit 133.Second square-wave signal is added the first square-wave signal and produces the second current signal by described second adding circuit 134.
Please continue to refer to Fig. 1 and Fig. 2, described first power amplification circuit 14 amplifies described first current signal, and transmission amplify the first current signal to described from switch coil.Described second power amplifier 15 amplifies described second current signal, and the second current signal that transmission is amplified is to described speed stabilizing coil.After a switch coil and speed stabilizing coil receive the first current signal and the second current signal, rotor can run up.In order to run up signal generating circuit 1 and the connection between the first power amplifier 14 and the second power amplifier 15 can be disconnected after reaching the speed of running up, in the present embodiment, also comprise the first selection circuit 2 and the second selection circuit 3, this first selection circuit 2 is specific as follows with the connected mode of smooth rate apparatus 4 and the signal generating circuit 1 that runs up with the second selection circuit 3: described first selection circuit 2 is connected an output terminal and the ground of the signal generating circuit 1 that runs up, and the output terminal of this first selection circuit 1 connects described first power amplifier 14.Described second selection circuit 3 connects an output terminal of smooth rate apparatus 4 and another output terminal of the signal generating circuit 1 that runs up, and the output terminal of this second selection circuit 4 connects described second power amplifier 15.
Refer to Fig. 1 and Fig. 2, the course of work of smooth rate apparatus 4 is as follows: described smooth rate apparatus 4 comprises reference modulation coil 41 and speed stabilizing signal generating circuit 42.Smooth rate apparatus 4 measures the rotating speed of rotor in real time by reference modulation coil.When the rotating speed of rotor does not reach setting speed, the settling signal that runs up can not be produced, now, the signal generating circuit 1 that runs up is communicated with the second power amplification circuit 15 to the first power amplification circuit 14 with the second selection circuit 3 and makes the first current signal and the second current signal can be applied to corresponding switch coil and speed stabilizing coil by the first selection circuit 2 respectively; When the rotating speed of rotor reaches setting speed, generation runs up settling signal, this settling signal that runs up disconnects run up signal generating circuit 1 and the connection between the first power amplification circuit 14 and the second power amplification circuit 15 and make smooth rate apparatus 4 connect the second power amplification circuit 15, after connection, the speed stabilizing signal that smooth rate apparatus 4 produces transfers to speed stabilizing coil after the second power amplification circuit 15 amplifies, thus gyro rotates with stable speed.
In sum, the present invention arranges primary importance sensor and second place sensor, and the sensing voltage phase differential that primary importance sensor and second place sensor export is 90 degree, switch coil and speed stabilizing coil has been transferred to after these two sensing voltages are converted into square-wave signal, and then, make gyro from running up, so, need not arrange and run up line bag and play shifting circuit accordingly, also no longer need preparation to run up line bag when debugging, inside testing apparatus, also do not need that design is corresponding plays shifting circuit simultaneously.Make whole process operation simply and no longer need to increase peripherals, Gyroscope Design is simple and volume is little.In addition, owing to powering up the moment, primary importance sensor and second place sensor have and vibrate by a small margin near a certain level, cause the square wave of generation incorrect, so the signal generating circuit that runs up adopts hysteresis comparator to prevent the fluctuation of voltage by the present invention, such as, this threshold voltage is 2.5V.Being arranged so that sensing voltage produces in square-wave signal process and there will not be fluctuation, so the optional position in gyro A, B, C and D tetra-regions in FIG can normally run up, and there is not the dead angle that runs up of hysteresis comparator.
With the above-mentioned technical thought from cranking device for reference, the present invention also disclose a kind of gyro from shifting method, this gyro from shifting method comprise the steps: S1, primary importance sensor and second place sensor be set on gyro, the distance between these two position transducers is 1/4 girth; S2: subtraction is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal and second current signal of quadrature in phase, apply described first current signal to described from switch coil and the second current signal to described speed stabilizing coil make described gyro from running up.In other modes, additive operation is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal of quadrature in phase and the second current signal specifically comprises: the reference voltage being 2.5V by the sensing voltage of primary importance sensor and magnitude of voltage compares and produces the first square-wave signal, the reference voltage being 2.5V by the sensing voltage of second place sensor and magnitude of voltage compares and produces the second square-wave signal, added by first square-wave signal the second square-wave signal and the second square-wave signal to add the first square-wave signal and obtain described two orthogonal the first current signals and the second current signal.
Claims (6)
1. gyro from shifting method, this gyro comprise from switch coil and speed stabilizing coil, it is characterized in that: the method comprises the steps:
S1, primary importance sensor and second place sensor are set on gyro, the position of sensing rotor and produce sensing voltage and obtain two sensing voltages of quadrature in phase;
S2: additive operation is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal and second current signal of quadrature in phase, apply described first current signal to described from switch coil and the second current signal to described speed stabilizing coil make described gyro from running up.
2. as claimed in claim 1 gyro from shifting method, it is characterized in that: additive operation is carried out to the sensing voltage of primary importance sensor and second place sensor and obtains the first current signal of quadrature in phase and the second current signal specifically comprises: the reference voltage being 2.5V by the sensing voltage of primary importance sensor and magnitude of voltage compares and produces the first square-wave signal, the reference voltage being 2.5V by the sensing voltage of second place sensor and magnitude of voltage compares and produces the second square-wave signal, added by first square-wave signal the second square-wave signal and the second square-wave signal to add the first square-wave signal and obtain described two orthogonal the first current signals and the second current signal.
3. gyro from shifting circuit, it is characterized in that: this circuit comprises primary importance sensor and second place sensor, the signal generating circuit that runs up, the first power amplification circuit and the second power amplification circuit, wherein,
Described primary importance sensor and second place sensor setting on gyro, the position of sensing rotor and produce sensing voltage and obtain two sensing voltages of quadrature in phase;
The described sensing voltage of signal generating circuit to primary importance sensor and second place sensor that run up carries out additive operation and obtains the first current signal and second current signal of quadrature in phase;
Described first power amplification circuit amplify described first current signal, and transmission amplify the first current signal to described from switch coil;
Described second power amplifier amplifies described second current signal, and the second current signal that transmission is amplified is to described speed stabilizing coil.
4. gyro as claimed in claim 3 from shifting circuit, it is characterized in that: described in the signal generating circuit that runs up comprise the first hysteresis comparator circuit, the second hysteresis comparator circuit, the first adding circuit and the second adding circuit,
Described first hysteresis comparator circuit compares the sensing voltage of primary importance sensor and reference voltage compares and produces the first square-wave signal;
The sensing voltage that described second hysteresis circuitry compares second place sensor compares with reference voltage and produces the second square-wave signal;
First square-wave signal is added the second square-wave signal and produces the first current signal by described first adding circuit;
Second square-wave signal is added the first square-wave signal and produces the second current signal by described second adding circuit, the second current signal and the first current signal quadrature in phase.
5. gyro as claimed in claim 4 from shifting circuit, it is characterized in that: the magnitude of voltage of described reference voltage is 2.5V.
6. gyro is from cranking device, it is characterized in that: this cranking device comprises shifting circuit, the first selection circuit, the second selection circuit and smooth rate apparatus in claim 3 to 5 described in any one, wherein,
Described first selection circuit connects an output terminal and the ground of the signal generating circuit that runs up, and the output terminal of this first selection circuit connects described first power amplifier;
Described second selection circuit connects an output terminal of smooth rate apparatus and another output terminal of the signal generating circuit that runs up, and the output terminal of this second selection circuit connects described second power amplifier;
Produce when gyroscope speed reaches setting speed and to run up settling signal, this settling signal that runs up controls the first selection circuit and the second selection circuit and disconnects the connection of run up signal generating circuit and the first power amplification circuit and the second power amplification circuit and be communicated with smooth rate apparatus and the second power amplification circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310424243.3A CN104457723B (en) | 2013-09-16 | 2013-09-16 | Gyro shifting method, shifting circuit and cranking device from from |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310424243.3A CN104457723B (en) | 2013-09-16 | 2013-09-16 | Gyro shifting method, shifting circuit and cranking device from from |
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| Publication Number | Publication Date |
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| CN104457723A true CN104457723A (en) | 2015-03-25 |
| CN104457723B CN104457723B (en) | 2018-03-09 |
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| CN201310424243.3A Active CN104457723B (en) | 2013-09-16 | 2013-09-16 | Gyro shifting method, shifting circuit and cranking device from from |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506966A (en) * | 2018-10-29 | 2019-03-22 | 北京遥感设备研究所 | Split type of one kind turns line packet and loads automatically and remove device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3951000A (en) * | 1974-04-04 | 1976-04-20 | The Singer Company | Electrostatic motor |
| FR2561765A1 (en) * | 1984-03-23 | 1985-09-27 | Aerospatiale | System for launching the spinning wheel of a gyroscope carried on board a projectile |
| KR20020061787A (en) * | 2001-01-18 | 2002-07-25 | 엘지이노텍 주식회사 | Cage performance test apparatus and method thereof |
| CN201286058Y (en) * | 2008-09-27 | 2009-08-05 | 巨铠实业股份有限公司 | Motor apparatus having Hall sensor |
| CN101598551A (en) * | 2008-06-04 | 2009-12-09 | 中国科学院沈阳自动化研究所 | Spinning-up method and device for spinning top |
-
2013
- 2013-09-16 CN CN201310424243.3A patent/CN104457723B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3951000A (en) * | 1974-04-04 | 1976-04-20 | The Singer Company | Electrostatic motor |
| FR2561765A1 (en) * | 1984-03-23 | 1985-09-27 | Aerospatiale | System for launching the spinning wheel of a gyroscope carried on board a projectile |
| KR20020061787A (en) * | 2001-01-18 | 2002-07-25 | 엘지이노텍 주식회사 | Cage performance test apparatus and method thereof |
| CN101598551A (en) * | 2008-06-04 | 2009-12-09 | 中国科学院沈阳自动化研究所 | Spinning-up method and device for spinning top |
| CN201286058Y (en) * | 2008-09-27 | 2009-08-05 | 巨铠实业股份有限公司 | Motor apparatus having Hall sensor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506966A (en) * | 2018-10-29 | 2019-03-22 | 北京遥感设备研究所 | Split type of one kind turns line packet and loads automatically and remove device |
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| CN104457723B (en) | 2018-03-09 |
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