JP4524157B2 - Angular velocity detector - Google Patents

Description

  The present invention relates to an improvement of an angular velocity detection device, and when detecting an angular velocity Ω with respect to inertial space, an angular velocity detector (Lo accuracy sensor) having a large detection range but low accuracy and a small detection range but high accuracy angular velocity detection. The present invention relates to an angular velocity detection device that has a high detection performance while having a large detection range and can be integrated with a hybrid configuration of a Hi-Lo accuracy sensor using a servo table in combination with a detector (Hi accuracy sensor). .

  Conventionally, an angular velocity detector with an integrated structure having a large detection range and high accuracy is ideal, and a ring laser gyro, an optical fiber gyro (FOG), or the like has been used, but it is very expensive. The characteristics of large mass and large dimensions are unavoidable, and these characteristics have been applied to acceptable objects.

On the other hand, the gyro based on the MEMS (Micro Electrical Mechanical System) technique, which has recently reached the stage of practical use, was devised as a new angular velocity detector that solves the above-mentioned high price, large mass, and large dimensions. The applied manufacturing method enables mass production and realizes it, but the biggest problem is to ensure the accuracy comparable to the ring laser gyro and optical fiber gyro (FOG).
6-30714 JP-A-9-126782 JP 2001-89072 A

  The MEMS gyro has had a problem of ensuring high accuracy performance. That is, the accuracy (150 deg / h) of the rate gyro and DTG (Dry Tuned GYRO), which are mechanical gyros, is reached, and lower prices, smaller masses and smaller dimensions are being achieved compared to the rate gyro and DTG. However, there is a problem in the construction method and manufacturing method of a high-precision MEMS gyro that can measure the earth rotation angular velocity (about 15 ° / h).

  The present invention uses a MEMS gyro equivalent to a rate gyro or DTG, has an accuracy capable of measuring the earth rotation angular velocity (about 15 ° / h), and has a low price, a small mass, and a characteristic of the MEMS gyro. An object of the present invention is to provide an angular velocity detection device capable of obtaining a configuration with small dimensions.

  Conventionally, attempts have been made to ensure high accuracy, low price, small mass, and small dimensional characteristics with a single MEMS gyro. On the other hand, the inventors have proposed a manufacturing method in which the MEMS gyro is applied to a semiconductor manufacturing method. Since mass production has already been carried out, it is technically and cost-effective to use a plurality of them in combination, and an angular velocity detection unit of a mechanical element that detects the angular velocity of the angular velocity detector is provided. Focusing on the fact that it is possible to improve the detection accuracy by improving the sensitivity of the angular velocity signal processing unit that performs the same electrical processing on the output, and as a result of various studies on the configuration using a plurality of MEMS gyros, By mounting an angular velocity detector with a large detection range but low accuracy and an angular velocity detector with a small detection range but high accuracy on a servo table that performs rotational motion, In was found that small angular velocity detection device can be obtained, and have completed the present invention.

  That is, the present invention provides an angular velocity detector A having a large detection range but a low accuracy and an angular velocity detector B having a small detection range but a high accuracy on a servo table that performs a rotational motion around a rotation axis parallel to the input angular velocity Ω. Are mounted at the same time, and have a servo control circuit that controls the servo table with the rotation side as the servo table and the fixed side as the drive base. The angular velocity Ω detection range is the characteristic value and angular velocity of the angular velocity detector A having a large detection range. The detection accuracy of Ω is an angular velocity detection device that can be set to a characteristic value of the angular velocity detector B having high accuracy performance.

  The feature of the angular velocity detection device according to the present invention is that the application method of the output of the large detection range angular velocity detector A and the output of the high-precision angular velocity detector B is switching use. First, the reference value for switching is set in advance. When the output of the large detection range angular velocity detector is larger than the reference value, the output of the large detection range angular velocity detector is input to the servo control circuit, and the high accuracy angular velocity detector When the output is smaller than the set reference value, a detector switching circuit for switching each output is provided so that the output of the high-precision angular velocity detector is input to the servo control circuit as it is.

  Furthermore, the present invention provides a deviation generating element for the above-described apparatus component, in which the rotational angular velocity ω of the servo table is controlled and the large detection range angular velocity detector A or the high-precision angular velocity detector B that is switched by the detector switching circuit. When the servo control circuit is regarded as a control element and the output is ΩCOM to form a negative feedback control system, a rotary motion ω of the same magnitude in the direction opposite to Ω is generated in the servo table by the action of the control function. The servo control circuit output ΩCOM becomes the angular velocity output to be finally detected.

The present invention has a structure in which a servo table on which a large detection range angular velocity detector and a high-precision angular velocity detector are simultaneously mounted, a drive base, and a component obtained by adding a detector switching circuit to a servo control circuit are integrated.

In addition, the present invention has a structure in which the angular velocity detection unit that detects the angular velocity of the large detection range angular velocity detector and the high-precision angular velocity detector and the angular velocity signal processing unit that performs electrical processing on the output of the detection unit can be separated. case, has an integrated structure to reduce the load on the servo table by sharing detection unit in one.

  Further, the present invention switches only the portion related to the sensitivity of the large detection range angular velocity detector and the high-precision angular velocity detector while the signal processing circuit itself of the angular velocity signal processing section is only one set, and other electrical circuits. A configuration is proposed in which the detector switching circuit is omitted by changing the processing.

  According to the present invention, the configuration in which the low-precision wide-range detection type and the high-precision narrow-range detection type MEMS gyro are mounted on the same servo table on the movable side provides high-precision detection performance while having a large detection range. The MEMS gyro can be easily integrated with a servo table, and can provide an angular velocity detection device that can be reduced in size and weight.

  In addition, according to the present invention, the high-precision / low-accuracy sensor hybrid configuration using the servo table allows the low-accuracy sensor to feed back into the usable range of the high-accuracy sensor. An accuracy capable of measuring the angular velocity (about 15 ° / h) is obtained.

  Hereinafter, preferred embodiments of an angular velocity detector according to the present invention will be described with reference to the drawings. 1 to 4 are diagrams showing a basic configuration in the present invention, and FIGS. 5 and 6 are diagrams showing a derivative form thereof. Describe in the following order.

  FIG. 1 shows the configuration of an angular velocity detection device according to the present invention. The upper side of FIG. 1 is a plan view, and the lower side of FIG. 1 is a front sectional view. As shown in the plan view, the angular velocity detector (1) having a large detection range but a low accuracy and the angular velocity detector (2) having a small detection range and a high accuracy have the rotation axis of the same servo table (3) as the input shaft. It is mounted on the servo table (3).

  On the other hand, as shown in the front sectional view, the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2) are fixed to the servo table (3). Here, the wide angle angular velocity detector (1) and the high-precision angular velocity detector (2) are displayed in parallel. As another configuration, both angular velocity detectors (1) and (2) are superposed, that is, a configuration in which a high-precision angular velocity detector (2) is installed on a large detection range angular velocity detector (1), or The reverse configuration is also possible.

  That is, the requirement described in FIG. 1 is a configuration in which the servo table (3) is on the rotation side and the drive base (4) is on the fixed side with respect to the inertial space, and the angular velocity detector (1) and the angular velocity detection are on the rotation side. Both of the devices (2) are mounted with the input shaft parallel to the rotation shaft.

  Therefore, when the servo base (3) does not rotate when the drive base (4) rotates at the angular velocity Ω, the angular velocity Ω can be detected by the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2). When the output is within the range, if the output of the high-precision angular velocity detector (2) is employed, the detection can be performed with high precision. However, when the angular velocity Ω is larger than the detectable range of the high-accuracy angular velocity detector (2), detection is performed by the angular velocity detector (1), and the detection accuracy is lowered.

  Therefore, in order to ensure accuracy when the angular velocity Ω is large, the angular velocity Ω may be set within the detection range of the high-precision angular velocity detector (2). That is, if the servo table (3) is rotated by the same amount in the opposite direction to the angular velocity Ω around the rotation axis parallel to the angular velocity Ω, the angular velocity with respect to the inertial space detected on the servo table (3) becomes small. The size is detectable by the precision angular velocity detector (2).

  FIG. 1 shows a situation where the installation positions of the servo control circuit (5) and the detector switching circuit (6) are fixed to the lower part of the drive base (4), but there is a problem even on the servo table (3). Absent.

  Further, FIG. 2A shows a light transmission element (22) in which a power transmission system in which the fixed side is the power supply side of the rotary transformer (31) and the rotary side is the power induction side of the rotary transformer (31) is also installed on the rotary side. 2 shows an optical transmission system of detected angular velocity data from a light source to a light receiving element (21) installed on the fixed side.

  Next, in FIG. 2B, a light emitting element (32) that supplies light on the fixed side, a photovoltaic element (33) on the rotating side, and a power transmission system that supplies power by photovoltaic power generation are installed on the rotating side. An optical transmission system of detected angular velocity data from the light emitting element (22) to the light receiving element (21) installed on the fixed side is shown.

  FIG. 3 shows a rotational angular velocity of the servo table (3) to be controlled, a wide-range angular velocity detector (1) or a high-precision angular velocity detector (2) switched by the detector switching circuit (6) as a deviation generating element, and Although a negative feedback control system using the servo control circuit (5) as a control element is shown, it is also a functional block diagram of the angular velocity detection device (10).

  The relational expression is as follows. Obviously, the input to this control system is the angular velocity Ω, so that the rotational angular velocity of the same magnitude can be generated in the servo table (3) in the opposite direction to the angular velocity Ω so that there is no practical problem.

ω = G · Ω Formula 1 G = H / (1 + H) Formula 2 where ω is the output angular velocity of the servo table (3), H is the loop-opening loop characteristic of the control system shown in FIG. Is a closed-loop characteristic.

  FIG. 4A is a diagram showing output characteristics of the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2) and a relationship between a switching reference value and a characteristic of the detector switching circuit (6). The horizontal axis represents the motion input to the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2), and the vertical axis represents the electrical output.

In FIG. 4B, the switching reference value .OMEGA.max is set as the maximum detection range value of the high-precision angular velocity detector (2), and the characteristics when the motion input is between .OMEGA.max and -.OMEGA.max are set as follows. .
Wide range angular velocity detector (1) Electrical output = Ω-ω + Δω 3 formulas High precision angular velocity detector (2) Electrical output = Ω-ω 4 formulas

  The electrical output of the high-precision angular velocity detector (2) is Ω-ω, that is, it can be detected with zero error. This indicates that there is an error of Δω with respect to the electrical output of the high-precision angular velocity detector (2).

The characteristics of the detector switching circuit (6) are as follows.
When Ω−ω + Δω> Ωmax, ω = Ω−ω + Δω 5 formulas,
Application of wide range angular velocity detector (1);
When Ω−ω + Δω ≦ Ωmax, ω = Ω−ω 6 formulas,
Application of high-precision angular velocity detector (2).

That is, when considering the case of Ω−ω = 0 (zero) in Equation 6,
Δω ≦ Ωmax As is clear from Equation 7, if at least Ωmax is set larger than Δω and the control system of FIG. 3 is configured, the angular velocity Ω can be detected with the accuracy of the high-precision angular velocity detector (2). Is possible.

  Further, it is necessary to set Ωmax in consideration of the time characteristic of G in the equation (1). That is, in the case of G-1, a difference amount between the true value and the actual value is generated, so that it is necessary to set Ωmax in consideration thereof.

  FIG. 4B also shows detector switching when the detector is switched from the wide-range angular velocity detector (1) to the high-precision angular velocity detector (2) or from the high-precision angular velocity detector (2) to the wide-range angular velocity detector (1). An example of a circuit for avoiding a hunting phenomenon when the circuit (6) characteristic is realized is shown. The horizontal axis represents the electrical output of the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2), and the vertical axis represents the selection output of the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2).

  By introducing a relay characteristic having a width of ΔΩ centered on the value of Ωmax or −Ωmax, it is possible to avoid a hunting phenomenon when the detector is switched. Considering the switching at the Ωmax point, when the electrical output of the wide-range angular velocity detector (1) decreases from a value larger than Ωmax, the electrical output of the wide-range angular velocity detector (1) becomes smaller than Ωmax. Select the electrical output of the wide-range angular velocity detector (1) and switch to the high-precision angular velocity detector (2) only after Ωmax-ΔΩ, and conversely the electrical output of the high-precision angular velocity detector (2) is Ωmax Even when increasing from a smaller value, even if the electrical output of the high-precision angular velocity detector (2) is greater than Ωmax, the electrical output of the high-precision angular velocity detector (2) is selected and becomes Ωmax + ΔΩ for the first time. This is a switching characteristic of switching to the angular velocity detector (1). Obviously, the switching characteristics at the -Ωmax point are the same, and the description is omitted.

  FIG. 5 is an electrical diagram showing the output of the angular velocity detector (7) and the angular velocity detector (7) of mechanical elements that detect the angular velocity of the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2). It is a structural example in the case of the structure which can isolate | separate the angular velocity signal processing part (8) which processes. That is, an example of an integrated structure in which the load on the servo table (3) is reduced by sharing the angular velocity detector (7) of the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2). is there.

  FIG. 6 shows that the angular velocity signal processing unit (8) is incorporated in the wide-range angular velocity detector (1) and the high-precision angular velocity detector (2), and is input to the detector switching circuit (6). In the configuration example shown in FIG. 6A, the signal processing circuit itself of the angular velocity signal processing unit (8) is only one set, but only the portion related to the sensitivity of the angular velocity signal processing unit (8) is switched by other electrical processing. FIG. 6B shows an example of a simplified configuration in which the detector switching circuit (6) is omitted while being changed.

  Since the servo table (3) is on the rotating side and the drive base (4) is on the fixed side with respect to the inertial space, it is necessary to send power from the fixed side to the rotating side and detection data values from the rotating side to the fixed side. In the case of a contact-type slip ring, simultaneous transmission of power and detected data value can be easily realized.

  However, in the present invention, a non-contact type is proposed for both transmissions, and a rotary transformer and a photovoltaic system are used for the former, and an optical communication system is used for the latter. The photovoltaic system is a measure to reduce the weight of the rotary transformer.

In order to produce the angular velocity detection device having the configuration shown in FIGS. 1 and 3, a MEMS gyro having a maximum detection range of 200 deg / sec, an accuracy of 200 deg / h, and a frequency response of 10 Hz is used as a high-precision angular velocity detector. A MEMS gyro having a maximum detection range of 20 deg / sec, an accuracy of 15 deg / h, and a frequency response of 5 Hz was used.
Further, the servo table employs a mechanism equivalent to the configuration schematically shown in FIG. The sensitivity of the angular velocity signal processing unit was set as 100 Hz as a frequency response.

  The angular velocity detecting device having a hybrid configuration of the Hi-Lo accuracy sensor according to the present invention has an accuracy of 15 deg / h.

  The present invention uses a MEMS gyro that is already mass-produced and easily available, that is, a low-precision wide-range detection type and a high-precision narrow-range detection type MEMS gyro are mounted on the same servo table on the movable side. With this configuration, it is possible to provide an angular velocity detection device having an accurate performance capable of measuring the earth rotation angular velocity (about 15 ° / h) at a low cost.

It is explanatory drawing which shows the structure of the angular velocity detection apparatus by this invention, and is a top view and a longitudinal cross-sectional view. A and B are longitudinal cross-sectional explanatory views showing another configuration of the angular velocity detecting device according to the present invention. It is a functional block diagram of the angular velocity detection apparatus by this invention. A is an output characteristic diagram of two angular velocity detectors, and B is a detector switching circuit characteristic diagram. It is explanatory drawing which shows the structure of the angular velocity detection apparatus by this invention, and is a figure which shows the mounting form only of an angular velocity detection part. It is an abbreviated form figure of a detector switching circuit.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wide-range angular velocity detector 2 High precision angular velocity detector 3 Servo table 4 Drive base 5 Servo control circuit 6 Detector switching circuit 7 Angular velocity detection part 8 Angular velocity signal processing part 10 Angular velocity detection device 21, 32 Light emitting element 22 Light receiving element 31a, 31b Rotating transformer 33 Photovoltaic element

Claims (8)

An angular velocity detector A having a large detection range for detecting an angular velocity relative to the inertial space and a low accuracy, and an angular velocity detector B having a small detection range and a high accuracy on a servo table that performs a rotational motion around a rotation axis parallel to the angular velocity. The servo mounted with the angular velocity detector A and the angular velocity detector B having a servo control circuit for controlling the rotational drive of the servo table, with the rotation side serving as a servo table and the fixed side as a drive base. The table, the drive base, the servo control circuit, and the detector switching circuit are integrated, the angular velocity detection range is a characteristic value of the angular velocity detector A, and the angular velocity detection accuracy is the angular velocity detector. An angular velocity detector that is a characteristic value of B.   An angular velocity detector A having a large detection range for detecting an angular velocity relative to the inertial space and a low accuracy, and an angular velocity detector B having a small detection range and a high accuracy on a servo table that performs a rotational motion around a rotation axis parallel to the angular velocity. The angular velocity of the angular velocity detector A and the angular velocity detector B can be detected with a servo control circuit that controls the rotational driving of the servo table. The angular velocity detection unit of the mechanical element to be performed and the angular velocity signal processing unit that performs electrical processing on the output of the angular velocity detection unit can be separated, and the angular velocity detection unit of the angular velocity detector A and the angular velocity detector B can be separated by one. The angular velocity detection range is a characteristic value of the angular velocity detector A, and the angular velocity detection accuracy is the angular velocity. Angular velocity detector is a characteristic value of can B. The output of the angular velocity detector A and the output of the angular velocity detector B are input to the servo control circuit when the output of the angular velocity detector A is larger than a set reference value. The angular velocity detection device according to claim 1 or 2 , further comprising a detector switching circuit for switching the respective outputs so that the output of the angular velocity detector B is input to the servo control circuit when is smaller than a set reference value. A negative feedback control system having the rotational angular velocity of the servo table as a control target, the angular velocity detector A or the angular velocity detector B switched by the detector switching circuit as a deviation generation element, and the servo control circuit as a control element is configured. The angular velocity detection apparatus according to claim 1 , wherein the servo table generates a rotational motion having the same magnitude in a direction opposite to the angular velocity. Each of the angular velocity detector A and the angular velocity detector B includes the angular velocity signal processing unit, has the deviation generating element input to the detector switching circuit, and has a common signal processing circuit for the angular velocity signal processing unit. wherein a possible circuit changes by electrical processing associated circuitry to the sensitivity of the angular velocity signal processing unit, the detector switching circuit is omitted claim 1, the angular velocity detecting apparatus according to claim 3 or claim 4 Te. The angular velocity information output from the servo table is rotated side for inertial space into a fixed-side the drive base, the light emitting element to the rotating side, opposite placed in rotation around a light receiving element on the fixed side, a non-contact state by the optical communication 6. The angular velocity detection device according to claim 1, wherein The power supply to the servo table is rotated side for inertial space, the angular velocity detecting apparatus according to claim 6 wherein the drive base is stationary claim 1 carried out by rotary transformer in a non-contact state. The power supply to the servo table is rotated side for inertial space, a photovoltaic device is installed on the rotation side, by installing a light emitting element to the drive base is a fixed side, wherein performing a non-contact state by photovoltaic The angular velocity detection apparatus in any one of Claims 1-6 .

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