CN114413891A - Solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect suppression - Google Patents
Solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect suppression Download PDFInfo
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Abstract
The invention discloses a solid fluctuation localization inertial navigation gyroscope for sensing temperature and inhibiting defects, which comprises a gyroscope base, a cup-shaped harmonic oscillator, a ring rib, a piezoelectric electrode, a circuit board and a sealing cover, wherein the gyroscope base is provided with a plurality of first electrodes; the middle part of the upper surface of the gyro base is provided with a round table, the bottom of the gyro base is provided with a groove, and the middle part of the round table is provided with a connecting hole communicated with the groove; fixing holes for connecting the gyro base with the mounting platform are uniformly formed in the gyro base around the circular truncated cone; the cup-shaped harmonic oscillator is arranged above the circular truncated cone through the mounting bolt and the connecting hole; the upper surface of the circular truncated cone is fixedly provided with a circuit board, the piezoelectric electrodes are arranged at the bottom of the cup-shaped harmonic oscillator in a regular octagon shape, and the lower surfaces of the piezoelectric electrodes are connected with the circuit board through leads; the side wall of the circular truncated cone is provided with threads and is in threaded connection with the sealing cover; the outer side of the resonance ring of the cup-shaped harmonic oscillator is periodically provided with annular ribs, and the annular ribs are symmetrically distributed towards two sides along the middle of the resonance ring of the cup-shaped harmonic oscillator.
Description
Technical Field
The invention relates to the technical field of a wave gyroscope and a temperature sensor, in particular to a cup-shaped solid wave localized navigation gyroscope with functions of temperature sensing and surface defect inhibition.
Background
The cup-shaped gyroscope belongs to a shell type gyroscope, and has the advantages of small volume, low cost, long service life, good impact and vibration resistance, large working temperature range, higher precision, stability and reliability, and very wide development and application prospects.
The basic working principle of the cup-shaped fluctuation localization gyroscope is that the working mode of the harmonic oscillator is excited by applying alternating voltage by utilizing the inverse piezoelectric effect of the piezoelectric electrode, so that the axial direction of the harmonic oscillator is sensitive to the external input angular speed. When an angular velocity is input from the outside, the resonance ring of the harmonic oscillator generates the coriolis force effect to excite a sensitive mode, the mode is detected and output through the piezoelectric effect of the piezoelectric electrode, and the output signal is demodulated to calculate the axial input angular velocity of the external harmonic oscillator.
The high-performance cup-shaped fluctuation gyroscope requires good physical symmetry and modal stability of the harmonic oscillator. However, since the harmonic oscillator is a typical thin-walled part, the machining error generated during the manufacturing process may cause the gyro harmonic oscillator to form defects such as characteristic frequency cracking, mode shape shift, etc., which may directly affect the precision and reliability of the gyro.
Therefore, the research in the field aims at solving the key problems of mass distribution defect, damping defect, characteristic frequency cracking, modal shape error and the like of the cylindrical vibration gyro.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect inhibition, which realizes the functions of inhibiting the characteristic frequency cracking and modal shape deviation caused by surface defects and realizes the function of a temperature sensor by utilizing the response characteristic of the Young modulus of a harmonic oscillator material to the temperature change.
The purpose of the invention is realized by the following technical scheme:
the solid fluctuation localization inertial navigation gyroscope for sensing temperature and inhibiting defects comprises a gyroscope base, a cup-shaped harmonic oscillator, a ring rib, a piezoelectric electrode, a circuit board and a sealing cover; the middle part of the upper surface of the gyro base is provided with a round table, the bottom of the gyro base is provided with a groove, and the middle part of the round table is provided with a connecting hole communicated with the groove; fixing holes for connecting the gyro base with the mounting platform are uniformly formed in the gyro base around the circular truncated cone; the cup-shaped harmonic oscillator is arranged above the circular truncated cone through the mounting bolt and the connecting hole; the upper surface of the circular truncated cone is fixedly provided with a circuit board, the piezoelectric electrodes are arranged at the bottom of the cup-shaped harmonic oscillator in a regular octagon shape, and the lower surfaces of the piezoelectric electrodes are connected with the circuit board through leads; the side wall of the circular truncated cone is provided with threads and is in threaded connection with the sealing cover; the outer side of the resonance ring of the cup-shaped harmonic oscillator is periodically provided with annular ribs, and the annular ribs are symmetrically distributed towards two sides along the middle of the resonance ring of the cup-shaped harmonic oscillator.
Furthermore, the bottom of the cup-shaped harmonic oscillator is provided with regular octagonal trimming holes along the circumferential direction, a piezoelectric electrode is attached between every two adjacent trimming holes, and the lower surface of the piezoelectric electrode is connected with a circular circuit board through a lead; the circular truncated cone is further provided with a through hole, and the circuit board is connected with an external circuit through the through hole and a connecting wire.
Furthermore, the cup-shaped harmonic oscillator comprises a cup wall, a cup bottom and an installation support rod, the side wall of the cup-shaped harmonic oscillator is the cup wall, the cup wall is composed of a resonance ring positioned at the upper part and a vibration transmission structure positioned at the lower part, and the cup bottom is the bottom of the cup-shaped harmonic oscillator; the mounting support rod is connected with the cup bottom and is of a hollow cylinder structure, internal threads are arranged on the inner wall of the mounting support rod, and the cup-shaped harmonic oscillator is connected with the mounting bolt through the mounting support rod.
Further, the top base is made of metal.
Furthermore, the sealing cover adopts a hollow cylindrical structure with an opening at the bottom, and a sealing space formed by the sealing cover and the gyro base avoids the working mode of the cup-shaped harmonic oscillator from being influenced by the external environment.
Further, the cup-shaped harmonic oscillator and the annular rib are both made of fused silica materials, and the annular rib can inhibit phase shift of the working mode and cracking of characteristic frequency of the working mode caused by mass concentration.
Furthermore, the piezoelectric electrodes are PZT-5H piezoelectric strain gauges, the inherent elastic modulus is 77.5GPa, and the piezoelectric electrodes can be adjusted through an external circuit.
Furthermore, the cup-shaped harmonic oscillator is enabled to have the function of a temperature sensor by measuring the characteristic frequency of the cup-shaped harmonic oscillator to predict the ambient temperature.
Further, a linear relation exists between the characteristic frequency of the cup-shaped harmonic oscillator and the temperature within the range of minus 10 ℃ to 60 ℃, the characteristic frequency can increase along with the increase of the temperature, and the temperature prediction model of the cup-shaped harmonic oscillator is obtained by analyzing the linear relation existing between the characteristic frequency of the cup-shaped harmonic oscillator and the temperature within the range of minus 10 ℃ to 60 ℃; the Young modulus at different temperatures in the temperature prediction model of the cup-shaped harmonic oscillator is changed, simulation software is used for performing modal analysis to obtain characteristic frequency data of the cup-shaped harmonic oscillator at different temperatures, a machine learning technology is used for training the temperature prediction model of the cup-shaped harmonic oscillator, and the magnitude of the environment temperature is predicted through characteristic frequency response.
The invention also provides an ambient temperature prediction method of the solid fluctuation localization inertial navigation gyroscope, which comprises the following steps:
(1) aiming at the preset use temperature of the cup-shaped harmonic oscillator of-10 ℃ to 60 ℃, taking temperature points by taking 2 ℃ as step length, respectively substituting the temperature points into a mode calculator of finite element analysis software corresponding to the Young modulus E of the quartz material, and calculating the characteristic frequency of the cup-shaped harmonic oscillator under the selected working mode;
(2) substituting the obtained characteristic frequency data of the working modes of the cup-shaped harmonic oscillator at different temperature points into a BP neural network programmed by using numerical calculation software for calculation, and simulating and outputting the characteristic frequency of the working modes of the cup-shaped harmonic oscillator at-20 ℃ to-70 ℃ after training is finished, wherein the characteristic frequency is the simulation numerical value of the BP neural network at-20 ℃ to-10 ℃ and at 60 ℃ to 70 ℃;
(3) the temperature sensing function of the solid fluctuation localization inertial navigation gyroscope is realized by inputting the measured characteristic frequency without temperature compensation to the trained BP neural network so as to predict the size of the environment temperature. Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the ring rib structure on the resonant ring can restrain the phase shift of the working mode caused by mass concentration, and also has a restraining effect on the cracking of the resonant characteristic frequency of the working mode.
2. The Young modulus of the quartz which is used as the material for manufacturing the cup-shaped fluctuation localization gyro harmonic oscillator responds to temperature change, and further responds to the characteristic frequency of the working mode of the cup-shaped harmonic oscillator. The invention provides a method for predicting the ambient temperature by measuring the characteristic frequency of the cup-shaped harmonic oscillator by utilizing the characteristic, and realizes the combination of navigation and a temperature sensor.
3. The method adopts the machine learning neural network to establish the temperature prediction model of the cup-shaped harmonic oscillator, can reflect the nonlinear relation between the characteristic frequency and the temperature of the cup-shaped harmonic oscillator by only a small number of samples, simplifies the prediction process, greatly reduces the workload of data acquisition, and has more obvious advantages especially when the measured temperature has a larger variation range.
4. The outer side of the resonance ring of the cup-shaped harmonic oscillator is provided with the annular rib, so that solid fluctuation is localized, and the annular rib enables the cup-shaped harmonic oscillator to have the functions of inhibiting characteristic frequency cracking and modal shape deviation. And the environment temperature can be predicted by measuring the characteristic frequency of the cup-shaped harmonic oscillator, so that the harmonic oscillator has the function of a temperature sensor.
Drawings
Fig. 1a and 1b show the operating modes of a cup-shaped resonator of a solid wave localized inertial navigation gyroscope according to an embodiment of the present invention: fig. 1a shows a drive mode and fig. 1b shows a sensitive mode.
Fig. 2 is a schematic cross-sectional structural diagram of an inertial navigation gyroscope according to an embodiment of the present invention.
Fig. 3 is a front view of an assembly structure of an inertial navigation gyroscope provided by an embodiment of the invention, except for a sealing cover.
Fig. 4 is a top view of an assembly structure of an inertial navigation gyroscope according to an embodiment of the present invention, except for a sealing cover.
Fig. 5 is a schematic view of an assembly structure of an inertial navigation gyroscope including a sealing cover according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a detailed structure of a part of an assembly of an inertial navigation gyroscope modeling software model according to an embodiment of the present invention.
FIG. 7 is a graph of the prediction of the passing characteristic frequency versus the ambient temperature using the BP neural network according to the embodiment of the present invention.
FIG. 8 is a schematic representation of an embodiment of the present invention utilizing the BP neural network principle.
FIG. 9 is a comparison between the predicted value and the actual value of the predicted environment temperature using the BP neural network according to the embodiment of the present invention.
Fig. 10a and 10b are superposed diagrams of the oscillation shapes of the cup-shaped harmonic oscillator in the embodiment of the present invention before and after the oscillation shape deviation caused by the concentrated mass in the case of the ring rib and the ring rib, respectively.
Reference numerals: 1-resonance ring, 2-ring rib, 3-vibration transmission structure, 4-trimming hole, 5-piezoelectric electrode, 6-mounting support rod, 7-gyroscope base, 8-sealing cover, 9-circuit board, 10-bolt, 11-bolt and 12-bolt
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The localization of the mode by a specific structure can suppress mode changes due to defects, including cracking of the characteristic frequency and shifting of the mode shape. The embodiment of the invention provides a scheme for adding a ring rib structure on a resonance ring of a cup-shaped harmonic oscillator, and the scheme is used for correcting errors caused by surface concentrated mass of the resonance ring in a working mode.
The cup-shaped solid fluctuation localization navigation gyroscope with the functions of sensing temperature and inhibiting surface defects provided by the embodiment of the invention realizes the navigation function based on the mode of the resonance ring shown in fig. 1. Wherein fig. 1a is a vibration mode of the harmonic oscillator excited when an input signal of the piezoelectric electrode 5 is identical to a characteristic frequency of the cup-shaped harmonic oscillator; fig. 1b shows the sensitive mode of the resonator excited by the coriolis force of the resonator when the cup-shaped resonator is in the driving mode and there is an input angular velocity in the axial direction, and the characteristic frequency of the resonator is consistent with the driving mode. The vibration of the harmonic oscillator in the sensitive mode acts on the piezoelectric electrode 5 of the cup bottom of the harmonic oscillator through the vibration transmission structure 3, binding charges are generated under the action of the piezoelectric effect, and the input angular velocity of the cup-shaped harmonic oscillator in the axial direction can be calculated by detecting and adjusting the output charge signals of the piezoelectric electrode 5.
The cup-shaped solid fluctuation localization navigation gyroscope with the functions of temperature sensing and surface defect inhibition provided by the embodiment of the invention is shown in fig. 2, fig. 3, fig. 4 and fig. 5, wherein: the resonant ring 1 is a hollow cylindrical ring with an outer diameter R of 25mm and a thickness T11mm, height H19 mm; the height h of the ring rib 2 is 1mm, and the width d of the rib10.3mm, rib spacing d2The diameter is 0.48mm, and 9 ring ribs are arranged in total; height H of vibration-transmitting structure 32Thickness T of 8mm20.3 mm; diameter D of the shaping hole 414.64 mm; thickness t of piezoelectric electrode 510.4mm, 8.5mm long L and 2mm wide b; inner diameter r of mounting strut 615mm, outer diameter r 28 mm; 8 high H of sealing cover350mm, wall thickness T32.5 mm; diameter D of annular circuit board 9230mm, thickness t 22 mm; the total weight m of the cup-shaped harmonic oscillator is 3.603 g. The top base 7 is a cylindrical base made of metal and provided with a circular truncated cone, the top base 7 is placed on the horizontal stabilizing platform, threaded holes symmetrical along the central axis are formed in the upper surface of the circular truncated cone of the top base 7, and the annular circuit board 9 is connected with the top base 7 through bolts 11 for fixing the annular circuit board. The bolt 12 for fixing the cup-shaped harmonic oscillator and the top base passes through the threaded connection hole on the top base 7 to firmly connect the top base 7 and the cup-shaped harmonic oscillator. The ring ribs 2 are structurally distributed on the outer surface of the resonance ring 1 and are formed by nine ribs with the width of 0.3mmAnd annular ribs with the distance of 0.48mm are formed, and the annular ribs are parallel to the horizontal plane and symmetrically distributed from the middle of the resonant ring 1 to two sides. The upper surface of the gyro base 7 is provided with threaded holes which are arranged in a regular hexagon shape and connected with the horizontal platform through bolts 10 for fixing the gyro base, the bottom of the cup-shaped harmonic oscillator is provided with modification holes 4 which are distributed in a regular octagon shape along the circumferential direction, piezoelectric electrodes 5 which are distributed along the radial direction are pasted between every two adjacent modification holes, and the lower surfaces of the piezoelectric electrodes 5 are connected with an annular circuit board 9 through leads; the lower surface of the annular circuit board 9 is connected with an external circuit through a through hole in the circular table of the gyro base 7 and a square groove in the bottom of the gyro base 7. Meanwhile, threads are arranged on the side wall of the circular truncated cone of the gyro base 7, and the sealing cover 8 is connected with the circular truncated cone threads through the threads on the inner wall to form a closed structure.
In the embodiment, the cup-shaped harmonic oscillator and the ring rib are both made of fused quartz, and the quartz has high elasticity and strength, low thermal expansion coefficient, high mechanical quality factor and low elastic modulus temperature coefficient, and is a widely used material for the gyro harmonic oscillator. The shape modification holes 4 uniformly distributed at the bottom of the cup-shaped harmonic oscillator are used for isolating the vibration coupling among the piezoelectric electrodes 5 and realizing the mechanical balance of the cup-shaped harmonic oscillator. The sealing cover 8 and the gyro base 7 form a sealed space and are vacuumized to avoid the working mode of the harmonic oscillator from being influenced by the external environment.
In the embodiment of the invention, the scheme adopted for adding the annular rib structure on the cup-shaped harmonic oscillator and analyzing the phase shift of the suppression working mode and the cracking of the characteristic frequency of the working mode is as follows:
1. the processing scheme of adding the annular rib structure on the cup-shaped harmonic oscillator is as follows: when the harmonic oscillator is manufactured, at least a finishing allowance of 0.6mm-1mm is left on the blank, and at least a finishing allowance of 1.2mm is left on the outer surface part of the resonance ring. When the resonant ring is finished, a clamp is provided for fixing the resonant ring so as to avoid the phenomenon of cutter back off during machining due to thin-wall vibration, and when the outer surface is machined, a support is provided for the inner surface so as to prevent vibration, so that the outer part of the resonant ring and the ring rib are finished simultaneously. It should be noted that, in order to solve the problem of machining deformation, harmonic oscillators with different sizes should be searched and determined with relevant process parameters, such as cutting speed, feeding amount, tool geometric parameters, clamp positioning mode, clamping force and the like. After the inner and outer circles are machined, the shaping hole is machined on the bottom surface of the resonator by means of electric spark machining.
2. Analyzing the phase shift effect of the ring rib structure on the suppression working mode: fig. 10a is a modal shape comparison graph calculated by finite element software after adding 0.001g (less than one hundredth of the mass of the resonator) of concentrated mass to the resonance ring without adding a ring rib structure, and the mode shape can be measured to deflect 21.52 degrees; FIG. 10b is a comparison graph of modal shape calculated by the finite element analysis software when a lumped mass of 0.001g is added to the resonating ring when considering the rib parameters of the previous embodiment, and the mode shape is measured to be deflected by 15 °. It should be noted that there is an error in the measurement, but after the rib is added, it is analyzed that there is a phenomenon of obviously suppressing the deflection of the working mode, and a more accurate numerical value can be determined and calculated by a person skilled in the art without creative work.
3. And (3) analyzing the cracking effect of the characteristic frequency of the ring rib structure inhibiting working mode: when the cup-shaped harmonic oscillator is respectively at the environmental temperatures of 20 ℃, 26 ℃, 30 ℃, 36 ℃ and 40 ℃, modal analysis is carried out to obtain the operating modal characteristic frequencies (Hz) of the rib-free harmonic oscillator, which are respectively: 4880.4187, 4882.6238, 4884.0934, 4886.2968, 4887.7652; the corresponding orthogonal mode shape characteristic frequencies (Hz) are respectively: 4881.0335, 4883.2389, 4884.7086, 4886.9123, 4888.3809. However, the characteristic frequencies (Hz) of the working modes of the ribbed harmonic oscillator are respectively as follows: 7009.0977, 7012.2646, 7014.3751, 7017.5396, 7019.6485; the corresponding orthogonal mode shape characteristic frequencies (Hz) are respectively as follows: 7010.0303, 7013.1976, 7015.3084, 7018.4733, 7020.5825. After the mass is increased by 0.001g, modal analysis is carried out on the resonance without ribs, and the characteristic frequencies (Hz) of the temperature working modes are respectively as follows: 4877.1213, 4879.3249, 4880.7934, 4882.9954, 4884.4628; the corresponding orthogonal mode shape characteristic frequencies (Hz) are respectively as follows: 4880.3938, 4882.5989, 4884.0684, 4886.2718, 4887.7403. It can be seen that the working mode characteristic frequency is more severely separated from the corresponding orthogonal mode shape characteristic frequency due to the existence of defects. When the mass is increased by 0.001g, the characteristic frequencies (Hz) of the working modes of the ribbed gyroscope can be respectively as follows: 7005.6947, 7008.8601, 7010.9695, 7014.1325, 7016.2404; the corresponding orthogonal mode shape characteristic frequencies (Hz) are respectively as follows: 7009.0753, 7012.2422, 7014.3572, 7017.5172, 7019.6261. Therefore, the harmonic oscillator containing the periodic ribs can effectively inhibit the splitting of the working mode characteristic frequency and the corresponding orthogonal mode characteristic frequency of the defect fluctuation gyroscope. It should be noted that the cup-shaped harmonic oscillators of cup-shaped fluctuation localization gyroscopes with different sizes and processing modes have different abilities of inhibiting the splitting of the characteristic frequency after the ring ribs are added, and the specific inhibiting abilities can be simulated, calculated and analyzed by a person skilled in the art without creative labor.
The cup-shaped harmonic oscillator in the embodiment of the invention is made of quartz, and the quartz has high elasticity and strength, low thermal expansion coefficient, high mechanical quality factor and low elastic modulus temperature coefficient. Quartz is used as a material of a gyro harmonic oscillator which is widely used, and the elastic modulus temperature coefficient is not higher than that of a newly-developed gyro harmonic oscillator material such as: since constant-elasticity alloys such as Fe-Ni-Cr system ferromagnetic alloys, Fe-Ni-Mo system ferromagnetic alloys, and Mn-Cu system antiferromagnetic alloys are low, a relatively mature temperature compensation mechanism has been developed to compensate for a characteristic frequency change caused by a temperature change. Based on the technical current situation, the invention provides a prediction scheme of the ambient temperature by using the direct measurement value of the characteristic frequency of the cup-shaped harmonic oscillator before compensation, and the temperature sensing function of the cup-shaped fluctuation localization gyroscope is realized.
The method for predicting the environmental temperature by utilizing the direct measurement value of the characteristic frequency of the cup-shaped harmonic oscillator before compensation in the embodiment of the invention comprises the following steps:
1. aiming at the preset use temperature (-10-60 ℃) of the cup-shaped harmonic oscillator, taking a temperature point by taking 2 ℃ as a step length, respectively substituting the temperature point into a mode calculator of finite element analysis software corresponding to the Young modulus E of the quartz material, and calculating the characteristic frequencies of the fourth-order mode and the fifth-order mode (namely the working mode) of the natural modal vibration.
2. Bringing the resulting data into BP neural programming using numerical calculation softwareThrough calculation by a network, the training parameters of the BP neural network are shown in figure 8, and after training, the characteristic frequency of the working mode of the cup-shaped harmonic oscillator under the temperature of-20 ℃ to 70 ℃ (wherein the temperature of-20 ℃ to-10 ℃ and the temperature of 60 ℃ to 70 ℃ are the simulation values of the BP neural network) is output in a simulation mode, and the result is shown in figure 7. R in FIG. 92Is a determination coefficient, represents the fitting degree, and can be seen that the BP neural network has good fitting to the relationship of temperature-characteristic frequency.
3. The trained BP neural network is input with the measured characteristic frequency without temperature compensation, so that the size of the ambient temperature can be predicted, and the temperature sensing function of the cup-shaped fluctuation localization gyroscope is realized.
In conclusion, according to the technical scheme, the ring rib structure is added on the resonance ring of the cup-shaped harmonic oscillator of the traditional solid wave navigation gyroscope, so that structural innovation is realized, and the effects of inhibiting phase shift of a working mode and cracking of resonance characteristic frequency of the working mode are achieved; and secondly, by utilizing the temperature characteristic of the harmonic oscillator material and analyzing by using a BP neural network, the effect of predicting the ambient temperature is achieved, and the combination of navigation and a temperature sensor is realized.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect inhibition is characterized by comprising a gyroscope base, a cup-shaped harmonic oscillator, a ring rib, a piezoelectric electrode, a circuit board and a sealing cover; the middle part of the upper surface of the gyro base is provided with a round table, the bottom of the gyro base is provided with a groove, and the middle part of the round table is provided with a connecting hole communicated with the groove; fixing holes for connecting the gyro base with the mounting platform are uniformly formed in the gyro base around the circular truncated cone; the cup-shaped harmonic oscillator is arranged above the circular truncated cone through the mounting bolt and the connecting hole; the upper surface of the circular truncated cone is fixedly provided with a circuit board, the piezoelectric electrodes are arranged at the bottom of the cup-shaped harmonic oscillator in a regular octagon shape, and the lower surfaces of the piezoelectric electrodes are connected with the circuit board through leads; the side wall of the circular truncated cone is provided with threads and is in threaded connection with the sealing cover; the outer side of the resonance ring of the cup-shaped harmonic oscillator is periodically provided with annular ribs, and the annular ribs are symmetrically distributed towards two sides along the middle of the resonance ring of the cup-shaped harmonic oscillator.
2. The solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect suppression according to claim 1, wherein the cup-shaped resonator has trimming holes distributed in a regular octagon shape along the circumferential direction, a piezoelectric electrode is attached between every two adjacent trimming holes, and the lower surface of the piezoelectric electrode is connected with a circular circuit board through a lead; the circular truncated cone is further provided with a through hole, and the circuit board is connected with an external circuit through the through hole and a connecting wire.
3. The temperature-sensing and defect-suppressing solid-wave localized inertial navigation gyroscope of claim 1, wherein the cup-shaped resonator comprises a cup wall, a cup bottom and a mounting strut, wherein the cup wall is the side wall of the cup-shaped resonator, the cup wall is composed of a resonant ring at the upper part and a vibration-sensing structure at the lower part, and the cup bottom is the bottom of the cup-shaped resonator; the mounting support rod is connected with the cup bottom and is of a hollow cylinder structure, internal threads are arranged on the inner wall of the mounting support rod, and the cup-shaped harmonic oscillator is connected with the mounting bolt through the mounting support rod.
4. The temperature sensing and defect suppressing, solid wave localized inertial navigation gyroscope of claim 1, wherein the gyroscope base is made of metal.
5. The solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect suppression according to claim 1, wherein the sealing cover is a hollow cylindrical structure with an opening at the bottom, and the sealing space formed by the sealing cover and the gyroscope base avoids the working mode of the cup-shaped harmonic oscillator from being affected by the external environment.
6. The temperature-sensing and defect-suppressing, solid-wave localized inertial navigation gyroscope of claim 1 wherein the cup-shaped harmonic oscillator and the annular rib are both comprised of fused silica material, the annular rib being capable of suppressing phase shifts of the operating mode and cracking of the characteristic frequencies of the operating mode due to concentrated mass.
7. The temperature-sensing defect-suppressing solid-wave localized inertial navigation gyroscope of claim 1, wherein the piezoelectric electrodes are PZT-5H piezoelectric strain gauges, have an inherent elastic modulus of 77.5GPa, and are adjustable by an external circuit.
8. The temperature-sensing defect-suppressing solid-wave localized inertial navigation gyroscope of claim 1, wherein the cup resonator functions as a temperature sensor by measuring a characteristic frequency of the cup resonator to predict an ambient temperature.
9. The solid fluctuation localization inertial navigation gyroscope for temperature sensing and defect suppression according to claim 1, wherein the characteristic frequency of the cup-shaped harmonic oscillator has a linear relationship with the temperature in a range of-10 ℃ to 60 ℃, the characteristic frequency increases with the increase of the temperature, and a temperature prediction model of the cup-shaped harmonic oscillator is obtained by analyzing the linear relationship between the characteristic frequency of the cup-shaped harmonic oscillator and the temperature in a range of-10 ℃ to 60 ℃; the Young modulus at different temperatures in the temperature prediction model of the cup-shaped harmonic oscillator is changed, simulation software is used for performing modal analysis to obtain characteristic frequency data of the cup-shaped harmonic oscillator at different temperatures, a machine learning technology is used for training the temperature prediction model of the cup-shaped harmonic oscillator, and the magnitude of the environment temperature is predicted through characteristic frequency response.
10. A method for predicting the ambient temperature of a solid fluctuation localization inertial navigation gyroscope is characterized by comprising the following steps:
(1) aiming at the preset use temperature of the cup-shaped harmonic oscillator of-10 ℃ to 60 ℃, taking temperature points by taking 2 ℃ as step length, respectively substituting the temperature points into a mode calculator of finite element analysis software corresponding to the Young modulus E of the quartz material, and calculating the characteristic frequency of the cup-shaped harmonic oscillator under the selected working mode;
(2) substituting the obtained characteristic frequency data of the working modes of the cup-shaped harmonic oscillator at different temperature points into a BP neural network programmed by using numerical calculation software for calculation, and simulating and outputting the characteristic frequency of the working modes of the cup-shaped harmonic oscillator at-20 ℃ to-70 ℃ after training is finished, wherein the characteristic frequency is the simulation numerical value of the BP neural network at-20 ℃ to-10 ℃ and at 60 ℃ to 70 ℃;
(3) the temperature sensing function of the solid fluctuation localization inertial navigation gyroscope is realized by inputting the measured characteristic frequency without temperature compensation to the trained BP neural network so as to predict the size of the environment temperature.
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