CN106595624A - Flexible supporting rotor type micro-gyroscope - Google Patents
Flexible supporting rotor type micro-gyroscope Download PDFInfo
- Publication number
- CN106595624A CN106595624A CN201611097925.8A CN201611097925A CN106595624A CN 106595624 A CN106595624 A CN 106595624A CN 201611097925 A CN201611097925 A CN 201611097925A CN 106595624 A CN106595624 A CN 106595624A
- Authority
- CN
- China
- Prior art keywords
- stator
- gyroscope
- rotor
- type micro
- rotor type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C19/42—Rotary gyroscopes for indicating rate of turn; for integrating rate of turn
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a flexible supporting rotor type micro-gyroscope. The flexile supporting rotor type micro-gyroscope comprises a stator, a stator coil, a disc rotor, a beam, a sensor, an actuator, a frame, a connecting shaft and a rotor shaft. The stator coil is arranged on the inner side of the stator, and the beam and the frame are connected together through the connecting shaft and fixed to the stator. The disc rotor is fixed into the frame through the rotor shaft, and the disc rotor is fixed into the stator through the frame and located on the same plane with the stator. The sensor and the actuator are attached to the upper position and the lower position of the beam respectively, and closed-loop control is formed by the sensor, the actuator and a circuit system. The flexible supporting rotor type micro-gyroscope is a small rotor type gyroscope, the bias stability of the micro-gyroscope is equivalent to that of fiber-optic gyroscopes and laser gyroscopes, and the micro-gyroscope is expected to replace part of the fiber-optic gyroscopes and the laser gyroscopes. The cost of the micro-gyroscope is lower than that of the fiber-optic gyroscopes and the laser gyroscopes with the same precision with the micro-gyroscope by two magnitude orders or above, the size of the micro-gyroscope is smaller than that of the fiber-optic gyroscopes and the laser gyroscopes, and the micro-gyroscope is widely applied to navigation and other high-precision fields.
Description
Technical field
The invention belongs to mechanical gyro technical field, is related to a kind of rotator type mechanical gyro.
Background technology
With the development of gyroscope technology, gyro is used widely in national defence, industry and other field.Rotator type gyro by
In there is rotor structure, compared with oscillation gyro, precision is of a relatively high.Oscillation gyro structure obtains extensively should in MEMS fields
With, critical role is occupied with advantages such as its low cost, small volume, high integration in gyro development, and in consumer electronics market
In have vast potential for future development.But oscillation gyro, due to reasons such as couple mechanical vibrations, precision is limited.Common rotator type top
Spiral shell has static suspension rotor formula gyro, magnetic suspension rotor formula gyro, dynamic tuned gyroscope, liquid floated gyroscope, due to rotor structure
It is Large Gyroscopic to exist most of.
The content of the invention
In order to overcome the shortcomings of conventional rotors formula gyro, the present invention proposes a kind of small-sized, high accuracy, the flexibility of low cost
Support rotor type micro gyroscope.The flexible support rotator type micromechanical gyro of the present invention is a kind of miniaturization rotator type gyro, and which is inclined
Put stability suitable with optical fibre gyro, laser gyro, be expected to replace part fiber gyro and laser gyro；Its same precision of cost ratio
More than optical fibre gyro and low two orders of magnitude of laser gyro, volume ratio optical fibre gyro and laser gyro are little, in the high accuracy such as navigation
Field extensive application.
Technical solution of the present invention is as follows：
A kind of flexible support rotor type micro gyroscope, including stator, stator coil, dish-shaped rotor, beam, sensor, executor, frame
Frame, connecting shaft, armature spindle, wherein：
The stator coil is arranged on the inner side of stator；
The beam and framework are connected as one by connecting shaft and are fixed on stator；
The dish-shaped rotor is fixed in framework by armature spindle；
Dish-shaped rotor is fixed on the inside of stator and with stator in same plane by the framework；
The upper-lower position of the beam posts sensor and executor respectively, constitutes closed loop control with circuit system.
In the present invention, the stator is driven using the direct-drive type of the brushless electric machines such as class permanent-magnet brushless DC electric machine, eddy current motor
It is dynamic.
In the present invention, the stator is formed by high magnetic permeability annulus silicon steel plate stacking.
In the present invention, the dish-shaped rotor is magnetic（Magnetizing direction is in rotor plane）Dish rotor.
In the present invention, the beam is made by having resilient material copper.
In the present invention, the supporting way between the armature spindle and framework includes that conical shaft and pivot are supported on interior institute
There are bearing and supporting way, for example：Armature spindle is supported by gem pivot and is connected with framework.
The present invention makes framework complete under the support of circuit system with sensor and executor in frame structure simultaneously
The executive modes such as closed loop control function, including the sensing detection mode such as electromagnetism, pressure drag, piezoelectricity, piezoelectricity, thermoelectricity, electromagnetism.
In the present invention, gyro senses angular velocity of the gyro carrier in two degree of freedom of stator radial direction.
The invention has the beneficial effects as follows：
1st, flexible support rotator type micromechanical gyro of the invention has compared with electrostatic gyroscope, liquid floated gyroscope, dynamic tuned gyroscope
There are small volume, low cost, handling ease.
2nd, with high-precision advantage, the essence of the flexible support rotator type micromechanical gyro of the present invention compared with MEMS gyro
Degree is between Tactics-level and navigation level.Compared with the rotor type micro gyroscope reported both at home and abroad, the flexible support rotor of the present invention
The mechanical gyro that declines has a clear superiority in precision and stability.
Description of the drawings
Fig. 1 is flexible support rotator type micromechanical gyro installation diagram of the present invention；
Fig. 2 is flexible support rotator type micromechanical gyro profile of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is further described, but is not limited thereto, it is every to this
Inventive technique scheme is modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention, all should cover
In protection scope of the present invention.
As depicted in figs. 1 and 2, flexible support rotator type micromechanical gyro involved in the present invention includes stator 1, stator line
Circle 2, dish-shaped rotor 3, beam 4, sensor 5, executor 6, framework 7, connecting shaft 8, the armature spindle 9 supported with gem pivot, stator
Coil 2 is arranged on the inner side of stator 1, and beam 4 and framework 7 are connected as one by connecting shaft 8 and fixed on the stator 1, dish-shaped rotor 3
It is fixed in framework 7 by the armature spindle 9 supported with gem pivot, the armature spindle 9 supported with gem pivot can ensure rotor
Seamless between axle 9 and framework 7, dish-shaped rotor 3 is fixed on 1 place plane of stator and the inside positioned at stator 1 by framework 7, dish
Rotor 3 deflects when deviateing 1 plane of stator, and framework 7 drives beam 4 that the deflection of equal angular, sensor 5 and executor 6 occur
The relevant position of beam 4 is attached to according to concrete induced response mechanism.
Manufacturing process：
Stator 1 is formed by the silicon steel plate stacking of cut, and by the way of mechanical stamping, beam 4 and framework 7 pass through connecting shaft 8
Connect as one and fix on the stator 1.Framework 7 has elasticity, turns to being supported and fixed on the dish in framework 7 by gem pivot
Son 3 has pretightning force.It is fixed to cause rotor coplanar.Dish-shaped rotor 3 is magnetic material, same in rotor plane to dish-shaped rotor 3
One parallel direction is magnetized.Sensor 5, executor 6 are added in 4 relevant position of beam, is collectively formed with signal processing circuit and is closed
Ring control system.
Operation principle：
Apply electric field in stator coil, form rotating excitation field and drive dish-shaped rotor to rotate at a high speed.When gyro carrier has stator radially
During directional angular velocity, dish-shaped rotor is acted on by Coriolis torque, the deflection that relative stator plane occurs.When dish-shaped rotor is sent out
During raw deflection, the miniature deformation of beam, sensor is caused to have input, Jing signal processing systems feed back to executor, the deformation to beam
Feedback control is carried out, the dynamic process of gyro is controlled.As steel structure beam coefficient of elasticity is big, the steady-state value of control system is exported very
Little, the miniature deformation of beam has ensured system linearity degree.Compared with conventional rotors formula gyro, flexible support rotator type micromechanics top
Spiral shell has the advantages that to realize that closed loop control, dynamic adjustment process time are short, the linearity is good, sensitivity is high, detection is accurate.
Claims (7)
1. a kind of flexible support rotor type micro gyroscope, it is characterised in that the flexible support rotor type micro gyroscope is by stator, stator
Coil, dish-shaped rotor, beam, sensor, executor, framework, connecting shaft and armature spindle are constituted, wherein：
The stator coil is arranged on the inner side of stator；
The beam and framework are connected as one by connecting shaft and are fixed on stator；
The dish-shaped rotor is fixed in framework by armature spindle；
Dish-shaped rotor is fixed on the inside of stator and with stator in same plane by the framework；
The upper-lower position of the beam posts sensor and executor respectively, constitutes closed loop control with circuit system.
2. flexible support rotor type micro gyroscope according to claim 1, it is characterised in that the stator is driven using direct-drive type.
3. flexible support rotor type micro gyroscope according to claim 1, it is characterised in that the stator is by high magnetic permeability annulus
Silicon steel plate stacking is formed.
4. flexible support rotor type micro gyroscope according to claim 1, it is characterised in that the dish-shaped rotor is that magnetic dish turns
Son.
5. the flexible support rotor type micro gyroscope according to claim 1 or 4, it is characterised in that the side of magnetizing of the dish-shaped rotor
To in rotor plane.
6. flexible support rotor type micro gyroscope according to claim 1, it is characterised in that the beam is made of copper.
7. flexible support rotor type micro gyroscope according to claim 1, it is characterised in that the armature spindle passes through gem pivot
Support is connected with framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097925.8A CN106595624A (en) | 2016-12-03 | 2016-12-03 | Flexible supporting rotor type micro-gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611097925.8A CN106595624A (en) | 2016-12-03 | 2016-12-03 | Flexible supporting rotor type micro-gyroscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106595624A true CN106595624A (en) | 2017-04-26 |
Family
ID=58597042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611097925.8A Pending CN106595624A (en) | 2016-12-03 | 2016-12-03 | Flexible supporting rotor type micro-gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106595624A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1530632A (en) * | 2003-03-06 | 2004-09-22 | ���ǵ�����ʽ���� | Rotary gyroscope |
| CN200968860Y (en) * | 2006-09-27 | 2007-10-31 | 陕西宝成航空仪表有限责任公司 | Fixing structure for gyroscopes transmission mechanism |
| CN102564409A (en) * | 2012-02-24 | 2012-07-11 | 哈尔滨工业大学 | Rotor type micromechanical gyroscope with electromagnetically-driven framework structure |
| CN103557852A (en) * | 2013-11-14 | 2014-02-05 | 哈尔滨工业大学 | Spherically-dished rotor type micro-mechanical gyroscope |
| EP2564158B1 (en) * | 2010-04-30 | 2016-04-06 | Qualcomm Mems Technologies, Inc. | Micromachined piezoelectric x-axis gyroscope |
-
2016
- 2016-12-03 CN CN201611097925.8A patent/CN106595624A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1530632A (en) * | 2003-03-06 | 2004-09-22 | ���ǵ�����ʽ���� | Rotary gyroscope |
| CN200968860Y (en) * | 2006-09-27 | 2007-10-31 | 陕西宝成航空仪表有限责任公司 | Fixing structure for gyroscopes transmission mechanism |
| EP2564158B1 (en) * | 2010-04-30 | 2016-04-06 | Qualcomm Mems Technologies, Inc. | Micromachined piezoelectric x-axis gyroscope |
| CN102564409A (en) * | 2012-02-24 | 2012-07-11 | 哈尔滨工业大学 | Rotor type micromechanical gyroscope with electromagnetically-driven framework structure |
| CN103557852A (en) * | 2013-11-14 | 2014-02-05 | 哈尔滨工业大学 | Spherically-dished rotor type micro-mechanical gyroscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4036565A (en) | Pump construction | |
| US4316394A (en) | Magnetically suspended free rotor gyroscope | |
| CN100386599C (en) | Vibratory gyroscopic rate sensor | |
| CN100526800C (en) | Flexible static compensation type coil moment-increasing fluid gyroscope | |
| JP6448793B2 (en) | 3-axis MEMS gyro | |
| CN102449434B (en) | Gyroscope package assembling | |
| CN107097978B (en) | A kind of magnetic suspension control torque gyroscope device | |
| US4285552A (en) | Torquer apparatus for magnetically suspended members | |
| CN101441081B (en) | Vibration type micro-mechanical gyroscope | |
| EP0027799B1 (en) | Axial gap permanent magnet motor | |
| EP0025446B1 (en) | Two degree of freedom gyro having a permanent magnet motor | |
| CN102564409B (en) | Rotor type micromechanical gyroscope with electromagnetically-driven framework structure | |
| CN106595624A (en) | Flexible supporting rotor type micro-gyroscope | |
| US4285248A (en) | Two-degree-of-freedom gyroscope | |
| US2898765A (en) | Gyroscope | |
| Cui et al. | Design of electrostatically levitated micromachined rotational gyroscope based on UV-LIGA technology | |
| CN201352121Y (en) | Vibratory micromachined gyroscope | |
| JPH04202B2 (en) | ||
| US6453743B1 (en) | Compensated integrated micro-machined yaw rate sensor | |
| Yang et al. | Research on a new microelectromechanical hybrid gyroscope | |
| CN101558284B (en) | Improvements in or relating to a gyroscope | |
| CN103557852B (en) | A kind of ball dish rotator type micromechanical gyro | |
| JPS62177314A (en) | Magnetic floating type rotary machine | |
| CN102042830A (en) | Silicon micromachining gyroscope | |
| CN100526801C (en) | Flexible hard magnet compensation type static moment-increasing fluid gyroscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |