CN117073525A - Position detection system and method for electromechanical rotor gyroscope - Google Patents

Abstract

The application discloses a position detection system and a method of an electromechanical rotor gyroscope, wherein a position reflection ring consisting of a bright surface and a dark surface is designed on the outer surface of a gyroscope rotor, a plurality of reflection optical couplers are arranged on a gyroscope stator, so that the change of the bright surface and the dark surface on the position reflection ring is detected in the rotating and precession processes of the gyroscope rotor, finally, the output signals of the reflection optical couplers are subjected to signal processing through a signal processing device, the rotating position of the gyroscope rotor and the deflection angle between the gyroscope rotor and the gyroscope stator are obtained according to the change of the bright surface and the dark surface on the position reflection ring, the rotating position and the deflection angle of the gyroscope rotor are respectively reflected by utilizing the light and shade change of the outer surface in the rotating process of the gyroscope rotor, the rotating position of the gyroscope rotor can still be accurately measured even if the deflection angle between the gyroscope rotor and the gyroscope stator is changed, and the system has the advantages of simple installation, small occupied volume, no electromagnetic interference influence and high measurement precision.

Description

Position detection system and method for electromechanical rotor gyroscope

Technical Field

The application relates to the technical field of electromechanical rotor gyroscopes, in particular to a position detection system and a position detection method of an electromechanical rotor gyroscope.

Background

The electromechanical rotor gyroscope with the two dynamic characteristics of fixed axiality and precession plays an important role in the fields of aviation, aerospace and navigation, one of the uses is that a gyroscope rotor is arranged on a platform frame formed by an inner ring and an outer ring to jointly form a gyroscope stabilizing platform, an optical system, a detector and other high-precision measuring instruments can be arranged on the gyroscope rotor rotating at a high speed to detect an interested target, and the rotation angle error of the gyroscope rotor and the frame platform can be detected to be used as the input of a product attitude electronic control system and used for controlling the gyroscope stabilizing platform and the attitude of a product where the gyroscope stabilizing platform is arranged. At present, a common driving scheme of an electromechanical rotor gyroscope is that permanent magnets are arranged on a gyroscope rotor, a plurality of groups of rotating coils are arranged on a gyroscope stator part on an inner ring of a platform frame, and current commutation is carried out by supplying alternating current to the rotating coils according to the rotating position of the gyroscope rotor, so that the permanent magnets are driven to drive the gyroscope rotor to rotate at a high speed, and the basic principle is similar to that of a synchronous motor. However, the spinning top is characterized in that the spinning top rotor and the stator are connected through a universal joint, and the spinning top rotor can still maintain the pointing direction of the spinning shaft unchanged according to the dead axle when rotating at high speed, or the spinning top rotor rotates and moves in the target azimuth under the action of external torque. Therefore, the conventional method of installing a photoelectric encoder, a hall switch or a resolver on a motor shaft to detect the position of the motor and for motor control is not applicable to the electromechanical rotor gyro any more, so that a new position detection method is required to be designed for the characteristics of the electromechanical rotor gyro. Meanwhile, when the platform frame changes along with the gesture of a product, the gyro rotor still keeps rotating with a fixed shaft, or the gyro rotor precesses under the action of external torque, the deflection angle error between the gyro rotor and the platform frame can change under the two scenes, and the deflection angle error between the gyro rotor and the platform frame cannot be accurately measured in the prior art.

Disclosure of Invention

The application provides a position detection system and a position detection method for an electromechanical rotor gyroscope, which aim to solve the technical problem that the rotor position of the electromechanical rotor gyroscope cannot be accurately detected in the prior art.

According to one aspect of the present application, there is provided a position detection system of an electromechanical rotor gyro, comprising:

the position reflection ring is arranged on the outer surface of the gyro rotor and comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

the reflection optocouplers are arranged on the gyro stator and are used for detecting the change of a bright surface and a dark surface on the position reflection ring in the rotation and precession process of the gyro rotor;

the signal processing device is used for acquiring and processing the output signal of the reflective optical coupler, and obtaining the rotation position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator according to the change of the bright surface and the dark surface on the position reflective ring.

Further, the upper half part of the position reflecting ring comprises a bright surface and a dark surface which respectively account for 50%, the shapes of the bright surface and the dark surface are rectangular, and the boundary line of the bright surface and the dark surface is consistent with the N pole direction of the gyrotron permanent magnet or has a fixed included angle.

Further, when the number of the rotating coils on the gyro stator is two, two first reflective optical couplers are arranged on the gyro stator at an interval of 90 degrees, and when the number of the rotating coils on the gyro stator is three, three first reflective optical couplers are arranged on the gyro stator at an interval of 120 degrees, and the first reflective optical couplers are used for detecting the change of the bright surface and the dark surface of the upper half part of the position reflective ring when the gyro rotor rotates and precesses.

Further, the signal processing device comprises a hysteresis comparator, an inverter, an FPGA chip and a processor, wherein an output signal of the first reflective optical coupler is converted into a reference signal after being subjected to shaping and filtering processing of the hysteresis comparator and the inverter, the reference signal is processed by the FPGA chip to obtain a real-time level state, a period, a duty ratio and a phase difference between the reference signals of each reference signal, and the processor determines a static position before the gyro rotor starts rotating based on the real-time level state of the reference signal and outputs a correct start-up driving signal, and timely controls current in a rotating coil to change phase according to the level change of the reference signal and controls the rotating speed of the gyro rotor according to the period, the duty ratio and the phase closed loop of the reference signal.

Further, when the deflection angle of the gyro rotor and the gyro stator is 0 °, the area of the first reflective optical coupler for emitting and reflecting light should fall on the center point of the upper half part of the position reflective ring, and when the angle between the gyro rotor and the gyro stator is deflected, the area of the first reflective optical coupler for emitting and reflecting light should always fall in the upper half part of the position reflective ring.

Further, the lower half part of the position reflecting ring is uniformly divided into a plurality of rectangular areas, and each rectangular area consists of a bright face right triangle and a dark face right triangle.

Further, two second reflective optocouplers are arranged on the gyro stator at intervals of 90 degrees and are used for detecting the change of the bright surface and the dark surface of the lower half part of the position reflective ring when the gyro rotor rotates and precesses.

Further, the signal processing device comprises a hysteresis comparator, an inverter, an FPGA chip and a processor, output signals of the two second reflective optical couplers are converted into two error signals after being subjected to shaping and filtering processing of the hysteresis comparator and the inverter, the two error signals are processed by the FPGA chip to obtain the duty ratio of each error signal, and the processor performs linear conversion based on the duty ratio measurement results of the two error signals to obtain the deflection angles of the gyro rotor to the two reflective optical couplers respectively at the current moment of the gyro rotor, so that the deflection angles between the gyro rotor and the gyro stator are obtained.

Further, when the deflection angle of the gyro rotor and the gyro stator is 0 °, the area of the second reflective optical coupler for emitting and reflecting light should fall on the center point of the lower half part of the position reflective ring, and when the angle between the gyro rotor and the gyro stator is deflected, the area of the second reflective optical coupler for emitting and reflecting light should always fall in the lower half part of the position reflective ring.

In addition, the application also provides a position detection method of the electromechanical rotor gyroscope, which adopts the position detection system, and comprises the following steps:

designing a processing position reflection ring on the outer surface of the gyro rotor, wherein the position reflection ring comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

a plurality of reflective optocouplers are arranged on the gyro stator to detect the change of a bright surface and a dark surface on the position reflective ring in the rotation and precession process of the gyro rotor;

and obtaining an output signal of the reflective optical coupler, performing signal processing on the output signal, and obtaining the rotation position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator according to the change of the bright surface and the dark surface on the position reflective ring.

The application has the following effects:

according to the position detection system of the electromechanical rotor gyroscope, the position reflection ring formed by the bright surface and the dark surface is designed on the outer surface of the gyroscope rotor, the plurality of reflection optocouplers are arranged on the gyroscope stator, so that the change of the bright surface and the dark surface on the position reflection ring is detected in the rotating and precession processes of the gyroscope rotor, finally, the output signals of the reflection optocouplers are subjected to signal processing through the signal processing device, the rotating position of the gyroscope rotor and the deflection angle between the gyroscope rotor and the gyroscope stator are obtained according to the change of the bright surface and the dark surface on the position reflection ring, the rotating position and the deflection angle of the gyroscope rotor are respectively reflected by utilizing the light and shade change of the outer surface in the rotating process of the gyroscope rotor, the rotating position of the gyroscope rotor can still be accurately measured even if the deflection angle between the gyroscope rotor and the gyroscope stator is changed, key input signals are provided for gyroscope rotation control, gyroscope precession control, platform frame inner ring and outer ring deflection angle control, and the like, and the system has the advantages of simple installation, small occupied volume, no influence by electromagnetic interference and high measurement precision.

In addition, the position detection method of the electromechanical rotor gyroscope has the advantages.

In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 is a schematic view of a position reflecting ring according to a preferred embodiment of the present application.

Fig. 2 is a schematic diagram of two first reflective optocouplers mounted 90 apart in a preferred embodiment of the application.

Fig. 3 is a schematic diagram of three first reflective optocouplers mounted 120 apart in a preferred embodiment of the application.

Fig. 4 is a schematic diagram of the first reflective optocoupler of the preferred embodiment of the application for detecting the rotational position of the rotor.

Fig. 5 is a schematic diagram of two second reflective optocouplers mounted 90 apart in a preferred embodiment of the application.

Fig. 6 is a schematic diagram of a second reflective optocoupler for detecting a rotor deflection angle according to a preferred embodiment of the present application.

Fig. 7 is a schematic view of the preferred embodiment of the present application with a yaw angle of 0 ° between the gyrorotor and gyrototor.

FIG. 8 is a schematic view of a top rotor deflected at an angle in the direction of an optocoupler according to a preferred embodiment of the application.

FIG. 9 is a schematic diagram of a top rotor deflected at an angle in the opposite direction of an optocoupler in accordance with a preferred embodiment of the present application.

Fig. 10 is a schematic diagram of a signal processing device according to a preferred embodiment of the present application for performing signal processing on output signals of two first reflective optical couplers.

Fig. 11 is a schematic diagram of a signal processing device according to a preferred embodiment of the present application for performing signal processing on output signals of two second reflective optical couplers.

Fig. 12 is a flowchart of a position detecting method of an electromechanical rotor gyroscope according to another embodiment of the present application.

Detailed Description

Embodiments of the application are described in detail below with reference to the attached drawing figures, but the application can be practiced in a number of different ways, as defined and covered below.

It will be appreciated that the preferred embodiment of the present application provides a position detection system for an electromechanical rotor gyroscope, comprising:

the position reflection ring is arranged on the outer surface of the gyro rotor and comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

the reflection optocouplers are arranged on the gyro stator and are used for detecting the change of a bright surface and a dark surface on the position reflection ring in the rotation and precession process of the gyro rotor;

the signal processing device is electrically connected with the plurality of reflective optical couplers and is used for acquiring output signals of the reflective optical couplers and processing the signals, and the rotating position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator are obtained according to the change of the bright surface and the dark surface on the position reflection ring.

It can be understood that in the position detection system of the electromechanical rotor gyroscope of this embodiment, a position reflection ring composed of a bright surface and a dark surface is designed on the outer surface of the gyroscope rotor, and a plurality of reflection optical couplers are installed on the gyroscope stator, so that the change of the bright surface and the dark surface on the position reflection ring is detected in the rotation and precession process of the gyroscope rotor, finally, the output signals of the reflection optical couplers are processed through a signal processing device, the rotation position of the gyroscope rotor and the deflection angle between the gyroscope rotor and the gyroscope stator are obtained according to the change of the bright surface and the dark surface on the position reflection ring, the rotation position and the deflection angle of the gyroscope rotor are respectively reflected by utilizing the light and shade change of the outer surface in the rotation process of the gyroscope rotor, and even if the deflection angle between the gyroscope rotor and the gyroscope stator is changed, the rotation position of the gyroscope rotor can still be accurately measured, key input signals are provided for gyroscope rotation control, gyroscope precession control, gyroscope outer ring and outer ring deflection angle control, and platform frame inner ring are simple to install, small occupied volume, are not influenced by electromagnetic interference, and measurement accuracy is high.

It will be appreciated that a ring of position reflecting rings is machined circumferentially on the outer surface of the gyrorotor, the position reflecting rings being divided into two different reflecting areas, namely a bright face and a dark face, by means of a coating and surface texturing, wherein the bright face has a high reflection characteristic and the dark face has a low reflection characteristic. Optionally, the reflection coefficient of the bright face is greater than 90% and the reflection coefficient of the dark face is less than 10%. Different areas on the position reflection ring are designed with different patterns, and the different patterns are respectively used for rotor rotation position measurement and rotor deflection angle measurement. Optionally, as shown in fig. 1, the upper half part of the position reflection ring includes 50% of bright surface and dark surface, that is, half of the upper half part is the bright surface and the other half is the dark surface, the shapes of the bright surface and the dark surface are rectangular, and the boundary line of the bright surface and the dark surface is consistent with the N-pole direction of the permanent magnet of the gyro rotor or has a fixed included angle, and the upper half part of the position reflection ring is used for measuring the rotation position of the gyro rotor. The lower half part of the position reflection ring is uniformly divided into a plurality of rectangular areas, each rectangular area consists of a bright face right triangle and a dark face right triangle, and the lower half part of the position reflection ring is used for measuring the deflection angle of the gyro rotor. The bright face right triangle and the dark face right triangle are identical in shape and are isosceles right triangles.

It will be appreciated that in order to detect the rotational position of the gyrotron, several reflective optocouplers need to be mounted on the stator, which detect the change in the bright and dark surfaces of the upper half of the position reflective ring as the gyrotron rotates. Specifically, when the number of the rotating coils on the gyro stator is two, that is, the gyro rotor is controlled to rotate and spin according to a two-phase synchronous motor control method, two first reflective optocouplers are required to be installed on the gyro stator at intervals of 90 degrees, as shown in fig. 2; when the rotating coils on the gyro stator are three groups, namely, the gyro rotor is controlled to rotate and spin according to a three-phase synchronous motor control method, three first reflective optical couplers are required to be arranged on the gyro stator at intervals of 120 degrees, as shown in fig. 3; the first reflective optocoupler is used for detecting the change of the bright surface and the dark surface of the upper half part of the position reflective ring when the gyro rotor rotates and precesses, and further determining the rotation position of the gyro rotor. In fig. 2 and fig. 3, the black corresponding position of the inner ring reflects the dark surface of the upper half part of the ring, the white corresponding bright surface of the inner ring, and the outer circle is a gyro stator.

Optionally, in order to ensure that the first reflective optocoupler mounted on the top stator portion works normally, the distance between the first reflective optocoupler and the surface of the position reflective ring should be kept within a certain range (for example, 1mm to 5mm (specifically, determined according to parameters of the optocoupler device) all the time during rotation and precession of the top rotor. And, when the deflection angle of the gyro rotor and the gyro stator is 0 ° (i.e., when the rotor shaft and the stator shaft are coincident), the area of the first reflective optical coupler emitting and reflecting light should fall on the center point of the upper half part of the position reflection ring, and when the angle between the gyro rotor and the gyro stator is deflected, the area of the first reflective optical coupler emitting and reflecting light should always fall in the upper half part of the position reflection ring, as shown in fig. 4. In addition, when the optical detection system is installed on the rotor gyroscope, the wavelength of the emitted light of the first reflective optical coupler should avoid the effective wavelength range of the optical detection system, for example, for the mid-infrared detection system, the reflective optical coupler which emits 940nm infrared light is selected, namely, the wavelength of the reflective optical coupler is the same as the wavelength of the emitter of the infrared remote controller; when the rotor gyroscope is not provided with the optical detection system, the reflective optical coupler for emitting other wavelengths can be selected, and the difficulty and cost of device type selection can be reduced.

It can be understood that in order to detect the deflection angle of the gyro rotor, two reflective optocouplers are additionally installed on the gyro stator, and when the gyro rotor rotates, the change of the bright surface and the dark surface of the lower half part of the position reflective ring is detected. Specifically, as shown in fig. 5, two second reflective optical couplers are mounted on the gyro stator at an interval of 90 ° and are used for detecting the change of the bright surface and the dark surface of the lower half part of the position reflective ring when the gyro rotor rotates and precesses, so as to measure the deflection angle of the gyro rotor decomposed into the deflection angles of the two optical couplers. The inner ring in fig. 5 corresponds to the gyro rotor, black and white on the inner ring represent dark and bright surfaces, respectively, and the outer circle represents the stator. In addition, the lower half part of the position reflecting ring equally divides a ring into N rectangles, each rectangle is composed of a bright-face right triangle and a dark-face right triangle, N is selected by comprehensively considering factors such as processing precision of the rotor reflecting ring, conversion time parameters of a reflecting optocoupler, counting clock parameters of an FPGA and the like, so that measuring precision and measuring instantaneity of a gyro rotor deflection angle are guaranteed, for example, N=36, and 360 DEG is equally divided into 10 DEG for each part. In addition, in order to ensure that the second reflective optical coupler installed on the top stator part works normally, the distance between the second reflective optical coupler and the surface of the position reflective ring should be ensured to be always kept within a certain range (for example, 1 mm-5 mm (specifically, the distance should be determined according to parameters of optical coupler devices) in the rotating and precession process of the top rotor. And, when the deflection angle of the gyro rotor and the stator is 0 ° (i.e. the rotor axis and the stator axis coincide), the area of the second reflective optical coupler emitting and reflecting light should fall on the center point of the lower half part of the position reflection ring, and when the angle between the gyro rotor and the gyro stator is deflected, the area of the second reflective optical coupler emitting and reflecting light should always fall in the lower half part of the position reflection ring, as shown in fig. 6. In addition, when the optical detection system is installed on the rotor gyroscope, the light wavelength of the second reflective optical coupler should avoid the effective wavelength range of the optical detection system, for example, for the mid-infrared detection system, the reflective optical coupler emitting 940nm infrared light is selected, namely, the same wavelength as the emitter of the infrared remote controller, and when the optical detection system is not installed on the rotor gyroscope, the reflective optical coupler with other wavelengths can be selected, so that the difficulty and cost of device type selection can be reduced.

It will be understood that, as shown in fig. 7, when the deflection angle of the gyro rotor and the gyro stator is 0 ° (the rotor axis and the stator axis coincide), the area of the second reflective optical coupler for emitting and reflecting light should fall at the center point of the lower half part of the position reflection ring, and at this time, the duty ratio of the output pulse waveform of the second reflective optical coupler is 50%; when the gyro rotor deflects by an angle θ in the direction of one of the second reflective optical couplers, as shown in fig. 8, the duty ratio of the output pulse waveform of the optical coupler is reduced due to the increase of the proportion of the bright surface; when the gyro rotor deflects by an angle θ in the opposite direction of one of the second reflective optocouplers, as shown in fig. 9, the duty ratio of the output pulse waveform of the optocoupler increases due to the increase of the proportion of the dark surface. Because the reflection pattern is isosceles right triangle, when the gyro rotor deflects by an angle theta towards the optical coupler, the position of the position reflection ring moves upwards by a distance d relative to the optical coupler, the moving distance d and the duty ratio of output pulses of the optical coupler are in a linear corresponding relation, and the deflection angle theta, the moving distance d and the radius R of the position reflection ring have the following relation: tan θ=d/R. Therefore, when the deflection angle is smaller, if the deflection angle θ adopts radian units, the above formula can be approximately θ=d/R, and due to the mechanical limit structure of the gyro rotor, the maximum deflection angle of the gyro rotor is generally between 10 ° and 15 °, that is, the maximum deflection angle is smaller, that is, the linear relationship between the deflection angle θ and the moving distance d can be constructed by adopting the above approximate formula. Therefore, a linear corresponding relation between the duty ratio of the output pulse of the optocoupler and the deflection angle of the gyro rotor can be established, and the deflection angle of the gyro rotor can be obtained only by measuring the duty ratio of the output signal of the optocoupler. Of course, in other embodiments of the present application, if the yaw angle of the gyro rotor is larger, when the above approximation formula is not applicable, the moving distance d may be determined according to the linear relationship between the duty cycle measurement result, the moving distance d and the duty cycle of the output pulse of the optocoupler, and then the corresponding yaw angle θ may be obtained by solving the formula tan θ=d/R.

It can be understood that the signal processing device comprises a hysteresis comparator, an inverter, an FPGA chip and a processor, the output signal of the first reflective optical coupler is converted into a reference signal after being shaped and filtered by the hysteresis comparator and the inverter, the reference signal is processed by the FPGA chip to obtain a real-time level state, a period, a duty cycle and a phase difference between the reference signals of each reference signal, and the processor determines a static position before the gyro rotor starts rotating based on the real-time level state of the reference signal and outputs a correct start-up driving signal, and timely controls current commutation in the rotating coil according to the level change of the reference signal and controls the rotating speed of the gyro rotor according to the period, the duty cycle and the phase closed loop of the reference signal.

For example, two first reflective optical couplers required by two sets of rotating coils are taken as an example for illustration, and the signal processing process of the other three optical couplers is basically similar, and reference may be made to a control strategy of the three-phase synchronous motor, which is not described herein. As shown in fig. 10, when the gyro rotor rotates for one circle, the bright surface and the dark surface of the upper half part of the position reflection ring change, which respectively change from dark to bright and then from bright to dark, and after the signals are shaped and filtered by the hysteresis comparator and the phase inverter, two standard square wave signals, namely a first reference signal and a second reference signal, are obtained. And then, inputting the first reference signal and the second reference signal into an FPGA chip for further measurement and processing, wherein the FPGA chip outputs a hardware interrupt signal, and the rising edge and the falling edge of the first reference signal and the second reference signal generate a trigger pulse in the hardware interrupt signal, so that external hardware interrupt of a processor is triggered, and the processor timely responds to the change of the rotating position of the gyro rotor. The FPGA chip outputs several measurement results (which may be mapped into data registers with different addresses) through the external data address bus of the processor, and specifically includes real-time level states (0 or 1, corresponding to the bright surface and the dark surface respectively) of the first reference signal and the second reference signal, a period and a duty cycle of the first reference signal, a period and a duty cycle of the second reference signal, and a phase difference between the first reference signal and the second reference signal. The processor can determine the static position of the gyro rotor before the gyro rotor starts rotating through the real-time level states of the first reference signal and the second reference signal, output a correct start-up driving signal, timely control current in the rotating coil to change phase according to the level change of the reference signals, and can control the rotating speed of the gyro rotor in a closed loop mode according to the period, the duty ratio and the phase of the reference signals. The specific gyrotolerrotation control strategy is basically the same as that of a two-phase or three-phase synchronous motor, belongs to the prior art, and is not described herein.

It can be understood that the output signals of the two second reflective optical couplers are converted into two error signals after being shaped and filtered by the hysteresis comparator and the phase inverter, the two error signals are processed by the FPGA chip to obtain the duty ratio of each error signal, and the processor performs linear conversion into angles for deflecting the gyro rotor to the two reflective optical couplers respectively at the current moment based on the duty ratio measurement results of the two error signals, so that the deflection angle between the gyro rotor and the gyro stator is obtained.

Specifically, when the gyro rotor rotates, the gyro rotor deflects to a certain angle towards the directions of the third optical coupler and the fourth optical coupler respectively, and the output signals of the third optical coupler and the fourth optical coupler change in pulse duty ratio due to the change of the duty ratio of the bright surface and the dark surface of the lower half part of the position reflection ring aligned by the optical couplers. As shown in fig. 11, output signals of the third optical coupler and the fourth optical coupler are shaped and filtered by a comparator and an inverter to obtain a first error signal and a second error signal, pulse signal duty ratios of the first error signal and the second error signal are measured and output in real time by a counting clock in an FPGA chip, and a processor can read duty ratio measurement results of the first error signal and the second error signal at the current moment at any time and convert the duty ratio measurement results into deflection angles of the gyro rotor at the current moment to the third optical coupler and the fourth optical coupler respectively according to a linear relation, so as to obtain deflection angles between the gyro rotor and the gyro stator at the current moment. In addition, when the rectangular coordinate system established by the product gesture electronic control system is the azimuth of the third optical coupler and the fourth optical coupler, the gyroscope gesture can be determined directly by utilizing the two deflection angle measurement results. The third optical coupler and the fourth optical coupler are both second reflective optical couplers.

In addition, as shown in fig. 12, another embodiment of the present application further provides a position detection method of an electromechanical rotor gyroscope, preferably using the position detection system as described above, including the following:

step S1: designing a processing position reflection ring on the outer surface of the gyro rotor, wherein the position reflection ring comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

step S2: a plurality of reflective optocouplers are arranged on the gyro stator to detect the change of a bright surface and a dark surface on the position reflective ring in the rotation and precession process of the gyro rotor;

step S3: and obtaining an output signal of the reflective optical coupler, performing signal processing on the output signal, and obtaining the rotation position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator according to the change of the bright surface and the dark surface on the position reflective ring.

It can be understood that in the position detection method of the electromechanical rotor gyroscope of this embodiment, firstly, a position reflection ring composed of a bright surface and a dark surface is designed on the outer surface of the gyroscope rotor, then, a plurality of reflection optocouplers are installed on the gyroscope stator, so as to detect the change of the bright surface and the dark surface on the position reflection ring in the rotation and precession processes of the gyroscope rotor, finally, signal processing is performed on the output signals of the reflection optocouplers, the rotation position of the gyroscope rotor and the deflection angle between the gyroscope rotor and the gyroscope stator are obtained according to the change of the bright surface and the dark surface on the position reflection ring, the rotation position and the deflection angle of the gyroscope rotor are respectively reflected by utilizing the light and shade change of the outer surface in the rotation process of the gyroscope rotor, even if the deflection angle between the gyroscope rotor and the gyroscope stator is changed, the rotation position of the gyroscope rotor can still be accurately measured, key input signals are provided for gyroscope rotation control, gyroscope precession control, platform frame inner ring and outer ring deflection angle control, and the advantages of simple installation, small occupied volume, no electromagnetic interference influence and high measurement precision are provided.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A position detection system for an electromechanical rotor gyroscope, comprising:

the position reflection ring is arranged on the outer surface of the gyro rotor and comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

the reflection optocouplers are arranged on the gyro stator and are used for detecting the change of a bright surface and a dark surface on the position reflection ring in the rotation and precession process of the gyro rotor;

the signal processing device is used for acquiring and processing the output signal of the reflective optical coupler, and obtaining the rotation position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator according to the change of the bright surface and the dark surface on the position reflective ring.

2. The position detection system of an electromechanical rotor gyroscope of claim 1, wherein the upper half of the position reflecting ring comprises 50% of each of a bright face and a dark face, the bright face and the dark face are rectangular in shape, and a boundary line between the bright face and the dark face is consistent with the N-pole direction of the permanent magnet of the gyroscope rotor or forms a fixed included angle.

3. The position detection system of an electromechanical rotor gyroscope of claim 2, wherein when the number of rotating coils on the gyroscope stator is two, two first reflective optocouplers are mounted on the gyroscope stator at intervals of 90 degrees, and when the number of rotating coils on the gyroscope stator is three, three first reflective optocouplers are mounted on the gyroscope stator at intervals of 120 degrees, and the first reflective optocouplers are used for detecting the change of the bright surface and the dark surface of the upper half part of the position reflecting ring when the gyroscope rotor rotates and precesses.

4. The position detection system of electromechanical rotor gyro according to claim 3, wherein the signal processing device comprises a hysteresis comparator, an inverter, an FPGA chip and a processor, the output signal of the first reflective optocoupler is converted into a reference signal after being shaped and filtered by the hysteresis comparator and the inverter, the reference signal is processed by the FPGA chip to obtain a real-time level state, a period, a duty cycle and a phase difference between the reference signals of each reference signal, the processor determines a static position of the gyro rotor before cranking based on the real-time level state of the reference signal and outputs a correct cranking driving signal, the current in the rotating coil is timely controlled to be commutated according to the level change of the reference signal, and the rotation speed of the gyro rotor is closed-loop controlled according to the period, the duty cycle and the phase of the reference signal.

5. The position detection system of an electromechanical rotor gyroscope of claim 3, wherein the area of the first reflective optocoupler that emits and reflects light should fall at a center point of the upper half of the position reflecting ring when the angle of deflection of the gyroscope rotor and the gyroscope stator is 0 °, and the area of the first reflective optocoupler that emits and reflects light should always fall within the upper half of the position reflecting ring when the angle between the gyroscope rotor and the gyroscope stator is deflected.

6. The position detection system of an electromechanical rotor gyroscope of claim 1, wherein the lower half of the position reflecting ring is uniformly divided into a plurality of rectangular areas, each rectangular area consisting of a bright-face right triangle and a dark-face right triangle.

7. The position detection system of an electromechanical rotor gyroscope of claim 6, wherein two second reflective optocouplers are mounted on the gyroscope stator at 90 ° intervals for detecting changes in the light and dark surfaces of the lower half of the position reflective ring as the gyroscope rotor rotates and precesses.

8. The position detecting system of electromechanical rotor gyro according to claim 7, wherein the signal processing device includes a hysteresis comparator, an inverter, an FPGA chip and a processor, the output signals of the two second reflective optocouplers are converted into two error signals after being shaped and filtered by the hysteresis comparator and the inverter, the two error signals are processed by the FPGA chip to obtain the duty ratio of each error signal, and the processor performs linear conversion based on the duty ratio measurement results of the two error signals into angles at which the gyro rotor is deflected to the two reflective optocouplers at the current moment respectively, so as to obtain the deflection angle between the gyro rotor and the gyro stator.

9. The position detection system of an electromechanical rotor gyroscope of claim 7, wherein the area of the second reflective optocoupler that emits and reflects light should fall at a center point of the lower half of the position reflecting ring when the angle of deflection of the gyroscope rotor and the gyroscope stator is 0 °, and the area of the second reflective optocoupler that emits and reflects light should always fall within the lower half of the position reflecting ring when the angle between the gyroscope rotor and the gyroscope stator is deflected.

10. A position detection method of an electromechanical rotor gyro, employing the position detection system according to any one of claims 1 to 9, comprising:

designing a processing position reflection ring on the outer surface of the gyro rotor, wherein the position reflection ring comprises a bright surface with high reflection coefficient and a dark surface with low reflection coefficient;

a plurality of reflective optocouplers are arranged on the gyro stator to detect the change of a bright surface and a dark surface on the position reflective ring in the rotation and precession process of the gyro rotor;

and obtaining an output signal of the reflective optical coupler, performing signal processing on the output signal, and obtaining the rotation position of the gyro rotor and the deflection angle between the gyro rotor and the gyro stator according to the change of the bright surface and the dark surface on the position reflective ring.