CN110223593A - A kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method - Google Patents
A kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method Download PDFInfo
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- CN110223593A CN110223593A CN201910630015.9A CN201910630015A CN110223593A CN 110223593 A CN110223593 A CN 110223593A CN 201910630015 A CN201910630015 A CN 201910630015A CN 110223593 A CN110223593 A CN 110223593A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The present invention provides a kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method, belong to gyroscope technology field, including Demonstration table, bracket on the Demonstration table is set, and the damper of setting on the bracket, gyroscope, signal transducer and elastic element, the gyroscope includes frame and the gyro of the lower portion is arranged in by shaft, one end of the frame is connected with damper, the other end of the frame is connected with one end of the signal transducer, the other end of the signal transducer is connected with one end of the elastic element, the other end of the elastic element is connected with the bracket.Horizontal course of the present invention can control steady adjusting；Gyro machine can be with stepless time adjustment；Gyro posture can be in host computer real-time display；The output signal of signal adapter can measure, and can understand lively demonstration rate-of-turn gyroscope principle, improve the understandability of learner's angular velocity gyroscope principle.
Description
Technical field
The present invention relates to gyroscope technology fields, and in particular to a kind of rate-of-turn gyroscope principle demonstration platform and its demonstration side
Method.
Background technique
Posture information in aircraft flight is extremely important, it is necessary to which being grasped by pilot promptly and accurately, gyroscope can essences
The attitudes vibration of true survey aircraft, and be converted into electric signal and shown in instrument.The device of gyroscope is always boat
Reference meter empty and that the boat most convenients such as sail posture and rate are practical.The major part of gyroscope is one to rotary shaft
With the rotor that high angular speed rotates, in a bracket, it has widely rotor in the fields such as aerospace cause
Using.Gyroscope all plays an important role in life and military field, small to mobile, arrives satellite greatly, can see its figure.Top
Spiral shell instrument is the core component of inertial navigation, inertial guidance and inertial measurement system as a kind of inertia measurement device, is widely applied
In military and civilian field.Gyroscope is a kind of device for sensing and maintaining direction, and the theory based on the conservation of angular momentum is set
What meter came out.Gyroscope is mainly located at axle center and rotatable rotor by one and constitutes.Gyroscope once rotation, due to
The angular momentum of rotor, gyroscope, which has, resists the trend that direction changes, it is necessary to require to turn enough fast or inertia is enough greatly (can also be with
Say it is that angular momentum is enough big), it could safeguard its stability.During present gyroscope theory teaching, the instruments used for education of use,
Mostly occupied space is big, cannot clearly demonstrate gyroscope principle in conjunction with software systems.
Notification number is that the patent document of CN109551522A discloses a kind of science popularization device of robot automatic demonstrating gyro
And demenstration method, including Demonstration table, the Demonstration table is equipped with robot, laying rack, accelerator, rotating platform and gyro；
The robot is fixed on the Demonstration table side, and the laying rack is fixed on the robot side, sets on the laying rack
There is gyro, the accelerator is set to described laying rack the same side, and it is same that the rotating platform is set to the accelerator
Side；The Demonstration table side be equipped with PLC control module, the PLC control module respectively with the robot, the accelerator
Connection, which may be implemented the operation that automatic demonstrating gyro is clamped, accelerates, rotates, is superimposed and put, and has and be precisely controlled
Science popularization device.The device occupied space is big, and demonstration has certain limitation, and can only demonstrate gyro clamping, accelerate, rotation
The operation for turning, being superimposed and putting, the principle for being unable to angular velocity gyroscope are clearly demonstrated.
The patent of Publication No. CN206040026U discloses a kind of Table top type motor control and gyroscope principle show it is real
Test platform, including upper frame, lower frame, gyroscope, gyroscope motor, fly-wheel motor and motor driver；In upper frame
Portion's level is equipped with two mounting rods, and the gyroscope motor is installed on above two mounting rods, the gyroscope include inverted U frame and
The top of flywheel, the inverted U frame of the gyroscope is connected with the motor shaft of gyroscope motor；The fly-wheel motor is installed on down U
The side of type frame, motor shaft are connected with flywheel shaft；The motor driver be two, respectively with gyroscope motor and flywheel
Motor is connected；It is also equipped with an angular transducer and electric machine controller above installation cross bar, under two vertical bars of upper frame
End is equipped with the support leg of a plate structure vertically respectively, and upper frame is set on lower frame by two support legs.The experimental bench can only
On-the-spot demonstration cannot carry out real time demonstration by software, and not vivid enough, demonstrating effect is not clear enough.
Summary of the invention
In view of this, the present invention provides a kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method, compact,
Horizontal course can control steady adjusting；Gyro machine can be with stepless time adjustment；Gyro posture can be in host computer real-time display；Letter
The output signal of number converter can measure, and can understand lively demonstration rate-of-turn gyroscope principle, and it is diagonal to improve learner
The understandability of rate gyro principle.
In order to solve the above technical problems, the technical solution used in the present invention is:
A kind of rate-of-turn gyroscope principle demonstration platform including Demonstration table, the bracket being arranged on the Demonstration table, and is arranged in institute
Damper, gyroscope, signal transducer and the elastic element on bracket are stated, the gyroscope includes frame and is arranged by shaft
It is connected in one end of the gyro of the lower portion, the frame with damper, the other end of the frame and the signal
One end of sensor is connected, and the other end of the signal transducer is connected with one end of the elastic element, the elasticity
The other end of element is connected with the bracket.
Further, the damper includes the magnetic damper that the bracket end is arranged in, and is arranged in the magnetic resistance
Air damper between Buddhist nun's device and frame.
Further, the inside of the gyro is equipped with brushless motor, and the outer surface of the brushless motor is equipped with shell.
Further, the shell is arc, using the shaft as symmetrical centre.
Further, the elastic element is spring torsion bar.
Further, the demenstration method of the rate-of-turn gyroscope principle demonstration platform comprising the steps of:
S1: upper computer software is mounted on tablet computer, is communicated by embedded with bluetooth with signal transducer, Real-time Feedback gyro
The attitudes vibration of instrument；
S2: selection serial ports clicks baud rate menu if baud rate need to be configured；
S3: the operating mode of dot pattern menu setting module selects serial ports mode or bluetooth mode, data to be stored in
Position machine, point data save；
S4: data imported into Excel or Matlab and are analyzed, and run under host computer root under Matlab environment
" Matlab drawing .m " file, drawing data curve graph.
Gyro is a kind of device for having vitality and attraction, from the toy in ancient times, to modern fine measuring instrument, it
It attracts people always and it is unfolded to study.In the teaching process of aviation course, the study of rate-of-turn gyroscope principle is very
It is important, it is directly related to the performance of aircraft and the driving ability of pilot.In the past, the study of rate-of-turn gyroscope principle is
Lecturer is against the explanation of teaching material machinery, and student understands and visionary is limited, needs to spend multiple class hours.Later, about gyro
The explanation of instrument, by some mechanical models, such as Demonstration table, demonstrator etc., in addition the explanation of lecturer, the understanding of student is in certain journey
It increases on degree.
However, existing Demonstration table, is mostly demonstration gyro self-characteristic, such as stability, precession, or demonstration
Angle measurement, such as measure pitch angle, inclination angle.Not for demonstrating the testing stand of measurement rate-of-turn gyroscope principle, lack
The demo platform of measurement angular speed variation may be implemented, it cannot be by the formal intuition of " in kind+virtual+data ", image, accurate
Ground shows measurement process.It, cannot be by demonstrating the angular velocity measurement situation under different gyro machine revolving speeds, exhibition in terms of operating method
Measurement process under existing different angular speed situations of change.In addition, existing demonstrating model, usually only mechanical structure, by saying
The explanation of teacher, it is more uninteresting, it is unfavorable for the understanding of student, real time demonstration cannot be carried out by software, not vivid enough, demonstrating effect
It is not clear enough.
Such as the patent that notification number is CN206946778U, a kind of physics gyroscope balance demonstrator is disclosed, it can be intuitive
The precession process for vivo demonstrating gyroscope demonstrates its precession, and only mechanical structure, and demonstration is not vivid enough, cannot combine
Model three-dimension animation, student understand relatively difficult.For another example the patent document of Publication No. CN102722275A, discloses one
Mobile terminal, three-dimensional graphical presentation control system and its method of the kind based on gyroscope, control three by rotation mobile terminal
Tie up the angle adjustment of figure demonstrating, the rotation angle of mobile terminal is corresponding with the rotation angle that 3-D graphic is demonstrated, demonstration
Its angle measurement, but shown without data, curve, it cannot be by demonstrating the angular velocity measurement under different gyro machine revolving speeds
Situation shows the measurement process under different angular speed situations of change.Therefore, different gyro machine revolving speeds can be demonstrated by being badly in need of one kind
Under angular velocity measurement situation and show the Demonstration table of the measurement process under different angular speed situations of change, in combination with a variety of aobvious
Show form, such as data are shown, curve is shown, threedimensional model is shown, can be placed on the lectern of classroom, student is allowed to become apparent from,
More intuitive Fast Learning rate-of-turn gyroscope principle.
The beneficial effects of the present invention are: the present invention is designed meticulously according to the needs of teaching demonstration, including Demonstration table, set
The bracket on Demonstration table is set, and the damper, gyroscope, signal transducer and the elastic element that are arranged on bracket, wherein top
Spiral shell instrument is rate gyroscope, and the gyro of the lower portion is arranged in including frame and by shaft, for detecting sensitive turn
The information such as angle, angular speed, angular acceleration；Elastic element is for providing elastic restraint, when gyroscope is with respect to one angle of housing into rotation
When spending, elastic element, which will be generated, deflects contrary elastic restraint torque with it；Damper is used to provide sticky constraint, when
When gyroscope has an angular speed with respect to shell, damper can generate the damping torque opposite with its rotation direction；Sensing
Device is used for the output of signal.Upper computer software is mounted on tablet computer, is communicated by embedded with bluetooth with sensor, Real-time Feedback
The attitudes vibration of gyroscope.Three kinds of forms of software interface display mode point: a data are shown: the angle of three axis of real-time display, angle speed
Spend variable quantity.B curve is shown: can refresh the angle of gyroscope, angular speed change curve in time.C threedimensional model is shown: using aircraft
Model intuitively to reflect the variation of gyroscope three-dimensional parameter during rotation.
Operation of the present invention use aspect: measuring and operating method can realize gyro by control panel gyro speed adjustment knob
The angular velocity measurement situation under different gyro machine revolving speeds is demonstrated in motor stepless time adjustment；It can be by yawing speed on control panel
Knob is spent, realizes that horizontal course or so is steady and adjusts, show the measurement process under different angular speed situations of change.Furthermore it is possible to
Upper computer software selects a variety of display formats, such as data are shown, curve is shown, threedimensional model is shown.
Measurement result shows aspect and has the advantage that
(1) each portion when close-ups angular velocity measurement can be realized by the actual change situation of each building block of testing stand
The motion process of part situation of change and whole system；
(2) it can reflect the variation of gyroscope three-dimensional parameter during rotation in software, by three-dimensional model aircraft, it is real
Now remote image observation；
(3) can by specific reading data, angle, the angular speed variable quantity of three axis be observed in real time, is realized accurate in software
Observation；
(4) by curve graph, the angular speed change curve of gyroscope can be refreshed in time in software, realizes overall process observation；
(5) can related measurement data be saved and exported in software, realize the retention of demonstration data, derived number
According to can be emulated etc. under the environment such as Matlab.
(6) the angular speed numerical value really measured can be shown on the control panel.
(7) the angular speed electric signal really measured can be exported, is convenient for by signal output wiring terminal on the control panel
It realizes engineering survey (such as measuring using multimeter), or drives other loaded work pieces (having the subsequent ability of expanding space).
The present invention can understand lively demonstration rate-of-turn gyroscope principle, improve learner's angular velocity gyroscope principle
Understandability, compact, while having the advantage that 1. horizontal courses can control steady adjusting；2. gyro machine can
With stepless time adjustment；3. gyro posture can be in host computer real-time display；4. the output signal of signal adapter can measure.
Detailed description of the invention
The present invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of rate-of-turn gyroscope principle demonstration platform of the present invention.
Fig. 2 is the structural schematic diagram of present invention demonstration deck plate.
Fig. 3 is the structural schematic diagram of bracket of the present invention.
Fig. 4 is the structural schematic diagram of air damper of the present invention.
Effect picture when Fig. 5 is course of the present invention deflection.
Fig. 6 is the schematic diagram of invention software system.
Fig. 7 is data of the present invention and the surface chart that curve is shown.
Fig. 8 is the surface chart that data three-dimensional model of the present invention is shown.
Fig. 9 is the surface chart of serial ports of the present invention.
Figure 10 is the surface chart of baud rate of the present invention.
Figure 11 is Matlab drawing data curve graph of the present invention.
Figure 12 is rate-of-turn gyroscope working principle diagram in course of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing 1-12, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on described the embodiment of the present invention, this field is common
Technical staff's every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1
Refering to fig. 1-5, the present embodiment provides a kind of rate-of-turn gyroscope principle demonstration platforms, including Demonstration table 15, setting are described
Bracket 4 on Demonstration table 15, and the damper, gyroscope, signal transducer 2 and the elastic element 3 that are arranged on the bracket 4,
The gyroscope includes frame 9 and the gyro 1 of the lower portion, one end of the frame 9 and damping is arranged in by shaft
Device is connected, and the other end of the frame 9 is connected with one end of the signal transducer 2, the signal transducer 2 it is another
End is connected with one end of the elastic element 3, and the other end of the elastic element 3 is connected with the bracket 4.
The damper includes the magnetic damper 5 that 4 end of bracket is arranged in, and is arranged in 5 He of magnetic damper
Air damper 7 between frame 9.
The inside of the gyro is equipped with brushless motor, and the outer surface of the brushless motor is equipped with shell.
The shell is arc, using the shaft as symmetrical centre.
The elastic element 3 is spring torsion bar.
Wherein, panel is arranged in the side of Demonstration table 15, and panel is equipped with system operation monitoring 11, power switch 10, gyro
The lower part of spin velocity knob 12, yaw rate knob 13, signal output port 14, Demonstration table 15 is equipped with stabilizer blade, effect
Figure is referring to Fig. 5.Bracket 4 includes cross bar 16, and with 16 both ends of cross bar vertical bar 17 connected vertically, gasket is set below cross bar 16,
It is connect by bolt or with demonstration deck plate.Two vertical bars 17, a connection magnetic damper 5, a connection elastic element 3.It is horizontal
Bar 16 is equipped with support rod 6, is used to support signal transducer 2.Air damper 7 is two, and top passes through the first connection respectively
Bar 20 is connect with the second connecting rod 18, and the second connecting rod 18 is vertically set on the both ends of first connecting rod 20, air damper 7
Pedestal 19 is bolted in lower part.Pass through axis between first connecting rod 20 and frame 9, between frame 9 and signal transducer 2
Connection.It is bolted to connection between pedestal 19 and cross bar 16.The gyroscope is rate gyroscope.Due to gyroscope
It is required that high speed rotation and there is certain inertia, therefore brushless motor is selected, revolving speed can be up to up to ten thousand turns.In order to make itself and religion
Motion picture in is similar and has certain inertia, arc shell need to be processed outside motor, this shell need to be in shaft
The heart is symmetrical, otherwise gravity balance in all directions will cause serious shake after high-speed rotation.Researched and analysed comparison, proposed adoption vehicle
Bed progress roughing and brushless motor carry out fining-offs to its several end face on milling machine again in the state of assembling and rotating.This
The motor gyro that sample processes, can stable start-stop, up to ten thousand turns of revolving speed also without jitter phenomenon.
2 requirement of signal transducer can detect the angle change of three-dimensional in the rotation of bracket 4 and 1 rotation process of gyro,
And angular speed variation, due to being installed using embedded, therefore volume wants small and exquisite, and the communicating requirement of signal transducer and host computer uses
The mode of wireless blue tooth.Main indicator requires as follows:
(1) dynamic testing angle precision reaches 0.05 degree.
(2) data output speed reaches 200HZ.
(3) there is Kalman filtering posture blending algorithm.
(4) output content can customize.
(5) TTL serial communication is supported.
(6) compatible STM32,51, arduino ...
(7) size: 12.7*22.7*2.
(8) it powers: 3.3V-5V.
Embodiment 2
Refering to Fig. 6-8, present embodiments provide a kind of rate-of-turn gyroscope principle demonstration platform, be on the basis of embodiment 1 into
Capable improvement: the software systems of the Demonstration table include at signal acquisition module and the data being connected with the signal acquisition module
Module is managed, the signal acquisition module includes gyroscope, the signal condition being connected with the gyroscope, with the signal condition
The analog-to-digital conversion being connected；The data processing module includes the single-chip microcontroller being connected with the data conversion, the single-chip microcontroller
Connect power supply, the single-chip microcontroller and data transmission module telecommunication circuit signal interconnect, the data transmission module telecommunication circuit with
Host computer signal interconnection, referring to Fig. 6.Upper computer software is mounted on tablet computer, is communicated by embedded with bluetooth with sensor, real
When feed back gyroscope attitudes vibration.Three kinds of forms of the software interface display mode point: a data are shown: three axis of real-time display
Angle, angular speed variable quantity.B curve is shown: can refresh the angle of gyroscope, angular speed change curve, referring to Fig. 7 in time.C tri-
Dimension module is shown: intuitively reflecting the variation of gyroscope three-dimensional parameter during rotation with model aircraft, referring to Fig. 8.
Embodiment 3
Refering to Fig. 9-12, the present embodiment provides a kind of demonstration sides of rate-of-turn gyroscope principle demonstration platform using embodiment 1 or 2
Method comprising the steps of:
S1: upper computer software is mounted on tablet computer, is communicated by embedded with bluetooth with signal transducer, Real-time Feedback gyro
The attitudes vibration of instrument；
S2: selection serial ports clicks baud rate menu if baud rate need to be configured；
S3: the operating mode of dot pattern menu setting module selects serial ports mode or bluetooth mode, data to be stored in
Position machine, point data save；
S4: data imported into Excel or Matlab and are analyzed, and run under host computer root under Matlab environment
" Matlab drawing .m " file, drawing data curve graph.
Correct serial ports is chosen it is seen that data, refering to Fig. 9；Baud rate menu is drawn referring to Figure 10, Matlab
Data graphs processed are referring to Figure 11.
Embodiment 4
Refering to fig. 12, the present embodiment analyzes its working principle by taking the rate-of-turn gyroscope of course as an example, arrow it is signified put to
For heading.Course rate-of-turn gyroscope spin velocity is Ω.When aircraft makees rectilinear flight under automatic pilot control
When, two-degrees-of freedom gyro inside casing is in a horizontal position, and the axis of rotation is perpendicular to vertical shaft (measurement axis) and output shaft, inside casing corner β etc.
In zero.
When aircraft generates left drift angular velocity omegay, when, rate-of-turn gyroscope gyro power will occur along inside casing axis direction
Square, size MTop=I Ω ω (rotary inertia that I is the axis of rotation), gyroscopic couple vector is directed toward tail.In the effect of gyroscopic couple
Under, the axis of rotation and inside casing of gyroscope are rotated around inner axis counter-clockwise direction together.Since support shaft is inserted into the rear end of inner axis
In holding, front end is mutually connected firmly by twiot arm with shell.Therefore, when inside casing rotates, torsion bar is deformed by torsion, is generated and is turned with inside casing
The directly proportional moment of elasticity of angle beta, size MBullet=Krβ(KrFor the coefficient of elasticity of twiot arm), the direction of moment of elasticity and gyro
Torque it is contrary.
(the M when two equalising torquesTop=MBullet), inside casing stops operating, and the angle that relative initial position turns over is β=(I
Ω/Kr) ωy, can indicate the size of aircraft yaw angular speed.
When the left drift angular velocity omega that aircraft generatesyWhen increase, the gyroscopic couple of rate-of-turn gyroscope is also just increased with it,
To break the transient equilibrium of above-mentioned two torque, inside casing corner β is also just increased with it, torsion suffered by twiot arm and deformation with
Increase, moment of elasticity also just and then increase.When two torques rebalance, inner axis stops operating again.
When the left drift angular velocity omega that aircraft generatesy, when reduction, the gyroscopic couple of rate-of-turn gyroscope with reduction,
Under the action of moment of elasticity, inside casing restores to original initial position, and the angle β reduces.As the yaw rate ω of aircraftyEqual to zero
When, gyroscopic couple just disappears, and inside casing is restored to initial position, i.e. the axis of rotation disappears perpendicular to measurement and output shaft, moment of elasticity again
It loses.
The segment signal output of rate-of-turn gyroscope is a signal adapter, it is made of rotor and stator.Signal turns
The rotor of parallel operation is fixed on twiot arm axis, its corner is exactly the corner of inner axis.Stator is fixed on shell.Stator magnet
Field winding and output winding are wound on extremely.
When the yaw rate of aircraft is zero, the gyro inside casing corner β of rate-of-turn gyroscope is also zero, signal adapter
It is total output be zero.When aircraft generates yaw rate, the gyro inner axis of rate-of-turn gyroscope turns with signal adapter
Sub- relative stator rotates output voltage signal.
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, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of rate-of-turn gyroscope principle demonstration platform, it is characterised in that: including Demonstration table, the branch being arranged on the Demonstration table
Frame, and damper, gyroscope, signal transducer and the elastic element of setting on the bracket, the gyroscope includes frame
And the gyro of the lower portion is set by shaft, one end of the frame is connected with damper, the frame it is another
One end is connected with one end of the signal transducer, one end phase of the other end of the signal transducer and the elastic element
Connection, the other end of the elastic element are connected with the bracket.
2. a kind of rate-of-turn gyroscope principle demonstration platform as described in claim 1, it is characterised in that: the damper includes setting
In the magnetic damper of the bracket end, and the air damper being arranged between the magnetic damper and frame.
3. a kind of rate-of-turn gyroscope principle demonstration platform as claimed in claim 2, it is characterised in that: the inside of the gyro is equipped with
The outer surface of brushless motor, the brushless motor is equipped with shell.
4. a kind of rate-of-turn gyroscope principle demonstration platform as claimed in claim 3, it is characterised in that: the shell is arc,
Using the shaft as symmetrical centre.
5. a kind of rate-of-turn gyroscope principle demonstration platform as claimed in claim 4, it is characterised in that: the elastic element is bullet
Spring torsion bar.
6. the demenstration method of the rate-of-turn gyroscope principle demonstration platform as described in claim 1 to 5 any one, feature exist
In: it comprises the steps of:
S1: upper computer software is mounted on tablet computer, is communicated by embedded with bluetooth with signal transducer, Real-time Feedback gyro
The attitudes vibration of instrument；
S2: selection serial ports clicks baud rate menu if baud rate need to be configured；
S3: the operating mode of dot pattern menu setting module selects serial ports mode or bluetooth mode, data to be stored in
Position machine, point data save；
S4: data imported into Excel or Matlab and are analyzed, and run under host computer root under Matlab environment
" Matlab drawing .m " file, drawing data curve graph.
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