CN113483746B - Gyro multidimensional noise suppression method - Google Patents
Gyro multidimensional noise suppression method Download PDFInfo
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- CN113483746B CN113483746B CN202110861719.4A CN202110861719A CN113483746B CN 113483746 B CN113483746 B CN 113483746B CN 202110861719 A CN202110861719 A CN 202110861719A CN 113483746 B CN113483746 B CN 113483746B
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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
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
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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
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
- G01C19/5726—Signal processing
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Abstract
The invention relates to a multi-dimensional gyro noise suppression method, which comprises the following steps: step 1, designing a sparse odd-order thrust groove structure from the dimension of a vibration field, wherein the sparse odd-order thrust groove structure is used for avoiding the mutual interference of opposite thrust among the supporting airflows of each groove body of the thrust bearing; step 2, designing a non-main magnetic flux attenuation structure from the dimension of an electromagnetic field, wherein the non-main magnetic flux attenuation structure is used for avoiding near magnetic cross-linking interference between internal elements of the gyroscope; and 3, designing a passive temperature soaking structure from the thermal field dimension for reducing the thermal disturbance of the external environment. The invention can improve the output signal-to-noise ratio of the gyroscope without increasing the complexity of the system and ensuring that the reliability of the gyroscope product is not lost.
Description
Technical Field
The invention belongs to the technical field of liquid suspension rotor gyroscopes, relates to a noise suppression method of a liquid suspension rotor gyroscope, and particularly relates to a multidimensional gyro noise suppression method.
Background
The gyroscope is an angular motion sensing element based on an inertia technology and is widely applied to an autonomous strapdown attitude control system and a stable platform control system.
The gyroscope uses a gyro motor rotating at high speed as a core, a rotation angle sensor as a measuring unit and a torquer as an execution unit. The gyro motor installed in the gyro sealed floating assembly runs at high speed to generate necessary momentum moment, when the carrier generates angular motion along the input shaft direction of the gyro, the motor rotor rotating at high speed precesses due to the gyro effect to drive the floating assembly to rotate relative to the output shaft, the rotation is sensed by the corner sensor and corresponding electric signals are output to a user system, and the user control system applies control moment to a control object according to the output signals to form closed-loop control to ensure that the control object is in a set state. When necessary, a user sends a command signal to be applied to the gyro torquer to control the floating assembly in a specified state.
In the application of the high-precision attitude control system, a user expects the liquid floated gyroscope to have high precision and high signal-to-noise ratio, so that high attitude control precision and stability are obtained. In order to achieve the above purpose, a series of noise reduction operations are usually performed from a system control circuit link in engineering application, which increases the system complexity, reduces the reliability of the whole machine, and even causes distortion of output signals, thereby bringing about very adverse effects. At present, the method cannot completely meet the dual requirements of reliability and precision of the high-precision liquid floated gyroscope.
No prior art publications that are the same or similar have been found by search.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for suppressing the multidimensional noise of a gyroscope, which can improve the output signal-to-noise ratio of the gyroscope, does not increase the complexity of a system and ensures that the reliability of a gyroscope product is not lost.
The invention solves the practical problem by adopting the following technical scheme:
a gyro multidimensional noise suppression method comprises the following steps:
step 2, designing a non-main magnetic flux attenuation structure from the dimension of an electromagnetic field, wherein the non-main magnetic flux attenuation structure is used for avoiding near-distance magnetic cross interference between internal elements of the gyroscope;
and 3, designing a passive temperature soaking structure from the thermal field dimension for reducing the thermal disturbance of the external environment.
The sparse type odd-order thrust groove structure in the step 1 is an annular structure with a hole at the center, a plurality of sparse type thrust grooves are radially formed in the upper surface of the annular structure and are arc-shaped, the sparse type grooves extend outwards from the position close to the center hole and gradually widen, and the tops of the sparse type grooves are spaced from the center hole by a certain distance; a groove table is formed between two adjacent sparse thrust grooves.
In addition, the number of the sparse thrust grooves is set to be odd, and the range of the number of the grooves is 11-17; in the aspect of groove depth, a depth-equalizing structure is designed, and the range of the groove depth is 5-11 mu m; in the aspect of the width of the groove table, the width ratio of the groove table is designed to be 1: 1; in the aspect of groove angle parameters, the groove is designed into a large deflection angle structure, and the parameter range is 61-77 DEG
Furthermore, the principal flux attenuation absent structure of step 2 includes:
the double-layer embedded magnetic material structure is located above the independent aluminum material structure, and the double-layer embedded magnetic material structure and the independent aluminum material structure are in transition clearance fit and are fixed in an epoxy glue bonding mode.
Moreover, the passive temperature soaking structure of step 3 is located in the non-floating space of the gyroscope, and comprises:
each soaking composite unit consists of a thermal attenuation layer and a thermal diffusion layer which are arranged at intervals; the thermal resistance of the thermal attenuation layer is far larger than that of the thermal diffusion layer, and the layer thickness r1 of the thermal attenuation layer and the layer thickness r2 of the thermal diffusion layer are both far smaller than the width l and the height h of the thermal attenuation layer.
And the thermal attenuation layer is made of an injection molding heat-insulation section bar with a cavity, and the thermal diffusion layer is made of copper materials or heat-conducting glue.
The invention has the advantages and beneficial effects that:
1. in the aspect of motor noise suppression, after the adaptive design of the thrust groove is carried out on the motor operation supporting air film, the remarkable effects of zero loss of the reliability of the whole machine and one order of magnitude reduction of related noise are achieved on the premise of keeping the complexity of the gyro, the motor and the related control system from increasing at all, and the gyro noise is reduced from 8.53E-05 degrees/h 1/2 to 6.85E-06 degrees/h 1/2.
2. The double-layer embedded magnetic shielding for the magnetic leakage of the torquer has the advantages of simple structure and high reliability, realizes the effect of reducing the short-distance magnetic cross-linking interference noise by more than 90 percent at the cost of extremely low complexity, and reduces the magnetic sensitivity of the gyroscope from 0.003 degree/h/mT to within 0.001 degree/h/mT.
3. In the aspect of thermal noise suppression, the passive temperature soaking composite structure is arranged in a non-floating space of the gyroscope, the complexity is extremely low, the reliability is extremely high, the operability is extremely high, the beneficial effect of reducing the thermal noise by more than 50% is realized at the expense of extremely low complexity, and the thermal sensitivity of the gyroscope is reduced to be within 0.0002 degree/h/DEG C from 0.0005 degree/h/DEG C.
Drawings
FIG. 1 is a schematic view of a noise-damped thrust groove of the present invention;
FIG. 2 is a schematic diagram of an embedded close-range magnetic cross-linking interference suppression structure according to the present invention;
FIG. 3 is a schematic view of a passive temperature soaking composite structure of the present invention;
description of the reference numerals:
1-sparse thrust groove; 21-free standing aluminum construction; 22-embedded magnetic material structure; 31-a thermal attenuation layer; 32-thermal diffusion layer.
Detailed Description
The embodiments of the invention are further described in the following with reference to the drawings:
the invention is based on the existing structural system of the liquid floated gyroscope, and starts from three dimensions of a vibration field, an electromagnetic field and a thermal field, and adopts a targeted technical design to reduce related noise.
A gyro multi-dimensional noise suppression method comprises the following steps:
the sparse type odd-order thrust groove structure in the step 1 is an annular structure with a hole at the center, a plurality of sparse type thrust grooves 1 are radially arranged on the upper surface of the annular structure and are arc-shaped, the sparse type grooves extend outwards from the position close to the center hole and gradually widen, and the tops of the sparse type grooves are spaced from the center hole by a certain distance; a groove table is formed between two adjacent sparse thrust grooves.
The number of the sparse thrust grooves is set to be odd, and the range of the number of the grooves is 11-17; in the aspect of groove depth, a depth-equalizing structure is designed, and the range of the groove depth is 5-11 mu m; in the aspect of the width of the groove table, the width ratio of the groove table is designed to be 1: 1; in the aspect of groove angle parameters, the groove angle is designed into a large deflection angle structure, and the parameter range is 61-77 DEG
In the embodiment, the vibration field dimension and motor noise caused by unstable operation of the motor air bearing are main sources of the vibration field noise of the gyroscope, so that the invention develops a targeted research according to a motor operation air film supporting mechanism. In the invention, a sparse odd-order groove structure is developed to avoid 'opposite-impact mutual interference' between supporting airflows of all groove bodies of the thrust bearing, the operation stability of the air-floating bearing is improved, an equal-width groove platform and equal-deep groove bottom structure is designed to improve the supporting consistency of the airflows of all the groove bodies so as to improve the operation stability of the bearing, and the structural design of the deep grooves and the large groove angles ensures the supporting rigidity of the air film of the bearing. The adaptive design technology ensures the rigidity of the bearing, effectively improves the operation stability of the air bearing, reduces the noise generated in the operation process of the motor, and further effectively inhibits the related gyro noise.
Step 2, designing a non-main magnetic flux attenuation structure from the dimension of an electromagnetic field, wherein the non-main magnetic flux attenuation structure is used for avoiding near magnetic cross-linking interference between internal elements of the gyroscope;
the no main magnetic flux attenuation structure of step 2 includes:
the double-layer embedded magnetic structure comprises a double-layer embedded magnetic structure 22 and an independent aluminum structure 21, wherein the double-layer embedded magnetic structure 22 is located above the independent aluminum structure 21, the double-layer embedded magnetic structure 22 and the independent aluminum structure 21 are in transition clearance fit, and are fixed in an epoxy glue bonding mode.
In the embodiment, the electromagnetic field dimension aims at a main electromagnetic disturbance source, namely a torquer, in the gyroscope, and the problem of short-distance magnetic cross-linking interference suppression between internal elements of the gyroscope is solved by adopting a no-main magnetic flux attenuation design. In the aspect of no main magnetic flux attenuation, a double-layer embedded magnetic shielding device made of independent aluminum materials and soft magnetic materials is developed, the effects of no main magnetic flux attenuation and 90% reduction of a leakage magnetic field are realized by optimizing a magnetic conduction path of magnetic steel leakage, and then noise caused by short-distance magnetic cross-linking interference in the gyroscope is effectively inhibited.
Step 3, designing a passive temperature soaking structure from the dimension of the thermal field for reducing the thermal disturbance of the external environment;
the passive temperature soaking structure of step 3 is located the non-floating liquid space of top, includes:
a plurality of soaking composite units, each soaking composite unit is composed of a thermal attenuation layer 31 and a thermal diffusion layer 32, and the two soaking composite units are arranged at intervals; the thermal resistance of the thermal attenuation layer 31 is far larger than that of the thermal diffusion layer 32, and the layer thickness r1 of the thermal attenuation layer 31 and the layer thickness r2 of the thermal diffusion layer 32 are both far smaller than the width l and the height h.
The thermal attenuation layer 31 is made of an injection molding heat-insulation section with a cavity, and the thermal diffusion layer 32 is made of copper or heat-conducting glue.
In the embodiment, the thermal field dimension develops a passive temperature soaking structure aiming at the existing structure of the liquid floating gyroscope. The passive temperature soaking structure is designed to be a thermal resistance configuration entry point, a thermal resistance main attenuation direction is configured along the direction of the output shaft of the gyroscope and the circumferential direction of the floater component, and a thermal resistance main amplification direction is configured along the vertical direction of the output shaft of the gyroscope, so that the heat dissipated in the external local area of the gyroscope is rapidly diffused along the direction of the output shaft and the circumferential direction of the floater, and relatively no diffusion is realized along the radial direction of the output shaft. The structure effectively reduces the thermal disturbance of the external environment, effectively smoothes the thermal disturbance introduced by pulse type heating of the pulse width modulation temperature control system, and has obvious thermal noise suppression effect.
As shown in FIG. 1, the invention provides a structural parameter of a motor noise suppression thrust groove, wherein the number of grooves is set to be an odd sparse groove number, and the range of the groove number is (11-17); in the aspect of groove depth, a depth-equalizing structure is designed, the depth deviation range is (0.3-1) mu m, and the groove depth range is (5-11) mu m; in the aspect of the width of the groove table, the width ratio of the groove table is designed to be 1: 1; in the aspect of groove angle parameters, the groove angle is designed to be a large deflection angle structure, and the parameter range is (61-77) °.
As shown in fig. 2, the embedded magnetic material structure 22 and the independent aluminum material structure 21 are in transition clearance fit and fixed by means of epoxy glue.
As shown in fig. 3, the passive soaking composite structure includes a plurality of soaking composite units, and the specific number is determined by the space and precision requirements of the instrument. Each soaking composite unit is composed of a thermal attenuation layer 31 and a thermal diffusion layer 32 which are arranged at intervals. The thermal resistance of the thermal attenuation layer 31 is much greater than that of the thermal diffusion layer 32, for example, the thermal attenuation layer is made of an injection molding heat preservation section with a cavity, and the thermal diffusion layer 32 is made of copper or heat-conducting glue. The layer thickness r1 of the thermal decay layer 31 and the layer thickness r2 of the thermal diffusion layer 32 are both much smaller than the width l and the height h, i.e. r1, r2 l, h. In this embodiment, r1 and r2 are 0.05mm, h is 80mm, and l is 200 mm. In practical application, the specific values of r1, r2, h and l can be determined according to specific application conditions.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, the embodiments described in this detailed description, as well as other embodiments that can be derived by one skilled in the art from the teachings herein, and are within the scope of the present invention.
Claims (3)
1. A gyro multidimensional noise suppression method is characterized in that: the method comprises the following steps:
step 1, designing a sparse odd-order thrust groove structure from the dimension of a vibration field, and avoiding the mutual interference of opposite impacts among supporting airflows of all groove bodies of a thrust bearing;
step 2, designing a non-main magnetic flux attenuation structure from the dimension of an electromagnetic field, wherein the non-main magnetic flux attenuation structure is used for avoiding near-distance magnetic cross interference between internal elements of the gyroscope;
step 3, designing a passive temperature soaking structure from the thermal field dimension for reducing the thermal disturbance of the external environment;
the sparse type odd-order thrust groove structure in the step 1 is an annular structure with a hole at the center, a plurality of sparse type thrust grooves are radially formed in the upper surface of the annular structure and are arc-shaped, the sparse type grooves extend outwards from the position close to the center hole and gradually widen, and the tops of the sparse type grooves are spaced from the center hole by a certain distance; a groove table is formed between every two adjacent sparse thrust grooves;
the no main magnetic flux attenuation structure of step 2 includes:
the double-layer embedded magnetic structure is positioned above the independent aluminum structure, and the double-layer embedded magnetic structure and the independent aluminum structure are in transition clearance fit and are fixed in an epoxy glue bonding mode;
the passive temperature soaking structure of step 3 is located the non-floating liquid space of top, includes:
the soaking composite units are composed of thermal attenuation layers and thermal diffusion layers which are arranged at intervals; the thermal resistance of the thermal attenuation layer is far larger than that of the thermal diffusion layer, and the layer thickness r1 of the thermal attenuation layer and the layer thickness r2 of the thermal diffusion layer are both far smaller than the width l and the height h of the thermal attenuation layer.
2. The method for suppressing the multidimensional noise of the gyroscope according to claim 1, wherein: the number of the sparse thrust grooves is set to be an odd sparse groove number, and the range of the groove number is 11-17; in the aspect of groove depth, a uniform depth structure is designed, and the groove depth ranges from 5 to 11 micrometers; in the aspect of the width of the groove table, the width ratio of the groove table is designed to be 1: 1; in the aspect of groove angle parameters, the groove is designed into a large deflection angle structure, and the parameter range is 61-77 degrees.
3. The method for suppressing the multidimensional noise of the gyroscope according to claim 1, wherein: the thermal attenuation layer is made of an injection molding heat-insulation section bar with a cavity, and the thermal diffusion layer is made of a copper material or a heat-conducting adhesive.
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