CN204679081U - Based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor - Google Patents
Based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor Download PDFInfo
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- CN204679081U CN204679081U CN201520275334.XU CN201520275334U CN204679081U CN 204679081 U CN204679081 U CN 204679081U CN 201520275334 U CN201520275334 U CN 201520275334U CN 204679081 U CN204679081 U CN 204679081U
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Abstract
The utility model discloses a kind of high precision small fiber gyro north seeker indexing mechanism based on supersonic motor, comprise pedestal (1), encoder mounting rack (2), absolute optical encoder (3), hollow ultrasound electric machine (4), ultrasound electric machine controller (5), connecting shaft pad (6), gimbal (7), embedded controller (8) and power module (9).The utility model adopts precision actuation technical design fiber gyro north seeker indexing mechanism, introduces supersonic motor first and designs the complicated mechanical indexing mechanism of brand-new indexing mechanism replacement tradition and lockable mechanism, greatly can simplify the structure of indexing mechanism.The fiber gyro north seeker adopting this indexing mechanism to form, when not reducing north finding precision, can significantly reduce north finder volume and weight, has filled up the miniaturization of current high precision north finder indexing mechanism, Lightweight Technology blank.
Description
Technical field
The utility model relates to inertial navigation technology and measuring equipment field, particularly relates to a kind of high precision small fiber gyro north seeker indexing mechanism based on supersonic motor.
Background technology
Gyroscope north searching instrument utilizes gyro to measure a kind of inertial measurement system of earth rotation angular speed in local level projecting direction (i.e. orientation, geographical north).Gyroscope north searching instrument is a kind of accurate inertia measurement instrument, is widely used in as the mobile weapon system such as cannon, ground-to-ground missile and ground radar provide direction reference.
Moment gyroscope north finder, adopts multiposition to seek northern method in implementation process usually, needs moving component to drive gyro to turn to appointment orientation.After transposition, lockable mechanism is also needed to ensure the angle precision of gyro transposition.And gyro indexing mechanism is that electromagnetic machine drives in existing gyroscope north searching system, after a series of precision mechanical transmission, realize the transposition of seeking northern gyro.Its lockable mechanism mostly also is mechanical mechanism, as pin-and-hole structure etc.The gyroscope north searching instrument of this mechanical transposition mode, although have higher north finding precision, but its complex structure, not only require high to processing, assembly technology, also make north finder volume large, Heavy Weight, cannot meet the user demand under field portable, the responsive environment of bulking value, greatly limit the range of application of gyroscope north searching instrument.In addition, owing to adopting electromagnetic machine to drive, the electromagnetic radiation produced during machine operation also can affect the measuring accuracy of gyro, objectively can restrict the further raising of gyroscope north searching instrument precision.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, provides a kind of high precision small fiber gyro north seeker indexing mechanism based on supersonic motor.
The purpose of this utility model is achieved through the following technical solutions: a kind of high precision small fiber gyro north seeker indexing mechanism based on supersonic motor, it is characterized in that, comprise pedestal, encoder mounting rack, absolute optical encoder, hollow ultrasound electric machine, ultrasound electric machine controller, connecting shaft pad, gimbal, embedded controller and power module; Wherein, described encoder mounting rack is installed on pedestal; Encoder mounting rack has hollow cylindrical protrusions, has through hole at cylindrical protrusions top; The cylindrical protrusions that absolute optical encoder is installed on encoder mounting rack is inner, and its rotating shaft passes through hole; The cylindrical protrusions of encoder mounting rack is placed in the cylindrical bore of hollow ultrasound electric machine and ensures coaxial; Connecting shaft pad connects the rotor of hollow ultrasound electric machine and the rotating shaft of absolute optical encoder, makes absolute optical encoder can measure the rotational angle of hollow ultrasound electric machine; L shape gimbal bottom surface is placed on connecting shaft pad, and with the fastening installation of rotor of screw and hollow ultrasound electric machine, makes hollow ultrasound electric machine can drive gimbal synchronous axial system; Embedded controller connects absolute optical encoder by RS485 telecommunication cable, and connect ultrasound electric machine controller by RS232 telecommunication cable, ultrasound electric machine controller is connected with hollow ultrasound electric machine by cable; Power module provides+5V ,+12V ,+5V direct supply respectively by cable to absolute optical encoder, ultrasound electric machine controller and embedded controller.
Further, described absolute optical encoder is 16 absolute optical encoders, and volume is little, can be placed in hollow ultrasound electric machine endoporus.
Further, described hollow ultrasound electric machine has endoporus, can install absolute optical encoder, cut off self-lock, without magnetic field radiation; Described ultrasound electric machine controller receives external command by RS232 communication protocol, and then controls hollow ultrasound electric machine, and its concrete instruction comprises rotating forward instruction, toggling command and halt instruction.
The beneficial effect that the utility model has is: the utility model proposes that a kind of precision is high, structure is simple, volume is little, lightweight fiber gyro north seeker indexing mechanism.The utility model novelty proposes the indexing mechanism adopting precision actuation technical design fiber gyro north seeker, introduce supersonic motor first and design the complicated mechanical indexing mechanism of brand-new indexing mechanism replacement tradition and lockable mechanism, greatly can simplify the structure of indexing mechanism.The fiber gyro north seeker adopting this indexing mechanism to form, when not reducing north finding precision, can significantly reduce north finder volume and weight, has filled up the miniaturization of current high precision north finder indexing mechanism, Lightweight Technology blank.
Accompanying drawing explanation
Fig. 1 is based on the fiber gyro north seeker indexing mechanism wiring layout of supersonic motor;
Fig. 2 indexing mechanism encoder mounting rack structural design drawing;
Fig. 3 is based on the fiber gyro north seeker indexing mechanism design sketch of supersonic motor;
Fig. 4 is based on the fiber gyro north seeker indexing mechanism system chart of supersonic motor;
Fig. 5 is based on the fiber gyro north seeker indexing mechanism transposition control process flow diagram of supersonic motor;
In figure: pedestal 1, encoder mounting rack 2, absolute optical encoder 3, hollow ultrasound electric machine 4, ultrasound electric machine controller 5, connecting shaft pad 6, gimbal 7, embedded controller 8, power module 9.
Embodiment
One of gordian technique of Multiple station method north-seeking of fiber optic gyroscope is the design of north finder indexing mechanism.Seek northern method for four positions, its indexing mechanism must fine rotational, stopping (locking), realize the switching of four positions of 90 ° each other.Realize accurate transposition except adopting the transposition of precision optical machinery and lockable mechanism, also can adopt precision actuation technology to realize.Supersonic motor, as the Typical Representative of precision actuation technology, utilizes the inverse piezoelectric effect of piezoelectric ceramics and ultrasonic vibration to obtain its motion and moment, is amplified by the microdeformation of material and rub to be coupled to convert the rotation of rotor to by mechanical resonance.Ultrasound electric machine structure is simple, small-size light-weight, fast response time, moment of torsion large, cut off self-lock, without magnetic interference, the feature such as to move accurate can be good at agreeing with the user demand of fiber gyro north seeker indexing mechanism.
The utility model is based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor, adopt supersonic motor as driving element, devise that Rotational accuracy is high, novel indexing mechanism that structure is simple, apply miniaturization and lightweight that this indexing mechanism is conducive to fiber gyro north seeker.Below in conjunction with accompanying drawing, indexing mechanism of the present utility model is further described.
As shown in Figure 1, a kind of high precision small fiber gyro north seeker indexing mechanism based on supersonic motor of the utility model, comprises pedestal 1, encoder mounting rack 2, absolute optical encoder 3, hollow ultrasound electric machine 4, ultrasound electric machine controller 5, connecting shaft pad 6, gimbal 7, embedded controller 8 and power module 9.Its concrete assembly relation is as follows: encoder mounting rack 2 is installed on pedestal 1; Encoder mounting rack 2 has hollow cylindrical protrusions, has through hole at cylindrical protrusions top; It is inner that absolute optical encoder 3 is installed on encoder mounting rack 2 cylindrical protrusions, and its rotating shaft passes through hole; Encoder mounting rack 2 cylindrical protrusions is placed in the cylindrical bore of hollow ultrasound electric machine 4 and ensures coaxial; Connecting shaft pad 6 connects the rotor of hollow ultrasound electric machine 4 and the rotating shaft of absolute optical encoder 3, makes absolute optical encoder 3 can measure the rotational angle of hollow ultrasound electric machine 4; L shape gimbal 7 side is used for installing optical fibres gyro, and bottom surface is used for mounted angle sensor, can set up fiber gyro north seeker quickly and easily; Gimbal 7 bottom surface is placed on connecting shaft pad 6, and with the fastening installation of rotor of screw and hollow ultrasound electric machine 4, makes hollow ultrasound electric machine 4 can drive gimbal 7 synchronous axial system; Embedded controller 8 connects absolute optical encoder 3 by RS485 telecommunication cable, and connect ultrasound electric machine controller 5 by RS232 telecommunication cable, ultrasound electric machine controller 5 is connected with hollow ultrasound electric machine 4 by cable, forms indexing mechanism closed-loop control system.Power module 9 provides+5V ,+12V ,+5V direct supply respectively by cable to absolute optical encoder 3, ultrasound electric machine controller 5 and embedded controller 8.
During concrete enforcement, absolute optical encoder 3 adopts 16 absolute type encoders, and resolution reaches 0.005 °, for indexing mechanism Rotational accuracy provides guarantee.This encoder data refresh rate reaches 400Hz, can ensure the real-time of transposition control, can be improved integration and the extendability of indexing mechanism by the mode of RS485 agreement output data.The driver that hollow ultrasound electric machine 4 and ultrasound electric machine controller 5 adopt TRUN-7036 series and match.This rotary-type ultrasound electric machine has 70mm endoporus, can be used for installing absolute optical encoder 3.Hollow ultrasound electric machine 4 rotates meticulous, and combined high precision absolute optical encoder 3 can ensure that system Rotational accuracy reaches 0.005 °.The special principle of work of hollow ultrasound electric machine 4 determines that it has the characteristic of stall self-locking, can reach locking object when stall without the need to extra lockable mechanism.Ultrasound electric machine controller 5 can receive external command by RS232 communication protocol, and then control hollow ultrasound electric machine 4 moves.Its concrete instruction comprises rotating forward instruction, toggling command and halt instruction.The structural design of encoder mounting rack 2, in conjunction with absolute optical encoder 3, hollow ultrasound electric machine 4 physical size and both installation requirements, forms through special optimization, as shown in Figure 2.Encoder mounting rack 2 intermediate cylindrical lobed interior is for installing absolute optical encoder 3, and outside is placed in hollow ultrasound electric machine 4 endoporus, makes the rotating shaft of absolute optical encoder 3 coaxial with the center of rotation of ultrasound electric machine 4.The rotating shaft of absolute optical encoder 3 is connected with the rotor of hollow ultrasound electric machine 4 by connecting shaft pad 6, thus realizes the monitoring to hollow ultrasound electric machine 4 turned position.Whole translocation domain installs effect as shown in Figure 3.
Described gimbal 7 adopts L shape to design, and alloy material processes.Whole gimbal 7 is placed on connecting shaft pad 6, by screw and the fastening installation of hollow ultrasound electric machine 4, during 4 transposition of hollow ultrasound electric machine, can realize the switching in orientation, gimbal 7 side, turning axle and horizontal plane.Gimbal 7 side is orthogonal with bottom surface, and bottom surface is used for mounted angle sensor, and side is used for installing optical fibres gyro, can form fiber gyro north seeker system easily.
As shown in Figure 4, embedded controller 8 is core with DSP, has RS485, RS232 communication interface, communicates respectively with absolute optical encoder 3 with ultrasound electric machine controller 5.Under the closed-loop control of embedded controller 8, indexing mechanism can realize the transposition of specified angle position.Angle transposition control subroutine flow chart as shown in Figure 5.
Indexing mechanism transposition is tested, and for experiment indexing mechanism described in the utility model, continuous transposition test is carried out in 0 °-90 °-180 °-270 °-0 ° these four positions adopting fiber gyro north seeker four position to seek the use of northern method, obtains 5 groups of following error informations.
The continuous position shifter error unit of indexing mechanism: degree
| Group | 1 | 2 | 3 | 4 | 5 |
| 0°→90° | -0.005 | -0.005 | -0.005 | -0.005 | -0.005 |
| 90°→180° | 0.005 | -0.005 | -0.005 | 0.000 | 0.000 |
| 180°→270° | 0.000 | -0.005 | 0.000 | -0.005 | 0.000 |
| 270°→360° | 0.000 | -0.005 | 0.000 | -0.005 | 0.000 |
| 360°→270° | 0.000 | 0.000 | 0.000 | 0.005 | 0.000 |
| 270°→180° | 0.000 | 0.000 | 0.000 | 0.005 | 0.005 |
| 180°→90° | 0.000 | -0.005 | -0.005 | -0.005 | -0.005 |
| 90°→0° | 0.000 | 0.000 | 0.005 | 0.000 | 0.005 |
As can be seen from the experimental data of upper table, indexing mechanism described in the utility model has good angular resolution, high Rotational accuracy and high stability, can meet the Rotational accuracy requirement of high-precision optical fiber gyro north finder.In addition, for transposition random measurement six groups of data at any angle, the arbitrarily angled Rotational accuracy of the utility model indexing mechanism all can reach 0.005 °.In multiposition north-seeking of fiber optic gyroscope system, adopt this indexing mechanism to ensure Rotational accuracy, greatly can also reduce the volume and weight of optical circulator north finder.
Claims (2)
1. the high precision small fiber gyro north seeker indexing mechanism based on supersonic motor, it is characterized in that, comprise pedestal (1), encoder mounting rack (2), absolute optical encoder (3), hollow ultrasound electric machine (4), ultrasound electric machine controller (5), connecting shaft pad (6), gimbal (7), embedded controller (8) and power module (9); Wherein, described encoder mounting rack (2) is installed on pedestal (1); Encoder mounting rack (2) has hollow cylindrical protrusions, has through hole at cylindrical protrusions top; The cylindrical protrusions that absolute optical encoder (3) is installed on encoder mounting rack (2) is inner, and its rotating shaft passes through hole; The cylindrical protrusions of encoder mounting rack (2) is placed in the cylindrical bore of hollow ultrasound electric machine (4) and ensures coaxial; Connecting shaft pad (6) connects the rotor of hollow ultrasound electric machine (4) and the rotating shaft of absolute optical encoder (3), makes absolute optical encoder (3) can measure the rotational angle of hollow ultrasound electric machine (4); L shape gimbal (7) bottom surface is placed on connecting shaft pad (6), and with the fastening installation of rotor of screw and hollow ultrasound electric machine (4), makes hollow ultrasound electric machine (4) can drive gimbal (7) synchronous axial system; Embedded controller (8) connects absolute optical encoder (3) by RS485 telecommunication cable, and connect ultrasound electric machine controller (5) by RS232 telecommunication cable, ultrasound electric machine controller (5) is connected with hollow ultrasound electric machine (4) by cable; Power module (9) provides+5V ,+12V ,+5V direct supply respectively by cable to absolute optical encoder (3), ultrasound electric machine controller (5) and embedded controller (8).
2. according to claim 1 based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor, it is characterized in that, described absolute optical encoder (3) is 16 absolute optical encoders.
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| CN201520275334.XU CN204679081U (en) | 2015-04-29 | 2015-04-29 | Based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor |
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| CN201520275334.XU CN204679081U (en) | 2015-04-29 | 2015-04-29 | Based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792324A (en) * | 2015-04-29 | 2015-07-22 | 浙江大学 | Indexing mechanism of ultrasonic wave motor based high-precision miniaturized fiber optic gyroscope north finder |
| CN113484005A (en) * | 2021-07-12 | 2021-10-08 | 浙江科技学院 | Test bench and test method for automatic leveling device |
-
2015
- 2015-04-29 CN CN201520275334.XU patent/CN204679081U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792324A (en) * | 2015-04-29 | 2015-07-22 | 浙江大学 | Indexing mechanism of ultrasonic wave motor based high-precision miniaturized fiber optic gyroscope north finder |
| CN104792324B (en) * | 2015-04-29 | 2017-06-23 | 浙江大学 | High precision small fiber gyro north seeker indexing mechanism based on supersonic motor |
| CN113484005A (en) * | 2021-07-12 | 2021-10-08 | 浙江科技学院 | Test bench and test method for automatic leveling device |
| CN113484005B (en) * | 2021-07-12 | 2024-02-09 | 浙江科技学院 | Test bench and test method of automatic leveling device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150930 Effective date of abandoning: 20170623 |