CN110736454B - Device and method suitable for angular velocity measurement - Google Patents
Device and method suitable for angular velocity measurement Download PDFInfo
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- CN110736454B CN110736454B CN201911120628.4A CN201911120628A CN110736454B CN 110736454 B CN110736454 B CN 110736454B CN 201911120628 A CN201911120628 A CN 201911120628A CN 110736454 B CN110736454 B CN 110736454B
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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
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
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Abstract
The invention provides a device suitable for angular velocity measurement, which comprises a rotating structure body, a vibrating string-beam body, a vibration exciting body and a fixer, wherein two ends of the vibrating string-beam body are respectively arranged at two side sides of the rotating structure body through the fixer, the vibration exciting body or the vibrating string-beam body can drive the vibrating string-beam body to vibrate along the direction perpendicular to the axis of the vibrating string-beam body under the action of magnetic field force, electric field force or electromagnetic field force, when the rotating structure body rotates around the axis of the vibrating string-beam body at a certain angular velocity, the vibration type of the vibrating string-beam body changes due to the action of coriolis force, and the rotating angular velocity of the rotating structure body can be obtained by measuring the amplitude of the vibrating string-beam body, the variation of the vibration type, the axial force variation or the vibration frequency variation. The invention can be used for realizing the string-beam resonance gyro which has simple structure, relatively low manufacturing difficulty and high test precision.
Description
Technical Field
The invention relates to the field of measurement, in particular to a device and a method suitable for angular velocity measurement.
Background
The gyroscope is a core device for attitude control and inertial guidance, and the development of inertial technology and the improvement of guidance requirements of aircrafts, moving bodies and the like require the gyroscope to develop in the directions of small power, long service life, small volume, high reliability and adaptability to various severe environments. The solid gyroscope has the advantages that the rotating angular velocity of the detected rotating object can be detected based on the Coriolis force effect under the working condition that the mass body is not rotated at high speed and is initially and fixedly connected with the detected rotating body, so that the rotating parameters of the body detected in the mode are stable and reliable, and compared with the traditional rotating gyroscope detecting angular velocity mode, the solid gyroscope has obvious advantages. Therefore, in recent years, solid-state hemispherical resonance and solid-state magnetostrictive gyroscopes have appeared, for example. However, in the actual manufacturing and using processes, the requirement on the quality uniformity of the solid umbrella-shaped hemispherical resonator or the solid magnetostrictive block is extremely high, so that the resonator with uniform scale and extremely small change of material density processed by the material is very difficult, the requirement on the signal detection technology is too high, and even the realization is impossible, and the solid gyroscope cannot reach the expected detection precision.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a device and a measuring method suitable for angular velocity measurement.
The device suitable for measuring the angular velocity comprises a rotating structure body 10, a vibrating string-beam body 20, an exciting body 30, a fixer 40 and a signal detection component;
the vibrating string-beam body 20, the vibration excitation body 30 and the signal detection component are all arranged on the rotating structure body 10;
one end of the vibrating string-beam body 20 is mounted to one side of the rotating structure body 10 through a holder 40;
the other end of the vibrating string-beam body 20 is mounted on the other side of the rotating structure body 10 by another holder 40; or alternatively
The other end of the vibrating string-beam body 20 is a free end;
the vibration exciter 30 can drive the vibrating string-beam body 20 to vibrate.
Preferably, the vibrating string-beam body 20 includes any one or any combination of a plurality of magnetic field bodies, electric field bodies, electro-fluids, electromagnetic field bodies, magneto-electric bodies, mechatronic bodies, electro-optical bodies.
Preferably, the vibrating string-beam body 20 is made of any one or a combination of a plurality of piezoelectric materials, electrostrictive materials, magnetostrictive materials, carbon nanotubes, giant magnetoresistance materials, optical fiber materials, and photoelectric materials.
Preferably, the excitation body 30 includes any one or a combination of a plurality of magnetic field bodies, electric field bodies, electrofluid bodies, electromagnetic field bodies, magnetoelectronics bodies, electroelectrokinetic bodies, electrokinetic bodies, and lasers.
Preferably, at least one mass 50 is also included;
the mass body 50 is fixedly mounted on the vibrating string-beam body 20.
Preferably, the signal detection means comprises any one or more of the following:
-a hall sensor;
-a magneto-electric sensor;
-an electrostatic inductor.
The device suitable for measuring the angular velocity comprises a rotating structure body 10, a vibrating string-beam body 20, a fixer 40 and a signal detection component;
the vibrating string-beam body 20 and the signal detection component are mounted on the rotating structure body 10;
the both ends of the vibrating string-beam body 20 are respectively mounted on the rotating structural body 10 by means of retainers 40.
Preferably, the number of vibrating string-beam bodies 20 is one or more;
when the number of the vibrating string-beam bodies 20 is one, the vibrating string-beam bodies 20 are composed of one or more inner cores;
when the number of the vibrating string-beam bodies 20 is plural, the plurality of vibrating string-beam bodies 20 are arranged in parallel and/or in a cross manner;
the plurality of vibrating string-beam bodies 20 are the same or different in diameter.
Preferably, the holder 40 includes a support 41, a detector 42, an adjuster 43, and a vibration exciter 44;
the two ends of the detecting body 42 are respectively provided with a supporting body 41 and an adjusting body 43;
The adjusting body 43 is mounted on the rotating structure 10;
the periphery of the adjusting body 43 is provided with a vibration exciting body 44;
the support body 41 is a length adjustable component;
the vibration exciter 44 is a first exciter 441 and/or a second exciter 442.
According to the angular velocity measurement method provided by the invention, the device suitable for angular velocity measurement is adopted, and the method comprises the following steps:
step one: the vibrating string-beam body 20 is vibrated in a direction perpendicular to the axis of the vibrating string-beam body 20 by receiving the driving force of the vibration body 30 and/or the driving force of itself, and the amplitude is a V The translational speed of vibration is V;
step two: when the rotating structure 10 drives the vibrating string-beam body 20 to rotate in the direction of the angular velocity omega, which is the direction of the axis of the vibrating string-beam body 20 or the direction perpendicular to the axis of the vibrating string-beam body 20, the coriolis force F is applied C The original amplitude A at this time V Becomes A FV+FC(ω) The variation is deltaa (omega), and the vibration string-beam body 20 is at V and F C The angle of the vibration mode in the plane changes, and the change amount is delta theta (omega);
step three: detecting changes in electric, magnetic, electromagnetic or photoelectric signals of the rotating structure 10 during rotation of the vibrating string-beam 20, such as its own stiffness, tension, vibration frequency or vibration of the vibrating string-beam 20, by means of signal detection means to obtain Δa (ω), Δθ (ω) or directly obtain F C Further, the angular velocity ω of the rotation of the rotating structure 10 is obtained.
Compared with the prior art, the invention has the following beneficial effects:
1. the vibration string-beam body adopts a string-beam structure, so that the defects in the prior art are overcome, the uniformity of materials is obviously improved, the dimensional accuracy, consistency and density consistency of the string beam formed by a wire drawing manufacturing process can be better ensured, and the signal detection resolution, accuracy and stability are improved.
2. The chord-beam structure enables the invention to adopt a plurality of different structural combination forms according to different application scenes, and the application range is wide.
3. The design is flexible, and the practicality is strong.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of the amplitude variation of the vibrating string-beam body 20 as the rotating structure 10 rotates;
FIG. 3 is a schematic diagram of an embodiment of the present invention;
fig. 4 is a schematic view showing the amplitude variation of the vibrating string-beam body 20 when the rotating structure body 10 rotates;
FIG. 5 is a schematic diagram of an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of the present invention;
FIG. 8 is a schematic diagram of an embodiment of the present invention;
FIG. 9 is a schematic diagram of an embodiment of the present invention;
FIG. 10 is a schematic diagram of an embodiment of the present invention;
FIG. 11 is a schematic diagram of an embodiment of the present invention;
FIG. 12 is a schematic diagram of an embodiment of the present invention;
FIG. 13 is a schematic diagram of an embodiment of the present invention;
FIG. 14 is a schematic view of an embodiment of the present invention;
FIG. 15 is a schematic view of an embodiment of the present invention;
FIG. 16 is a schematic view of an embodiment of the present invention;
FIG. 17 is a schematic diagram of an embodiment of the present invention;
FIG. 18 is a schematic view of an arrangement of the vibrating string-beam body 20;
fig. 19 is a schematic view showing the arrangement of the vibrating string-beam body 20;
FIG. 20 is a schematic view of an arrangement of the vibrating string-beam body 20;
fig. 21 is a schematic view of the arrangement of the vibrating string-beam body 20;
FIG. 22 is a schematic view of a cross-section of a vibrating string-beam body 20;
FIG. 23 is a schematic view of a cross-section of the vibrating string-beam body 20;
FIG. 24 is a schematic view of a cross-section of a vibrating string-beam body 20;
fig. 25 is a schematic view of the structure of the vibrating string-beam body 20;
fig. 26 is a schematic structural view of the holder 40;
fig. 27 is a schematic structural view of the support 41.
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The device suitable for angular velocity measurement comprises a rotating structure body 10, a vibrating string-beam body 20, an exciting body 30, a fixer 40 and a signal detection component, wherein the vibrating string-beam body 20, the exciting body 30 and the signal detection component are all arranged on the rotating structure body 10, one end of the vibrating string-beam body 20 is arranged on one side of the rotating structure body 10 through the fixer 40, and the other end of the vibrating string-beam body 20 is arranged on the other side of the rotating structure body 10 through the other fixer 40; or the other end of the vibrating string-beam body 20 is a free end; in a preferred embodiment, as shown in fig. 1, a vibrating string-beam body 20 is disposed in the rotating structure body 10, two ends of the vibrating string-beam body 20 are respectively and tightly connected to the rotating structure body 10 through a fixing device 40 and have a certain tensioning degree, the vibrating body 30 is a magnetic field generator, for example, an electromagnetic coil capable of obtaining a magnetic field through power supply, the vibrating string-beam body 20 is a magnetic field body, for example, a ferromagnetic vibrating string-beam body, the magnetic field generated by power supply of the electromagnetic coil of the vibrating body 30 acts on the vibrating string-beam body 20, the vibrating string-beam body 20 is vibrated by the action of alternating magnetic force, and the translational speed V of vibration is stabilized, at this time, if the power supply current amplitude and frequency of the electromagnetic coil of the vibrating body 30 are unchanged, the rotating structure body 10 is stationary, and the vibration mode of the vibrating string-beam body 20 is stabilized; when the rotary structure 10 rotates in the direction of the angular velocity ω as the initial axis of the vibrating string-beam body, the vibrating string-beam body 20 receives the coriolis force F C Due to the effect of the Coriolis force F C The vibration pattern of the vibrating string-beam body 20 is changed, in which, in fig. 1Is directed in the angular velocity direction of rotation of the rotating structure 10 and is parallel to the axial direction of the vibrating string-beam body 20, coriolis force F C DirectionRespectively with V and->Is perpendicular to the direction of (2); as shown in FIG. 2, such that the original antinode amplitude A V Becomes A FV+FC(ω) The variation is deltaa (omega); with both V and F C An angle change amount Δθ (ω) of the vibration mode in the plane; according to the coriolis relationship:
F C when the translational velocity V of the vibrating string-beam body 20 is determined to be known by initially applying a stable electromagnetic excitation, F is caused when the mass m of the vibrating string-beam body 20 is known C The change in (c) is only related to the angular velocity ω of rotation of the rotating structure 10. Because F C Has a correspondence with Δa (ω) and Δθ (ω), and thus Δa (ω) and Δθ (ω), i.e., F, are measured by the signal detecting means C The rotational angular velocity ω of the rotating structure 10 can be obtained based on the coriolis force relational expression.
Further, the vibration exciter 30 and the vibration string-beam body 20 can take various forms of cooperation driving, for example, the vibration exciter 30 can generate a magnetic field, the vibration string-beam body 20 also has magnetism, and the vibration string-beam body 20 is driven to vibrate by mutual attraction or repulsion of magnetic force; for another example, the vibration exciter 30 and the vibrating string-beam 20 are electric field bodies with charges, such as static bodies, and the mutual attraction or mutual repulsion is achieved through the polarities of the charges so as to drive the vibrating string-beam 20 to vibrate; but may also be in various forms that combine an electric field and a magnetic field to drive the vibrating string-beam body 20 into vibration. For another example, the vibration exciter 30 is a static magnetic field generator, and when alternating current is applied to the vibrating string-beam 20, the vibrating string-beam 20 generates lorentz force or ampere force, thereby driving the string-beam 20 to vibrate; or vice versa, the vibration exciter 30 is an alternating magnetic field generator, and the vibrating string-beam 20 is vibrated by applying a direct current to the vibrating string-beam 20.
Specifically, the signal detecting unit may be installed outside the rotating structure body 10 or inside the rotating structure body 10, or may select an installation location according to a specific structural form of the rotating structure body 10, and the signal detecting unit obtains a corresponding variation amount by detecting an electric, magnetic, electromagnetic or photoelectric signal, thereby realizing the measurement of angular velocity.
Specifically, the vibration string-beam body 20 is of a string structure, so that the uniformity of materials can be processed, the dimensional accuracy, consistency and density consistency of the string beam formed by a wire drawing manufacturing process can be better ensured, and the string structure enables the vibration string-beam body to adopt various different structure combination modes according to different application scenes, so that the signal detection resolution, precision and stability are improved, the practicability is high, and the potential of simultaneous detection of rotation of multiple dimensions is provided.
Specifically, in another application scenario, as shown in fig. 3 and 4, preferably, the rotating structure body 10 has a cuboid structure, the vibrating string-beam body 20 and the vibration exciter 30 are disposed in parallel in the middle of the rotating structure body 10 and are parallel to the bottom surface of the rotating structure body 10, the vibrating string-beam body 20 is driven by the vibration exciter 30 to generate vibration, the translational velocity V of the vibration of the vibrating string-beam body 20 is parallel to the bottom surface of the rotating structure body 10 and perpendicular to the axis of the vibrating string-beam body 20, and when the rotating structure body 10 rotates around the direction perpendicular to the bottom surface at the angular velocity ω, the direction of the angular velocity ω Perpendicular to the bottom surface of the rotating structure 10, the coriolis force F C The direction of the vibration beam body 20 is parallel to the axial direction of the vibration beam body 20, the vibration mode of the vibration beam body 20 moves along the axial direction of the vibration beam body 20, the relative position of the vibration beam body 20 and the vibration excitation body 30 shifts, and the original amplitude of the vibration beam body 20 is A V The received Coriolis force F C(ω) After the action, the vibration mode of the vibrating string-beam body 20 shifts to cause the amplitude of the position point on the vibrating string-beam body 20 corresponding to the rotating structure body 10 or the exciting body 30 to change relatively, so that the signal detection component detects the electromagnetic signal change amount, the electric signal change amount, the magnetic signal change amount or the photoelectric signal change amount of the corresponding point of the vibrating string-beam body 20, thereby detecting and obtaining the change amount of the amplitude of the vibrating string-beam body 20 as delta b (omega) and the angle change amount delta theta (omega) of the vibration mode, and obtaining the corresponding F C Based on the familyThe theory of the rioli force yields the angular velocity ω.
Specifically, as shown in fig. 1 and 3, by setting the vibrating string-beam body 20 as a combination of a piezoelectric material and a magnetic field body, applying a magnetic field to the vibrating string-beam body 20 through the vibration exciter 30, at this time, the vibrating string-beam body 20 is deformed by the applied magnetic field, and at the same time, voltage occurs due to the fact that the vibrating string-beam body 20 pulls and presses the piezoelectric material body (such as a piezoelectric coating layer) compounded on the vibrating string-beam body 20 due to the deformation of the vibrating string-beam body 20 itself, and the piezoelectric material body is picked up through the electrode terminals at the end of the vibrating string-beam body 20, and structural deformation (corresponding to the magnitude of an electrical signal picked up by the electrode terminals at the end of the vibrating string-beam body 20) of the vibrating string-beam body 20 is detected by the magnitude of the applied magnetic field of the vibration exciter 30 and the detected change signal of the voltage at the end of the vibrating string-beam body 20, the measurement of the rotational angular velocity of the rotating structure 10 can be achieved.
Specifically, as shown in fig. 1 and 3, in a preferred embodiment, by setting the vibrating string-beam body 20 as a magnetostrictive material, the vibration exciter 30 is an electromagnetic coil, when the vibration exciter 30 is supplied with an alternating current, the magnetic field generated by the vibration exciter 30 causes the vibrating string-beam body 20 to vibrate at the same frequency as the vibration exciter 30, and when the rotating structure 10 rotates, the vibration frequency of the vibrating string-beam body 20 changes, and the measurement of the rotational angular velocity of the rotating structure 10 is achieved by detecting the change in the frequency of the vibrating string-beam body 20; in a variation, by setting the vibrating string-beam body 20 as an electrostrictive material, the excitation body 30 is an electric field body capable of applying alternating electrostatic fields of positive and negative polarities, so that the vibrating string-beam body 20 generates electrostrictive deformation vibration when excited by the excitation body 30 as an electric field, and when the rotating structural body 10 rotates at the angular velocity ω, the vibrating string-beam body 20 generates vibration in the direction F C The tension force under the action changes, and the electrostriction magnitude causes relative change, and the measurement of the rotational angular velocity of the rotating structure body 10 is realized by detecting the change of the tension force of the vibrating string-beam body 20.
The carbon nanotube is one of the preferred materials for manufacturing the vibrating string-beam body 20 due to the good mechanical property and the good conductivity of the carbon nanotube, and the change rate of the resistance in the deformation process of the carbon nanotube is high, so that the change rate of the voltage signals at two ends of the carbon nanotube is high, and the signal detection resolution can be improved by adopting the carbon nanotube, so that the detection precision is improved.
It should be noted that, since the signal change of the vibration mode change of the vibrating string-beam body 20 caused by the rotation of the rotating structure body 10 can be detected by the sensing of the vibrating string-beam body 20 itself, besides by the signal detecting means, the vibrating string-beam body 20 itself can be also used as a giant magnetoresistive material when designed for sensing, a material whose internal resistance changes greatly when excited by a magnetic field can also be changed when excited by the magnetic field of the exciting body 30, and after the vibrating string-beam body 20 is vibrated by the magnetic field of the exciting body 30, the vibration mode of the giant magnetoresistive material changes due to the Fc effect, the relative position of the vibration mode of the vibrating string-beam body 20 of the giant magnetoresistive material changes, and the spatial distance of the exciting body 30 to which the exciting magnetic field is applied changes, thereby causing the vibrating string-beam body 20 of the giant magnetoresistive material to feel that the exciting strength of the exciting body 30 changes correspondingly, so that the resistance and voltage of the vibrating string-beam body 20 of the giant magnetoresistive material change correspondingly detecting F C And ω.
Specifically, as shown in fig. 5, 10, 11, and 12, one or more vibrating string-beam bodies 20 are made of an electric fluid, and after an alternating current is applied, the one or more vibrating string-beam bodies 20 are applied with a static magnetic field, and vibration is generated based on a lorentz magnetic force or an ampere force, and the vibration is absolute vibration with reference to the rotating structure 10 or a detection device mounted on the rotating structure 10 of the one or more vibrating string-beam bodies 20; the magnitude of the absolute vibration varies as the rotating structure 10 rotates, and can be used to detect Fc or ω based on the foregoing principles.
Specifically, as shown in fig. 5, 10, 11, and 12, one or more vibrating string-beam bodies 20 are electro-fluids, and when an alternating current is applied, the one or more vibrating string-beam bodies 20 apply a static magnetic field string to the excitation body 30, and vibration is generated based on the lorentz force or ampere force, and the vibration is the relative vibration of the one or more vibrating string-beam bodies 20.
The degree of coriolis force effect generated by the rotation of the rotating structure 10 is different due to the difference in stiffness or material of the one or more strings-Liang Cuxi, so that the change of the relative vibration between the one or more vibrating strings-beam 20 is generated, and the change is measured and can also be used for detecting Fc so as to obtain ω.
Specifically, as shown in fig. 5, 10, 11 and 12, conversely, after direct current is applied to one or more vibrating string-beam bodies 20 of the electric fluid, an alternating magnetic field is applied to the exciting body 30, and the vibrating string-beam bodies 20 of the one or more electric fluid vibrate, so that Fc or ω detection can be realized.
Specifically, in practical application, one or more mass bodies 50 can be added according to the requirement of signal detection intensity, and the mass bodies 50 are installed at the vibration mode sensitive positions on the vibration string-beam body 20, as shown in fig. 5, so that the detection accuracy is increased, and by adding one or more mass bodies 50 on the vibration string-beam body 20, the variation of the amplitude and the vibration mode angle of the vibration string-beam body 20 can be increased, the detection sensitivity is improved, and the detection of the rotation angular speed of the rotating structure body 10 is facilitated.
Specifically, as shown in fig. 6, the vibrating string-beam body 20 employs a magnet, a permanent magnet or an electromagnet, the exciting body 30 employs a magnetic field body or an electromagnetic field body, and when the rotating structure body 10 rotates in a direction of angular velocity ω as an initial axial direction of the vibrating string-beam body 20, magneto-electric information data at the time of vibration pattern change of the vibrating string-beam body 20 measured by the hall sensor 60, the magneto-electric sensor 70 is obtained to obtain Δa (ω) and Δθ (ω) of vibration change of the vibrating string-beam body 20, i.e., F C The electromagnetic signal corresponding to the variation is obtained, so that the rotating speed omega is obtained.
Specifically, the vibrating string-beam body 20 may also adopt an optical fiber material or a combination of the optical fiber material and other materials, and based on the change of the optical path signal inside the optical fiber after the deformation generated after the coriolis force, the signal detection component, such as a photoelectric sensor, detects the change of the optical path signal, thereby achieving the purpose of accurately measuring the angular velocity of the rotating structure body 10.
Specifically, as shown in fig. 7, the vibrating string-beam body 20 adopts an electric field body, for example, the vibrating string-beam body 20 is an electret (the surface always has polarity charges), the vibration exciter 30 is an electrostatic exciter, and after the positive and negative alternating electric fields are applied, the electret will Vibration is generated by the repulsive force, and Δa (ω) and Δθ (ω) of vibration change of the vibrating string-beam body 20, that is, F, can be obtained by electrostatic field or electrostatic voltage change amount before and after rotation of the vibrating string-beam body 20 relative to the rotating structure body 10 measured by the electrostatic sensor, for example, the electrostatic sensor 80 C The static signal corresponding to the variation is obtained, so that the rotating speed omega is obtained.
Specifically, as shown in fig. 7, the vibrating string-beam body 20 adopts an electric fluid and an electric field body, for example, the vibrating string-beam body 20 is a conductor core through which current passes, static electricity is applied to an outer coating layer or a wrapping layer of the conductor core to form the electric field body, that is, the vibrating string-beam body 20 is a core part as a current conductor, and the outer layer is an electrostatic body composite material body. When alternating current is applied to the vibrating string-beam body 20, the vibration exciter 30 applies a static magnetic field, and the vibrating string-beam body 20 vibrates; accordingly, the amount of change in electrostatic voltage between the electrostatic sensor 80 of the vibrating string-beam body 20 before and after the rotation of the rotating structure body 10 and the electrostatic field of the outer layer of the vibrating string-beam body 20, which is measured by the electrostatic sensor 80, can be obtained as Δa (ω) and Δθ (ω) of the vibration change of the vibrating string-beam body 20, i.e., F C The static signal corresponding to the variation is obtained, so that the rotating speed omega is obtained.
Further, as shown in fig. 8, the vibrating string-beam body 20 is an electrostatic actuator, the number of vibrating string-beam bodies 20 is three, two of the vibrating string-beam bodies 20 are symmetrically arranged relative to the other vibrating string-beam body 20, the three vibrating string-beam bodies 20 are parallel to each other, the three vibrating string-beam bodies 20 are all provided with electric field bodies (electrostatic bodies) and are provided with static electricity, wherein the middle vibrating string-beam body 20 is respectively charged with the same polarity and opposite polarity with the vibrating string-beam bodies 20 at two sides, and an alternating electrostatic field is applied to the middle vibrating string-beam body 20, so that the charges are attracted by the opposite polarity and opposite polarity so that the vibrating string-beam body 20 is simultaneously subjected to suction force and repulsive force of the charges in the same radial direction to vibrate, the rigidity signal of the vibrating string-beam body 20 is detected by a sensor so as to obtain the rigidity signal variation, or the potential or voltage difference variation formed between the three string-beam bodies so as to obtain F C Further, the rotational angular velocity ω is obtained, and fig. 14 and 15 show two variations shown in fig. 8.
In particular, the invention vibrates inIn a specific design in which there are various forms of vibration excitation of the string-beam body 20, there is a detection sensing device composed of a rotating structural body 10, a vibrating string-beam body 20, a holder 40 and signal detection means, both ends of the vibrating string-beam body 20 are respectively mounted on both sides of the rotating structural body 10, in a preferred embodiment, as shown in fig. 9, the vibrating string-beam body 20 is two in number, two vibrating string-beam bodies 20 are disposed in parallel on the vibrating string-beam body 20 with a certain mounting distance, by making the polarities of charges of the two vibrating string-beam bodies 20 opposite, and simultaneously making one side of the rotating structural body 10 parallel to the vibrating string-beam body 20 carry charges, the polarity of the charges is the same as or opposite to the polarity of charges on the adjacent vibrating string-beam body 20, an alternating electrostatic field is applied to one vibrating string-beam body 20, and the other vibrating string-beam body 20 will vibrate under the action of suction and repulsive force of the vibrating string-beam body 20, at this time, when the rotating structural body 10 rotates, the change of vibration signal F is obtained by detecting the stiffness of the vibrating string-beam body 20 by sensing itself C Thereby deriving the rotational speed ω; or when the rotating structure 10 rotates, F can also be obtained by a change in the potential or voltage difference formed between the two vibrating string-beam bodies 20, or a change in the potential or voltage difference between one of the vibrating string-beam bodies 20 and the electrostatically charged side of the rotating structure 10 C Thereby deriving the rotational speed ω.
Specifically, as shown in fig. 10, 11 and 12, the number of the vibrating string-beam bodies 20 is two, the two vibrating string-beam bodies 20 are arranged on the vibrating string-beam bodies 20 in parallel and have a certain installation distance, by making the two vibrating string-beam bodies 20 have different charges and thicknesses, one side of the rotating structure body 10 parallel to the vibrating string-beam bodies 20 is charged, the polarity of the charge is the same as that of the charge on the adjacent vibrating string-beam body 20, when an alternating positive and negative electric field or a single polarity electric field is applied to one vibrating string-beam body 20 (as shown in fig. 10, the vibrating string-beam body 20 on the left side) and an alternating positive and negative electric field is applied to the other vibrating string-beam body 20 (as shown in fig. 10, the vibrating string-beam body 20 on the right side), both vibrating string-beam bodies 20 will apply positive and negative alternating static electricity to one vibrating string-beam body 20 The mutual attraction force and repulsion force in the field act to vibrate; so that when the rotary structure 10 rotates, due to F C The vibration mode is changed, so that electric potential or voltage is changed between two vibration string-beam bodies 20 or between one vibration string-beam body 20 and the charged side of the rotary structure body 10, and F can be correspondingly obtained by measuring the change C Thereby deriving the rotational speed ω.
Specifically, as shown in fig. 16, one end of the vibrating string-beam body 20 is fixedly mounted on the rotating structure body 10, the other end is a free end, the vibrating string-beam body 20 adopts a rod with a certain rigidity, such as a magnet, the exciting body 30 is an electromagnetic coil, and after the exciting body 30 is energized, the free end vibrates due to the magnetic force of the vibrating string-beam body 20 subjected to the magnetic field of the exciting body 30, so that when the rotating structure body 10 rotates in a direction in which the angular velocity ω direction is the initial vibrating string-beam body 20 axis, the vibrating string-beam body rotates due to the coriolis force F C The relative position between the vibration exciter 30 and the vibration exciter 30 changes due to the movement or deformation of the vibration exciter, and the change of the magnetic signal is generated, and Δa (ω) and Δθ (ω), that is, F, can be detected by electromagnetic detection or electrostatic detection C Magnetic signal corresponding to the variation to obtain F C Values. Thereby deriving the rotational speed ω. In fig. 16, the two ends of the vibrating string-beam body 20 may be energized to form a current loop, the vibration exciter 30 is configured to apply a static magnetic field, the vibrating string-beam body 20 will vibrate the free end based on the lorentz force or ampere force, and the vibration pattern of the vibrating string-beam body 20 will be caused by F when the rotating structure body 10 rotates C The effect is changed, and the corresponding F can be realized by measuring the change quantity C And further the angular velocity ω of the rotating structure 10.
Further, the vibration string-beam body 20 may be arranged in various forms, and the vibration string-beam bodies 20 may be arranged in parallel, cross, a combination of parallel and cross, etc., as shown in fig. 17, fig. 18, fig. 19, fig. 20, and fig. 21, which are specific implementation forms of the vibration string-beam body 20 arrangement, it should be noted that, differences in thickness, rigidity, material, and surface charge of the vibration string-beam body 20 may cause differences in detected electric signals, magnetic signals, electromagnetic signals, or photoelectric signals under the same working conditions, so that the most stable and most sensitive detected signals are determined according to the strength of the detected signals, so that the thickness, rigidity, material, and surface charge of the vibration string-beam body 20 that is actually needed may be reversely pushed or optimally designed, so as to be designed according to different scenes, so as to meet the requirements in actual detection.
Specifically, when the vibrating string-beam body 20 is further provided, the vibrating string-beam body 20 is composed of one or more inner cores, as shown in fig. 13, in a preferred embodiment, the vibrating string-beam body is composed of two charged inner cores, as shown in fig. 22 and 23, and the charged polarities of the two charged inner cores are the same to form a capacitor so as to have a potential difference, so that when the vibrating string-beam body 20 vibrates due to the repulsive force between the inner cores caused by the external action, in a variation, as shown in fig. 25, the charged polarities of the two charged inner cores are the same and are arranged in a serpentine structure parallel to each other; in another variation, in the arrangement as in fig. 24, there is a vibrating string-beam body 20 composed of a plurality of cores; the relative position of the opposite faces between the different cores may be due to vibrations, or further due to F C Inducing a change, thereby inducing a change in the potential difference or voltage between the different cores, by detecting the amount of the change in the potential or voltage, F can be derived C Thereby deriving the rotational angular velocity ω.
Specifically, as shown in fig. 26, the holder 40 includes a support 41, a detection body 42, an adjustment body 43, and a vibration exciter 44, the two ends of the detection body 42 are respectively provided with the support 41 and the adjustment body 43, the adjustment body 43 is mounted on the rotating structure 10, preferably, the detection body 42 and the adjustment body 43 are respectively provided with a detection body through hole 421 and an adjustment body through hole 431, the two ends of the vibration string-beam body 20 respectively pass through the adjustment body through hole 431 and the detection body through hole 421 in turn, and are fastened and mounted on the support 41, the support 41 is a length adjustable assembly, and the vibration exciter 44 includes a first exciter 441 and/or a second exciter 442.
Specifically, the adjusting body 43 is made of magnetostrictive material, and the detecting body 42 is made ofIn the piezoelectric material, the vibration exciting body 44 is provided around the adjusting body 43, the vibration exciting body 44 is an electromagnetic coil, when the vibration exciting body 44 is energized with an alternating current, the adjusting body 43 generates a resonance with the same frequency vibration of the vibration exciting body 44, and when the natural frequency of the composite body composed of the detecting body 42, the adjusting body 43 and the vibrating string-beam body 20 is the same as the excitation frequency of the vibration exciting body 44 provided around the vibration exciting body, the coriolis force F is generated when the rotating structural body 10 rotates C The tension of the vibrating string-beam body 20 is changed, and the piezoelectric voltage signal generated by the piezoelectric material detector 42 due to the pressing force in the resonance state is more sensitive to the externally detected change signal, i.e. the offset of the resonance frequency can be used as F C The corresponding variation introduced, thereby obtaining F C Further, the rotational speed ω of the rotating structure 10 is measured.
Further, as shown in fig. 26, the detecting body 42 is made of piezoelectric material, the adjusting body 43 is made of magnetostrictive material, when the first exciting body 441 is made of permanent magnet exciting and the second exciting body 442 is made of electromagnetic exciting, the adjusting body 43 also vibrates, the adjusting body 43 can lengthen and shorten, and when the rotating structural body 10 rotates to generate coriolis force F C The degree of tension of the vibrating string-beam body 20 changes, and the piezoelectric material detector 42 is pressed in the resonance state to generate a corresponding F C To obtain F C Further, the rotational speed ω of the rotating structure 10 is measured.
When the detecting body 42 is made of piezoelectric material, the adjusting body 43 is made of piezoelectric material, the first exciting body 441 is excited by electrostatic voltage, the second exciting body 442 is excited by alternating voltage, the adjusting body 43 can be stretched or shortened, and the rotating structural body 10 rotates to generate coriolis force F C The degree of tension of the vibrating string-beam body 20 changes, and the detecting body 42 generates a corresponding force F due to the pressed force C To obtain F C Further, the rotational speed ω of the rotating structure 10 is measured.
When the detecting body 42 is made of magnetostrictive material, the adjusting body 43 is made of piezoelectric material, the first exciting body 441 is excited by electrostatic voltage, the second exciting body 442 is excited by alternating voltage, and the adjusting body43 can be extended or shortened, the rotating structure 10 rotates to generate a coriolis force F C The degree of tension of the vibrating string-beam body 20 changes, and the detecting body 42 is pressed to generate a corresponding F C Preferably, the signal detection means employs an induction coil or magneto-electric material to derive F C Further, the rotational speed ω of the rotating structure 10 is measured.
As shown in fig. 26, when the detecting body 42 is made of magnetostrictive material, the adjusting body 43 is made of magnetostrictive material, when the first exciting body 441 is made of permanent magnetic excitation and the second exciting body 442 is made of electromagnetic excitation, alternating electromagnetic excitation is formed, the adjusting body 43 can be stretched or contracted, and when the rotating structure 10 rotates to generate coriolis force F C The degree of tension changes, and the detector 42 is pressed to generate F C To measure F C Further, the speed ω of rotation of the rotating structure 10 is measured, and the signal detecting means preferably employs an induction coil or a magneto-electric material.
In addition, due to this structural arrangement, as shown in FIG. 26, the detector 42 applies F to the axial tension or tensile force, or stiffness (as measured by frequency variation, i.e., equivalent to the evaluation rate), of the vibrating string-beam body 20 after vibration C Corresponding variation values can be used for detecting F C And further obtains the rotational angular velocity ω.
Further, in order to more precisely measure the variation of the vibration of the vibrating string-beam body 20, the holder 40 may have various structures, as shown in fig. 27, the holder 40 is of a separate structure, and the degree of tension of the vibrating string-beam body 20 can be adjusted by adjusting the holder 40, so that the accuracy of the measurement can be improved, and in a preferred example, the holder 40 is of a structure of a bolt and nut having a through hole, and the degree of tension of the vibrating string-beam body 20 can be adjusted by unscrewing or screwing the bolt; in one variation, the retainer 40 is a split structure with wedge grooves on both sides, and the tension of the vibrating string-beam body 20 is adjusted by inserting wedge blocks into the wedge grooves to drive the sides of the wedge grooves away from each other or extracting the wedge blocks to bring the sides of the wedge grooves closer together.
As shown in fig. 26, the lower end of the rotary structure 10 is also provided with an adjusting body 43, and the magnitude of the magnetostrictive amount of the adjusting body 43 can be controlled by the magnitude of the applied magnetic field intensity of the peripheral vibration exciting body 44, so that the degree of tension of the vibrating string-beam body 20 can be finely adjusted.
Specifically, the magnetic field body refers to an object which has magnetism, such as ferromagnetism, permanence magnetism and electromagnetism, and can generate attraction and repulsion under the action of a magnetic field. Such as ferromagnetic steel wires, permanent magnet strips, electromagnetic solenoids.
The electric field body refers to an object which can be applied with a high-voltage electric field to generate polarization electricity, and the object can be positively charged or negatively charged or the layers of interlayer insulation can be provided with same polarity or different polarity; such as capacitive plates, electrets, or coatings of body materials with a polar charge; PVDF material.
The electrofluid refers to a conductive body, and after voltage is applied to two ends of the conductive body, current exists in the conductive body; in addition, the surface of the current body can be further provided with a coating, and the coating can be provided with polarized charges. Such as an overcoated copper wire, having an interior through which current passes and an exterior coating having a polarization charge.
The electromagnetic field body refers to a moving electromagnetic induction object, and when the object is electrified, a magnetic field such as an elongated wire and a solenoid is generated; or to apply a magnetic field to produce an electrical signal, such as a solenoid to which an alternating magnetic field is applied to produce electricity.
The magneto-electric body is used for generating an electric signal after the object is applied with a magnetic field; for example, the magnetostrictive material and the piezoelectric material are in line with each other, and the magnetostrictive material stretches and stretches to transmit force to the piezoelectric material after sensing a magnetic field, so that the piezoelectric material generates corresponding electric signals.
The force electric body is used for generating an electric signal after the force is applied to the object; such as piezoelectric material, PVDF material body, applies external force to the piezoelectric material, so that the piezoelectric material generates corresponding electric signals.
The force magnet means that the object generates a magnetic field after being applied with a force; such as a magnetostrictive material body, to which an external force is applied, causing the magnetostrictive material to generate a corresponding magnetic field.
The photoelectric body is characterized in that when a certain material or a certain object receives external light, such as laser, the photoelectric body generates exciting force due to the action of laser light pressure, so that vibration is generated; the laser irradiates the vibrating string-beam body 20 which has been vibrated, and the intensity of the laser irradiated on the vibrating string-beam body 20 is changed, for example, when the vibrating string-beam body 20 adopts a photosensitive material, the resistance or the electrical parameter of the vibrating string-beam body 20 is changed, so that a corresponding value can be obtained by detecting the resistance or the electrical parameter change signal of the vibrating string-beam body 20, thereby realizing the detection of the angular velocity ω of the rotating structure body 10.
Referring to fig. 1, 2, 3, 4, and 5, the principle of measuring the rotational angular velocity ω according to the present invention is as follows:
mode one: as shown in fig. 1, 2 and 3, the vibration exciter 30 provides driving force to drive the vibrating string-beam body 20 to vibrate at a translational speed V, and when the rotating structure 10 rotates in the direction of the angular velocity ω as the direction of the initial axis of the vibrating string-beam body 20 or in the direction perpendicular to the direction of the initial axis of the vibrating string-beam body 20, the vibrating string-beam body 20 generates a rotation in the coriolis force F C(ω) By the action, the relative position between the rotating structure 10 and the signal detecting component arranged on the rotating structure 10 changes due to the movement or deformation of the rotating structure 10, and the accompanying changes of electric, magnetic, electromagnetic or photoelectric signals are generated, and the detection of the electric, magnetic, electromagnetic, electrostatic or photoelectric signals of the signal detecting component on the rotating structure 10 can detect the delta a (omega) and the delta theta (omega), namely F C Electric, magnetic, electromagnetic or photoelectric signals corresponding to the variation to obtain F C Is a value of (2). Calculating the relation F based on the Coriolis force C = -2mωv (where m is the mass of the given vibrating string-beam body 20 and V is the velocity of the initial given vibrating string-beam body 20 vertically and axially moved by the lateral point), thereby yielding the rotational velocity ω.
The second method is as follows: the vibration exciter 30 provides driving force to drive the vibrating string-beam body 20 to vibrate at a translational speed V, when the direction of the angular velocity omega of the rotating structural body 10 is the direction of the initial axis of the vibrating string-beam body 20 or the direction perpendicular to the initial axis direction of the vibrating string-beam body 20Upon rotation, the vibrating string-beam body 20 is subjected to coriolis force F C The vibration string-beam body 20 is deformed by the change, and any one or a combination of a plurality of piezoelectric materials, magnetostrictive materials, electrostrictive materials, carbon nanotubes, giant magneto-resistive materials and optical fiber materials or a combination of structural materials, such as silicon materials, metal materials, and plastics, so that the vibration string-beam body 20 generates the change of electric, magnetic, electromagnetic or photoelectric signals accompanied with the self-deformation, and the delta a (omega) and the delta theta (omega), namely F, can be detected by the detection method of the electric, magnetic, electromagnetic or photoelectric signals C The electromagnetic signal corresponding to the variation is obtained, so that the rotating speed omega is obtained.
And a third method: the vibrating string-beam body 20 itself is driven to vibrate at a translational velocity V, and when the rotating structural body 10 rotates in the direction of the angular velocity ω as the direction of the initial axis of the vibrating string-beam body 20 or in the direction perpendicular to the direction of the initial axis of the vibrating string-beam body 20, the vibrating string-beam body 20 adopts any one or any combination of a plurality of piezoelectric materials, magnetostrictive materials, electrostrictive materials, or a combination with structural materials, such as silicon materials, for example, metal materials, for example, and plastics. The piezoelectric material, magnetostrictive material and electrostrictive material can be driven to deform to generate vibration after electromagnetic signals are applied, and the vibration string-beam body 20 generates the Coriolis force F C The vibration string-beam body 20 is deformed by the change, and thus the electric, magnetic or electromagnetic signal generated by the vibration string-beam body 20 is changed along with the self-deformation, and by the detection method of the electric, magnetic or electromagnetic signal, the generated electric, magnetic or electromagnetic signal corresponds to F C Therefore, the corresponding F can be directly detected C Electromagnetic signals of variable quantity can obtain F C To derive the rotational speed omega.
The method four: the vibration exciter 30 provides driving force to drive the vibrating string-beam body 20 to vibrate or the vibrating string-beam body 20 itself is driven to vibrate, when the rotating structure body 10 rotates in the direction of the angular velocity omega as the direction of the initial axis of the vibrating string-beam body 20 or in the direction perpendicular to the direction of the initial axis of the vibrating string-beam body 20, the vibrating string-beam body 20 generates vibration due to the coriolis force F C The rigidity of the vibrating string-beam body 20 after deformation is changed due to deformation, and the corresponding F can be obtained by directly detecting the rigidity of the vibrating string-beam body 20, or by detecting the received pulling and pressing frequency of the vibrating string-beam body 20, or by measuring the change of the vibration frequency, namely the change amount detection of the rigidity of the vibrating string-beam body 20 before and after rotation of the rotating structure body 10, the change amount detection of the vibration frequency, or by detecting the axial pulling and pressing force change amount detection of the vibrating string-beam body 20 C To give the rotational speed omega.
And a fifth method: as shown in fig. 5, when the vibration body 30 provides a static magnetic field or an alternating magnetic field and the vibration string-beam body 20 is supplied with alternating current or direct current based on the principle of lorentz force or ampere force, the vibration string-beam body 20 vibrates in a direction perpendicular to the axial direction of the vibration string-beam body 20, the vibration string-beam body 20 vibrates at this time, the translational velocity is V, and when the rotating structure body 10 rotates in a direction of the angular velocity ω as the initial axis of the vibration string-beam body 20 or in a direction perpendicular to the initial axis direction of the vibration string-beam body 20, the vibration string-beam body 20 generates a coriolis force F C(ω) Under the action, the relative position changes between the rotating structure 10 and the signal detecting member of the rotating structure 10 due to the movement or deformation thereof, specifically, the rotational angular velocity ω of the rotating structure 10 has the following three detecting modes:
1. as shown in fig. 5, when the vibrating string-beam body 20 is a wire, when the vibration exciting body 30 provides a static magnetic field, the vibrating string-beam body 20 is supplied with an alternating current, and the vibrating string-beam body 20 generates a vibration signal with a change in tension-compression frequency and rigidity due to an ampere force or a lorentz force, the corresponding F can be obtained by measuring the change amount detection of the rigidity of the vibrating string-beam body 20 before and after the rotation of the rotating structure body 10, the change amount detection of the vibration frequency, or the change amount detection of the axial tension-compression force of the vibrating string-beam body 20 C To give the rotational speed omega.
2. As shown in FIG. 5, when vibratingThe string-beam body 20 is a conductor core through which current passes, static electricity is applied to an outer coating layer or a wrapping layer of the conductor core to form an electric field body, namely the vibrating string-beam body 20 is a conductor core, and the outer layer is an electrostatic body material body. When alternating current is applied to the vibrating string-beam body 20, the vibration exciter 30 applies a static magnetic field, and the vibrating string-beam body 20 vibrates under the action of lorentz force or ampere force; accordingly, by detecting the amount of change in electrostatic voltage between the signal detecting member of the rotating structure 10 and the outer electrostatic field of the vibrating string-beam body 20, Δa (ω) and Δθ (ω), i.e., F, of the vibration change of the vibrating string-beam body 20 can be obtained C The static signal corresponding to the variation is obtained, so that the rotating speed omega is obtained.
3. When the vibrating string-beam body 20 is a conductor core through which current passes, and the outer coating layer or the wrapping layer is made of magnetic materials, and when alternating current is applied to the vibrating string-beam body 20, the vibration exciter 30 applies a static magnetic field, the vibrating string-beam body 20 vibrates, and the vibrating string-beam body 20 vibrates under the action of lorentz force or ampere force; accordingly, the distance between the magnetic field signal detecting member on the rotating structure 10 and the outer layer of the vibrating string-beam body 20 changes, and by detecting the amount of change in the magnetic field signal between the signal detecting member on the rotating structure 10 and the outer layer of the vibrating string-beam body 20 before and after the rotation of the rotating structure 10, changes in the magnetic signal are generated, and by electromagnetic detection, Δa (ω) and Δθ (ω), that is, F can be detected C Magnetic signal corresponding to the variation to obtain F C Values.
In addition, as shown in fig. 9, two or more vibrating string-beam bodies 20 are of elastic structure, for example, the number of vibrating string-beam bodies 20 is two, the static polarities of the two vibrating string-beam bodies 20 are the same or opposite, when one of them is excited by alternating voltage, the other one is also subjected to suction force or repulsive force, at this time, the two vibrating string-beam bodies 20 vibrate due to the acting force and the reacting force, the two vibrating string-beam bodies 20 vibrate at the same time, when the rotating structure body 10 rotates, the two vibrating string-beam bodies 20 generate a compound or superimposed vibration mode change, and an electric signal between the two vibrating string-beam bodies 20 of the compound or superimposed vibration mode change generates a corresponding F C The change is made in such a way that,further obtain F C To derive the rotational speed omega.
In addition, as shown in fig. 9, when the rotating structure 10 is provided with the magnetic field excitation body 30, and both of the vibrating string-beam bodies 20 are of an elastic structure and have the same or opposite polarity of charges, when a current is applied to one of the vibrating string-beam bodies 20, the vibrating string-beam body 20 vibrates due to the action of ampere force or lorentz force, an electrostatic field or electrostatic pressure is generated between the two vibrating string-beam bodies 20, and the vibration patterns corresponding to the two vibrating string-beam bodies 20 are changed due to the action of coriolis force, so that a voltage or a potential difference between the two vibrating string-beam bodies 20 is corresponding to F C Thus F can be measured C Further, the rotation speed omega is obtained; or the vibration mode of two vibrating string-beam bodies 20 corresponds to the spatial position change corresponding to the electrostatic signal detection part of the rotating structure body 10, and the change of the electrostatic detection signal caused corresponds to F C To detect F C And ω.
As shown in fig. 9, when the rotating structure 10 is provided with the magnetic field excitation body 30 while both vibrating string-beam bodies 20 are of an elastic structure and are provided with magnetic materials of the same or opposite polarities, when a current signal or an alternating current signal is applied to one of the vibrating string-beam bodies 20, the two vibrating string-beam bodies 20 vibrate due to the action of ampere force or lorentz force, at this time, when the rotating structure 10 rotates, the vibration pattern of the vibrating string-beam bodies 20 changes due to the action of coriolis force, the vibration patterns corresponding to the two vibrating string-beam bodies 20 change to make the magnetic field between the two vibrating string-beam bodies 20 correspond to F C And thus can measure the change of FC Further obtaining omega; or the spatial position change corresponding to the magnetic field signal detection part of the vibration mode relative rotation structure 10 between the two vibrating string-beam bodies 20, the change of the magnetic field detection signal caused corresponds to F C To detect F C Thereby obtaining ω.
Therefore, the invention can carry out design detection by combining various modes, various structural forms and materials, has flexible design and wide application range.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. The device suitable for angular velocity measurement is characterized by comprising a rotating structure body (10), a vibrating string-beam body (20), an excitation body (30), a fixer (40) and a signal detection component;
the vibrating string-beam body (20), the vibration excitation body (30) and the signal detection component are all arranged on the rotating structure body (10);
one end of the vibrating string-beam body (20) is arranged on one side of the rotating structure body (10) through a fixer (40);
the other end of the vibrating string-beam body (20) is arranged on the other side of the rotating structure body (10) through another fixer (40); or the other end of the vibrating string-beam body (20) is a free end;
the vibration exciter (30) can drive the vibrating string-beam body (20) to vibrate, the signal detection component obtains corresponding variation through detecting electric, magnetic, electromagnetic or photoelectric signals so as to realize the measurement of angular velocity, and the vibrating string-beam body (20) is manufactured by adopting a wire drawing process;
the holder (40) comprises a support body (41), a detection body (42), an adjustment body (43) and a vibration excitation body (44);
both ends of the detection body (42) are respectively provided with a support body (41) and an adjusting body (43);
the adjusting body (43) is arranged on the rotating structure body (10);
a vibration exciting body (44) is arranged on the periphery of the adjusting body (43);
The support body (41) is a length adjustable component;
the vibration exciter (44) is a first exciter (441) and/or a second exciter (442).
2. The device for angular velocity measurement according to claim 1, characterized in that the vibrating string-beam body (20) comprises any one or any combination of several of magnetic field body, electric field body, electro-fluid, electromagnetic field body, magneto-electric body, piezo-electric body, electro-magnetic body, electro-optical body.
3. The device for angular velocity measurement according to claim 1, wherein the vibrating string-beam body (20) is any one or any combination of a piezoelectric material, an electrostrictive material, a magnetostrictive material, a carbon nanotube, a giant magnetoresistive material, an optical fiber material, a photoelectric material.
4. The device for angular velocity measurement according to claim 2, characterized in that the excitation body (30) comprises any one or any combination of several of a magnetic field body, an electric field body, an electro-fluid, an electromagnetic field body, a magneto-electric body, a piezo-magnetic body, a laser.
5. The device for angular velocity measurement according to claim 4, further comprising at least one mass (50);
the mass body (50) is fixedly mounted on the vibrating string-beam body (20).
6. The apparatus for angular velocity measurement according to claim 1, wherein the signal detection means comprises any one or more of the following:
-a hall sensor;
-a magneto-electric sensor;
-an electrostatic inductor.
7. A device suitable for angular velocity measurement, characterized by comprising a rotating structure (10), a vibrating string-beam body (20), a holder (40) and a signal detection component;
the vibrating string-beam body (20) and the signal detection component are arranged on the rotating structure body (10); the two ends of the vibrating string-beam body (20) are respectively arranged on the rotating structure body (10) through a fixer (40), the signal detection component obtains corresponding variation through detecting electric, magnetic, electromagnetic or photoelectric signals so as to realize the measurement of angular velocity, and the vibrating string-beam body (20) is manufactured by adopting a wire drawing process;
the holder (40) comprises a support body (41), a detection body (42), an adjustment body (43) and a vibration excitation body (44);
both ends of the detection body (42) are respectively provided with a support body (41) and an adjusting body (43);
the adjusting body (43) is arranged on the rotating structure body (10);
a vibration exciting body (44) is arranged on the periphery of the adjusting body (43);
the support body (41) is a length adjustable component;
The vibration exciter (44) is a first exciter (441) and/or a second exciter (442).
8. Device suitable for angular velocity measurement according to claim 7, characterized in that the number of vibrating string-beam bodies (20) is one or more;
when the number of the vibrating string-beam bodies (20) is one, the vibrating string-beam bodies (20) consist of one or more inner cores;
when the number of the vibrating string-beam bodies (20) is multiple, the vibrating string-beam bodies (20) are arranged in parallel and/or in a crossed manner;
the plurality of vibrating string-beam bodies (20) are the same or different in diameter.
9. A method of measuring angular velocity, characterized in that the device for measuring angular velocity according to any one of claims 1 to 8 is used, comprising the steps of:
step one: the vibrating string-beam body (20) is vibrated in a direction perpendicular to the axis of the vibrating string-beam body (20) when receiving the driving force of the vibration exciter (30) and/or the driving force of the vibration exciter, and the vibration amplitude is A V The translational speed of vibration is V;
step two: when the rotating structure (10) drives the vibrating string-beam body (20) to rotate in the direction of the angular velocity omega as the direction of the axis of the vibrating string-beam body (20) or in the direction perpendicular to the axis of the vibrating string-beam body (20), the vibrating string-beam body is subjected to the Coriolis force F C The original amplitude A at this time V Becomes A FV+FC(ω) The variation is delta a (omega), and the vibration string-beam body (20) is at V and F C The angle of the vibration mode in the plane changes, and the change amount is delta theta (omega);
step three: detecting changes in an electric signal, a magnetic signal, an electromagnetic signal or a photoelectric signal when the rotating structure (10) vibrates the string-beam body (20) before and after rotation, a tensile force, a vibration frequency or the vibration of the string-beam body (20) by a signal detection means to obtain Δa (ω), Δθ (ω) or directly obtain F C Further, the angular velocity omega of the rotation of the rotating structure (10) is obtained.
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| WO2006000540A1 (en) * | 2004-06-23 | 2006-01-05 | Endress+Hauser Flowtec Ag | Vibration-type transducer |
| KR100812571B1 (en) * | 2006-11-27 | 2008-03-13 | 한국표준과학연구원 | Calibration method and device of accelerometer using transverse excitation response of beam |
| CN106767746A (en) * | 2017-01-05 | 2017-05-31 | 陈志龙 | Type vibration wire gyro |
| CN211012985U (en) * | 2019-11-15 | 2020-07-14 | 上海交通大学 | Device suitable for angular velocity measurement |
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| GB1121750A (en) * | 1966-07-25 | 1968-07-31 | Honeywell Inc | Improvements in or relating to apparatus for sensing angular rate of movement |
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