CN201522548U - gyroscope simulator - Google Patents
gyroscope simulator Download PDFInfo
- Publication number
- CN201522548U CN201522548U CN2009202177903U CN200920217790U CN201522548U CN 201522548 U CN201522548 U CN 201522548U CN 2009202177903 U CN2009202177903 U CN 2009202177903U CN 200920217790 U CN200920217790 U CN 200920217790U CN 201522548 U CN201522548 U CN 201522548U
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- resistance
- operational amplifier
- simulator
- gyroscope
- gyro
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Abstract
The utility model belongs to a gyroscope simulator, particularly relates to a floated-type rate integration gyroscope simulator, and aims to provide a gyroscope simulator to replace a real floated-type gyroscope so as to achieve the closure with a re-balancing circuit. The gyroscope simulator is made up of 4 operational amplifiers, a multiplier, a resistor and a capacitor, and comprises a resistor R simulating a gyroscope torquer ballast coil and connected between the high end and the low end of the output end of a gyroscope torquer, an integral element with the input end connected with the low end of the output end of the torquer, an inertia element with the input end connected with the output end of the integral element, and a multiplier with the input end connected with the output end of the inertia element, wherein, the other input end of the multiplier is connected with an excitation power supply treated by a scale amplifying element, and the output of the multiplier is output to a re-balancing circuit after passing through a reverse voltage follower. The utility model has the advantage that the gyroscope simulator can replace a floated type gyroscope for ageing, thereby improving security and reliability, and solving a series of problems arising from service life limitation on the gyroscope.
Description
Technical field
The utility model patent relates to a kind of gyro simulator, is specifically related to the floating rate integrating gyroscope simulator of liquid of processs of the test such as a kind of aging, vibration that is used for rebalancing circuit.
Background technology
In aging, the vibration equal stress shaker test of gyroscope rebalancing circuit, be operated near the zero-bit in order to guarantee rebalancing circuit, need be by means of gyro in kind, and realize by the closure of gyro and rebalancing circuit.Therefore, in closing course, need a large amount of gyros in kind, and need to provide relevant power supply, signal etc. to gyro, thereby cause hidden danger of quality such as the testing equipment building block is many, connection is complicated, experimental safe is poor, gyro is fragile, cost an arm and a leg, and caused the low prominent question of production efficiency.
The utility model content
The purpose of this utility model provides a kind of gyro simulator and replaces real liquid floated gyroscope, realize closure with rebalancing circuit, and this simulator expanded in aging equipment and the testing apparatus use, when satisfying requirement of experiment, reduce the use of gyro in kind, reduce loss.
The utility model is achieved in that a kind of gyro simulator, and the input signal of gyro simulator is voltage signal and an excitation power supply signal on the torquer low side sampling resistor of rebalancing circuit, and output signal is the detuner input signal of rebalancing circuit;
Wherein, form by 4 operational amplifiers, 1 multiplier and resistance, electric capacity; Specifically comprise: be connected the resistance R of the simulation gyroscopic couple device loading coil between the high-end and low side of gyroscopic couple device output terminal, the integral element that input end is connected with the low side of torquer output terminal, the inertial element that input end is connected with the integral element output terminal, the multiplier that input end is connected with the output terminal of inertial element, another input end of multiplier connects through the ratio amplifying element handles excitation power supply later, exports rebalancing circuit to behind the output process reverse voltage follower of multiplier;
Described integral element comprises: resistance R 202, capacitor C 201, resistance R 205, operational amplifier N3A, resistance R 205 is connected between operational amplifier N3A positive input and the power supply ground, capacitor C 201 is connected between operational amplifier N3A negative input and the operational amplifier N3A output terminal, resistance R 202 1 end concatenation operation amplifier N3A negative inputs, the low side of an end coupling torque device output terminal; Transport function is :-1/ (R202*C201*s);
Described inertial element comprises: resistance R 203, resistance R 204, capacitor C 202, resistance R 206, operational amplifier N3B, resistance R 206 is connected between operational amplifier positive input and the power supply ground, capacitor C 202 is in parallel with resistance R 204, and this parallel circuit is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 203 1 end concatenation operation amplifier N3B negative inputs, an end connects the output terminal of integral element; Transport function is :-(R204/R203)/(R204*C202*s+1);
Described ratio amplifying element comprises: resistance R 207, resistance R 208, resistance R 209, operational amplifier N3D, resistance R 209 is connected between operational amplifier positive input and the power supply ground, and resistance R 208 is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 207 1 end concatenation operation amplifier N3B negative inputs, an end connects excitation power supply; Its enlargement factor is :-Ku=-R208/R207;
And R204*C202=Jx/Kc; R202*R203*C201=R204*Rc*Kc/ (K
T* Kp);
In the formula: Jx is that float is around the output shaft moment of inertia;
Kc is the gyro ratio of damping;
Kp is the sensor scaling ratio;
K
TIt is the torquer scaling ratio;
Rc is the sampling resistor on the rebalancing circuit plate;
Occurrence is relevant with gyro, is prior given occurrence;
When actual value, allow: R204*C202=Jx/Kc ± 10%;
R202*R203*C201＝R204*Rc*Kc/(K
T*Kp)±10％；
Value in the scope of resistance value below 1M;
The Ku value is by comparing simulator and true gyro, gets empirical value and obtains.
Aforesaid a kind of gyro simulator, wherein, described 4 operational amplifiers by 1 F147 chip provide, multiplier is AD532.
The utility model has the advantages that: the load of rebalancing circuit plate is a gyro simulator, and the resistance of the high low side of torquer.When rebalancing circuit reality use with load be gyro, when quiescent operation, because circuit working is near zero-bit, electric current is almost nil on sampling resistor, the gyroscopic couple device.
And rebalancing circuit is in this aging equipment when aging, the rebalancing circuit plate is given the electric current of sampling resistor and is given the pull-up resistor electric current all near zero, the size of voltage, current signal on each components and parts on the rebalancing circuit plate, strong and weak all with similar when the actual static state use.
So tests such as aging or vibration of effectively switching on to rebalancing circuit.
Adopt gyro simulator technology of the present invention, in production application, the agingtable, of having made 10 rebalancing circuits that can wear out is common to rebalancing circuit universal burn-in platform, rebalancing circuit universal burn-in vibratory screening apparatus channel selection that is used for the circuit technology vibration of aging 24 circuit of multipotency of two models.
Carry out testing scheme with the floating gyro of circuit replacement liquid, greatly reduced production cost.Adopt gyro simulator, do not need to re-use liquid floated gyroscope and cooperate agingly, improved the security and the reliability of aging of product process, reduced because a series of problems that the gyro age limit is brought.
Successful Application gyro simulator technology, aging when having realized the polylith rebalancing circuit, solved the bottleneck in batch production run.The successful Application of gyro simulator in an agingtable saved 30 liquid floated gyroscopes, nearly 900,000 yuan of reduction of expenditure, and economic gain is remarkable.
The gyro simulator technology is applied to (rebalancing circuit technology vibration need energising in the rebalancing circuit plate technology vibration processes simultaneously, vibration in the past the time needs technology gyro and the rebalancing circuit closure that matches), security in the time of can improving the technology vibration, and reduce the required instrument cost of test.
In addition, the integrated circuit that gyro simulator is made up of electronic devices and components, reliability and life-span be much larger than liquid floated gyroscope, the reliability height, good stability, and have good maintainability.Be difficult to after liquid floated gyroscope breaks down keep in repair, and gyro simulator is easy to dismounting, forms simply, maintainability is high more a lot of than liquid floated gyroscope, can be used for for a long time that rebalancing circuit wears out and test such as vibration.
Description of drawings
Fig. 1 is the transport function block diagram of liquid floated gyroscope;
Among the figure: ω (s) is a gyro input angle speed, and Vi (s) is that rebalancing circuit sampling resistor Rc goes up output voltage, and I (s) is a rebalancing circuit plate output torque device electric current, and V (s) is a sensor output voltage;
Fig. 2 is the circuit theory diagrams of gyro simulator;
Among the figure: N3 is a F147 operational amplifier chip; 4 operational amplifier: N3A, N3B, N3C, N3D are arranged; Negative input is respectively: 2 pins, 6 pins, 10 pins, 13 pins; Positive input is respectively: 3 pins, 5 pins, 9 pins, 12 pins; Output terminal is respectively: 1 pin, 7 pins, 8 pins, 14 pins; Positive power source terminal is 4 pins, and negative power end is 11 pins;
N4 is the AD532 multiplier chip; The signal multiplication of X1 end and the input of Y1 end is exported from OUT.
Embodiment
Further specify below in conjunction with accompanying drawing:
In real system, the closed loop that forms of floating rate integrating gyroscope of liquid and rebalancing circuit, that is: gyrosensor exports rebalancing circuit to; The rebalancing circuit output current signal is to the gyroscopic couple device, and the gyroscopic couple device is given moment of gyrorotor, makes rotor balancing near zero-bit.
The gyro simulator that the utility model adopts electronic circuit fabrication to become replaces liquid to float rate integrating gyroscope, and with the closed loop that forms of rebalancing circuit, that is: gyro simulator exports rebalancing circuit to; The rebalancing circuit output current signal is to the gyroscopic couple device, and the gyroscopic couple device exports the resistance of simulation torquer coil to, and gyro simulator is gathered the voltage signal of gyroscopic couple device output signal low side.
The floating rate integrating gyroscope of liquid comprises float, sensor, torquer and gyro machine etc.The transport function block diagram of gyro as shown in Figure 1.What gyrosensor was exported is an interchange carrier signal that frequency is identical with excitation power supply, is a nonlinear element; But for low frequency signal, the ratio amplifying element that it is equivalent to an enlargement factor is Kp.
When input angle speed was zero, the transport function of gyro low frequency signal (from the sampling resistor output voltage of rebalancing circuit to the gyrosensor output voltage) was:
In the formula: Jx is that float is around the output shaft moment of inertia;
Kc is the gyro ratio of damping;
Kp is the sensor scaling ratio;
K
TIt is the torquer scaling ratio;
Rc is the sampling resistor on the rebalancing circuit plate.
Occurrence is relevant with gyro, is prior given occurrence;
But the signal of the actual output of sensor is for exchanging carrier signal, visible following formula:
Vp (s)=Ku U (s) V (s) ... ... .... formula (2)
In the formula: Vp (s) is the carrier signal of the actual output of sensor;
U (s) is an excitation power supply voltage;
V (s) is the low frequency signal of sensor output;
Ku is a scale-up factor.
Every integrated gyro simulator circuit board comprises No. three gyro simulator circuit paths, is respectively applied for the gyro on simulation X, Y, Z road, and F147 chip of every route, an AD532 multiplier and some resistance, electric capacity are formed.
The input signal of gyro simulator is voltage signal and an excitation power supply signal on the torquer low side sampling resistor of rebalancing circuit, and output signal is the detuner input signal of rebalancing circuit, and the circuit supply power supply is ± 15V.
Gyro simulator wherein comprises: the resistance R that is connected the simulation gyroscopic couple device loading coil between the high-end and low side of gyroscopic couple device output terminal, the integral element that input end is connected with the low side of torquer output terminal, the inertial element that input end is connected with the integral element output terminal, the multiplier that input end is connected with the output terminal of inertial element, another input end of multiplier connects through the ratio amplifying element handles excitation power supply later, exports rebalancing circuit to behind the output process reverse voltage follower of multiplier;
Described integral element comprises: resistance R 202, capacitor C 201, resistance R 205, operational amplifier N3A, resistance R 205 is connected between operational amplifier N3A positive input and the power supply ground, capacitor C 201 is connected between operational amplifier N3A negative input and the operational amplifier N3A output terminal, resistance R 202 1 end concatenation operation amplifier N3A negative inputs, the low side of an end coupling torque device output terminal; Transport function is :-1/ (R202*C201*s);
Described inertial element comprises: resistance R 203, resistance R 204, capacitor C 202, resistance R 206, operational amplifier N3B, resistance R 206 is connected between operational amplifier positive input and the power supply ground, capacitor C 202 is in parallel with resistance R 204, and this parallel circuit is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 203 1 end concatenation operation amplifier N3B negative inputs, an end connects the output terminal of integral element; Transport function is :-(R204/R203)/(R204*C202*s+1);
Described ratio amplifying element comprises: resistance R 207, resistance R 208, resistance R 209, operational amplifier N3D, resistance R 209 is connected between operational amplifier positive input and the power supply ground, and resistance R 208 is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 207 1 end concatenation operation amplifier N3B negative inputs, an end connects excitation power supply; Its enlargement factor is :-Ku=-R208/R207;
Realize by integral element and inertial element circuit:
In the formula: Jx is that float is around the output shaft moment of inertia;
Kc is the gyro ratio of damping;
Kp is the sensor scaling ratio;
K
TIt is the torquer scaling ratio;
Rc is the sampling resistor on the rebalancing circuit plate;
Occurrence is relevant with gyro, is prior given occurrence;
Vi (s) is meant: Vi (s) goes up output voltage, that is: the voltage of gyroscopic couple device output terminal low side for rebalancing circuit sampling resistor Rc;
V (s) is a sensor output voltage; That is: the magnitude of voltage of handling through integral element and inertial element;
Obtain by the relation between the above-mentioned biography letter:
R204*C202＝Jx/Kc；R202*R203*C201＝R204*Rc*Kc/(K
T*Kp)；
When actual value, allow: R204*C202=Jx/Kc ± 10%;
R202*R203*C201＝R204*Rc*Kc/(K
T*Kp)±10％；
Value in the scope of resistance value below 1M; Electric capacity does not have special requirement;
The signal of the actual output of gyrosensor is for exchanging carrier signal, visible following formula:
Vp (s)=Ku U (s) V (s) ... ... .... formula (2)
In the formula: Vp (s) is the carrier signal of the actual output of sensor;
U (s) is an excitation power supply voltage;
V (s) is the low frequency signal of sensor output;
Ku is a scale-up factor.
In simulator, that is :-Ku=-R208/R207; This value is got empirical value and is obtained by simulator and true gyro are compared;
Three of a rebalancing circuit plate (comprising three road rebalancing circuits) and the supporting formation of a gyro simulator circuit board (comprising No. three simulators) is the balanced loop again.Gyro simulator circuit and rebalancing circuit are altogether.Between the high-end and low side of X, the Y of rebalancing circuit, three torquer output terminals of Z, connected a low resistance, powerful resistance R respectively, made the loop can be closed.This resistance is equivalent to simulate the torquer coil resistance (being generally tens Europe) of gyro, but powers on and flow through greatly for fear of sampling resistor occurs when unusual at the rebalancing circuit plate, this resistance can be increased a little.
The load of rebalancing circuit plate is a gyro simulator, and the resistance of the high low side of torquer.When rebalancing circuit reality use with load be gyro, when quiescent operation, because circuit working is near zero-bit, electric current is almost nil on sampling resistor, the gyroscopic couple device.
And rebalancing circuit is in this aging equipment when aging, the rebalancing circuit plate is given the electric current of sampling resistor and is given the pull-up resistor electric current all near zero, the size of voltage, current signal on each components and parts on the rebalancing circuit plate, strong and weak all with similar when the actual static state use.
So tests such as aging or vibration of effectively switching on to rebalancing circuit.
Adopt gyro simulator technology of the present invention, in production application, the agingtable, of having made 10 rebalancing circuits that can wear out is common to rebalancing circuit universal burn-in platform, rebalancing circuit universal burn-in vibratory screening apparatus channel selection that is used for the circuit technology vibration of aging 24 circuit of multipotency of two models.
Carry out testing scheme with the floating gyro of circuit replacement liquid, greatly reduced production cost.Adopt gyro simulator, do not need to re-use liquid floated gyroscope and cooperate agingly, improved the security and the reliability of aging of product process, reduced because a series of problems that the gyro age limit is brought.
Successful Application gyro simulator technology, aging when having realized the polylith rebalancing circuit, solved the bottleneck in batch production run.The successful Application of gyro simulator in an agingtable saved 30 liquid floated gyroscopes, nearly 900,000 yuan of reduction of expenditure, and economic gain is remarkable.
The gyro simulator technology is applied to (rebalancing circuit technology vibration need energising in the rebalancing circuit plate technology vibration processes simultaneously, vibration in the past the time needs technology gyro and the rebalancing circuit closure that matches), security in the time of can improving the technology vibration, and reduce the required instrument cost of test.
In addition, the integrated circuit that gyro simulator is made up of electronic devices and components, reliability and life-span be much larger than liquid floated gyroscope, the reliability height, good stability, and have good maintainability.Be difficult to after liquid floated gyroscope breaks down keep in repair, and gyro simulator is easy to dismounting, forms simply, maintainability is high more a lot of than liquid floated gyroscope, can be used for for a long time that rebalancing circuit wears out and test such as vibration.
Claims (2)
1. gyro simulator, the input signal of gyro simulator are voltage signal and excitation power supply signal on the torquer low side sampling resistor of rebalancing circuit, and output signal is the detuner input signal of rebalancing circuit;
It is characterized in that: form by 4 operational amplifiers, 1 multiplier and resistance, electric capacity; Specifically comprise: be connected the resistance R of the simulation gyroscopic couple device loading coil between the high-end and low side of gyroscopic couple device output terminal, the integral element that input end is connected with the low side of torquer output terminal, the inertial element that input end is connected with the integral element output terminal, the multiplier that input end is connected with the output terminal of inertial element, another input end of multiplier connects through the ratio amplifying element handles excitation power supply later, exports rebalancing circuit to behind the output process reverse voltage follower of multiplier;
Described integral element comprises: resistance R 202, capacitor C 201, resistance R 205, operational amplifier N3A, resistance R 205 is connected between operational amplifier N3A positive input and the power supply ground, capacitor C 201 is connected between operational amplifier N3A negative input and the operational amplifier N3A output terminal, resistance R 202 1 end concatenation operation amplifier N3A negative inputs, the low side of an end coupling torque device output terminal; Transport function is :-1/ (R202*C201*s);
Described inertial element comprises: resistance R 203, resistance R 204, capacitor C 202, resistance R 206, operational amplifier N3B, resistance R 206 is connected between operational amplifier positive input and the power supply ground, capacitor C 202 is in parallel with resistance R 204, and this parallel circuit is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 203 1 end concatenation operation amplifier N3B negative inputs, an end connects the output terminal of integral element; Transport function is :-(R204/R203)/(R204*C202*s+1);
Described ratio amplifying element comprises: resistance R 207, resistance R 208, resistance R 209, operational amplifier N3D, resistance R 209 is connected between operational amplifier positive input and the power supply ground, and resistance R 208 is connected between operational amplifier N3B negative input and the operational amplifier N3B output terminal; Resistance R 207 1 end concatenation operation amplifier N3B negative inputs, an end connects excitation power supply; Its enlargement factor is :-Ku=-R208/R207;
And R204*C202=Jx/Kc; R202*R203*C201=R204*Rc*Kc/ (K
T* Kp);
In the formula: Jx is that float is around the output shaft moment of inertia;
Kc is the gyro ratio of damping;
Kp is the sensor scaling ratio;
K
TIt is the torquer scaling ratio;
Rc is the sampling resistor on the rebalancing circuit plate;
Occurrence is relevant with gyro, is prior given occurrence;
When actual value, allow: R204*C202=Jx/Kc ± 10%;
R202*R203*C201＝R204*Rc*Kc/(K
T*Kp)±10％；
Value in the scope of resistance value below 1M;
The Ku value is by comparing simulator and true gyro, gets empirical value and obtains.
2. a kind of gyro simulator as claimed in claim 1 is characterized in that: described 4 operational amplifiers by 1 F147 chip provide, multiplier is AD532.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202177903U CN201522548U (en) | 2009-09-29 | 2009-09-29 | gyroscope simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202177903U CN201522548U (en) | 2009-09-29 | 2009-09-29 | gyroscope simulator |
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| Publication Number | Publication Date |
|---|---|
| CN201522548U true CN201522548U (en) | 2010-07-07 |
Family
ID=42508726
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|---|---|---|---|
| CN2009202177903U Expired - Lifetime CN201522548U (en) | 2009-09-29 | 2009-09-29 | gyroscope simulator |
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|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101943581A (en) * | 2010-08-19 | 2011-01-12 | 中国航空工业第六一八研究所 | Gyroscopic couple coil moulding mould and moulding method |
| CN102359782A (en) * | 2011-07-14 | 2012-02-22 | 第二炮兵装备研究院中试与检测中心 | Digital conversion amplifying and rebalancing device of flexible gyroscope |
| CN103925852A (en) * | 2014-03-26 | 2014-07-16 | 上海航天电子通讯设备研究所 | Gyroscope spinning component electrical characteristic simulating device |
| CN111637876A (en) * | 2020-05-15 | 2020-09-08 | 北京控制工程研究所 | Implementation method of high-bandwidth high-precision rate integral gyro simulator |
-
2009
- 2009-09-29 CN CN2009202177903U patent/CN201522548U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101943581A (en) * | 2010-08-19 | 2011-01-12 | 中国航空工业第六一八研究所 | Gyroscopic couple coil moulding mould and moulding method |
| CN102359782A (en) * | 2011-07-14 | 2012-02-22 | 第二炮兵装备研究院中试与检测中心 | Digital conversion amplifying and rebalancing device of flexible gyroscope |
| CN103925852A (en) * | 2014-03-26 | 2014-07-16 | 上海航天电子通讯设备研究所 | Gyroscope spinning component electrical characteristic simulating device |
| CN103925852B (en) * | 2014-03-26 | 2015-09-16 | 上海航天电子通讯设备研究所 | The electric characteristic simulation device of a kind of gyro run-up assembly |
| CN111637876A (en) * | 2020-05-15 | 2020-09-08 | 北京控制工程研究所 | Implementation method of high-bandwidth high-precision rate integral gyro simulator |
| CN111637876B (en) * | 2020-05-15 | 2021-12-07 | 北京控制工程研究所 | Implementation method of high-bandwidth high-precision rate integral gyro simulator |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100707 |