CN115877894B - System and method for controlling starting of liquid floating gyroscope for aerospace - Google Patents
System and method for controlling starting of liquid floating gyroscope for aerospace Download PDFInfo
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- CN115877894B CN115877894B CN202310101936.2A CN202310101936A CN115877894B CN 115877894 B CN115877894 B CN 115877894B CN 202310101936 A CN202310101936 A CN 202310101936A CN 115877894 B CN115877894 B CN 115877894B
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Abstract
The invention relates to a liquid floating gyro starting control system and method, in particular to a liquid floating gyro starting control system and method for high-reliability aerospace, which mainly solve the problem that the existing liquid floating gyro is easy to damage when being started under the working condition of low ambient temperature. The starting control system comprises N input power sources Vin and N starting control circuits, wherein N is more than or equal to 1; the input ends of the N starting control circuits are respectively connected with N input power sources Vin, and the output ends of the N starting control circuits are respectively connected with N floating gyroscopes to be started; when n=1, the starting control circuit controls the liquid floating gyroscope to be heated firstly, closed after the preset closed time, and started after the preset starting time; when N is more than 1, the N starting control circuits simultaneously control the N liquid floating gyroscopes to be heated at the same time, then sequentially close after respective preset closing time, and finally sequentially start after respective preset starting time.
Description
Technical Field
The invention relates to a liquid floating gyro start control system and a method, in particular to a liquid floating gyro start control system and a start control method for aerospace.
Background
The liquid floating gyroscope is a sensitive instrument which does not depend on external information and autonomously measures the attitude of a carrier, has the advantages of mature technology, high precision and the like, and is widely applied to the fields of satellites, airships, space stations and the like; the existing liquid floating gyroscopes are divided into classical liquid floating gyroscopes, two floating gyroscopes and three floating gyroscopes, wherein the two floating gyroscopes are most widely applied due to higher comprehensive precision, service life and reliability.
1-3, is a typical structure diagram of the existing two-floating gyroscope, and comprises a dynamic pressure motor 1, a frame 2, a floater 3, a shell 4, an end cover assembly 5, a jewel bearing assembly 6 and a combined sensor 7; spherical axle tips 8 are respectively arranged at two ends of the shell 4, suspension liquid is filled between the floater 3 of the two-floating gyroscope and the shell 4, the suspension liquid is used for supporting the weight of the whole floater 3, and the spherical axle tips 8 at two ends of the shell 4 only play a role in positioning; as shown in fig. 2 and 3, since the gap between the spherical axle tip 8 and the jewel bearing assembly 6 is small, the suspension density is large, the viscous resistance is large, the buoyancy force received by the float 3 is larger than the gravity force, the float 3 is upward relative to the zero position, if the gyro is closed at this moment and is aggravated by the loop action in the moment of closing, the float 3 moves to the vicinity of the zero position, the risk that the spherical axle tip 8 impacts the jewel bearing assembly 6 exists, and the gyro is easily damaged, thereby generating abnormal interference moment or producing surplus substances, and causing performance reduction or function loss of the gyro. Since the density and viscosity of the suspension are inversely proportional to the temperature, i.e. the lower the temperature the higher the density and viscosity of the suspension, the lower the temperature at start-up the higher the risk of damage to the spinning top, so that it is necessary to warm it up at start-up of the spinning top.
As shown in fig. 4, a synchronous starting control circuit diagram of the conventional floating gyroscope is shown; the power supply module supplies power to the servo circuit when the liquid floating gyroscope starts to heat, and current is applied to the torquer through the servo circuit so as to realize the gyroscope closed circuit; meanwhile, a motor power supply works, current is applied to a gyro motor, and gyro starting is achieved; however, the starting control mode starts heating while the top is started, and the temperature of the suspension is still low when the top is started, so that the risk of damage to the top in the starting process still exists.
In conclusion, the existing liquid floating gyroscope is easy to damage when being started under the working condition of low ambient temperature.
Disclosure of Invention
The invention aims to solve the technical problem that the existing liquid floating gyro is easy to damage when being started under the working condition of low ambient temperature, and provides a liquid floating gyro starting control system and method for aerospace.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a liquid floated top start control system for space navigation which characterized in that: the power supply comprises N input power sources Vin and N starting control circuits, wherein N is more than or equal to 1;
the input ends of the N starting control circuits are respectively connected with N input power sources Vin, and the output ends of the N starting control circuits are respectively connected with N floating gyroscopes to be started;
when n=1, the starting control circuit controls the liquid floating gyroscope to be heated first, closed after the preset closed time, and started after the preset starting time;
when N is more than 1, the N starting control circuits simultaneously control the N liquid floating gyroscopes to heat at the same time, the N liquid floating gyroscopes are sequentially closed after being subjected to respective preset closed time, and the N liquid floating gyroscopes are sequentially started after being subjected to respective preset starting time; the preset closed-circuit time and the preset starting time of the N liquid floating gyroscopes are sequentially increased, and the preset closed-circuit time of the liquid floating gyroscopes is smaller than the preset starting time;
the starting control circuit comprises a temperature control circuit, a power supply module, a servo circuit and a motor power supply;
the temperature control circuit, the power supply module and the input end of the motor power supply are respectively connected with the corresponding input power supply Vin, and the output end of the temperature control circuit is used for being connected with the heating plate in the corresponding liquid floating gyro to control the liquid floating gyro to heat;
the first signal output end S1 of the control circuit is connected with the signal end of the power supply module, the output end of the power supply module is connected with the input end of the servo circuit, and the output end of the servo circuit is used for being connected with a torquer in a corresponding liquid floating gyro to control the liquid floating gyro to be closed;
the second signal output end S2 of the control circuit is connected with the signal end of the motor power supply, and the output end of the motor power supply is used for being connected with a gyro motor in a corresponding liquid floated gyro to control the starting of the liquid floated gyro.
Further, the control circuit comprises an auxiliary power supply circuit and a delay circuit;
the auxiliary power supply circuit is used for supplying power to the delay circuit;
the first signal output end S1 of the delay circuit is connected with the signal end of the power supply module and is used for sending a signal to the power supply module after the preset closed-circuit time; the second signal output end S2 is connected with a signal end of the motor power supply and is used for sending a signal to the motor power supply after the preset starting time.
Further, the auxiliary power supply circuit comprises a resistor R7, a resistor R8, a triode D11 and a zener diode D10;
one end of each of the resistor R7 and the resistor R8 is connected with a corresponding input power source Vin, the other end of the resistor R7 is connected with a cathode of a voltage stabilizing diode D10 and a base electrode of a triode D11 respectively, the other end of the resistor R8 is connected with a collector electrode of the triode D11, an anode of the voltage stabilizing diode D10 is grounded, and an emitter of the triode D11 is connected with a delay circuit.
Further, the delay circuit includes a counter D1, a diode D2, a transistor D3, a diode D4, a transistor D5, a diode D6, a diode D7, a diode D8, a transistor D9, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a capacitor C1, and a capacitor C2;
the model of the counter D1 is 4060;
the capacitor C1 one end is connected with the triode D11 emitter and is connected with one end of a resistor R5 and the 16 pin of a counter D1, the other end of the capacitor C1 is respectively connected with one end of the resistor R1 and the 12 pin of the counter D1, the other end of the resistor R1 is grounded, one end of the resistor R2 is respectively connected with the 11 pin of the counter D1 and the cathode of a diode D2, the other end of the resistor R2 is respectively connected with one end of the resistor R3 and one end of the capacitor C2, the other end of the resistor R3 is connected with the 10 pin of the counter D1, the other end of the capacitor C2 is connected with one end of the resistor R4, the 3 pin of the counter D1 and the anode of a diode D6, the other end of the resistor R4 is connected with the base of the triode D3, the other end of the resistor R5 is connected with the anode of the triode D3 and the diode D4, the cathode of the diode D4 is connected with the base of the diode D5, the other end of the resistor R5 is connected with the anode of the triode D1, the anode of the triode D1 is connected with the cathode of the triode D1, the signal pin of the triode D1 is connected with the cathode of the power supply, the signal pin of the triode D1 is connected with the other end of the triode D1, the signal pin of the triode D1 is connected with the signal pin of the power supply, the signal pin is connected with the signal pin of the triode D1, and the signal pin of the signal pin is connected with the signal pin of the triode D1 and the signal pin is connected with the signal pin of the signal pin and the signal pin of the signal pin and the signal pin is connected to the signal pin.
Further, the number of the input power Vin and the number of the starting control lines are 3, and the input power Vin and the starting control lines are used for realizing the starting control of 3 liquid floating gyroscopes.
Meanwhile, the invention also provides a starting control method of the liquid floating gyroscope for aerospace, which is based on the starting control system of the liquid floating gyroscope for aerospace, and comprises the following steps:
and 4, completing the starting control of the liquid floating gyroscope.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the temperature control circuit can directly apply current to the heating plate under the action of the input power supply to control the liquid floating gyro to be heated firstly, the power supply module can be controlled to apply current to the torquer through the servo circuit to control the liquid floating gyro to be closed after the preset closing time passes, the motor power supply can be controlled to apply current to the gyro motor after the preset starting time passes to control the liquid floating gyro to be started, the purposes of heating, closing and starting the liquid floating gyro last are realized, and thus the damage caused by starting the liquid floating gyro in a low-temperature environment is avoided; meanwhile, by designing a separate starting control circuit and an input power supply Vin for each liquid floating gyro, each liquid floating gyro can be independent of each other, N liquid floating gyroscopes are conveniently set to be closed at different times and started at different times, and the N liquid floating gyroscopes are ensured to have no influence on each other in the starting process.
2. The invention can realize that the power supply module applies current through the servo circuit after the liquid floating gyroscope starts to heat and controls the motor power supply to apply current to the gyroscope motor after the preset closed-circuit time, thereby realizing simple and reliable starting control of the liquid floating gyroscope and reducing the occupied volume of a starting control circuit.
Drawings
FIG. 1 is a schematic diagram of a conventional two-floating gyroscope;
FIG. 2 is a schematic diagram of the installation of a spherical tip and jewel bearing assembly in a prior art two-floating gyroscope;
FIG. 3 is an enlarged schematic view at A in FIG. 2;
FIG. 4 is a circuit diagram of a prior art synchronous start control of a floating gyroscope;
FIG. 5 is a circuit diagram of a floating gyro start control system for aerospace according to the present invention;
FIG. 6 is a timing diagram of the start control of N floating gyroscopes in a floating gyro start control system for aerospace according to the present invention;
FIG. 7 is a circuit diagram of a control circuit in an embodiment of a floating gyro start control system for aerospace applications.
In the figure:
1-dynamic pressure motor, 2-frame, 3-float, 4-casing, 5-end cover subassembly, 6-precious stone bearing subassembly, 7-combination sensor, 8-spherical axle point.
Detailed Description
In order to make the objects, advantages and features of the invention more clear, the invention provides a system and a method for controlling the start of a floating gyro for aerospace, which are described in further detail below with reference to the accompanying drawings and the specific embodiments. The advantages and features of the present invention will become more apparent from the following detailed description. It should be noted that: the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention; second, the structures shown in the drawings are often part of the actual structure.
As shown in figures 5-7, the starting control system of the liquid floated gyroscope for aerospace comprises N input power sources Vin and N starting control circuits, wherein N is more than or equal to 1; the specific number N of the starting control lines and the input power Vin can be specifically set according to the number of the floating gyroscopes in the corresponding product.
The N starting control circuits and N input power supply Vin are arranged in one-to-one correspondence, the input ends of the N starting control circuits are respectively connected with the N input power supply Vin, power is supplied to the corresponding starting control circuits through the input power supply Vin, the N starting control circuits and the N floating gyroscopes to be started are arranged in one-to-one correspondence, and the output ends of the N starting control circuits are respectively used for being connected with the N floating gyroscopes to be started; as shown in fig. 6, when n=1, the start control circuit controls the floating gyro to be heated first, closed after a preset closed time, and started after a preset start time; when N is more than 1, the N starting control circuits simultaneously control the N liquid floating gyroscopes to heat at the same time, the N liquid floating gyroscopes are sequentially closed after being subjected to respective preset closed time, and the N liquid floating gyroscopes are sequentially started after being subjected to respective preset starting time; the preset closed-circuit time of the N liquid floating gyroscopes is sequentially increased, the preset starting time of the N liquid floating gyroscopes is sequentially increased, and the preset closed-circuit time of the liquid floating gyroscopes is smaller than the preset starting time, so that each liquid floating gyroscope can be started through an independent circuit, and the starting processes are not mutually influenced.
The starting control circuit comprises a temperature control circuit, a power module, a servo circuit and a motor power supply; the input ends of the temperature control circuit, the power supply module and the motor power supply are respectively connected with the corresponding input power supply Vin, the output end of the temperature control circuit is used for being connected with a heating plate in the corresponding liquid floating gyro so as to apply current to the heating plate, control the liquid floating gyro to heat, and the suspension in the liquid floating gyro can be heated to a preset temperature, so that the phenomenon that the top is damaged due to the fact that the top is impacted by a shaft tip and a jewel bearing assembly when the gyro is started due to the fact that the suspension temperature is too low and the density and the viscosity are too high is prevented; the first signal output end S1 of the control circuit is connected with the signal end of the power supply module, the output end of the power supply module is connected with the input end of the servo circuit, the output end of the servo circuit is used for being connected with a torquer in a corresponding liquid floating gyroscope, and after the control circuit is subjected to the preset closing time, current is applied to the torquer through the power supply module and the servo circuit to control the liquid floating gyroscope to be closed; the second signal output end S2 of the control circuit is connected with the signal end of the motor power supply, the output end of the motor power supply is used for being connected with a gyro motor in a corresponding liquid floating gyro, after the control circuit is subjected to the preset starting time, the motor power supply is controlled to apply current to the gyro motor, and the liquid floating gyro is controlled to start after the suspension is heated to the preset temperature, so that the liquid floating gyro is ensured not to be damaged in the starting process.
According to the technical scheme, the starting control sequence of heating, closing and starting at last can be realized in the application of certain aerospace products, so that the normal starting and reliable operation of the gyroscope are realized under the condition that the ambient temperature is only 2-4 ℃ higher than the solidifying point of the suspension of the liquid floated gyroscope, and the gyroscope is ensured not to be damaged in the starting process.
In a preferred embodiment of the invention, the control circuit comprises a delay circuit and an auxiliary power circuit for powering the delay circuit, as shown in fig. 7.
The auxiliary power supply circuit comprises a resistor R7, a resistor R8, a triode D11 and a zener diode D10; one end of the resistor R7 and one end of the resistor R8 are connected with a corresponding input power source Vin, the other end of the resistor R7 is respectively connected with a cathode of the voltage stabilizing diode D10 and a base electrode of the triode D11, the other end of the resistor R8 is connected with a collector electrode of the triode D11, an anode of the voltage stabilizing diode D10 is grounded, and an emitter of the triode D11 is connected with a delay circuit; the first signal output end S1 of the delay circuit is connected with the signal end of the power supply module, so that a signal can be sent to the power supply module after the preset closed time; the second signal output end S2 is connected with the signal end of the motor power supply, and can send a signal to the motor power supply after the preset starting time.
The delay circuit comprises a counter D1, a diode D2, a triode D3, a diode D4, a triode D5, a diode D6, a diode D7, a diode D8, a triode D9, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a capacitor C1 and a capacitor C2; in this embodiment, a counter with a model number of 4060 is used for illustration, and in other embodiments of the present invention, other types of counters may be selected according to actual needs, and the circuit is adaptively adjusted according to different pins of the counter; the emitter of the triode D11 is respectively connected with one end of a capacitor C1, one end of a resistor R5 and the 16 pin of a counter D1, the other end of the capacitor C1 is respectively connected with one end of the resistor R1 and the 12 pin of the counter D1, the other end of the resistor R1 is grounded, one end of the resistor R2 is respectively connected with the 11 pin of the counter D1 and the cathode of a diode D2, the other end of the resistor R2 is respectively connected with one end of a resistor R3 and one end of the capacitor C2, the other end of the resistor R3 is connected with the 10 pin of the counter D1, the other end of the capacitor C2 is connected with the 9 pin of the counter D1, the anode of the diode D2 is connected with one end of the resistor R4, the 3 pin of the counter D1 and the anode of a diode D6, the other end of the resistor R4 is connected with the base of the triode D3, the emitter of the triode D3 is grounded, the other end of the resistor R5 is connected with a collector of the triode D3 and an anode of the diode D4, a cathode of the diode D4 is connected with a base electrode of the triode D5, an emitter of the triode D5 is grounded, the collector of the triode D5 is used as a second signal output end S2, the collector of the triode D5 is connected with a signal end of a motor power supply, a cathode of the diode D6 is connected with a cathode of the diode D7, a cathode of the diode D8 and one end of the resistor R6, an anode of the diode D7 is connected with a pin 2 of the counter D1, an anode of the diode D8 is connected with a pin 1 of the counter D1, the other end of the resistor R6 is connected with a base electrode of the triode D9, an emitter of the triode D9 is grounded, the collector of the triode D9 is used as a first signal output end S1, the collector of the triode D9 is connected with a signal end of the power supply module, and the pin 8 of the counter D1 is grounded; by arranging the delay circuit, the invention can realize that the control power supply module applies current to the torquer through the servo circuit after the preset closed time and controls the motor power supply to apply current to the gyro motor after the preset starting time, thereby reducing the complexity of starting the control circuit, improving the reliability of the starting control circuit and realizing the high-reliability liquid floated gyro starting control.
In a specific embodiment of the invention, the input power Vin and the starting control circuit are set to be 3, so as to realize the starting control of 3 liquid floating gyroscopes, wherein the preset closed-circuit time of the 3 liquid floating gyroscopes is 7 minutes, 10 seconds and 7 minutes, 20 seconds in sequence, and the preset starting time is 28 minutes, 40 seconds and 29 minutes, 20 seconds in sequence.
The invention discloses a starting control method of a liquid floated gyroscope for aerospace, which is based on a starting control system of the liquid floated gyroscope for aerospace, and comprises the following steps of:
and 4, completing the starting control of the liquid floating gyroscope.
Claims (6)
1. The utility model provides a liquid floated top start control system for space navigation which characterized in that: the power supply comprises N input power sources Vin and N starting control circuits, wherein N is more than or equal to 1;
the input ends of the N starting control circuits are respectively connected with N input power sources Vin, and the output ends of the N starting control circuits are respectively connected with N floating gyroscopes to be started;
the starting control circuit comprises a temperature control circuit, a power supply module, a servo circuit and a motor power supply;
the temperature control circuit, the power supply module and the input end of the motor power supply are respectively connected with the corresponding input power supply Vin, and the output end of the temperature control circuit is used for being connected with the heating plate in the corresponding liquid floating gyro to control the liquid floating gyro to heat;
the first signal output end S1 of the control circuit is connected with the signal end of the power supply module, the output end of the power supply module is connected with the input end of the servo circuit, and the output end of the servo circuit is used for being connected with a torquer in a corresponding liquid floating gyro to control the liquid floating gyro to be closed;
the second signal output end S2 of the control circuit is connected with the signal end of a motor power supply, and the output end of the motor power supply is used for being connected with a gyro motor in a corresponding liquid floated gyro to control the starting of the liquid floated gyro;
when n=1, the temperature control circuit applies current to the heating plate to control the floating gyro to heat first, the control circuit controls the power module to apply current to the torquer to control the floating gyro to close through the servo circuit after the control circuit passes through the preset closing time, and the control circuit controls the power motor to apply current to the gyro motor to control the floating gyro to start after the control circuit passes through the preset starting time;
when N is more than 1, N temperature control circuits simultaneously apply current to the corresponding heating plates to control N liquid floating gyroscopes to be heated at the same time, N control circuits sequentially control the corresponding power modules to apply current to the torquer to control the N liquid floating gyroscopes to be sequentially closed through the servo circuits after respective preset closing time, and N control circuits control the corresponding power motors to apply current to the gyro motors to control the N liquid floating gyroscopes to be sequentially started after respective preset starting time; the preset closed-circuit time and the preset starting time of the N liquid floating gyroscopes are sequentially increased, and the preset closed-circuit time of the liquid floating gyroscopes is smaller than the preset starting time.
2. The aerospace liquid floated gyroscope start control system of claim 1, wherein: the control circuit comprises an auxiliary power supply circuit and a delay circuit;
the auxiliary power supply circuit is used for supplying power to the delay circuit;
the first signal output end S1 of the delay circuit is connected with the signal end of the power supply module and is used for sending a signal to the power supply module after the preset closed-circuit time; the second signal output end S2 is connected with a signal end of the motor power supply and is used for sending a signal to the motor power supply after the preset starting time.
3. The aerospace liquid floated gyroscope start control system of claim 2, wherein:
the auxiliary power supply circuit comprises a resistor R7, a resistor R8, a triode D11 and a zener diode D10;
one end of each of the resistor R7 and the resistor R8 is connected with a corresponding input power source Vin, the other end of the resistor R7 is connected with a cathode of a voltage stabilizing diode D10 and a base electrode of a triode D11 respectively, the other end of the resistor R8 is connected with a collector electrode of the triode D11, an anode of the voltage stabilizing diode D10 is grounded, and an emitter of the triode D11 is connected with a delay circuit.
4. A floating gyro start control system for aerospace according to claim 3, wherein: the delay circuit comprises a counter D1, a diode D2, a triode D3, a diode D4, a triode D5, a diode D6, a diode D7, a diode D8, a triode D9, a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a capacitor C1 and a capacitor C2;
the model of the counter D1 is 4060;
the capacitor C1 one end is connected with the triode D11 emitter and is connected with one end of a resistor R5 and the 16 pin of a counter D1, the other end of the capacitor C1 is respectively connected with one end of the resistor R1 and the 12 pin of the counter D1, the other end of the resistor R1 is grounded, one end of the resistor R2 is respectively connected with the 11 pin of the counter D1 and the cathode of a diode D2, the other end of the resistor R2 is respectively connected with one end of the resistor R3 and one end of the capacitor C2, the other end of the resistor R3 is connected with the 10 pin of the counter D1, the other end of the capacitor C2 is connected with one end of the resistor R4, the 3 pin of the counter D1 and the anode of a diode D6, the other end of the resistor R4 is connected with the base of the triode D3, the other end of the resistor R5 is connected with the anode of the triode D3 and the diode D4, the cathode of the diode D4 is connected with the base of the diode D5, the other end of the resistor R5 is connected with the anode of the triode D1, the anode of the triode D1 is connected with the cathode of the power supply, the other end of the triode D1 is connected with the cathode of the triode D1, the signal of the triode D1 is connected with the cathode of the power supply, the signal of the triode D1 is connected with the other end of the triode D1, and the signal of the triode D1 is connected with the signal end of the triode D1, and the signal end of the triode D1 is connected with the signal end of the cathode is connected with the signal end of the triode D1, the signal end of the triode D1 and the signal end is connected with the signal end of the triode D1.
5. The starting control system of the floating gyroscope for aerospace according to any one of claims 1 to 4, wherein:
the number of the input power Vin and the number of the starting control circuits are 3, and the input power Vin and the starting control circuits are used for realizing the starting control of 3 liquid floating gyroscopes.
6. A method for controlling the start-up of a liquid-floated gyroscope for aerospace, based on the liquid-floated gyroscope start-up control system for aerospace according to any one of claims 1 to 5, characterized by comprising the steps of:
step 1, applying current to a starting control circuit through an input power Vin, and when N=1, applying current to a heating plate in the liquid floated gyroscope by a temperature control circuit in the starting control circuit to control the liquid floated gyroscope to start heating; when N is more than 1, the temperature control circuits in the N starting control circuits apply current to the heating plates of the corresponding liquid floating gyroscopes at the same time, and the N liquid floating gyroscopes are controlled to start heating at the same time;
step 2, a first signal output end S1 of the control circuit sends a signal to the power supply module after a preset closed time, and when N=1, the power supply module applies current to a torquer in the liquid floated gyroscope through the servo circuit to control the liquid floated gyroscope to be closed; when N is more than 1, the preset closed-circuit time of the N liquid floating gyroscopes is sequentially increased, and the power modules in the N starting control circuits sequentially apply current to torquers in the corresponding liquid floating gyroscopes through corresponding servo circuits to control the N liquid floating gyroscopes to be sequentially closed;
step 3, a second signal output end S2 of the control circuit sends a signal to a motor power supply after a preset starting time, and when N=1, the motor power supply applies current to a gyro motor in the liquid floated gyro to control the liquid floated gyro to start; when N is more than 1, the preset starting time of the N liquid floating gyroscopes is sequentially increased, and the motor power supplies in the N starting control circuits sequentially apply current to the gyro motors in the corresponding liquid floating gyroscopes to control the N liquid floating gyroscopes to be sequentially started;
and 4, completing the starting control of the liquid floating gyroscope.
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| JP2005308667A (en) * | 2004-04-26 | 2005-11-04 | Tokimec Inc | Electrostatic floating type gyro apparatus |
| CN105222765A (en) * | 2015-09-18 | 2016-01-06 | 工业和信息化部电子第五研究所 | The temperature compensation of MEMS gyro and system |
| RU2759245C1 (en) * | 2021-02-25 | 2021-11-11 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | Correction circuit breaker of gyroscopic orientation apparatuses in a turn |
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