CN210223293U - Angular rate gyroscope principle demonstration table - Google Patents
Angular rate gyroscope principle demonstration table Download PDFInfo
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- CN210223293U CN210223293U CN201921091426.7U CN201921091426U CN210223293U CN 210223293 U CN210223293 U CN 210223293U CN 201921091426 U CN201921091426 U CN 201921091426U CN 210223293 U CN210223293 U CN 210223293U
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Abstract
The utility model provides an angular rate gyroscope principle demonstration platform belongs to gyroscope technical field, be in including demonstration platform, setting support on the demonstration platform, and set up attenuator, gyroscope, signal sensor and elastic element on the support, the gyroscope includes the frame and is in through the pivot setting the inside top of frame, the one end of frame is connected with the attenuator, the other end of frame with signal sensor's one end is connected, signal sensor's the other end with elastic element's one end is connected, elastic element's the other end with the support is connected. The horizontal course of the utility model can be stably adjusted from left to right; the gyro motor can realize stepless speed regulation; the gyroscope attitude can be displayed in real time on an upper computer; the output signal of the signal converter can be measured, so that the principle of the angular rate gyroscope can be clearly and vividly demonstrated, and the comprehension capability of a learner on the principle of the angular rate gyroscope is improved.
Description
Technical Field
The utility model relates to a gyroscope technical field, concretely relates to angular rate gyroscope principle demonstration platform.
Background
The attitude information of the airplane in flight is very important and must be timely and accurately mastered by a pilot, and the gyroscope can accurately measure the attitude change of the airplane and convert the attitude change into an electric signal to be displayed on the instrument. The gyroscope device is always the most convenient and practical reference instrument for aviation, navigation attitude, speed and the like on the air and sea. The main part of the gyroscope is a rotor rotating at very high angular speed about a rotating shaft, the rotor being mounted in a support, which has wide application in the fields of aviation and aerospace industry. The gyroscope plays an important role in the fields of life and military, and can see the figure of the gyroscope from a small mobile phone to a large satellite. The gyroscope is used as an inertia measuring device, is a core component of an inertia navigation, inertia guidance and inertia measuring system, and is widely applied to the military and civil fields. A gyroscope is a device for sensing and maintaining direction, designed based on the theory of conservation of angular momentum. The gyroscope is mainly composed of a rotor which is positioned at an axis and can rotate. Once the gyroscope begins to rotate, it tends to resist changes in direction due to the angular momentum of the rotor, which must be fast enough or sufficiently high in inertia (or angular momentum) to maintain its stability. In the process of the current gyroscope principle teaching, a few demonstration devices are used for the gyroscope principle, particularly few demonstration devices are used for the angular velocity, and most of the adopted teaching instruments occupy large space.
The patent document with publication number CN109551522A discloses a popular science device and a demonstration method for automatically demonstrating a gyro by a robot, which comprises a demonstration table, wherein the demonstration table is provided with the robot, a placing frame, an accelerating device, a rotating platform and the gyro; the robot is fixed on one side of the demonstration platform, the placing frame is fixed on one side of the robot, a gyroscope is arranged on the placing frame, the accelerating device is arranged on the same side of the placing frame, and the rotating platform is arranged on the same side of the accelerating device; demonstration platform one side is equipped with PLC control module, PLC control module respectively with the robot the accelerating device is connected, and the device can realize the operation that automatic demonstration top clamp was got, is quickened, is rotatory, superposes and puts, and has accurate controlled popular science device. The device occupation space is big, and the demonstration has certain limitation, and can only demonstrate the operation that the top clamp was got, is quickened, is rotated, stack and is put, can not carry out clear demonstration to the principle of angular rate gyroscope.
Disclosure of Invention
In view of the above, the utility model provides an angular rate gyroscope principle demonstration platform, small in size, the horizontal course can be controlled steadily; the gyro motor can realize stepless speed regulation; the gyroscope attitude can be displayed in real time on an upper computer; the output signal of the signal converter can be measured, so that the principle of the angular rate gyroscope can be clearly and vividly demonstrated, and the comprehension capability of a learner on the principle of the angular rate gyroscope is improved.
In order to solve the technical problem, the utility model discloses the technical scheme who takes is:
the utility model provides an angular rate gyroscope principle demonstration platform, is in including demonstration platform, setting demonstration bench support, and setting are in attenuator, gyroscope, signal sensor and elastic element on the support, the gyroscope includes the frame and sets up through the pivot the inside top of frame, the one end of frame is connected with the attenuator, the other end of frame with signal sensor's one end is connected, signal sensor's the other end with elastic element's one end is connected, elastic element's the other end with the support is connected.
Further, the damper includes a magnetic damper disposed at an end of the bracket, and an air damper disposed between the magnetic damper and the frame.
Furthermore, the inside of top is equipped with brushless motor, brushless motor's surface is equipped with the shell.
Further, the shell is arc-shaped, and the rotating shaft is taken as a symmetrical center.
Further, the elastic element is a spring torsion bar.
The spinning top is a device with vitality and attractiveness, and is attracted to people to research from ancient toys to modern precision testing instruments. In the course of aviation teaching, the learning of the principle of the angular rate gyroscope is very important, and is directly related to the performance of an aircraft and the driving ability of a pilot. In the past, the principle of the angular rate gyroscope is explained by an instructor aiming at a teaching material machine, and students have limited understanding and imagination and need to spend a plurality of classes. Later on, with regard to the explanation of the gyroscope, the understanding of the student was improved to some extent by some mechanical models such as a demonstration table, a demonstration instrument, and the like, in addition to the explanation of the instructor. However, most of the existing demonstration tables demonstrate the characteristics of the spinning top, such as stability, precession and the like, or demonstrate angle measurement, such as pitch angle and tilt angle. There is no test bed for demonstrating the principle of measuring the angular rate gyroscope, and there is no demonstration platform for measuring the angular rate change.
For example, patent with publication number CN206946778U discloses a physical gyroscope balance demonstration instrument, which can intuitively and vividly demonstrate the precession process of a gyroscope and demonstrate its precession, and only has a mechanical structure, the demonstration is not vivid enough, and cannot be combined with model three-dimensional dynamic demonstration, so that students have difficulty in understanding. Therefore, a demonstration table capable of demonstrating the angular velocity measurement conditions under different gyro motor rotating speeds and the measurement process under different angular velocity change conditions is urgently needed, and the demonstration table can be placed on a classroom desk, so that students can learn the principle of the angular velocity gyroscope more clearly and more intuitively and quickly.
The utility model has the advantages that: the utility model discloses design meticulously according to the needs of teaching demonstration, including demonstration platform, the support of setting on demonstration platform, and attenuator, gyroscope, signal sensor and the elastic element of setting on the support, wherein the gyroscope is the gyroscope of two degrees of freedom, including the frame and set up the gyroscope in this frame inside through the pivot for detect information such as sensitive corner, angular velocity, angular acceleration; the elastic element is used for providing elastic restraint, and when the gyroscope rotates relative to the shell for an angle, the elastic element can generate elastic restraint moment opposite to the deflection direction of the elastic element; the damper is used for providing viscous constraint, and when the gyroscope has an angular velocity relative to the shell, the damper can generate a damping moment opposite to the rotation direction of the gyroscope; the signal sensor is used for outputting signals. By means of upper computer software installed on a tablet personal computer, the attitude change of the gyroscope is fed back in real time through communication between the built-in Bluetooth and the sensor.
The utility model discloses in the aspect of the operation use: the measurement operation method can realize stepless speed regulation of the gyro motor by controlling the gyro speed knob of the panel and demonstrate the angular speed measurement condition under different gyro motor rotating speeds; the horizontal course can be stably adjusted left and right through a yaw speed knob on the control panel, and the measurement process under the condition of different angular speed changes is shown.
The utility model discloses can understand lively demonstration angular rate gyroscope principle, improve the comprehension ability of learner angular rate gyroscope principle, small in size has following advantage simultaneously: 1. the horizontal course can be stably adjusted left and right; 2. the gyro motor can realize stepless speed regulation; 3. the gyroscope attitude can be displayed in real time on an upper computer; 4. the output signal of the signal converter can be measured.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of the angular rate gyroscope principle demonstration table of the present invention.
Fig. 2 is a schematic structural view of the demonstration table board of the present invention.
Fig. 3 is a schematic structural diagram of the bracket of the present invention.
Fig. 4 is a schematic structural view of the air damper of the present invention.
Fig. 5 is the effect diagram of the utility model during course deflection.
Fig. 6 is a schematic diagram of the software system of the present invention.
Fig. 7 is an interface diagram of data and curve display according to the present invention.
Fig. 8 is an interface diagram of the data three-dimensional model display of the present invention.
Fig. 9 is an interface diagram of the serial port of the present invention.
Fig. 10 is an interface diagram of the baud rate of the present invention.
Fig. 11 is a graph of data plotted in Matlab of the present invention.
Fig. 12 is a schematic diagram of the operation of the inventive heading angular rate gyroscope.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 12 of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived from the description of the embodiments of the present invention by a person skilled in the art, are within the scope of the present invention.
Example 1
Referring to fig. 1-5, this embodiment provides an angular rate gyroscope principle demonstration platform, including demonstration platform 15, setting up support 4 on the demonstration platform 15, and set up damper, gyroscope, signal sensor 2 and elastic element 3 on the support 4, the gyroscope includes frame 9 and sets up through the pivot gyro 1 inside the frame, the one end of frame 9 is connected with the damper, the other end of frame 9 with the one end of signal sensor 2 is connected, the other end of signal sensor 2 with the one end of elastic element 3 is connected, the other end of elastic element 3 with support 4 is connected.
The damper includes a magnetic damper 5 provided at an end of the bracket 4, and an air damper 7 provided between the magnetic damper 5 and a frame 9.
A brushless motor is arranged inside the gyroscope, and a shell is arranged on the outer surface of the brushless motor.
The shell is arc-shaped, and the rotating shaft is taken as a symmetrical center.
The elastic element 3 is a spring torsion bar.
Wherein, a panel is arranged on one side of the demonstration table 15, a system operation monitor 11, a power switch 10, a gyro rotation angular speed knob 12, a yaw angular speed knob 13, a signal output port 14 are arranged on the panel, and support legs are arranged on the lower part of the demonstration table 15, and the effect picture is shown in fig. 5. The support 4 comprises a cross rod 16 and a vertical rod 17 vertically connected with two ends of the cross rod 16, and a gasket is arranged below the cross rod 16 and is connected with the demonstration table panel through a bolt. Two vertical rods 17, one connected to the magnetic damper 5 and one connected to the elastic element 3. The cross bar 16 is provided with a support bar 6 for supporting the signal sensor 2. The number of the air dampers 7 is two, the upper parts of the air dampers are respectively connected with the second connecting rods 18 through the first connecting rods 20, the second connecting rods 18 are vertically arranged at two ends of the first connecting rods 20, and the lower parts of the air dampers 7 are connected with the base 19 through bolts. The first connecting rod 20 and the frame 9, and the frame 9 and the signal sensor 2 are connected through shafts. The base 19 is fixedly connected with the cross rod 16 through bolts. The gyroscope is a two-degree-of-freedom gyroscope. Because the gyroscope requires high-speed rotation and has certain inertia, a brushless motor is selected, and the rotating speed can reach as high as ten thousand revolutions. In order to make the motor similar to animation pictures in teaching and have certain inertia, an arc-shaped shell needs to be processed outside the motor, the shell needs to be symmetrical around the center of a rotating shaft, the gravity in each direction is balanced, otherwise, the motor can cause serious shaking after rotating at high speed. Through research, analysis and comparison, a lathe is adopted for rough machining, and the end faces of the brushless motor are finely machined on a milling machine in a state of being assembled and rotating with the brushless motor. The motor gyroscope processed in the way can be started and stopped stably, and has no shaking phenomenon even when the rotating speed is changed for ten thousand times.
The signal sensor 2 is required to be capable of detecting the angle change of the three-dimensional direction in the rotating process of the support 4 and the rotating process of the gyroscope 1 and the change of the angular rate, the size is small and exquisite due to the embedded installation, and the communication between the signal sensor and an upper computer is required to be in a wireless Bluetooth mode. The main index requirements are as follows:
(1) the dynamic angle measurement precision reaches 0.05 degree.
(2) The data output speed reaches 200 HZ.
(3) And a Kalman filtering attitude fusion algorithm is provided.
(4) The output content may be customized.
(5) And TTL serial port communication is supported.
(6) Compatible with STM32,51 and arduino … …
(7) Size: 12.7*22.7*2.
(8) Power supply: 3.3V-5V.
Example 2
Referring to fig. 6 to 8, the present embodiment provides an angular rate gyroscope principle demonstration table, which is an improvement on the basis of embodiment 1: the software system of the demonstration table comprises a signal acquisition module and a data processing module connected with the signal acquisition module, wherein the signal acquisition module comprises a gyroscope, a signal conditioner connected with the gyroscope and an analog-to-digital converter connected with the signal conditioner; the data processing module comprises a single chip microcomputer connected with the data conversion, the single chip microcomputer is connected with a power supply, the single chip microcomputer is in signal interconnection with a data transmission module communication circuit, and the data transmission module communication circuit is in signal interconnection with an upper computer, and the data processing module is shown in figure 6. The upper computer software is installed on the tablet personal computer and is communicated with the sensor through the built-in Bluetooth, and the posture change of the gyroscope is fed back in real time. The software interface display mode is divided into three forms: a, displaying data: and displaying the three-axis angle and the angular speed variation in real time. The b curve shows: the angle and angular speed change curve of the gyroscope can be refreshed in time, and the graph is shown in figure 7. c, displaying the three-dimensional model: the change of the three-dimensional parameters of the gyroscope in the rotation process is visually reflected by the airplane model, and the method is shown in figure 8.
Example 3
Referring to fig. 9 to 12, the present embodiment provides a demonstration method using the angular rate gyro principle demonstration table of embodiment 1 or 2, including the steps of:
s1: installing upper computer software on a tablet personal computer, communicating with a signal sensor through built-in Bluetooth, and feeding back the attitude change of a gyroscope in real time;
s2: selecting a serial port, and clicking a baud rate menu if the baud rate needs to be configured;
s3: the operating mode of the point mode menu setting module is selected, a serial port mode or a Bluetooth mode is selected, data is stored in the upper computer, and point data is stored;
s4: and importing the data into Excel or Matlab for analysis, operating a Matlab drawing.m file under an upper computer root directory in a Matlab environment, and drawing a data curve graph.
Data can be seen by selecting the correct serial port, see fig. 9; the baud rate menu is shown in fig. 10, and the Matlab plots the data in fig. 11.
The measurement result display aspect has the following advantages:
(1) the change condition of each component and the motion process of the whole system during the measurement of the angular velocity can be observed in a close range according to the actual change condition of each component of the test bed;
(2) the change of three-dimensional parameters of the gyroscope in the rotation process can be reflected in software through a three-dimensional airplane model, so that remote visual observation is realized;
(3) the angle and angular speed variation of three axes can be observed in real time in software through specific data reading, so that accurate observation is realized;
(4) the angular speed change curve of the gyroscope can be refreshed in time in software through a curve graph, and the observation of the whole process is realized;
(5) the related measurement data can be stored and output in software, retention of demonstration data is achieved, and the derived data can be simulated in Matlab and other environments.
(6) The actual measured angular velocity values may be displayed on the control panel.
(7) The actual measured angular velocity electrical signal can be output through the signal output terminal on the control panel, engineering measurement (such as measurement using a universal meter) is convenient to realize, or other loads are driven to work (with subsequent space expansion capability).
Example 4
Referring to fig. 12, in the present embodiment, a heading angular rate gyroscope is taken as an example, the operating principle of the gyroscope is analyzed, the release direction indicated by an arrow is the flight direction, the rotation angular rate of the heading angular rate gyroscope is Ω, when the airplane flies linearly under the control of the autopilot, the inner frame of the two-degree-of-freedom gyroscope is in a horizontal position, the rotation axis is perpendicular to the vertical axis (measuring axis) and the output axis, and the rotation angle β of the inner frame is equal to zero.
When the aircraft generates a left yaw rate omegayWhen the gyroscope is used, the gyroscope moment can appear along the direction of the inner frame shaft, and the magnitude is MTopUnder the action of gyro moment, the rotation shaft and inner frame of gyroscope rotate together around the inner frame shaft in anticlockwise direction, and the front end of the inner frame shaft is fixedly connected with shell by means of elastic torsion bar, so that when the inner frame is rotated, the torsion bar is deformed by torsion force to produce elastic moment whose magnitude is M and is proportional to rotation angle β of inner frameBullet＝Krβ(KrThe elastic coefficient of the elastic torsion bar) the direction of the elastic moment is opposite to the direction of the gyro moment.
When the two moments are balanced (i.e. M)Top＝MBullet) The inner frame stops rotating, and the angle of rotation of the inner frame relative to the initial position is β ═ I Ω/Kr)ωyThe magnitude of the yaw rate of the aircraft can be represented.
Left yaw rate omega generated by an aircraftyWhen the moment of the gyroscope is increased, the moment of the gyroscope of the angular rate is increased, so that the temporary balance of the two moments is broken, the corner β of the inner frame is increased, the torsion and the deformation of the elastic torsion bar are increased, the elastic moment is increased, and the rotation of the inner frame shaft is stopped until the two moments are rebalanced.
Left yaw rate omega generated by an aircraftyWhen the angular rate gyroscope is reduced, the gyroscopic moment of the angular rate gyroscope is reduced, the inner frame returns to the original initial position under the action of the elastic moment, the β angle is reduced, and when the yaw angular rate omega of the airplane is reducedyWhen the moment of the gyroscope is equal to zero, the moment of the gyroscope disappears, the inner frame restores to the initial position, namely the rotating shaft is perpendicular to the measuring and output shaft, and the elastic moment disappears.
The signal output part of the angular rate gyroscope is a signal converter, which consists of a rotor and a stator. The rotor of the signal converter is fixed on the elastic torsion bar shaft, and the rotating angle of the signal converter is the rotating angle of the inner frame shaft. The stator is fixed on the shell. The stator magnetic poles are wound with excitation windings and output windings.
When the yaw rate of the airplane is zero, the gyro inner frame angle β of the angular rate gyroscope is also zero, and the total output of the signal converter is zero.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. An angular rate gyroscope principle demonstration platform which is characterized in that: including demonstration platform, setting be in support on the demonstration platform, and set up attenuator, gyroscope, signal sensor and elastic element on the support, the gyroscope includes the frame and sets up through the pivot the inside top of frame, the one end of frame is connected with the attenuator, the other end of frame with signal sensor's one end is connected, signal sensor's the other end with elastic element's one end is connected, elastic element's the other end with the support is connected.
2. An angular rate gyroscope principle demonstration table as claimed in claim 1 wherein: the damper includes a magnetic damper disposed at an end of the bracket, and an air damper disposed between the magnetic damper and the frame.
3. An angular rate gyroscope principle demonstration table as claimed in claim 2 wherein: a brushless motor is arranged inside the gyroscope, and a shell is arranged on the outer surface of the brushless motor.
4. An angular rate gyroscope principle demonstration table as claimed in claim 3 wherein: the shell is arc-shaped, and the rotating shaft is taken as a symmetrical center.
5. An angular rate gyroscope principle demonstration table as claimed in claim 4 wherein: the elastic element is a spring torsion bar.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223593A (en) * | 2019-07-12 | 2019-09-10 | 中国人民解放军空军工程大学航空机务士官学校 | A kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method |
| CN111879320A (en) * | 2020-07-30 | 2020-11-03 | 湖南智航联测科技有限公司 | Teaching-oriented composite inertial system |
| CN112947536A (en) * | 2021-04-25 | 2021-06-11 | 中国人民解放军空军工程大学航空机务士官学校 | Control method of typical flight mode teaching demonstration device of fixed-wing aircraft |
| CN113012541A (en) * | 2021-03-01 | 2021-06-22 | 李能琴 | Visual teaching aid for classroom teaching |
-
2019
- 2019-07-12 CN CN201921091426.7U patent/CN210223293U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223593A (en) * | 2019-07-12 | 2019-09-10 | 中国人民解放军空军工程大学航空机务士官学校 | A kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method |
| CN111879320A (en) * | 2020-07-30 | 2020-11-03 | 湖南智航联测科技有限公司 | Teaching-oriented composite inertial system |
| CN113012541A (en) * | 2021-03-01 | 2021-06-22 | 李能琴 | Visual teaching aid for classroom teaching |
| CN112947536A (en) * | 2021-04-25 | 2021-06-11 | 中国人民解放军空军工程大学航空机务士官学校 | Control method of typical flight mode teaching demonstration device of fixed-wing aircraft |
| CN112947536B (en) * | 2021-04-25 | 2022-10-28 | 中国人民解放军空军工程大学航空机务士官学校 | Control method of typical flight mode teaching demonstration device of fixed-wing aircraft |
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