CN1657876A - Light small triaxial integral fibre-optical gyrometer - Google Patents
Light small triaxial integral fibre-optical gyrometer Download PDFInfo
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- CN1657876A CN1657876A CN 200510063052 CN200510063052A CN1657876A CN 1657876 A CN1657876 A CN 1657876A CN 200510063052 CN200510063052 CN 200510063052 CN 200510063052 A CN200510063052 A CN 200510063052A CN 1657876 A CN1657876 A CN 1657876A
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Abstract
This invention discloses a light small-scale optic fibre peg-top with three axle integratively, including light source discreteness, optic fibre discreteness, mechanical skeleton, control circuit board and outside interface used for getting in touch with external information, light source discreteness install in mechanical top of skeleton, X axle optic fibre discreteness, Y axle optic fibre discreteness and Z axle optic fibre discreteness install in mechanical X axle protruding body of the platform of skeleton respectively, Y axle install wall and Z axle localization to install wall on the piece, outside interface install on mechanical ring flange of skeleton, control circuit board install at mechanical skeleton firm urgent device of bottom and imbed in the mechanical skeleton heavy concave of bottom.
Description
Technical field
The present invention relates to a kind of three dimensional angular velocity measuring device, specifically be meant a kind of being based upon on the optics SAGNAC effect basis, can common light source, the optical fibre gyro of the small-sized digital closed loop three-axis integrative of shared testing circuit, integrated structure design.
Background technology
Optical fibre gyro is based on Sagnac (Sagnac) effect, can be described as in the common Sagnac effect of inertial space: " in same closed-loop path; (CW) and counterclockwise (CCW) two-beam of propagating along clockwise direction; will cause the variation of phase differential between the two-beam, this phase place extent and the proportional relation of light circuit speed of rotation " around rotation perpendicular to the axle in loop.The schematic diagram of Sagnac effect as shown in Figure 1, among the figure, annulus is represented fiber optic loop, the some S be two the bundle in opposite directions the transmission the light decanting points, Ω is the dextrorotation tarnsition velocity.At inertial space, when fiber optic loop was static, the light path that two-beam is experienced when getting back to the S point was identical, therefore can not produce phase differential; When fiber optic loop turned clockwise with angular velocity Ω, decanting point S had forwarded S ' to and has located, and the light beam of Chuan Boing will be longer than the light path of the light beam experience of propagating in the counterclockwise direction along clockwise direction, therefore can produce phase differential.And this phase difference φ and the proportional relation of fiber optic loop angular velocity of rotation Ω:
L is a fiber lengths in the formula, and D is the fiber optic loop diameter, and c is a light velocity of propagation in a vacuum, and λ is the incident light wavelength.
Optical fibre gyro is a kind of novel angular rate sensor, compares with mechanical gyro, has advantages such as all solid state, insensitive to gravity, that startup is fast; Compare no high-voltage power supply, the shake of nothing machinery with ring laser gyro; In addition, also has advantage in light weight, that the life-span is long, cost is low.Have broad application prospects at civil areas such as military domain such as Aeronautics and Astronautics, navigation and geology, petroleum prospectings.Present typical structure form is: with three independently the single axis fiber gyro subsystem realize the turning axle angular velocity or the position of the space coordinates of three quadratures are measured, each optical fibre gyro subsystem all comprises a light source, a photodetector and a treatment circuit.Along with the development that application needs, present having higher requirement to the optical fibre gyro volume and weight.All relate to three-dimensional measurement in a lot of applications simultaneously, therefore, the research of small-sized three gyros has caused in the world to be paid close attention to widely.
Summary of the invention
The purpose of this invention is to provide a kind of light small triaxial integral fibre-optical gyrometer, size and the weight of this optical fibre gyro in order to reduce optical fibre gyro system has been carried out Optimal Structure Designing to machinery frame, and control circuit has been carried out the optimal combination design.Adopt integrated structure design, a shared light source and treatment circuit in the present invention, so not only saved components and parts, reduce volume, reduced cost, and help improving the reliability of system.Adopt the method for shared signal treatment circuit to simplify the optical fibre gyro system structure, reduced volume reduces cost and power consumption.
A kind of light small triaxial integral fibre-optical gyrometer of the present invention, comprise light source assembly, optical fiber component, control circuit board, machinery frame and and be used for external interface with the contact of outside generation information, light source assembly is installed in the top of machinery frame, the X-axis optical fiber component, Y-axis optical fiber component and Z axle optical fiber component are installed in the X-axis boss body of machinery frame respectively, on the locating surface of Y-axis assembly wall and Z axle assembly wall, external interface is installed on the ring flange of machinery frame, and control circuit board is installed on the device for fastening of machinery frame bottom and embeds in the big cavity of machinery frame bottom; Described machinery frame is the integrative-structure that meets the right-handed coordinate system rule, X-axis boss body is located on the ring flange, vertically be provided with the Y-axis assembly wall on first side of X-axis boss body, vertically be provided with Z axle assembly wall on second side of X-axis boss body, the Y-axis assembly wall is vertical with the coplane of Z axle assembly wall; The center of the X-axis boss body of described machinery frame is a cavity, is provided with in the cavity to supply the fixedly locating surface of usefulness of X-axis optical fiber component, and the place, diagonal angle of X-axis boss body and coplane is provided with erecting bed; The center of the Y-axis assembly wall of described machinery frame is a cavity, and the back of Y-axis assembly wall is provided with cavity, is provided with the locating surface of projection in the cavity; The center of the Z axle assembly wall of described machinery frame is a cavity, and the back of Z axle assembly wall is provided with cavity, is provided with the locating surface of projection in the cavity; The ring flange of described machinery frame 11 is provided with through hole and is used for a plurality of mounting holes of installing component, each mounting hole evenly distributes according to hexagonal angle, the back of ring flange is provided with device for fastening and the big cavity that tightens up usefulness for control circuit board, and the terminal pad at ring flange back is provided with erecting bed.
Described light source assembly, form by light source, first optical splitter, second optical splitter, light source driving and light source base plate, the light source base plate is provided with fan-shaped boss, on the fan-shaped boss light source is installed, be respectively equipped with first optical splitter and second optical splitter on two diagonal angles of light source base plate, light source be installed on the erection column of light source base plate drive; Light source assembly is installed in the Y-axis assembly wall and the Z axle assembly wall top on machinery frame top.
Described Y-axis optical fiber component, form by ring skeleton, optical fiber, detector, preceding discharge road, modulator, coupling mechanism, be wound with optical fiber on the ring skeleton, the top of ring skeleton is equipped with modulator and coupling mechanism, on the discharge road, preceding discharge road was installed on the threaded post of encircling on the skeleton before detector was installed in; The Y-axis optical fiber component is installed on the locating surface of Y-axis assembly wall of machinery frame.
Described control circuit board comprises FPGA at least, signaling conversion circuit, modulator driver circuit, FPGA receives via the X-axis optical fiber component, the optical intensity voltage signal of detector output is amplified through three preceding discharge road in Y-axis optical fiber component and the Z axle optical fiber component, digital signal through A/D converter conversion output, FPGA gives D/A converter to the digital signal output phase compensation voltage signal after sequential control is handled that receives, the modulation drive circuit of three modulators, the modulator of three of output voltage signal controls carries out phase modulation (PM) and keeps interference light intensity constant after the modulation drive circuit demodulation.
The control mode of described light small triaxial integral fibre-optical gyrometer adopts the full digital closed-loop control.
Advantage of the present invention: the integrated structure design of (1) three gyro, not only effectively utilized the space, reduce weight and reduced mechanical component.Because this design has reduced the intermediate link that gyro is installed, more help ensureing the installing and locating precision of gyro in addition; (2) share high power light source, saved optical device, reduced cost.Help improving consistency of product and reliability; (3) three of shared FPGA complete-digital closed-loop signal processing circuits; The shared signal treatment circuit has effectively been saved board area, is beneficial to miniaturization and integrated.The complete-digital closed-loop control circuit has effectively improved antijamming capability and gyro test dynamic range simultaneously; (4) standard external interface helps the practical and convenient of user.
Description of drawings
Fig. 1 is Sagnac effect principle figure.
Fig. 2 is an optical fibre gyro one-piece construction synoptic diagram of the present invention.
Fig. 3 is the side view of optical fibre gyro of the present invention.
Fig. 4 is a machinery frame structural representation of the present invention.
Fig. 5 is a side view of machinery frame of the present invention.
Fig. 6 is the upward view of ring flange of the present invention.
Fig. 7 is a light source assembly explosive view of the present invention.
Fig. 8 is an optical fiber component explosive view of the present invention.
Fig. 9 is the treatment circuit structural representation of light path circuit of the present invention.
Figure 10 is the circuit theory diagrams of circuit control of the present invention.
Among the figure: 105. second sides, 11. machinery frame 1.X crown of roll stage body 101. cavitys, 102. locating surface 103. erecting beds, 104. first sides, 106. coplanar 2.Y axle assembly wall 201. cavitys 202. locating surfaces 203. cavity 3.Z axle assembly walls 301. cavitys 4. ring flanges 401. device for fastening 402. plane sections 403. erecting beds 404. installing holes 405. through holes 406. large cavity 407. terminal pad 12.Y axle optical fiber components 13. external interfaces 14. light source assemblies 15. control circuit board 16.X axle optical fiber component 17.Z axle optical fiber components 501. light source base plates 502. first optical splitters 503. fan-shaped boss 504. light sources drive 505. light sources, 506. second optical splitters, 507. threaded column, 601. detectors, 602. ring skeletons, 603. optical fiber, 604. controllers, 605. front discharge roads, 606. couplers, 607. threaded column
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Light small triaxial integral fibre-optical gyrometer among the present invention, its three are the integrated design, and promptly the structure of machinery frame 11 (as shown in Figure 4) is the integrated design.Because the design proposal of machinery frame 11 has alleviated the weight of whole optical fibre gyro, also make X-axis optical fiber component 16, Y-axis optical fiber component 12 and Z axle optical fiber component 17 and light source assembly 14 altogether prosperous same control circuit boards 15 simultaneously, the consumption of having saved resource and power.
See also Fig. 2～shown in Figure 8, the present invention is a kind of light small triaxial integral fibre-optical gyrometer, by light source assembly 14, X-axis optical fiber component 16, Y-axis optical fiber component 12, Z axle optical fiber component 17, machinery frame 11, control circuit board 15 and and be used for forming with the external interface 13 of outside generation information contact, machinery frame 11 is used for installing source component 14, X-axis optical fiber component 16, Y-axis optical fiber component 12, Z axle optical fiber component 17 and control circuit board 15.Light source assembly 14 is installed in the top of machinery frame 11, X-axis optical fiber component 16, Y-axis optical fiber component 12 and Z axle optical fiber component 17 are installed in respectively on the locating surface of X-axis boss body 1, Y-axis assembly wall 2 and Z axle assembly wall 3 of machinery frame 11, external interface 13 is installed on the ring flange 4 of machinery frame 11 (referring to Fig. 2, shown in Figure 3), and control circuit board 15 is installed on the device for fastening 401 of machinery frame 11 bottoms and embeds in the big cavity 406 of machinery frame 11 bottoms (referring to shown in Figure 6).
In the present invention, machinery frame 11 is for meeting the integrative-structure of right-handed coordinate system rule, X-axis boss body 1 is located on the ring flange 4, vertically be provided with Y-axis assembly wall 2 on first side 104 of X-axis boss body 1, vertically be provided with Z axle assembly wall 3 on second side 105 of X-axis boss body 1, Y-axis assembly wall 2 is vertical with the coplane 106 of Z axle assembly wall 3; The center of the X-axis boss body 1 of described machinery frame 11 is cavitys 101, is provided with in the cavity 101 to supply the fixedly locating surface 102 of usefulness of X-axis optical fiber component 16, and X-axis boss body 1 is provided with erecting bed 103 with the place, diagonal angle of coplane 106; The center of the Y-axis assembly wall 2 of described machinery frame 11 is cavitys 201, and the back of Y-axis assembly wall 2 is provided with cavity 203, is provided with the locating surface 202 of projection in the cavity 203; The center of the Z axle assembly wall 3 of described machinery frame 11 is cavitys 301, and the back of Z axle assembly wall 3 is provided with cavity, is provided with the locating surface of projection in the cavity; The ring flange 4 of described machinery frame 11 is provided with through hole 405 and is used for a plurality of mounting holes 404 of installing component, each mounting hole 404 evenly distributes according to hexagonal angle, the back of ring flange 4 is provided with device for fastening 401 and the big cavity 406 that tightens up usefulness for control circuit board 15, and the terminal pad 407 at ring flange 4 backs is provided with erecting bed 403 (referring to Fig. 4, Fig. 5, shown in Figure 6).
Light source assembly 14 in the present invention, form by light source 505, first optical splitter 502, second optical splitter 506, light source driving 504 and light source base plate 501, light source base plate 501 is provided with fan-shaped boss 503, on the fan-shaped boss 503 light source 505 is installed, be respectively equipped with first optical splitter 502 and second optical splitter 506 on two diagonal angles of light source base plate 501, light source be installed on the erection column of light source base plate 501 drive 504; Light source assembly 14 is installed in the Y-axis assembly wall 2 and Z axle assembly wall 3 tops (referring to shown in Figure 7) on machinery frame 11 tops.First optical splitter 502 and second optical splitter 506 are selected the one-to-two optical splitter for use in this example, so two optical splitters are installed on the light source base plate 501 of light source assembly 14 relatively.In the present invention, the luminous power of its light source 505 outputs is one minute three a situation, can be only with an optical splitter (promptly one minute three optical splitter), but consider the power of expanding light, reduce the cost of whole optical fibre gyro, so with the scheme of two optical splitters of installation.For light source 505 is the also available SFS erbium-doped fiber optic source of available SLD light source.
In the present invention, cause is that three coenosarcs are so optical fiber components have three respectively, be X-axis optical fiber component 16, Y-axis optical fiber component 12 and Z axle optical fiber component 17, the structure of these three optical fiber components is identical, now with Y-axis optical fiber component 12 its structure that is elaborated, three optical fiber components are installed in respectively in three axles systems of machinery frame 11 (X-axis boss body 1, Y-axis assembly wall 2 and Z axle assembly wall 3).Y-axis optical fiber component 12 is made up of ring skeleton 602, optical fiber 603, detector 601, preceding discharge road 605, modulator 604, coupling mechanism 606, be wound with optical fiber 603 on the ring skeleton 602, the top of ring skeleton 602 is equipped with modulator 604 and coupling mechanism 605, on the discharge road 605, preceding discharge road 605 was installed on the threaded post of encircling on the skeleton 602 607 before detector 601 was installed in; Y-axis optical fiber component 12 is installed on the locating surface 202 of Y-axis assembly wall 2 of machinery frame 11 (referring to shown in Figure 8).Modulator is selected integrated optical modulator for use in this example, and it has preferable stability, the phase compensation of whole optical fibre gyro is helped the raising of measuring accuracy.
Control circuit board 15 in the present invention comprises FPGA at least, signaling conversion circuit, modulator driver circuit (referring to shown in Figure 9), FPGA receives via X-axis optical fiber component 16, the optical intensity voltage signal of detector output is amplified through three preceding discharge road in Y-axis optical fiber component 12 and the Z axle optical fiber component 17, digital signal through A/D converter conversion output, FPGA gives D/A converter to the digital signal output phase compensation voltage signal after sequential control is handled that receives, the modulation drive circuit of three modulators, the modulator of three of output voltage signal controls carries out phase modulation (PM) and keeps interference light intensity constant after the modulation drive circuit demodulation.The design shares light source and FPGA, adopts closed loop to detect control mode.The overall signal flow process of optical fibre gyro can be divided into light path and circuit two parts, wherein, detector of each (X-axis detector, Y-axis detector, Z axle detector) and the modulator of each (X-axis modulator, Y-axis modulator, Z axle modulator) are finished the conversion of signals of photoelectricity, electric light respectively.Light source driving circuit 504 provides the constant-current driving of high stable and finishes the thermostatic control of light source 505 inside, luminous power, spectrum-stable that light source 505 is sent for light source 505.The light that light source 505 sends is finished 1: 2 power division through first optical splitter 502, and the luminous power that promptly arrives second optical splitter 506 is 1/3rd of a light source power, and the luminous power that arrives the X-axis coupling mechanism is 2/3rds of a light source power.As can be seen, with the luminous power trisection, make in X-axis optical fiber component 16, Y-axis optical fiber component 12 and the Z axle optical fiber component 17 all has identical light source to light source 505 by first optical splitter 502, second optical splitter 506 and X-axis coupling mechanism.Below with Y-axis to being that example describes the signal flow of light path to (referring to shown in Figure 9), light source 505 after first optical splitter 502 distributes again through second optical splitter 506 distribute 1/3rd light through Y-axis coupling mechanism 606 to Y-axis modulator 604, light has been finished partially, has been entered the optical fiber 603 of Y-axis in opposite directions with light behind beam split and the Loading Control signal through Y-axis modulator 604, because optical fibre gyro is rotated the angle of the light deflection that the back produces again again by entering Y-axis detector 601 by Y-axis coupling mechanism 606 behind Y-axis modulator 604 Loading Control signals, interference (closing light) and the polarization filtering.Light is from second optical splitter 506, light path part is being moved two-way and is being flowed to opposite light signal, one the tunnel is to enter the signal from light source 505 that does not carry carrier angular motion information before the optical fiber 603, and one the tunnel is the signal that turns back to detector 601 that carries carrier angular motion information that returns from optical fiber 603.Light signal is finished opto-electronic conversion in detector 601, finishing simulation through preceding discharge road 605 amplifies and filtering, again through A/D converter conversion will digital signal, export two paths of signals finished the work such as demodulation, filtering, integration of signal by FPGA after, wherein one tunnel slave computer of delivering to carrier is finished guiding and is resolved; Another road exports modulation to and drives the steady state value that obtains an interference light intensity for the Y-axis modulator after the D/A converter conversion, so just realized the full digital closed-loop control of control section.Closed-loop control between the two-beam ripple of propagating in opposite directions artificial introduce one poor with Sagnac phase shift equal and opposite in direction, direction opposite phases, in order to offset the Sagnac phase shift, make system always work in the zero phase state, thereby enlarged the dynamic range of system.Phase modulation technique is meant introduces non-reciprocal phase artificially in light path, thereby the technology that the phase place of light is changed is one of major technique in the optical fibre gyro, and phase modulation (PM) is realized that by phase-modulator the present invention chooses integrated optical modulator.Integrated optical modulator is a multifunction device, and the signal that the light phase shift that produces behind a loop when light source is gathered in real time by FPGA is modulated and made this modulator remain on a metastable interference light intensity value.
Because the two-beam phase place that angular speed causes transmitting in opposite directions in the optical fiber 603 is setovered, the interference light intensity signal respective change that this biasing is exported behind modulator, this interference light light intensity signal is detected device and is converted to voltage signal, voltage signal is exported to A/D converter and is converted digital signal to FPGA after the processing and amplifying of preceding discharge road, FPGA handles back output reverse voltage signal to the digital signal that receives and gives D/A converter, simulating signal through the D/A converter conversion is exported to modulation drive circuit, modulation drive circuit output voltage signal control modulator carries out phase modulation (PM), makes interference light intensity keep constant.The schematic diagram of its control circuit as shown in figure 10, among the figure, FPGA chooses the XC2V50 chip, A/D converter is chosen the AD7854 chip, D/A converter is chosen the AD569 chip.FPGA connects the sequential control that realizes input/output information respectively with three A/D converters and D/A converter.
Claims (7)
1, a kind of light small triaxial integral fibre-optical gyrometer, comprise light source assembly, optical fiber component, control circuit board and and be used for external interface with the contact of outside generation information, it is characterized in that: also comprise being used to install light source assembly, the machinery frame of optical fiber component and control circuit board (11), light source assembly (14) is installed in the top of machinery frame (11), X-axis optical fiber component (16), Y-axis optical fiber component (12) and Z axle optical fiber component (17) are installed in the X-axis boss body (1) of machinery frame (11) respectively, on the locating surface of Y-axis assembly wall (2) and Z axle assembly wall (3), external interface (13) is installed on the ring flange (4) of machinery frame (11), and control circuit board (15) is installed in the device for fastening (401) of machinery frame (11) bottom and goes up and embed in the big cavity (406) of machinery frame (11) bottom;
Described machinery frame (11) is for meeting the integrative-structure of right-handed coordinate system rule, X-axis boss body (1) is located on the ring flange (4), vertically be provided with Y-axis assembly wall (2) on first side (104) of X-axis boss body (1), vertically be provided with Z axle assembly wall (3) on second side (105) of X-axis boss body (1), the coplane (106) of Y-axis assembly wall (2) and Z axle assembly wall (3) is vertical; The center of the X-axis boss body (1) of described machinery frame (11) is a cavity (101), is provided with in the cavity (101) to supply the fixedly locating surface of usefulness (102) of X-axis optical fiber component (16), and X-axis boss body (1) is provided with erecting bed (103) with the place, diagonal angle of coplane (106); The center of the Y-axis assembly wall (2) of described machinery frame (11) is a cavity (201), and the back of Y-axis assembly wall (2) is provided with cavity (203), is provided with the locating surface (202) of projection in the cavity (203); The center of the Z axle assembly wall (3) of described machinery frame (11) is a cavity (301), and the back of Z axle assembly wall (3) is provided with cavity, is provided with the locating surface of projection in the cavity; The ring flange (4) of described machinery frame (11) is provided with through hole (405) and is used for a plurality of mounting holes (404) of installing component, each mounting hole (404) evenly distributes according to hexagonal angle, the back of ring flange (4) is provided with device for fastening (401) and the big cavity (406) that tightens up usefulness for control circuit board (15), and the terminal pad (407) at ring flange (4) back is provided with erecting bed (403);
Described light source assembly (14), form by light source (505), first optical splitter (502), second optical splitter (506), light source driving (504) and light source base plate (501), light source base plate (501) is provided with fan-shaped boss (503), light source (505) is installed on the fan-shaped boss (503), be respectively equipped with first optical splitter (502) and second optical splitter (506) on two diagonal angles of light source base plate (501), light source be installed on the erection column of light source base plate (501) drive (504); Light source assembly (14) is installed in the Y-axis assembly wall (2) and Z axle assembly wall (3) top on machinery frame (11) top;
Described Y-axis optical fiber component (12), form by ring skeleton (602), optical fiber (603), detector (601), preceding discharge road (605), modulator (604), coupling mechanism (606), be wound with optical fiber (603) on the ring skeleton (602), the top of ring skeleton (602) is equipped with modulator (604) and coupling mechanism (605), on the discharge road (605), preceding discharge road (605) was installed on the threaded post of encircling on the skeleton (602) (607) before detector (601) was installed in; Y-axis optical fiber component (12) is installed on the locating surface (202) of Y-axis assembly wall (2) of machinery frame (11);
Described control circuit board (15) comprises FPGA at least, signaling conversion circuit, modulator driver circuit, FPGA receives via X-axis optical fiber component (16), the optical intensity voltage signal of detector output is amplified through three preceding discharge road in Y-axis optical fiber component (12) and the Z axle optical fiber component (17), digital signal through A/D converter conversion output, FPGA gives D/A converter to the digital signal output phase compensation voltage signal after sequential control is handled that receives, the modulation drive circuit of three modulators, the modulator of three of output voltage signal controls carries out phase modulation (PM) and keeps interference light intensity constant after the modulation drive circuit demodulation.
2, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: light source (505) can be SLD light source or SFS Er-Doped superfluorescent fiber source.
3, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: first optical splitter (502) and second optical splitter (506) can be one minute three optical splitter or one-to-two optical splitter.
4, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: modulator is an integrated optical modulator.
5, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: complete-digital closed-loop control is adopted in optical fibre gyro control.
6, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: FPGA chooses the XC2V50 chip, and A/D converter is chosen the AD7854 chip, and D/A converter is chosen the AD569 chip.
7, light small triaxial integral fibre-optical gyrometer according to claim 1 is characterized in that: ring flange (4) is the circular discs structure that a plane section (402) is arranged.
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