CN104677382B - A kind of three floating inertia type instrument active magnetic suspension automatic wet centering scaling method - Google Patents
A kind of three floating inertia type instrument active magnetic suspension automatic wet centering scaling method Download PDFInfo
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- CN104677382B CN104677382B CN201510082123.9A CN201510082123A CN104677382B CN 104677382 B CN104677382 B CN 104677382B CN 201510082123 A CN201510082123 A CN 201510082123A CN 104677382 B CN104677382 B CN 104677382B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
A kind of three floating inertia type instrument active magnetic suspension automatic wet centering scaling method, the first magnetic suspension element to every Lu Huisidun detection electric bridges applies reinforcing signal, the floating inertia type instrument float movement of towing three, while obtaining corresponding digital voltage value by digitial controller, is designated as U to direct limit positionmaxoi；The second magnetic suspension element to every Lu Huisidun detection electric bridges applies reinforcing signal, and the floating inertia type instrument float movement of towing three, while obtaining corresponding digital voltage value by digitial controller, is designated as U to negative sense extreme positionminoi；I=1 to N；Calculate when float is in mechanical zero and the corresponding electric zero inclined U of electric bridge is detected per Lu Huisidunobi, Uobi=(Umaxoi+Uminoi)/2；I=1 to N；Electric zero for obtaining as the reference voltage of float magnetic suspension position control, realizes the fixed middle control of float partially.The demarcation of electrical null position deviation when the present invention can fast and automatically realize that instrument float is in mechanical zero, zmodem, error is small, and the parameters such as dead band, rigidity can be coordinated to be adjusted flexibly.
Description
Technical field
The present invention relates to three floating inertia type instrument active magnetic suspension automatic wet centering scaling methods.
Background technology
Three floating inertia type instruments (gyroscope or gyroaccelerometer) are the electromechanical instrument based on classical rotor dynamics principle
Table, it uses the air supporting dynamic pressure motor (generally higher than 30,000rpm) of permanent rotation at a high speed to produce angular momentum, float using liquid it is floating with
Magnetic suspension dual support mode：Liquid is floating to overcome float gravity, and instrument is had excellent shock resistance, vibration characteristics；Magnetic suspension
Float is departed from Mechanical Contact with spacing framework, eliminate the heavy buoyancy residual error on friction disturbance torque and float.The normal work of instrument
When making, float under three axle orthogonal active magnetic suspension position controls, geometric center all the time in space in housing (i.e. fixed in),
To reach precision level higher.
As shown in figure 3, three floating inertia type instrument active magnetic suspension control systems include that five Lu Huisidun detections electric bridge, signal are adjusted
Reason circuit (comprising links such as differential amplification, demodulation), digitial controller are (comprising A/D, processor, D/A and input/output interface etc.
Module) and reinforcing switch.First via detection electric bridge includes a pair of arm resistances and a pair of axial magnetic suspension elements, is responsible for float fulcrum pin
The position detection moved to line is controlled with reinforcing；Remaining four tunnel detection electric bridge includes arm resistance and corresponding radial direction magnetcisuspension respectively
Floating element, is responsible for float and is moved along the line of two radial directions and controlled with reinforcing along two detections of radial rotating.Typically, due to
There is error in instrument, cause for different instrument, magnetcisuspension when float is fixed middle in links such as the processing of magnetic suspension element, the assemblings of whole table
The nominal inductance value of floating element often has differences, so, when detecting electric bridge using the RL Hui Sidun of same resistance parameter, detection
The output voltage of circuit also tends to difference.Therefore, it is required for carrying out wet centering demarcation using preceding in every three floating instrument：Exist
When float reaches weight buoyant equilibrium state, pulling it using magnetic suspension pulling force carries out three axle orthogonal motions, obtains it in machinery zero
Detection circuit output during position, the method for then detecting electric bridge bridge arm resistance using five tunnels of adjustment, makes float in mechanical zero,
The output of five alignment detection circuits is identical (typically in electrical null position).After wet centering is demarcated, magnetic suspension control system is obtained accurately
Float it is fixed in reference voltage, and RL resistance bridges have sensitivity higher near float centred position, can guarantee that instrument
Express precision index higher.
At present, the wet centering test process of active magnetic suspension of three floating instrument is mainly first based on technique magnetic suspension control circuit
Plate, using two adjustable potentiometers as the arm resistance of RL resistance bridges, is adjusted repeatedly simultaneously to it, is made at float
The output voltage of circuit is detected when mechanical zero in electrical null position, while the spaced motion scope of correspondence float, detects circuit
Output in the input range of digitial controller A/D.Then, the potentiometer resistance for meeting the test request is recorded, is used in combination
Fixed series and parallel compensated resistance value carry out it is equivalent approach, then by correspondence resistance series and parallel compensated resistance fall to being soldered to formal magnetic suspension circuit board
On.After so wet centering test, when the float of different instrument is fixed middle, detection circuit output is in identical electrical null position.It is above-mentioned
Process is relatively complicated, and has the disadvantage that：(1) magnetic suspension control circuit board size is caused to increase using multiple resistance connection in series-parallel,
And generally there is deviation with desired resistance in final resistance；(2) when wet centering is tested, technique magnetic suspension control circuit is used
Often there is deviation between plate, with formal magnetic suspension control circuit board, the precision that is controlled in influence magnetcisuspension floating fixed and final
Three floating instrument function indexs.
The content of the invention
The technical problems to be solved by the invention are：Overcome the existing three floating wet centering demarcation sides of inertia type instrument active magnetic suspension
A kind of deficiency of method, there is provided three floating inertia type instrument active magnetic suspension automatic wet centering scaling methods of convenient and general, can quickly,
Be automatically obtained the demarcation of electrical null position deviation when instrument float is in mechanical zero, zmodem, error is small, can coordinate dead band,
The parameters such as rigidity are adjusted flexibly, and are conducive to further improving the precision of the fixed middle control of instrument active magnetic suspension.
Technical scheme is as follows：
A kind of three floating inertia type instrument active magnetic suspension automatic wet centering scaling method, based on the three active magnetcisuspensions of floating inertia type instrument
Floating control system is realized；Three floating inertia type instrument active magnetic suspension control systems include digitial controller, reinforcing switch, N Lu Huisi
Pause detection electric bridge and signal conditioning circuit, and N is more than or equal to 1；Digitial controller outputs control signals to reinforcing switch, reinforcing switch
Reinforcing signal is exported under the control of digitial controller and detects electric bridge to the Hui Sidun on corresponding road, detection electric bridge is defeated per Lu Huisidun
The signal for going out after signal conditioning circuit by being input into digitial controller；Per Lu Huisidun, detection electric bridge includes the first bridge arm electricity
Resistance, the second arm resistance, the first magnetic suspension element, the second magnetic suspension element, the first current-limiting resistance and the second current-limiting resistance, excitation
Signal is applied to one end of the first magnetic suspension element by the first arm resistance, and the first reinforcing signal is applied by the first current-limiting resistance
Add to one end of the first magnetic suspension element, the other end ground connection of the first magnetic suspension element；Pumping signal passes through the second bridge arm
Resistance is applied to one end of the second magnetic suspension element, and the second reinforcing signal is applied to second magnetcisuspension by the second current-limiting resistance
One end of floating element, the other end ground connection of the second magnetic suspension element；The resistance of the first arm resistance and the second arm resistance is identical,
The nominal equiva lent impedance of the first magnetic suspension element and the second magnetic suspension element is identical；Three floating inertia type instrument active magnetic suspension automatic wets
The step of centering scaling method, is as follows：
(1) frequency and every Lu Huisidun according to pumping signal detects the nominal equivalent of the magnetic suspension element that electric bridge is included
Impedance determines that corresponding Lu Huisidun detects the arm resistance value of electric bridge；
(2) the first magnetic of electric bridge is detected to every Lu Huisidun to reinforcing switch output control signal by digitial controller
Levitated element applies reinforcing signal, and towing three floats inertia type instrument float movement to direct limit position, while by digital control
Device carries out sampling and obtains corresponding digital voltage value to signal after the corresponding conditioning of corresponding Lu Huisidun detection electric bridges, is designated as
Umaxoi；By digitial controller to reinforcing switch output control signal, to the second magnetic suspension unit of every Lu Huisidun detection electric bridges
Part applies reinforcing signal, and the floating inertia type instrument float movement of towing three is to negative sense extreme position, while passing through digitial controller to phase
Signal carries out the corresponding digital voltage value of sampling acquisition after answering Lu Huisidun to detect the corresponding conditioning of electric bridge, is designated as Uminoi；I=1
To N；
(3) calculate when float is in mechanical zero and the corresponding electric zero inclined U of electric bridge is detected per Lu Huisidunobi, Uobi=
(Umaxoi+Uminoi)/2；I=1 to N；
(4) electric zero for obtaining realizes the fixed middle control of float partially as the reference voltage of float magnetic suspension position control
System.
Described three floating inertia type instruments are gyro or gyroaccelerometer.
N Lu Huisidun detection electric bridges are that 5 Lu Huisidun detect electric bridge, including axial direction Hui Sidun detections electric bridge Bz and 4 all the way
Path is to Hui Sidun detection electric bridges Blx, Bly, Brx, Bry；The magnetic suspension element L1 of axial Hui Sidun detection electric bridges Bz is located at floating
In the axial direction of son and positioned at right-hand member, the magnetic suspension element L2 of axial Hui Sidun detection electric bridges Bz be located in the axial direction of float and
Positioned at left end；The magnetic suspension element L3 of radial direction Hui Sidun detection electric bridges Blx is located at float radially and positioned at left upper end, radial direction
The magnetic suspension element L4 of Hui Sidun detection electric bridges Blx is located at float radially and positioned at lower-left end；Radial direction Hui Sidun detection electricity
The magnetic suspension element L5 of bridge Bly is located at float radially and positioned at left front end, the magnetic suspension of radial direction Hui Sidun detection electric bridges Bly
Element L6 is located at float radially and positioned at left back end；The magnetic suspension element L7 of radial direction Hui Sidun detection electric bridges Brx is located at floating
Son radially and positioned at upper right side, the magnetic suspension element L8 of radial direction Hui Sidun detection electric bridges Brx be located at float radially and
Positioned at bottom righthand side；The magnetic suspension element L9 of radial direction Hui Sidun detection electric bridges Bry is located at float radially and positioned at right front ends, footpath
Float is located at radially and positioned at right rear end to the magnetic suspension element L10 of Hui Sidun detection electric bridges Bly.
Present invention advantage compared with prior art is：
The present invention determines corresponding bridge output voltage model by automatically controlling the reinforcing towing axle orthogonal motion of float three
Enclose, electrical null position deviation when obtaining float in mechanical zero, and as the reference electricity of active magnetic suspension closed-loop control
Pressure, realizes the fixed middle control of three floating inertia type instrument floats.Have for instrument magnetic suspension component parameters, whole table assembling equal error etc.
Preferable fault-tolerance.For with different rigging errors three floating inertia type instruments, the formal magnetcisuspension that can be used parameter completely the same
Floating control board, can avoid first carrying out wet centering adjustment matching using technique magnetic suspension control circuit board, then use formal magnetcisuspension
Floating control board is carried out with the table influence of parameter error to three floating accuracy of instrument caused by control in fixed；Avoid using nominal
Approximate error of the series and parallel compensated resistance to the nonstandard resistance of expectation.By software programming, efficiently, wet centering test process is automatically performed,
And directly with follow-up closed loop magnetic suspension control form integrated testing flow；The parameters such as dead band, rigidity can be coordinated to be adjusted flexibly,
Be conducive to further improving the precision of the fixed middle control of instrument active magnetic suspension.
Brief description of the drawings
Fig. 1 is float shape of the invention and orthogonal coordinate system.
Fig. 2 is five road RL Hui Sidun detection electric bridges of magnetic suspension control system of the invention.
Fig. 3 is circuit implementing scheme block diagram of the invention, wherein the circuit theory diagrams of detection electric bridge are Fig. 2.
Fig. 4 realizes flow chart for entirety of the invention.
Specific embodiment
Specific embodiment of the invention is further described below in conjunction with the accompanying drawings.
In the active magnetic suspension control system of three floating inertia type instruments, magnetic suspension element is used as float position by time-sharing format
Put the sensor of detection and the torquer of float movement.Fig. 1 is the shape and its kinetic coordinate system schematic diagram of cylindric float.Axle
It is located in the axial direction of float and positioned at right-hand member to the magnetic suspension element L1 of Hui Sidun detection electric bridges Bz, magnetic suspension element L2 is located at
In the axial direction of float and positioned at left end；The magnetic suspension element L3 of radial direction Hui Sidun detection electric bridges Blx is located at float radially simultaneously
And positioned at left upper end, magnetic suspension element L4 is located at float radially and positioned at lower-left end；Radial direction Hui Sidun detection electric bridges Bly's
Magnetic suspension element L5 is located at float radially and positioned at left front end, the magnetic suspension element L6 of radial direction Hui Sidun detection electric bridges Bly
Positioned at float radially and positioned at left back end；The magnetic suspension element L7 of radial direction Hui Sidun detection electric bridges Brx is located at float radially
Above and positioned at upper right side, magnetic suspension element L8 is located at float radially and positioned at bottom righthand side；Radial direction Hui Sidun detects electric bridge
The magnetic suspension element L9 of Bry is located at float radially and positioned at right front ends, the magnetic suspension unit of radial direction Hui Sidun detection electric bridges Bly
Part L10 is located at float radially and positioned at right rear end.In calibration process in wet pair, float divides in the presence of magnetic pull
Not moved along tri- orthogonal directions of X, Y, Z：As shown in figure 1, Z-direction is located at float fulcrum pin upwards, Z axis are positive to point to the float right side
End；X-direction and Y-direction are located at float radially, and wherein X-axis is positive points to float top, and Y-axis is positive to point to float front.
The road RL Hui Sidun detection electric bridge schematic diagrames of Fig. 2 Zhong Wei five, five road RL resistance bridges share ac-excited signal source
Ui, output voltage is Up1~Up5, U is output as after signal conditioning circuit (containing links such as differential amplification, demodulation)o1~Uo5, reflection
The position of the axle orthogonal motion of float three.Magnetic suspension element (L1, L2..., L10) be multiplexed and make sensor and torquer.Axial Hui Sidun
Detection electric bridge Bz includes two axial arm resistance Rsz, two current-limiting resistance RfzWith axial magnetic suspension element L1, L2, axial favour
The output signal of Si Dun detection electric bridges is Up1, one of resistance RszOne end be connected with pumping signal, the other end respectively with
Current-limiting resistance RfzOne end and axial magnetic suspension element one end be connected；Current-limiting resistance RfzThe other end and reinforcing signal phase
Even, the other end ground connection of axial magnetic suspension element.Include two to Hui Sidun detection electric bridges Blx, Bly, Brx and Bry per path
Radial direction arm resistance Rsr, two current-limiting resistance RfrWith two axial magnetic elements, specific annexation and axial direction Hui Sidun are examined
Survey electric bridge similar, no longer describe herein.Exciting signal source UiAmplitude and frequency, direct current reinforcing power supply UfAnd current-limiting resistance (Rfz
And Rfr) etc. parameter according in range of movement, the magnetcisuspension floating fixed of float control time and precision, digitial controller in A/D it is defeated
Enter the index comprehensives such as scope, the DC impedance of magnetic suspension element to select.
Scaling method of the invention is based on as shown in Figure 3 three floating inertia type instrument active magnetic suspension control systems and realizes, and three
Floating inertia type instrument active magnetic suspension control system includes digitial controller, reinforcing switch, five Lu Huisidun detection electric bridge and signal
Modulate circuit, digitial controller passes through 10 road GPIO mouthfuls of (or other possess the delivery outlet of switching function) output control signal s1~
s10To reinforcing switch, reinforcing switch exports the Hui Sidun detection electricity of reinforcing signal to corresponding road under the control of digitial controller
Bridge, the bridge output voltage signal U of five Lu Huisidun detection electric bridge outputsp1~Up5, signal conditioning circuit is by bridge output voltage
Up1~Up5Be converted to Uo1~Uo5, then the corresponding digital voltage of A/D conversion acquisitions for passing through digitial controller, finally calculate float
Corresponding electric zero inclined U during in mechanical zeroob1,Uob2... Uob5.The digitial controller can be single-chip microcomputer, DSP, on piece
System SOC etc..Signal conditioning circuit includes the circuits such as operation amplifier, demodulation.
As shown in figure 4, scaling method of the invention comprises the following steps：
(1) determine that Hui Sidun detects the arm resistance value of electric bridge
To make the sensitivity of resistance bridge maximum, the arm resistance value R of axial Hui Sidun detection electric bridges BzszAccording to formula
Rsz=2 × π × fui×Lz0It is determined that, the arm resistance value R of radial direction Hui Sidun detections electric bridge (Blx, Bly, Brx and Bxy)srAccording to
Formula Rsr=2 × π × fui×Lr0It is determined that；fuiIt is the frequency of exciting signal source, Lz0And Lr0Respectively axial magnetic suspension element and
The nominal equiva lent impedance of axial magnetic element, the nominal equiva lent impedance of all axial magnetic elements is identical.
(2) timesharing of magnetic suspension element as position detect with reinforcing element, carry out five degree of freedom to float and reinforce in turn to drag
Dragging is moved, and determines the corresponding detection circuit output voltage of range of movement
Reinforcing switch is controlled by digitial controller, makes float in the presence of magnetic pull, in turn along orthogonal space coordinate
The forward direction of axle X, Y, Z, negative sense distinguish translation to restraining position (corresponding detection circuit output voltage no longer changes).Example
Such as, the 1st road GPIO mouthfuls of output switching signal s is first passed through1, make reinforcing voltage UfBy current-limiting resistance RfzIt is added to axial magnetic suspension unit
Part L1On, after producing pulling force to pull float along Z axis positive movement to restraining position, digitial controller is exported to signal conditioning circuit
UO1Signal carries out A/D conversions, and the digital voltage value that record digitial controller now is obtained is designated as Umaxo1.Then, pass through
2nd road GPIO mouthfuls of output switching signal s2, make reinforcing voltage UfBy current-limiting resistance RfzIt is added to axial magnetic suspension element L2On, produce
After raw pulling force pulls float along Z axis negative movement to restraining position, the U that digitial controller is exported to signal conditioning circuitO1Signal
A/D conversions are carried out, the digital voltage value that record digitial controller now is obtained is designated as Umino1。
By digitial controller to reinforcing switch output switching signal, so as to radial direction Hui Sidun detection electric bridge (Blx,
Brx magnetic suspension element L3, L7 on) apply reinforcing voltage, produce pulling force to cause float movement to the positive restraining position of X-axis；
When the positive restraining position of float movement to X-axis, electric bridge (Blx, Brx) is detected while exporting maximum in the path of left and right 2 to Hui Sidun
Magnitude of voltage, is sampled by digitial controller to the signal on corresponding road, and U is designated as respectivelymaxo2,Umaxo4；Similarly, to magnetcisuspension
Floating element L4, L8 apply reinforcing voltage, produce pulling force to cause float movement to the negative sense restraining position of X-axis, when float movement to X
Electric bridge (Blx, Brx) is detected to Hui Sidun while exporting minimum amount of voltage that, by number in the negative sense restraining position of axle, the path of left and right 2
Word controller is sampled to the signal on corresponding road, and U is designated as respectivelymino2,Umino4.Equally, the forward direction of correspondence Y-axis, negative sense are spacing
Position and Hui Sidun detect electric bridge (Bly, Bry), can measure Umaxo3,Umaxo5And Umino3,Umino5。
(3) calculate when float is in mechanical zero that detection electric bridge is corresponding electric zero inclined per Lu Huisidun
Per Lu Huisidun, detection electric bridge corresponding electric zero is designated as U partially when float is in mechanical zeroob1,Uob2,…Uob5,.
Electric zero inclined computing formula is as follows.
Uob1=(Umaxo1+Umino1)/2
Uob2=(Umaxo2+Umino2)/2
Uob3=(Umaxo3+Umino3)/2
Uob4=(Umaxo4+Umino4)/2
Uob5=(Umaxo5+Umino5)/2
(4) by electric zero inclined Uob1,Uob2..., Uob5As the reference voltage of float magnetic suspension position control, float three is realized
Axle orthogonal motion is precisely centering control.
Scaling method of the invention has following features：
(1) axial direction of magnetic suspension control system and radial direction RL Hui Sidun detection bridge resistor respectively with the name of magnetic suspension element
Adopted equiva lent impedance is equal, without carrying out resistance examination tune, matching by table.
(2) the whole wet centering debugging process of instrument is automatically performed by software programming.
(3) after completing the wet centering test process of instrument, when float is in mechanical zero, the output of five road position detecting circuits
It is not zero, but for respective electric zero inclined.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. a kind of three floating inertia type instrument active magnetic suspension automatic wet centering scaling methods, inertia type instrument active magnetic suspensions are floated based on three
Control system is realized；Three floating inertia type instrument active magnetic suspension control systems include digitial controller, reinforcing switch, N Lu Huisidun
Detection electric bridge and signal conditioning circuit, N are more than or equal to 1；Digitial controller outputs control signals to reinforcing switch, and reinforcing switch exists
Reinforcing signal is exported under the control of digitial controller and detects electric bridge to the Hui Sidun on corresponding road, electric bridge output is detected per Lu Huisidun
Signal by being input into after signal conditioning circuit to digitial controller；Per Lu Huisidun detection electric bridge include the first arm resistance,
Second arm resistance, the first magnetic suspension element, the second magnetic suspension element, the first current-limiting resistance and the second current-limiting resistance, excitation letter
One end of the first magnetic suspension element number is applied to by the first arm resistance, the first reinforcing signal is by the applying of the first current-limiting resistance
To one end of the first magnetic suspension element, the other end ground connection of the first magnetic suspension element；Pumping signal is by the second bridge arm electricity
Resistance is applied to one end of the second magnetic suspension element, and the second reinforcing signal is applied to second magnetic suspension by the second current-limiting resistance
One end of element, the other end ground connection of the second magnetic suspension element；The resistance of the first arm resistance and the second arm resistance is identical, the
The nominal equiva lent impedance of one magnetic suspension element and the second magnetic suspension element is identical；Characterized in that, described three floating inertia type instruments have
Magnetic suspension automatic wet centering scaling method step in source is as follows：
(1) the nominal equiva lent impedance of the magnetic suspension element that frequency and every Lu Huisidun detections electric bridge according to pumping signal is included
It is determined that corresponding Lu Huisidun detects the arm resistance value of electric bridge；
(2) the first magnetic suspension of electric bridge is detected to every Lu Huisidun to reinforcing switch output control signal by digitial controller
Element applies reinforcing signal, and towing three floats inertia type instrument float movement to direct limit position, while passing through digitial controller pair
Signal carries out the corresponding digital voltage value of sampling acquisition after corresponding Lu Huisidun detects the corresponding conditioning of electric bridge, is designated as Umaxoi；It is logical
Digitial controller is crossed to reinforcing switch output control signal, the second magnetic suspension element to every Lu Huisidun detection electric bridges applies to add
Force signal, the floating inertia type instrument float movement of towing three is to negative sense extreme position, while passing through digitial controller to corresponding Lu Huisi
The signal after detecting the corresponding conditioning of electric bridge that pauses carries out the corresponding digital voltage value of sampling acquisition, is designated as Uminoi；I=1 to N；
(3) calculate when float is in mechanical zero and the corresponding electric zero inclined U of electric bridge is detected per Lu Huisidunobi, Uobi=(Umaxoi+
Uminoi)/2；I=1 to N；
(4) electric zero for obtaining realizes the fixed middle control of float partially as the reference voltage of float magnetic suspension position control.
2. according to claim 1 three inertia type instrument active magnetic suspension automatic wet centering scaling method is floated, it is characterised in that
Described three floating inertia type instruments are gyro or gyroaccelerometer.
3. according to claim 1 three inertia type instrument active magnetic suspension automatic wet centering scaling method is floated, it is characterised in that
N Lu Huisidun detection electric bridges are that 5 Lu Huisidun detect electric bridge, including axial direction Hui Sidun detects electric bridge Bz and 4 paths to favour all the way
Si Dun detection electric bridges Blx, Bly, Brx, Bry；The magnetic suspension element L1 of axial Hui Sidun detection electric bridges Bz is located at the axial direction of float
Above and positioned at right-hand member, the magnetic suspension element L2 of axial Hui Sidun detection electric bridges Bz is located in the axial direction of float and positioned at a left side
End；The magnetic suspension element L3 of radial direction Hui Sidun detection electric bridges Blx is located at float radially and positioned at left upper end, radial direction Hui Sidun
The magnetic suspension element L4 of detection electric bridge Blx is located at float radially and positioned at lower-left end；Radial direction Hui Sidun detection electric bridges Bly's
Magnetic suspension element L5 is located at float radially and positioned at left front end, the magnetic suspension element L6 of radial direction Hui Sidun detection electric bridges Bly
Positioned at float radially and positioned at left back end；The magnetic suspension element L7 of radial direction Hui Sidun detection electric bridges Brx is located at float radially
Above and positioned at upper right side, the magnetic suspension element L8 of radial direction Hui Sidun detection electric bridges Brx is located at float radially and positioned at the right side
Lower end；The magnetic suspension element L9 of radial direction Hui Sidun detections electric bridge Bry is located at float radially and positioned at right front ends, radial direction favour this
Pause and detect that the magnetic suspension element L10 of electric bridge Bry is located at float radially and positioned at right rear end.
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| CN106840200B (en) * | 2016-12-29 | 2019-09-06 | 北京航天控制仪器研究所 | A kind of three floating automatic dampness elimination center support systems of inertia type instrument of tape jam diagnosis |
| CN110672126B (en) * | 2019-10-18 | 2021-11-19 | 北京轩宇空间科技有限公司 | Method and device for automatically zeroing float position of liquid floating gyroscope |
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