CN112462085A - Electrochemical fluid gyroscope - Google Patents
Electrochemical fluid gyroscope Download PDFInfo
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Abstract
The present invention relates to an electrochemical fluid gyroscope. The gyroscope includes: the device comprises an electrolyte flow channel, a fluid driving module, an electrochemical transducer and a signal processing module; the electrolyte flow channel is filled with electrolyte of reversible redox reaction; the fluid driving module is used for driving the electrolyte in the electrolyte flow channel to rotate circumferentially at a constant speed by adopting a motor or magnetic fluid driving mode and taking the y axis as a rotating shaft; the electrochemical transducer is fixed in the electrolyte flow channel; the electrochemical transducer is used for measuring current data generated by the movement of electrolyte in the electrolyte flow channel along the x-axis direction; when the electrochemical fluid gyroscope rotates along with the circumference of the object to be measured, the electrolyte in the electrolyte flow channel moves along the x-axis direction relative to the electrolyte flow channel; the input end of the signal processing module is connected with the output end of the electrochemical transducer, and the signal processing module is used for calculating the angular rate of the circumferential rotation of the measured object according to the current data measured by the electrochemical transducer. The performance of the gyroscope of the invention is significantly better than that of the prior art fluid gyroscopes.
Description
Technical Field
The invention relates to the field of gyroscopes, in particular to an electrochemical fluid gyroscope.
Background
A gyroscope is a detection device for detecting a rotational angular velocity or angular displacement angular motion of a rotating object. The sensor is an important inertial sensor element, and plays an important role in the civil field and the fields of modern aerospace, aviation, navigation and military. At present, the types of gyroscopes are mainly mechanical gyroscopes, laser gyroscopes, fiber optic gyroscopes, MEMS gyroscopes, fluid gyroscopes, and the like. The mechanical gyroscope is manufactured according to the angular momentum conservation principle, is still the gyroscope with the highest precision in the current practical application, is mainly applied to strategic weapons, but has high requirements on the manufacturing process, long manufacturing period and high price; the laser and optical fiber gyroscope is a novel gyroscope based on the Sagnac effect and is mainly used in the field of medium and high precision application. The device has the advantages of no rotating part, long service life, wide dynamic range, short starting time, high reliability and the like, so that the device is widely applied to the military and civil fields, such as the tracking and determination of rocket lifting launch, the positioning of armored assault vehicles, the autonomous navigation of aircrafts, oil exploration, oil drilling guidance and the like, but the high cost greatly limits the application range of the device; the MEMS gyroscope mainly belongs to a vibrating gyroscope, the operating principle of the MEMS gyroscope is Coriolis force, and the MEMS gyroscope is mainly applied to the field of medium and low precision. The MEMS gyroscope has the advantages of small volume, low power consumption, low cost, strong environmental adaptability, easy integration and the like, is widely applied to the civil field, such as smart phones, unmanned planes, navigation aids of automobiles, electronic toys and the like, but has the limitations of low precision and poor stability of the MEMS gyroscope on the application range due to the manufacturing process and the design level.
The fluid gyroscope replaces a traditional mechanical rotor with fluid, has the advantages of simple structure, low manufacturing difficulty, strong impact resistance and the like, is almost free of high-precision machining parts inside, and is a medium-precision gyroscope with small volume, low cost and high reliability. It is also classified into a superfluid gyroscope, a fluidic gyroscope, a thermal convection gyroscope, a magnetofluid gyroscope, an ECF gyroscope, a fluid rotor gyroscope, and the like. Superfluid gyroscopes operate based on the alternating current josephson effect of substances in ultra low temperature environments, but research is not yet mature and require refrigeration to be used. Both the jet flow gyroscope and the thermal convection gyroscope adopt gas as a fluid medium and a thermosensitive wire as a detection device, but the gas medium has low density, high thermal diffusivity and difficult temperature detection. The magnetofluid gyroscope detects the rotation angular velocity of a moving object based on the electromagnetic induction principle, can only measure the rotation angular velocity of a certain specific shaft due to structural limitation, and is difficult to miniaturize. The ECF gyroscope adopts an electric conjugate liquid which can generate a jet phenomenon under high-voltage driving as a fluid medium, is still in a starting stage at present, and has the main problem of high driving voltage. The fluid rotor gyroscope takes liquid which is arranged in a container and rotates as a fluid medium, and adopts a differential pressure sensor as a detection device, so that the fluid rotor gyroscope has the advantage of reducing the influence of mechanical wear on the performance of the gyroscope.
Disclosure of Invention
The invention aims to provide a medium-precision electrochemical fluid gyroscope with small volume, low cost and high reliability, and the performance of the electrochemical fluid gyroscope is obviously superior to that of the fluid gyroscope in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
an electrochemical fluid gyroscope comprising: the device comprises an electrolyte flow channel, a fluid driving module, an electrochemical transducer and a signal processing module;
the electrolyte flow channel is filled with electrolyte of reversible redox reaction; the fluid driving module is used for driving the electrolyte in the electrolyte flow channel to rotate circumferentially at a constant speed by adopting a motor driving mode or a magnetofluid driving mode and taking the y axis as a rotating shaft;
the electrochemical transducer is fixed in the electrolyte flow channel; the electrochemical transducer is used for measuring current data generated by the movement of electrolyte in the electrolyte flow channel along the x-axis direction, and the x-axis direction is parallel to the direction of a rotating shaft of a measured object; when the electrochemical fluid gyroscope rotates along with the circumference of the object to be measured, the electrolyte in the electrolyte flow channel moves along the x-axis direction relative to the electrolyte flow channel;
the input end of the signal processing module is connected with the output end of the electrochemical transducer, and the signal processing module is used for calculating the angular rate of the circumferential rotation of the object to be measured according to the current data measured by the electrochemical transducer.
Optionally, the signal processing module includes:
the speed calculation unit is used for calculating the movement speed of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction according to the current data measured by the electrochemical transducer;
and the angular velocity calculating unit is used for calculating the angular velocity of the object to be measured according to the movement velocity of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction.
Optionally, the fluid driving module is a motor, the electrolyte flow channel is an annular flow channel, the motor is fixed with the annular flow channel in a y-axis direction through an electric slip ring, and the y-axis direction is a direction perpendicular to a rotation axis of the object to be measured; the motor is used for driving the circular ring-shaped flow channel to rotate at a constant speed by taking the y axis as a rotating shaft, and further driving the electrolyte in the circular ring-shaped flow channel to rotate circumferentially at a constant speed by taking the y axis as a rotating shaft.
Optionally, the angular velocity calculating unit calculates the angular velocity of the object to be measured by using the following formula:
wherein r is the radius of the circular flow channel, vlThe moving speed, omega, of the electrolyte in the electrolyte flow passage relative to the electrolyte flow passage in the x-axis directionbIs the rotation angular rate of the object to be measured, t is the rotation time of the object to be measured, omegahThe angular speed of the circular flow channel which rotates at constant speed by taking the y-axis direction as a rotating shaft.
Optionally, the electrolyte flow channel includes an annular flow channel and a spherical cavity, the annular flow channel is communicated with the spherical cavity, and the spherical cavity and the annular flow channel are filled with electrolyte of reversible redox reaction; the electrochemical transducer is fixed in the annular flow channel;
the fluid driving module comprises two magnetic generating devices and a counter electrode, wherein the two magnetic generating devices are oppositely arranged and used for generating a uniform magnetic field parallel to the y-axis direction, and the uniform magnetic field parallel to the y-axis direction covers the spherical cavity; the anode and the cathode of the counter electrode are oppositely arranged in the x-axis direction, the anode of the counter electrode is positioned in the center of the spherical cavity, and the cathode of the counter electrode is positioned on the side wall of the spherical cavity; the counter electrode applies potential difference through an external circuit to form an electric field parallel to the x-axis direction, the electric field parallel to the x-axis direction is perpendicular to the uniform magnetic field parallel to the y-axis direction, and the electrolyte in the spherical cavity rotates at a constant speed by taking the direction parallel to the y-axis as a rotating shaft.
Optionally, the annular flow passage includes: the flow channel comprises a first straight flow channel section, two arc flow channel sections and two second straight flow channel sections; the radiuses of the circular sections of the flow channels of the first straight flow channel section, the two arc flow channel sections and the two second straight flow channel sections are the same; the two arc-shaped flow passage sections have the same structure and are quarter circular rings; the two second straight runner sections have the same structure;
the two arc-shaped flow channel sections are respectively communicated with two ends of the first straight flow channel section, the two arc-shaped flow channel sections are symmetrical relative to the first straight flow channel section, and the first straight flow channel section is parallel to the x-axis direction; the first ends of the two second straight runner sections are respectively communicated with the two arc runner sections, the second ends of the two second straight runner sections are respectively communicated with the spherical cavity, and the two second straight runner sections are parallel to the y-axis direction; the electrochemical transducer is fixed in the first straight runner section.
Optionally, the angular velocity calculating unit calculates the angular velocity of the measured object by using the following formula:
in the formula, vhThe moving speed v of the electrolyte in the annular flow passage relative to the annular flow passage along the direction of the x axisqThe movement speed r of the electrolyte in the spherical cavity relative to the measured object1Is the radius of the circular arc-shaped flow passage section, r2Is the radius of the circular section of the whole annular flow passage1Is the length of the first straight runner section l2The length of the second straight flow passage section, h is the height of a section of cylindrical electrolyte at the communication opening of the intercepted annular flow passage and the spherical cavity, s is the circular cross-sectional area of the annular flow passage, dr, d theta and dz are integral terms of a cylindrical coordinate system, the cylindrical coordinate system is a cylindrical coordinate system constructed on the basis of the intercepted cylindrical electrolyte, dT is an integral term of time, omega is omegabIs the angular rate of rotation of the object under test.
Optionally, the magnetic generating device is a permanent magnet or a coil.
Optionally, the method further includes: the fixing frame is fixed at the center of the sphere of the spherical cavity and is fixed with the side wall of the spherical cavity; the fixing frame is used for fixing the anode of the counter electrode.
Optionally, the electrochemical transducer includes 4 porous inert metal electrodes, 2 porous inert metal electrodes of the 4 porous inert metal electrodes serve as anodes to provide power, and the other 2 porous inert metal electrodes of the 4 porous inert metal electrodes serve as cathodes to be connected to the signal processing module; the arrangement mode of the 4 porous inert metal electrodes is ACCA, wherein A represents an anode, and C represents a cathode.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the electrochemical fluid gyroscope adopts the electrochemical transducer to measure the liquid flow velocity driven by the Coriolis force, is influenced by the characteristics of the electrochemical transducer, such as high electromechanical conversion efficiency, wide frequency band range and large dynamic range, and has the performance obviously superior to that of the fluid gyroscope in the prior art. In addition, the electrochemical fluid gyroscope adopts liquid as an inertia unit and an electrochemical transduction unit made of porous isolation electrodes, and has long service life and impact resistance; in addition, the electrochemical fluid gyroscope has no precision processing parts, can be used for manufacturing products with small volume, and has low overall cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of an electrolyte flow channel in embodiment 1 of the present invention;
FIG. 2 is a schematic longitudinal sectional view of an electrolyte flow path in example 2 of the present invention;
fig. 3 is a schematic positional relationship diagram of an electrolyte flow channel and a fluid driving module in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The fluid rotor gyroscope is a gyroscope which replaces a rigid rotor in a conventional mechanical gyroscope with high-speed rotating fluid, a measured carrier rotates around an orthogonal axis of a fluid rotating shaft, the high-speed rotating fluid generates a self-rotation deviation force under the influence of Coriolis force, and the deviation force is in direct proportion to the angular speed of the carrier. And picking up a fluid pressure difference signal caused by the deviation force by using a pressure difference sensor to form the fluid rotor gyroscope. The electrochemical fluid gyroscope is an upgraded product of a fluid rotor gyroscope, an electrochemical transducer is adopted to replace a differential pressure sensor, liquid in the electrochemical fluid gyroscope flows under the action of Coriolis force, the overall data measurement method is changed, and data processing is correspondingly needed to realize the angular displacement or the angular velocity of a measured carrier.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The electrochemical fluid gyroscope of the present invention comprises: electrolyte runner, fluid drive module, electrochemical transducer and signal processing module. The electrolyte flow channel is filled with electrolyte of reversible redox reaction; the fluid driving module is used for driving the electrolyte in the electrolyte flow channel to rotate around at a constant speed by taking the direction parallel to the y axis in the attached drawing as a rotating shaft in a motor driving mode or a magnetic fluid driving mode, and the fluid driving module is used for driving the electrolyte to rotate in the motor driving mode or the magnetic fluid driving mode.
The electrochemical transducer is fixed in the electrolyte flow channel; the electrochemical transducer is used for measuring current data generated by the movement of electrolyte in the electrolyte flow channel along the direction of an x-axis in the attached drawing. The electrochemical transducer of the invention is composed of four porous inert metal electrodes, wherein two electrodes are used as anodes to provide a low-voltage power supply, and the other two electrodes are used as cathode electrodes to be used as measuring electrodes and are connected with a signal processing module. The four porous inert metal electrodes are arranged in an ACCA electrode arrangement, a representing the anode and C representing the cathode, i.e. in an anode/cathode// anode arrangement. The invention adopts the design of an electrochemical transducer, the electrochemical transducer consisting of four porous inert electrodes is placed in an annular flow channel filled with electrolyte of reversible redox reaction, and the electrodes are separated by a porous film. Under the action of small-amplitude voltage, an ion concentration gradient is formed between a cathode and an anode of the electrochemical transducer, when electrolyte is subjected to the action of external driving force and generates relative motion in an electrolyte flow channel along the direction of an x axis in the drawing, ions in the electrolyte migrate between the cathode and the anode of the electrochemical transducer, additional current related to the motion rate of the electrolyte in the flow channel flows to the electrodes, and the additional current is amplified and output to obtain the motion rate of fluid.
When the electrochemical fluid gyroscope rotates along with an object to be measured by taking the direction of the x axis in the attached drawing as a rotating shaft, the electrolyte in the electrolyte flow channel moves along the direction of the x axis in the attached drawing relative to the electrolyte flow channel. The input end of the signal processing module is connected with the output end of the electrochemical transducer, and the signal processing module is used for calculating the angular rate of the circumferential rotation of the object to be measured according to the current data measured by the electrochemical transducer.
In the working process of the gyroscope, the gyroscope and the measured carrier are fixed together and rotate along with the measured object by taking the direction of the x axis in the attached drawing as a rotating axis. The electrolyte driven by a motor or a magnetic fluid and rotating at a constant speed by taking the direction of the y axis in the attached drawing as a rotating shaft is subjected to the action of Coriolis force to generate movement relative to the electrolyte flow channel along the direction of the x axis in the attached drawing in the rotating process of a measured object, ions in the electrolyte migrate between the cathode and the anode of the electrochemical transducer, additional current related to the movement rate of the electrolyte in the electrolyte flow channel along the direction of the x axis in the attached drawing flows to the electrode, and the angular rate of the measured object can be finally obtained through the signal processing module. Specifically, the signal processing module of the present invention specifically includes:
the speed calculation unit is used for calculating the movement speed of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction in the drawing according to the current data measured by the electrochemical transducer;
and the angular velocity calculating unit is used for calculating the angular velocity of the object to be measured according to the movement velocity of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction in the attached drawing.
The basic principle of the electrochemical fluid gyroscope of the invention is as follows: in the rotating system, particles that move linearly are affected by coriolis force, which is: where v is the velocity of the particle relative to the object being measured, ω is the angular velocity of the rotating system, and the direction of the coriolis force F is perpendicular to both ω and v. Corresponding to the fluid driving module driven by the motor, the Coriolis force drives the electrolyte to form a pulse speed in the electrolyte flow channel; corresponding to the fluid driving module driven by the magnetic fluid, the Coriolis force drives the electrolyte to form acceleration in proportion to the external rotation angular rate omega in the annular flow channel.
In conjunction with the above basic principles, the following two examples are provided to further illustrate the present invention.
Example 1
The fluid driving module of the embodiment adopts a motor driving mode to drive the electrolyte to rotate. As shown in fig. 1, the electrolyte flow channel of this embodiment is a circular flow channel 1-1, the fluid driving module is a motor 5, the motor 5 is fixed with the circular flow channel 1-1 in the y-axis direction of fig. 1 through an electrical slip ring 4, and the motor is configured to drive the circular flow channel 1-1 to rotate at a uniform speed (the rotation direction is perpendicular to the rotation direction of the object to be measured) with the y-axis direction of fig. 1 as a rotation axis, so as to drive the electrolyte in the circular flow channel 1-1 to rotate circumferentially at a uniform speed with the y-axis direction of fig. 1 as a rotation axis. In the embodiment, the motor drives the circular flow channel 1-1 to turn over, and the Coriolis force drives the fluid to change the direction continuously in the circular flow channel 1-1 to form a pulse rate. In the present embodiment, the electrochemical transducer 3 is fixed in the annular flow channel 1-1.
In this embodiment, the angular velocity calculating unit calculates the angular velocity of the object to be measured by using the following formula:
wherein r is the radius of the circular flow channel, vlThe moving speed, omega, of the electrolyte in the electrolyte flow passage relative to the electrolyte flow passage along the x-axis direction in the attached figure 1bIs the angular velocity of rotation of the object to be measured, t is the rotation time of the object to be measured, omegahIs the angular velocity of the circular flow channel which rotates at a constant speed by taking the direction of the y axis in the attached figure 1 as a rotating axis.
The derivation process is as follows:
r is the radius of the circular flow channel, s is the cross-sectional area of the circular flow channel, theta is the angle between any point on the circular flow channel and the axis of the circular flow channel and the rotating shaft of the motor-driven circular flow channel rotating at a constant speed by taking the direction of the y-axis in the attached figure 1 as the rotating shaft, phi is the angle of the motor-driven circular flow channel rotating from the starting position, omegabIs the angular rate of rotation, omega, of the object to be measuredhFor the uniform rotation angular velocity v of the circular flow passage of the motor drivehThe moving speed v of the electrolyte in the circular flow channel relative to the measured objectlIs in the shape of a ringThe electrolyte in the flow channel is influenced by the Coriolis force to generate the movement speed of the relative circular flow channel along the direction of the x axis in the attached figure 1.
Length of inner flow channel at d theta angle of circular flow channel: l ═ rd θ;
electrolyte quality in the angle d theta of the circular flow channel: m ═ ρ ls ═ ρ rd θ s;
total mass of electrolyte in the circular flow channel: m2 pi r ρ s;
coriolis force per unit volume in the annular flow channel:
f＝-2mωb×vh＝-2mωb×ωhrsinθcosφ；
total coriolis force in the annular flow channel:
according to newton's second law:
the two formulas are combined to obtain:
the relationship between the electrolyte speed in the circular flow channel and the movement angle speed of the measured object is as follows:
example 2
The fluid driving module of the embodiment drives the electrolyte in the spherical cavity to rotate by adopting a magnetofluid driving mode. As shown in fig. 2 and fig. 3, the electrolyte flow channel in this embodiment includes an annular flow channel 2-1 and a spherical cavity 2-2, the annular flow channel 2-1 is communicated with the spherical cavity 2-2, and the spherical cavity 2-2 and the annular flow channel 2-1 are filled with an electrolyte solution for a reversible redox reaction. At this time, the electrochemical transducer 3 is fixed in the annular flow channel 2-1. The annular flow channel 2-1 is composed of a first straight flow channel section parallel to the x-axis direction in the attached drawing 3, two arc pipelines which are communicated with two ends of the first straight flow channel section and are identical and symmetrical in position, and two second straight flow channel sections which are communicated with two ends of the two arc pipelines and are identical and symmetrical in position respectively, wherein the two second straight flow channel sections are parallel to the y-axis direction in the attached drawing 3, and the other ends of the two second straight flow channel sections are communicated with the spherical cavity 2-2 respectively.
The fluid driving module of the present embodiment includes counter electrodes 2-3, 2-4 and two magnetic generating devices 2-5, 2-6. In the embodiment, the anode 2-2 of the counter electrode is fixed by a fixing frame 2-7, and the fixing frame 2-7 is fixed at the spherical center of the spherical cavity 2-2 and fixed with the side wall of the spherical cavity 2-2. The cathode 2-4 of the counter electrode is positioned on the side wall of the spherical cavity 2-2, and the counter electrode applies a potential difference through an external circuit to form an electric field in the direction of the x axis in the figure 3. The two magnetic generating devices 2-5 and 2-6 are oppositely arranged and used for generating a uniform magnetic field in the y-axis direction in the attached drawing 3, and the uniform magnetic field in the y-axis direction in the attached drawing 3 covers the spherical cavity 2-2. The magnetic generating device of the present embodiment is a permanent magnet or a coil. The electric field in the x-axis direction in the attached drawing 3 is perpendicular to the uniform magnetic field in the y-axis direction in the attached drawing 3, so that the electrolyte in the spherical cavity 2-2 rotates at a uniform speed by taking the y-axis direction in the attached drawing 3 as a rotating shaft. In the embodiment, the electrolyte is driven by electromagnetic force to rotate at a constant speed in the spherical cavity 2-2, the annular flow channel 2-1 keeps static, the plane of the annular flow channel 2-1 is parallel to the angular velocity direction of the measured carrier, and the electrolyte is accelerated by Coriolis force in the same direction.
The angular velocity calculating unit in this embodiment calculates the angular velocity of the object to be measured by using the following formula:
in the formula, vhThe moving speed v of the electrolyte in the annular flow passage relative to the annular flow passage along the direction of the x axis in the attached figure 3qThe movement speed r of the electrolyte in the spherical cavity relative to the measured object1Is the radius of the circular arc-shaped flow passage section, r2Is the radius of the circular section of the whole annular flow passage1Is the length of the first straight runner section l2The length of the second straight flow passage section, h is the height of a section of cylindrical electrolyte at the communication opening of the intercepted annular flow passage and the spherical cavity, s is the circular cross-sectional area of the annular flow passage, dr, d theta and dz are integral terms of a cylindrical coordinate system, the cylindrical coordinate system is a cylindrical coordinate system constructed on the basis of the intercepted cylindrical electrolyte, dT is an integral term of time, omega is omegabIs the angular rate of rotation of the object under test.
The derivation process is as follows:
r1the radius of an arc-shaped flow passage section in the annular flow passage is the radius of a ring where the arc-shaped flow passage section is located; r is2The radius of a circular tube in the annular flow passage is the radius of the circular section of the whole annular flow passage; l1Is the length l of a first straight flow passage section in the annular flow passage parallel to the x-axis direction in the attached figure 32Is the length of a second straight flow passage section in the annular flow passage parallel to the y-axis direction in the attached figure 3, h is the height of the cylindrical electrolyte volume at the connection opening of the intercepted annular flow passage and the spherical cavity, s is the circular cross-sectional area of the annular flow passage, and omegabIs the angular velocity, v, of the rotation of the object to be measuredqThe movement speed v of the electrolyte in the spherical cavity relative to the measured objecthFor the velocity, F, of the electrolyte in the annular flow channel in the direction of the x-axis in FIG. 3 relative to the annular flow channel due to the influence of Coriolis forcecThe lorentz force is applied to the electrolyte in the spherical cavity.
Electrolyte mass per unit volume: m is rho dV;
total mass of electrolyte in the annular flow channel: m ═ ρ ls ═ ρ (2 l)1+l2+πr1)s；
The movement speed of the electrolyte in the spherical cavity is as follows: under a spherical coordinate system with the spherical center of the spherical cavity as an origin:
and the coordinates are transformed into a cylindrical coordinate system established by small sections of cylinders intercepted at the communication ports of the spherical cavity and the annular flow passage:
vq＝vq(r,θ,z)
coriolis force per unit volume: f is-2 m omegab×vq；
The Coriolis force in the annular flow channel obtained by building a column surface coordinate system in the small section of the cylinder volume intercepted at the communicating opening of the spherical cavity and the annular flow channel is as follows:
according to newton's second law:
the two formulas are combined to obtain:
the speed of the electrolyte in the annular flow channel and the movement angular rate of the measured object are as follows:
the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An electrochemical fluid gyroscope, comprising: the device comprises an electrolyte flow channel, a fluid driving module, an electrochemical transducer and a signal processing module;
the electrolyte flow channel is filled with electrolyte of reversible redox reaction; the fluid driving module is used for driving the electrolyte in the electrolyte flow channel to rotate circumferentially at a constant speed by adopting a motor driving mode or a magnetofluid driving mode and taking the y axis as a rotating shaft; the y axis is perpendicular to the rotating axis of the measured object;
the electrochemical transducer is fixed in the electrolyte flow channel; the electrochemical transducer is used for measuring current data generated by the movement of electrolyte in the electrolyte flow channel along the x-axis direction, and the x-axis direction is parallel to the direction of a rotating shaft of a measured object; when the electrochemical fluid gyroscope rotates along with the circumference of the object to be measured, the electrolyte in the electrolyte flow channel moves along the x-axis direction relative to the electrolyte flow channel;
the input end of the signal processing module is connected with the output end of the electrochemical transducer, and the signal processing module is used for calculating the angular rate of the circumferential rotation of the object to be measured according to the current data measured by the electrochemical transducer.
2. The electrochemical fluid gyroscope of claim 1, wherein the signal processing module comprises:
the speed calculation unit is used for calculating the movement speed of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction according to the current data measured by the electrochemical transducer;
and the angular velocity calculating unit is used for calculating the angular velocity of the object to be measured according to the movement velocity of the electrolyte in the electrolyte flow channel relative to the electrolyte flow channel along the x-axis direction.
3. The electrochemical fluid gyroscope of claim 2, wherein the fluid driving module is a motor, the electrolyte flow channel is a circular flow channel, and the motor is fixed with the circular flow channel in the y-axis direction through an electrical slip ring; the motor is used for driving the circular ring-shaped flow channel to rotate at a constant speed by taking the y axis as a rotating shaft, and further driving the electrolyte in the circular ring-shaped flow channel to rotate circumferentially at a constant speed by taking the y axis as a rotating shaft.
4. The electrochemical fluid gyroscope of claim 3, wherein the angular velocity calculation unit calculates the angular velocity of the object to be measured using the following formula:
wherein r is the radius of the circular flow channel, vlThe moving speed, omega, of the electrolyte in the electrolyte flow passage relative to the electrolyte flow passage in the x-axis directionbIs the rotation angular rate of the object to be measured, t is the rotation time of the object to be measured, omegahThe angular speed of the circular flow channel which rotates at constant speed by taking the y-axis direction as a rotating shaft.
5. The electrochemical fluid gyroscope of claim 2, wherein the electrolyte flow channel comprises an annular flow channel and a spherical cavity, the annular flow channel is communicated with the spherical cavity, and the spherical cavity and the annular flow channel are filled with electrolyte of reversible redox reaction; the electrochemical transducer is fixed in the annular flow channel;
the fluid driving module comprises two magnetic generating devices and a counter electrode, wherein the two magnetic generating devices are oppositely arranged and used for generating a uniform magnetic field parallel to the y-axis direction, and the uniform magnetic field parallel to the y-axis direction covers the spherical cavity; the anode and the cathode of the counter electrode are oppositely arranged in the x-axis direction, the anode of the counter electrode is positioned in the center of the spherical cavity, and the cathode of the counter electrode is positioned on the side wall of the spherical cavity; the counter electrode applies potential difference through an external circuit to form an electric field parallel to the x-axis direction, the electric field parallel to the x-axis direction is perpendicular to the uniform magnetic field parallel to the y-axis direction, and the electrolyte in the spherical cavity rotates at a constant speed by taking the direction parallel to the y-axis as a rotating shaft.
6. The electrochemical fluid gyroscope of claim 5, wherein the annular flow channel comprises: the flow channel comprises a first straight flow channel section, two arc flow channel sections and two second straight flow channel sections; the radiuses of the circular sections of the flow channels of the first straight flow channel section, the two arc flow channel sections and the two second straight flow channel sections are the same; the two arc-shaped flow passage sections have the same structure and are quarter circular rings; the two second straight runner sections have the same structure;
the two arc-shaped flow channel sections are respectively communicated with two ends of the first straight flow channel section, the two arc-shaped flow channel sections are symmetrical relative to the first straight flow channel section, and the first straight flow channel section is parallel to the x-axis direction; the first ends of the two second straight runner sections are respectively communicated with the two arc runner sections, the second ends of the two second straight runner sections are respectively communicated with the spherical cavity, and the two second straight runner sections are parallel to the y-axis direction; the electrochemical transducer is fixed in the first straight runner section.
7. The electrochemical fluid gyroscope of claim 6, wherein the angular velocity calculation unit calculates the angular velocity of the measured object using the following formula:
in the formula, vhThe moving speed v of the electrolyte in the annular flow passage relative to the annular flow passage along the direction of the x axisqThe movement speed r of the electrolyte in the spherical cavity relative to the measured object1In the form of circular-arc-shaped flow-path segmentsRadius r2Is the radius of the circular section of the whole annular flow passage1Is the length of the first straight runner section l2The length of the second straight flow passage section, h is the height of a section of cylindrical electrolyte at the communication opening of the intercepted annular flow passage and the spherical cavity, s is the circular cross-sectional area of the annular flow passage, dr, d theta and dz are integral terms of a cylindrical coordinate system, the cylindrical coordinate system is a cylindrical coordinate system constructed on the basis of the intercepted cylindrical electrolyte, dT is an integral term of time, omega is omegabIs the angular rate of rotation of the object under test.
8. The electrochemical fluid gyroscope of claim 5, wherein the magnetic generating device is a permanent magnet or a coil.
9. The electrochemical fluid gyroscope of claim 5, further comprising: the fixing frame is fixed at the center of the sphere of the spherical cavity and is fixed with the side wall of the spherical cavity; the fixing frame is used for fixing the anode of the counter electrode.
10. The electrochemical fluid gyroscope of claim 1, wherein the electrochemical transducer comprises 4 porous inert metal electrodes, 2 of the 4 porous inert metal electrodes are used as anodes to provide power supply, and the other 2 of the 4 porous inert metal electrodes are used as cathodes to be connected with the signal processing module; the arrangement mode of the 4 porous inert metal electrodes is ACCA, wherein A represents an anode, and C represents a cathode.
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