CN107014364B - A kind of stator rotating type magnetic suspension sensitivity gyroscope - Google Patents
A kind of stator rotating type magnetic suspension sensitivity gyroscope Download PDFInfo
- Publication number
- CN107014364B CN107014364B CN201710181553.5A CN201710181553A CN107014364B CN 107014364 B CN107014364 B CN 107014364B CN 201710181553 A CN201710181553 A CN 201710181553A CN 107014364 B CN107014364 B CN 107014364B
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- torquer
- rotor
- stator
- magnetic suspension
- bearing
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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
-
- 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
- G01C19/04—Details
- G01C19/16—Suspensions; Bearings
- G01C19/24—Suspensions; Bearings using magnetic or electrostatic fields
Abstract
The present invention provides a kind of stator rotating type magnetic suspension sensitivity gyroscope, belongs to gyroscope technology field.The gyroscope includes magnetic levitation bearing system, magnetic suspension wipping top rotor-support-foundation system, torquer stator rotary system and rotor case, and magnetic levitation bearing system includes upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing；Magnetic suspension wipping top rotor-support-foundation system includes magnetic suspension wipping top rotor, high-speed motor and torquer rotor assembly；Torquer stator rotary system includes photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation modulation motor, rotation modulation motor mount, torquer stator transfer panel and torquer stator module；Rotor case includes lower rotor case, middle rotor case and upper rotor case.The present invention has the function of rotation modulation, can be improved magnetic suspension sensitivity gyro angular rate measurement precision；And system bulk is smaller, power consumption is lower.
Description
Technical field
The present invention relates to gyroscope technology fields, particularly relate to a kind of stator rotating type magnetic suspension sensitivity gyroscope.
Background technique
Gyroscope all plays important work as main inertial navigation angular-rate detecting apparatus, in military, civil field
With, existing high-precision, high bandwidth angular speed Sensitive Apparatus such as: optical fibre gyro, laser gyro, magnetic suspension sensitivity gyro, when long
Between angular speed detection error caused by the gyroscopic drift including error is temperature dependent as gyro zero bias, random drift when using
Unavoidably.Influence of the gyroscopic drift to high accuracy gyroscope instrument detection accuracy is fatal.
Rotation modulation technology, by rotatory inertia device sensitive axes, making it around a certain fixed coordinate system, (generally carrier is sat
Mark system) rotation, so that the gyroscopic drift error with rotating shaft direct cross direction is modulated into the periodic signal that mean value is zero, make
It is not becoming the principal element for influencing the measuring precision.
Traditional rotation modulation system is that entire gyroscope is placed on platform to rotate together, is floated though gyro can be effectively eliminated
Shift error, but whole system volume is larger, power consumption is larger, is even unsatisfactory for the height that the diagonal rate sensitivity system of spacecraft proposes
Precision, high bandwidth, demand small in size, light-weight, small power consumption.
Summary of the invention
It is existing to overcome the technical problem to be solved in the present invention is to provide a kind of stator rotating type magnetic suspension sensitivity gyroscope
Rotation modulation system bulk is big, the big deficiency of power consumption.
The gyroscope includes magnetic levitation bearing system, magnetic suspension wipping top rotor-support-foundation system, torquer stator rotary system and top
Spiral shell room, magnetic levitation bearing system include upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing；Magnetcisuspension
Floating gyrorotor system includes magnetic suspension wipping top rotor, high-speed motor and torquer rotor assembly；Torquer stator rotary system
Including photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation modulation motor, rotation modulation motor mount, torquer
Stator transfer panel and torquer stator module；Rotor case includes lower rotor case, middle rotor case and upper rotor case；
Upper axial magnetic suspension bearing and lower axial magnetic suspension bearing pass through screw respectively and are fixed on rotor case and lower gyro
Fang Shang, upper axial magnetic suspension bearing and lower axial magnetic suspension bearing axially support magnetic suspension wipping top rotor, radial magnetic bearing
Middle rotor case, radial magnetic bearing radial support magnetic suspension wipping top rotor are fixed on by screw；Magnetic suspension wipping top rotor point
Not She You opening upwards the first turning slot and the second turning slot that Open Side Down, the left and right end face of magnetic suspension wipping top rotor with it is upper
Lower end surface is concentric different diameter spherical surfaces；High-speed motor is connected with upper rotor case and magnetic suspension wipping top rotor；Torquer rotor assembly
It is connected with magnetic suspension wipping top rotor；Photoelectric code disk is connected with rotation skeleton and lower rotor case；Rotation skeleton is divided into torquer stator
Transfer panel positioning surface, Circular gratings mounting surface, torquer stator transfer panel mounting surface, end face bearing upper bearing (metal) plate mounting surface and rotation
Modulating motor mounting surface；End face bearing includes end face bearing upper bearing (metal) plate and end face bearing rotor, end face bearing upper bearing (metal) plate position
In due to the lower section of rotation skeleton, it is fixed on the bearing upper bearing (metal) plate mounting surface of end face by screw, end face bearing rotor is located at
Below the bearing upper bearing (metal) plate of end face, above rotation modulation motor stator；Rotation modulation motor and rotation modulation rotor framework and rotation
Modulation motor mount is connected；Torquer stator module is connected with torquer stator transfer panel, torquer stator transfer panel packet
Include torquer stator skeleton positioning surface, torquer stator transfer panel fixation hole, torquer stator module aluminium seat fixing screwed hole and
Torquer winding run groove.
Wherein: high-speed motor is drag cup outer-rotor structure, including high-speed motor stator, high speed rotor of motor locknut and height
Speed motor rotor, high-speed motor stator are fixed on upper rotor case by screw, and high speed rotor of motor passes through high speed rotor of motor
Locknut is axially fixed on the lateral wall of the first turning slot of magnetic suspension wipping top rotor, and high speed rotor of motor drives magnetic suspension wipping top
Rotor high speed rotation.
Torquer rotor assembly includes torquer outer rotor nut, torquer outer rotor magnet steel, torquer outer rotor magnet steel
Magnetic guiding loop, torquer outer rotor component locknut, torquer internal rotor nut, torquer internal rotor magnetic steel, torquer internal rotor magnetic
Steel magnetic guiding loop and torquer internal rotor component locknut, wherein torquer outer rotor nut is fixed on the of magnetic suspension wipping top rotor
The bottom of two-revolution slot lateral wall, torquer outer rotor magnet steel upper end are fitted on torquer outer rotor nut, are turned outside torquer
Sub- magnet steel magnetic guiding loop is located at torquer outer rotor magnet steel lower end, is axially fixed at magnetic suspension by torquer outer rotor component locknut
On second turning slot lateral wall of gyrorotor, torquer internal rotor nut is fixed on the second turning slot of magnetic suspension wipping top rotor
The bottom of inner sidewall, torquer internal rotor magnetic steel upper end are fitted on torquer internal rotor nut, and torquer internal rotor magnetic steel is led
Magnet ring is located at torquer internal rotor magnetic steel lower end, is axially fixed at magnetic suspension wipping top rotor by torquer internal rotor component locknut
The second turning slot inner sidewall on.
Photoelectric code disk includes code-disc Circular gratings, code wheel reading head and reading head mounting base, and code-disc Circular gratings are solid by bolt
Due on the Circular gratings mounting surface of rotation skeleton, code wheel reading head is located on the outside of code-disc Circular gratings, solid by reading head mounting base
Due on lower rotor case.
Rotation modulation motor is split type structure, including rotation modulation rotor and rotation modulation motor stator, wherein
Rotation modulation motor stator is fixed by bolts on rotation modulation motor mount, and rotation modulation motor mount passes through screw
It is fixed on lower rotor case, rotation modulation rotor is located on the inside of rotation modulation motor stator, is fixed by bolts in rotation
On the rotation modulation motor mounting surface of modulation rotor skeleton, torquer stator transfer panel is located at the upper end of rotation modulation rotor framework
Face is fixed on the torquer stator transfer panel mounting surface of rotation modulation rotor framework by spiral.
Torquer stator module includes torquer stator module aluminium seat, torquer stator skeleton and torquer winding, torque
Device stator skeleton include winding boss, torquer winding block, torquer winding run groove, torquer winding run circular hole and
Torquer winding run square hole, wherein torquer stator module aluminium seat is located above torquer stator transfer panel, solid by bolt
Due on torquer stator transfer panel, torquer stator skeleton is located at the torquer stator skeleton positioning of torquer stator transfer panel
Between face and torquer stator module aluminium seat, be fixed on the inside of torquer stator module aluminium seat by epoxy resin, torquer around
Group is fixed on the winding boss of torquer stator skeleton, is kept apart by torquer winding block, torquer winding power
Line is drawn by torquer winding run groove, torquer winding run hole and torquer winding run slot.
Upper axial magnetic suspension bearing, lower axial magnetic suspension bearing and radial magnetic bearing are pure electromagnetism spherical surface magnetic axis
It holds.
Rotation modulation rotor framework is cup-shaped structure, and end face is circumferentially evenly distributed with 4 torquer stator transfer panel positioning surfaces thereon,
Platform is machined with torquer stator transfer panel mounting surface, torquer stator transfer panel on the outside of torquer stator transfer panel positioning surface
Uniformly distributed 8 threaded holes on mounting surface, are used for fixed end taken about the point of fixation device stator transfer panel, table on rotation modulation rotor framework outermost platform
Face is Circular gratings mounting surface, uniformly distributed 9 threaded holes on Circular gratings mounting surface, for fixing code-disc Circular gratings, rotation modulation rotor
Skeleton outermost platform lower surface is end face bearing upper bearing (metal) plate mounting surface, and end face bearing upper bearing (metal) plate mounting surface is evenly distributed with 8 spiral shells
Pit, is used for fixing end spherical bearing, and rotation modulation rotor framework lower end surface is rotation modulation motor mounting surface, rotation modulation motor
Mounting surface is evenly distributed with 6 threaded holes, for fixing rotation modulation rotor.
Torquer stator transfer panel is ring structure, and torquer stator transfer panel inner ring is equipped with 4 boss, boss appearance
Face is torquer stator skeleton positioning surface, and boss is equipped with torquer winding run groove, on torquer stator transfer panel outer ring
Uniformly distributed 8 torquer stator transfer panel fixation holes, it is fixed equipped with torquer in the two sides of each torquer stator transfer panel fixation hole
Sub-component aluminium seat fixing screwed hole.
Torquer stator skeleton be it is columnar structured, four winding boss are circumferentially equal along torquer stator skeleton external cylindrical surface
Even distribution, each winding boss circumference subtended angle are 80 °；Torquer winding block is furnished among every two winding boss；Four power
Square device winding run square hole along torquer stator skeleton be circumferentially evenly distributed on torquer stator skeleton external cylindrical surface two around
At the group boss plane of symmetry；Four torquer winding run grooves are circumferentially uniformly distributed along torquer stator skeleton；Four groups of torquers
Winding run circular hole is located in four torquer winding run grooves, and every group of torquer winding run circular hole is by two identical power
Square device winding run circular hole composition, runs through torquer winding run square hole.
The principle of the present invention is: important mechanism of the present invention is to pass through rotation modulation to the rotation modulation of torquer stator
Motor carries out Periodic Rotating to torquer stator, makes the sensitive axes of magnetic suspension sensitivity gyro relative to a certain fixed coordinate system week
The rotation of phase property, tested angle rate signal is modulated on swing circle carrier wave, since gyroscopic drift error is not with rotation carrier wave
Cyclically-varying, therefore gyroscopic drift error can be eliminated by demodulation filtering, improve the inspection of magnetic suspension wipping top angular speed
Precision is surveyed, therefore the innovation of the invention consists in that the rotation modulation function to the sensitive gyro of magnetic suspension is realized by turning moment device stator
Energy.Wherein realize that the mechanism of torquer stator rotation specifically includes that photoelectric code disk, end face bearing, rotation modulation rotor framework, rotation
Turn modulating motor, rotation modulation motor mount, torquer stator transfer panel and torquer stator module；Rotation modulation motor is logical
It crosses rotation modulation rotor framework to connect with torquer stator transfer panel and driving moment device stator module, be measured by photoelectric code disk
Torquer stator rotation angles position and angular speed realize to rotation modulation motor high precision position, speed double-closed-loop control,
To realize torquer stator high-precision Periodic Rotating, make the sensitive axes of magnetic suspension sensitivity gyro relative to a certain fixed coordinates
It is Periodic Rotating, realizes the function of rotation modulation, eliminates top by carrying out demodulation filtering to the angle rate signal of acquisition
Magnetic suspension wipping top angular speed detection accuracy can be improved in spiral shell drift error.
The advantageous effects of the above technical solutions of the present invention are as follows:
Gyroscope of the present invention may be used as the angular speed sensitive mechanism in spacecraft, pass through rotation modulation motor driving moment
Device stator carries out rotation modulation to angle rate signal, eliminates gyroscopic drift error, and it is quick to improve magnetic suspension sensitivity gyroscope angular speed
Feel precision, while reducing system bulk, reduces power consumption.Major advantage is: (1) stator rotating type magnetic suspension sensitivity top of the present invention
Spiral shell instrument has the function of rotation modulation, is rotated by rotation modulation motor driving moment device stator, keeps magnetic suspension sensitivity gyro sensitive
Axial period variation, tested angle rate signal is modulated on swing circle carrier wave, gyroscopic drift is made to be modulated into mean value 0
Period change amount improve the angular speed detection accuracy of magnetic suspension sensitivity gyro to eliminate gyroscopic drift.(2) present invention is logical
It crosses turning moment device stator and realizes rotation modulation, be component-level rotation modulation, relative to system-level rotation modulation, volume is more
Small, power consumption is lower, is particularly suitable for the angular speed sensitive mechanism of spacecraft.
Detailed description of the invention
Fig. 1 is stator rotating type magnetic suspension sensitivity gyroscope arrangement schematic diagram of the invention；
Fig. 2 is magnetic suspension sensitivity gyrorotor component axial sectional view of the invention；
Fig. 3 is lower gyro house component of the invention；
Fig. 4 is magnetic suspension wipping top rotor structure schematic diagram of the invention；
Fig. 5 is rotation modulation rotor framework cross-sectional view of the invention；
Fig. 6 is torquer stator transfer panel structural schematic diagram of the invention；
Fig. 7 is torquer stator skeleton structural schematic diagram of the invention.
Wherein: 1: upper axial magnetic suspension bearing；2: lower axial magnetic suspension bearing；3: radial magnetic bearing；4: magnetic suspension
Gyrorotor；5: high-speed motor；6: torquer rotor assembly；7: photoelectric code disk；8: end face bearing；9: rotation modulation rotor bone
Frame；10: rotation modulation motor；11: rotation modulation motor mount；12: torquer stator transfer panel；13: torquer stator pack
Part；14: lower rotor case；15: middle rotor case；16: upper rotor case；4-A: the first turning slot；4-B: the second turning slot；5-1: high speed
Motor stator；5-2: high speed rotor of motor locknut；5-3: high speed rotor of motor；6-1: torquer outer rotor nut；6-2: torque
Device outer rotor magnet steel；6-3: torquer outer rotor magnet steel magnetic guiding loop；6-4: torquer outer rotor component locknut；6-5: in torquer
Armature nut；6-6: torquer internal rotor magnetic steel；6-7: torquer internal rotor magnetic steel magnetic guiding loop；6-8: torquer internal rotor component
Locknut；7-1: code-disc Circular gratings；7-2: code wheel reading head；7-3: reading head mounting base；8-1: end face bearing upper bearing (metal) plate；8-2:
End face bearing rotor；9-A: torquer stator transfer panel positioning surface；9-B: Circular gratings mounting surface；9-C: torquer stator transfer panel
Mounting surface；9-D: end face bearing upper bearing (metal) plate mounting surface；9-E: rotation modulation motor mounting surface；10-1: rotation modulation motor turns
Son；10-2: rotation modulation motor stator；12-A: torquer stator skeleton positioning surface；12-B: torquer stator transfer panel is fixed
Hole；12-C: torquer stator module aluminium seat fixing screwed hole；12-D: torquer winding run groove；13-1: torquer stator
Component aluminum seat；13-2: torquer stator skeleton；13-3: torquer winding；13-2-A: winding boss；13-2-B: torquer around
Group block；13-2-C: torquer winding run groove；13-2-D: torquer winding run circular hole；13-2-E: torquer winding
Cabling square hole.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of stator rotating type magnetic suspension sensitivity gyroscope.
As shown in Figure 1,2 and 3, the stator rotating type magnetic suspension sensitivity gyroscope is mainly by magnetic levitation bearing system, magnetcisuspension
Floating gyrorotor system, torquer stator rotary system and four part of rotor case composition, specifically include that axial magnetic suspension bearing
1, lower axial magnetic suspension bearing 2, radial magnetic bearing 3, magnetic suspension wipping top rotor 4, high-speed motor 5, torquer rotor assembly
6, photoelectric code disk 7, end face bearing 8, rotation modulation rotor framework 9, rotation modulation motor 10, rotation modulation motor mount 11,
Torquer stator transfer panel 12 and torquer stator module 13, lower rotor case 14, middle rotor case 15 and upper rotor case 16；Upper axial direction
Magnetic suspension bearing 1 and lower axial magnetic suspension bearing 2 are fixed on upper rotor case 16 and lower rotor case 14 by screw respectively, axial
Magnetic suspension wipping top rotor 4 is supported, radial magnetic bearing 3 is fixed on middle rotor case 15, radial support magnetic suspension top by screw
Spiral shell rotor 4, high-speed motor 5 be drag cup outer-rotor structure, comprising: high-speed motor stator 5-1, high speed rotor of motor locknut 5-2,
High speed rotor of motor 5-3, high-speed motor stator 5-1 are fixed on upper rotor case 16 by screw, and high speed rotor of motor 5-3 passes through
High speed rotor of motor locknut 5-2 is axially fixed on the lateral wall of the first turning slot 4-A of magnetic suspension wipping top rotor 4, drives magnetic
4 high speed rotation of suspending gyrorotor rotor, torquer rotor assembly 6 include: torquer outer rotor nut 6-1, torquer outer rotor magnetic
Steel 6-2, torquer outer rotor magnet steel magnetic guiding loop 6-3, torquer outer rotor component locknut 6-4, torquer internal rotor nut 6-5,
Torquer internal rotor magnetic steel 6-6, torquer internal rotor magnetic steel magnetic guiding loop 6-7, torquer internal rotor component locknut 6-8, wherein power
Square device outer rotor nut 6-1 is fixed on the bottom of the second turning slot 4-B lateral wall of magnetic suspension wipping top rotor 4, turns outside torquer
The upper end sub- magnet steel 6-2 is fitted on torquer outer rotor nut 6-1, and torquer outer rotor magnet steel magnetic guiding loop 6-3 is located at torquer
The lower end outer rotor magnet steel 6-2 is axially fixed at the second of magnetic suspension wipping top rotor 4 by torquer outer rotor component locknut 6-4
On turning slot 4-B lateral wall, torquer internal rotor nut 6-5 is fixed on the inside of the second turning slot 4-B of magnetic suspension wipping top rotor 4
The bottom of wall, the upper end torquer internal rotor magnetic steel 6-6 are fitted on torquer internal rotor nut 6-5, torquer internal rotor magnetic steel
Magnetic guiding loop 6-7 is located at the lower end torquer internal rotor magnetic steel 6-6, is axially fixed at magnetic by torquer internal rotor component locknut 6-8
On second turning slot 4-B inner sidewall of suspending gyrorotor rotor 4, photoelectric code disk 7 includes: code-disc Circular gratings 7-1, code wheel reading head 7-
2, reading head mounting base 7-3, code-disc Circular gratings 7-1 are fixed by bolts on the Circular gratings mounting surface 9-B of rotation skeleton 9, code
Disk reading head 7-2 is located on the outside of code-disc Circular gratings 7-1, is fixed on lower rotor case 14 by reading head mounting base 7-3, end face axis
Hold 8 include: end face bearing upper bearing (metal) plate 8-1, end face bearing rotor 8-2 wherein, end face bearing upper bearing (metal) plate 8-1 be located at due to rotation
The lower section for turning skeleton 9 is fixed on the bearing upper bearing (metal) plate mounting surface 9-D of end face by screw, and end face bearing rotor 8-2 is located at end
Below spherical bearing upper bearing (metal) plate 8-1, above rotation modulation motor stator 10-2, rotation modulation motor is split type structure, comprising:
Rotation modulation rotor 10-1 and rotation modulation motor stator 10-2, wherein rotation modulation motor stator 10-2 passes through bolt
It being fixed on rotation modulation motor mount 11, rotation modulation motor mount 11 is fixed on lower rotor case 14 by screw,
Rotation modulation rotor 10-1 is located on the inside of rotation modulation motor stator 10-2, is fixed by bolts in rotation modulation rotor bone
On the rotation modulation motor mounting surface 9-E of frame 9, torquer stator transfer panel 12 is located at the upper surface of rotation modulation rotor framework 9,
It is fixed on the torquer stator transfer panel mounting surface 9-C of rotation modulation rotor framework 9 by spiral, torquer stator module 13
It include: torquer stator module aluminium seat 13-1, torquer stator skeleton 13-2 and torquer winding 13-3, wherein torquer is fixed
Sub-component aluminium seat 13-1 is located at 12 top of torquer stator transfer panel, is fixed by bolts on torquer stator transfer panel 12,
Torquer stator skeleton 13-2 is located at the torquer stator skeleton positioning surface 12-A of torquer stator transfer panel 12 and torquer is determined
Between sub-component aluminium seat 13-1, it is fixed on the inside of torquer stator module aluminium seat 13-1 by epoxy resin, torquer winding 13-
3 are fixed on the winding boss 13-2-A of torquer stator skeleton 13-2, are kept apart by torquer winding block 13-2-B,
Torquer winding 13-3 power line passes through torquer winding run groove 13-2-C, torquer winding run circular hole 13-2-D and power
Square device winding run square hole 13-2-E is drawn.Upper axial magnetic suspension bearing 1, lower axial magnetic suspension bearing 2 and axial magnetic axis
Holding 3 is pure electromagnetism spherical surface magnetic bearing.
Fig. 4 is magnetic suspension wipping top rotor structure schematic diagram, and magnetic suspension wipping top rotor 4 is respectively equipped with first time of opening upwards
Turn trough 4-A and the second turning slot 4-B that Open Side Down, the left and right end face and upper and lower end face of magnetic suspension wipping top rotor 4 for it is concentric not
With diameter spherical surface.
Fig. 5 is rotation modulation rotor framework cross-sectional view, and rotation modulation rotor framework 9 is cup-shaped structure, and end face is circumferential thereon
Uniformly distributed 4 torquer stator transfer panel positioning surface 9-A, platform processing is strong on the outside of torquer stator transfer panel positioning surface 9-A
Uniformly distributed 8 threaded holes, are used for fixed end taken about the point of fixation on square device stator transfer panel mounting surface 9-C, torquer stator transfer panel mounting surface 9-C
Device stator transfer panel 12,9 outermost platform upper surface of rotation modulation rotor framework are Circular gratings mounting surface 9-B, Circular gratings installation
Uniformly distributed 9 threaded holes on the 9-B of face, for fixing code-disc Circular gratings 7-1,9 outermost platform lower surface of rotation modulation rotor framework
8 threaded holes are evenly distributed with for end face bearing upper bearing (metal) plate mounting surface 9-D, end face bearing upper bearing (metal) plate mounting surface 9-D, are used for fixing end
Spherical bearing 8,9 lower end surface of rotation modulation rotor framework are rotation modulation motor mounting surface 9-E, rotation modulation motor mounting surface 9-E
Uniformly distributed 6 threaded holes, for fixing rotation modulation rotor 10-1.
Fig. 6 is torquer stator transfer panel structural schematic diagram, and torquer stator transfer panel 12 is ring structure, and torquer is fixed
Sub- 12 inner ring of transfer panel is equipped with 4 boss, and boss outer surface is torquer stator skeleton positioning surface 12-A, and boss is equipped with power
Square device winding run groove 12-D, uniformly distributed 8 torquer stator transfer panel fixation hole 12- on 12 outer ring of torquer stator transfer panel
B is equipped with torquer stator module aluminium seat fixing screwed hole 12-C in the two sides of each torquer stator transfer panel fixation hole 12-B.
Fig. 7 is torquer stator skeleton structural schematic diagram, and torquer stator skeleton 13-2 is columnar structured, four windings
Boss 13-2-A is circumferentially uniformly distributed along torquer stator skeleton 13-2 external cylindrical surface, each winding boss 13-2-A circumference subtended angle
It is 80 °.Torquer winding block 13-2-B is furnished among every two winding boss 13-2-A.Four torquer winding run square holes
13-2-E is circumferentially evenly distributed on two windings on torquer stator skeleton 13-2 external cylindrical surface along torquer stator skeleton 13-2
At the boss 13-2-A plane of symmetry.Circumferential uniform point along torquer stator skeleton 13-2 of four torquer winding run groove 13-2-C
Cloth；Four groups of torquer winding run circular hole 13-2-D are located in four torquer winding run groove 13-2-C, every group of torquer
Winding run circular hole 13-2-D is made of two identical torquer winding run circular hole 13-2-D, is run through torquer winding and is walked
Line square hole 13-2-E.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of stator rotating type magnetic suspension sensitivity gyroscope, it is characterised in that: including magnetic levitation bearing system, magnetic suspension wipping top
Rotor-support-foundation system, torquer stator rotary system and rotor case, magnetic levitation bearing system include upper axial magnetic suspension bearing (1), under
Axial magnetic suspension bearing (2) and radial magnetic bearing (3)；Magnetic suspension wipping top rotor-support-foundation system include magnetic suspension wipping top rotor (4),
High-speed motor (5) and torquer rotor assembly (6)；Torquer stator rotary system include photoelectric code disk (7), end face bearing (8),
Rotation modulation rotor framework (9), rotation modulation motor (10), rotation modulation motor mount (11), torquer stator transfer panel
(12) and torquer stator module (13)；Rotor case includes lower rotor case (14), middle rotor case (15) and upper rotor case (16)；
Upper axial magnetic suspension bearing (1) and lower axial magnetic suspension bearing (2) respectively by screw be fixed on upper rotor case (16) and
On lower rotor case (14), upper axial magnetic suspension bearing (1) and lower axial magnetic suspension bearing (2) axially support magnetic suspension wipping top rotor
(4), radial magnetic bearing (3) is fixed on middle rotor case (15) by screw, radial magnetic bearing (3) radial support magnetcisuspension
Floating gyrorotor (4)；Magnetic suspension wipping top rotor (4) is respectively equipped with the first turning slot (4-A) of opening upwards and Open Side Down
Second turning slot (4-B), the left and right end face of magnetic suspension wipping top rotor (4) are concentric different diameter spherical surfaces from upper and lower end face；High speed electricity
Machine (5) is connected with upper rotor case (16) and magnetic suspension wipping top rotor (4)；Torquer rotor assembly (6) and magnetic suspension wipping top rotor
(4) it is connected；Photoelectric code disk (7) is connected with rotation modulation rotor framework (9) and lower rotor case (14)；Rotation modulation rotor framework
(9) it is divided into torquer stator transfer panel positioning surface (9-A), Circular gratings mounting surface (9-B), torquer stator transfer panel mounting surface
(9-C), end face bearing upper bearing (metal) plate mounting surface (9-D) and rotation modulation motor mounting surface (9-E)；End face bearing (8) includes end
Spherical bearing upper bearing (metal) plate (8-1) and end face bearing rotor (8-2), end face bearing upper bearing (metal) plate (8-1) are located at rotation modulation rotor
The lower section of skeleton (9) is fixed on end face bearing upper bearing (metal) plate mounting surface (9-D) by screw, the position end face bearing rotor (8-2)
Below end face bearing upper bearing (metal) plate (8-1), above rotation modulation motor stator (10-2)；Rotation modulation motor (10) and rotation
Modulation rotor skeleton (9) is connected with rotation modulation motor mount (11)；Torquer stator module (13) and torquer stator turn
It connects disk (12) to be connected, torquer stator transfer panel (12) includes torquer stator skeleton positioning surface (12-A), torquer stator turn
Meet disk fixation hole (12-B), torquer stator module aluminium seat fixing screwed hole (12-C) and torquer winding run groove (12-
D)。
2. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the high-speed motor
It (5) is drag cup outer-rotor structure, including high-speed motor stator (5-1), high speed rotor of motor locknut (5-2) and high-speed motor turn
Sub (5-3), high-speed motor stator (5-1) are fixed on upper rotor case (16) by screw, and high speed rotor of motor (5-3) passes through height
Speed motor rotor locknut (5-2) is axially fixed on the lateral wall of the first turning slot (4-A) of magnetic suspension wipping top rotor (4), high
Speed motor rotor (5-3) drives magnetic suspension wipping top rotor (4) high speed rotation.
3. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the torquer rotor
Component (6) includes torquer outer rotor nut (6-1), torquer outer rotor magnet steel (6-2), torquer outer rotor magnet steel magnetic guiding loop
(6-3), torquer outer rotor component locknut (6-4), torquer internal rotor nut (6-5), torquer internal rotor magnetic steel (6-6),
Torquer internal rotor magnetic steel magnetic guiding loop (6-7) and torquer internal rotor component locknut (6-8), wherein torquer outer rotor nut
(6-1) is fixed on the bottom of the second turning slot (4-B) lateral wall of magnetic suspension wipping top rotor (4), torquer outer rotor magnet steel (6-
2) upper end is fitted on torquer outer rotor nut (6-1), and torquer outer rotor magnet steel magnetic guiding loop (6-3), which is located at outside torquer, to be turned
Sub- magnet steel (6-2) lower end is axially fixed at the of magnetic suspension wipping top rotor (4) by torquer outer rotor component locknut (6-4)
On two-revolution slot (4-B) lateral wall, torquer internal rotor nut (6-5) is fixed on the second revolution of magnetic suspension wipping top rotor (4)
The bottom of slot (4-B) inner sidewall, the upper end torquer internal rotor magnetic steel (6-6) are fitted on torquer internal rotor nut (6-5), power
Square device internal rotor magnetic steel magnetic guiding loop (6-7) is located at the lower end torquer internal rotor magnetic steel (6-6), is locked by torquer internal rotor component
Female (6-8) is axially fixed on the second turning slot (4-B) inner sidewall of magnetic suspension wipping top rotor (4).
4. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the photoelectric code disk
It (7) include code-disc Circular gratings (7-1), code wheel reading head (7-2) and reading head mounting base (7-3), code-disc Circular gratings (7-1) pass through
Bolt is fixed on the Circular gratings mounting surface (9-B) of rotation modulation rotor framework (9), and code wheel reading head (7-2) is located at code-disc circle
On the outside of grating (7-1), it is fixed on lower rotor case (14) by reading head mounting base (7-3)；The rotation modulation motor (10)
For split type structure, including rotation modulation rotor (10-1) and rotation modulation motor stator (10-2), wherein rotation modulation
Motor stator (10-2) is fixed by bolts on rotation modulation motor mount (11), and rotation modulation motor mount (11) is logical
It crosses screw to be fixed on lower rotor case (14), rotation modulation rotor (10-1) is located in rotation modulation motor stator (10-2)
Side is fixed by bolts on the rotation modulation motor mounting surface (9-E) of rotation modulation rotor framework (9), and torquer stator turns
The upper surface that disk (12) is located at rotation modulation rotor framework (9) is connect, the power of rotation modulation rotor framework (9) is fixed on by spiral
On square device stator transfer panel mounting surface (9-C).
5. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the torquer stator
Component (13) includes torquer stator module aluminium seat (13-1), torquer stator skeleton (13-2) and torquer winding (13-3),
Torquer stator skeleton (13-2) includes that winding boss (13-2-A), torquer winding block (13-2-B), torquer winding are walked
Line groove (13-2-C), torquer winding run circular hole (13-2-D) and torquer winding run square hole (13-2-E), wherein power
Square device stator module aluminium seat (13-1) is located above torquer stator transfer panel (12), is fixed by bolts in torquer stator and turns
It connects on disk (12), torquer stator skeleton (13-2) is located at the torquer stator skeleton positioning surface of torquer stator transfer panel (12)
Between (12-A) and torquer stator module aluminium seat (13-1), torquer stator module aluminium seat (13- is fixed on by epoxy resin
1) inside, torquer winding (13-3) are fixed on the winding boss (13-2-A) of torquer stator skeleton (13-2), pass through power
Square device winding block (13-2-B) is kept apart, and torquer winding (13-3) power line passes through torquer winding run groove (13-
2-C), torquer winding run circular hole (13-2-D) and torquer winding run square hole (13-2-E) are drawn.
6. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the upper axial magnetcisuspension
It is pure electromagnetism spherical surface magnetic bearing that floating axle, which holds (1), lower axial magnetic suspension bearing (2) and radial magnetic bearing (3),.
7. stator rotating type magnetic suspension sensitivity gyroscope according to claim 4, it is characterised in that: the rotation modulation turns
Sub- skeleton (9) is cup-shaped structure, and end face is circumferentially evenly distributed with 4 torquer stator transfer panel positioning surfaces (9-A) thereon, fixed in torquer
Platform is machined with torquer stator transfer panel mounting surface (9-C), torquer stator transfer panel on the outside of sub- transfer panel positioning surface (9-A)
Uniformly distributed 8 threaded holes, are used for fixed end taken about the point of fixation device stator transfer panel (12), rotation modulation rotor framework (9) is most on mounting surface (9-C)
Outside platform upper surface is Circular gratings mounting surface (9-B), and uniformly distributed 9 threaded holes on Circular gratings mounting surface (9-B) are used for fixed code
Disk Circular gratings (7-1), rotation modulation rotor framework (9) outermost platform lower surface are end face bearing upper bearing (metal) plate mounting surface (9-
D), end face bearing upper bearing (metal) plate mounting surface (9-D) is evenly distributed with 8 threaded holes, is used for fixing end spherical bearing (8), rotation modulation rotor
Skeleton (9) lower end surface is rotation modulation motor mounting surface (9-E), and rotation modulation motor mounting surface (9-E) is evenly distributed with 6 threaded holes,
For fixing rotation modulation rotor (10-1).
8. stator rotating type magnetic suspension sensitivity gyroscope according to claim 1, it is characterised in that: the torquer stator
Transfer panel (12) is ring structure, and torquer stator transfer panel (12) inner ring is equipped with 4 boss, and boss outer surface is torquer
Stator skeleton positioning surface (12-A), boss are equipped with torquer winding run groove (12-D), torquer stator transfer panel (12)
Uniformly distributed 8 torquer stator transfer panel fixation holes (12-B) on outer ring, in each torquer stator transfer panel fixation hole (12-B)
Two sides be equipped with torquer stator module aluminium seat fixing screwed hole (12-C).
9. stator rotating type magnetic suspension sensitivity gyroscope according to claim 5, it is characterised in that: the torquer stator
Skeleton (13-2) be it is columnar structured, four winding boss (13-2-A) along torquer stator skeleton (13-2) external cylindrical surface circumferential direction
It is uniformly distributed, each winding boss (13-2-A) circumference subtended angle is 80 °；The intermediate cloth moment of every two winding boss (13-2-A)
Device winding block (13-2-B)；Four torquer winding run square holes (13-2-E) are circumferential along torquer stator skeleton (13-2)
It is even to be distributed on torquer stator skeleton (13-2) external cylindrical surface, at two winding boss (13-2-A) planes of symmetry；Four torques
Device winding run groove (13-2-C) is circumferentially uniformly distributed along torquer stator skeleton (13-2)；Four groups of torquer winding run circles
Hole (13-2-D) is located in four torquer winding run grooves (13-2-C), every group of torquer winding run circular hole (13-2-D)
It is made of two identical torquer winding run circular holes (13-2-D), runs through torquer winding run square hole (13-2-E).
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| CN104613950B (en) * | 2015-01-06 | 2017-06-27 | 中国人民解放军装备学院 | A kind of magnetic suspension control sensitivity gyro |
| CN105136132A (en) * | 2015-09-02 | 2015-12-09 | 中国人民解放军装备学院 | High-torque magnetic levitation control sensitive spinning top |
| CN105438500B (en) * | 2015-11-20 | 2017-08-04 | 北京石油化工学院 | A kind of outer rotor magnetic suspension taper sphere gyroscope flywheel |
| CN105675019B (en) * | 2016-02-03 | 2018-09-25 | 中国人民解放军装备学院 | A kind of suspension class gyro rotates-deflects complex modulated error compensating method |
| CN105716626B (en) * | 2016-02-03 | 2018-09-21 | 中国人民解放军装备学院 | A kind of stator rotation modulation error compensating method of suspension class gyroscope |
| CN105716595B (en) * | 2016-02-03 | 2018-10-30 | 中国人民解放军装备学院 | A kind of rotor deflection modulation error compensation method of suspension class gyroscope |
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