KR100955601B1 - Angular velocity measurement device using displacement sensor and exciter - Google Patents

Angular velocity measurement device using displacement sensor and exciter Download PDF

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KR100955601B1
KR100955601B1 KR1020080069290A KR20080069290A KR100955601B1 KR 100955601 B1 KR100955601 B1 KR 100955601B1 KR 1020080069290 A KR1020080069290 A KR 1020080069290A KR 20080069290 A KR20080069290 A KR 20080069290A KR 100955601 B1 KR100955601 B1 KR 100955601B1
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exciter
angular velocity
displacement sensor
bed
measuring device
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KR20100008698A (en
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전동익
박종승
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인텔레인(주)
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/486—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by photo-electric detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
    • G01P3/465—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage by using dynamo-electro tachometers or electric generator

Abstract

본 발명은 변위센서와 가진기를 이용한 각속도 측정장치에 관한 것으로, 자이로의 각속도에 대한 데이터를 보정하기 위해서 레이저를 이용한 변위센서와 가진기를 이용하여 각속도 측정값을 보정할 수 있도록 한 측정장치에 관한 것이다.The present invention relates to an angular velocity measuring device using a displacement sensor and an exciter, and a measuring device capable of correcting an angular velocity measured value using a displacement sensor and an exciter using a laser to correct data on an angular velocity of a gyro. .

본 발명은 배드의 상단에 설치되는 가진기와; 상기 가진기와 이격되게 컬럼이 형성되고, 상기 컬럼의 상단에 가진기의 상단으로 조사되는 레이저센서와; 상기 배드와 이격된 시험배드의 상단에 힌지결합하고, 상단에 자이로가 올려지며, 일측단은 가진기의 가진기암에 힌지결합하는 측정배드로 구성된다. The present invention is an excitation device installed on the top of the bed; A laser sensor spaced apart from the exciter, the laser sensor being irradiated to an upper end of the exciter at the top of the column; Hinge coupled to the top of the test bed spaced apart from the bad, the gyro is mounted on the top, one end is composed of a measuring bed hinged to the excitation arm of the exciter.

본 발명에 의한 변위센서와 가진기를 이용한 각속도 측정장치에 의하면 저렴한 비용으로 장치를 구성할 수 있고, 레이저센서를 활용하므로 임의로 제공하는 각속도의 크기를 정확하게 계산할 수 있으며, 측정 및 보정방법이 간단한 효과가 발생한다.According to the angular velocity measuring device using the displacement sensor and the exciter according to the present invention, the device can be configured at low cost, and since the laser sensor is used, the magnitude of the angular velocity arbitrarily provided can be accurately calculated, and the measuring and correction method has a simple effect. Occurs.

변위센서, 가진기, 배드, 힌지, 보정, 레이저, 변위센서. Displacement sensor, exciter, bad, hinge, calibration, laser, displacement sensor.

Description

변위센서와 가진기를 이용한 각속도 측정장치{ANGULAR VELOCITY MEASUREMENT DEVICE USING DISPLACEMENT SENSOR AND EXCITER}Angular velocity measuring device using displacement sensor and exciter {ANGULAR VELOCITY MEASUREMENT DEVICE USING DISPLACEMENT SENSOR AND EXCITER}

본 발명은 변위센서와 가진기를 이용한 각속도 측정장치에 관한 것으로, 자이로의 각속도에 대한 데이터를 보정하기 위해서 레이저를 이용한 변위센서와 가진기를 이용하여 각속도 측정값을 보정할 수 있도록 한 측정장치에 관한 것이다. The present invention relates to an angular velocity measuring device using a displacement sensor and an exciter, and a measuring device capable of correcting an angular velocity measured value using a displacement sensor and an exciter using a laser to correct data on an angular velocity of a gyro. .

자이로스코프(gyroscope, 이하, 자이로라 합니다) 란, 관성계에 작용하는 각속도를 감지하는 장치로, 상기 각속도를 측정하여 물체의 자세교정에 사용된다. A gyroscope (hereinafter, referred to as a gyro) is a device that detects an angular velocity acting on an inertial system, and is used to correct an attitude of an object by measuring the angular velocity.

종래의 자이로는 계속적인 사용이나, 생산된 후에는 중력에 의해서 편류오차가 발생하는데, 이러한 편류오차는 자이로에 일정한 각속도를 부여한 후에 해당 각속도에 대응하여 출력되는 값을 비교하여 자이로의 데이터를 보정하게 된다. Conventional gyros are continuously used, but after they are produced, drift errors occur due to gravity. These drift errors are given to the gyro to correct the gyro data by comparing the output values corresponding to the angular velocities. do.

상기와 같이 자이로의 보정을 위해서 사용되는 측정장치는 보통 레이트테이블(rate table)을 이용한다. As described above, a measuring device used for gyro correction generally uses a rate table.

종래의 자이로의 데이터 보정에 필요한 각속도 측정장치와 보정방법에 관하여는 대한민국 특허청 등록특허공보 제206170호, 제0340609호 등에 개시된 바 있다.Conventional angular velocity measuring device and correction method for gyro data correction has been disclosed in the Republic of Korea Patent Publication No. 206170, 0340609 and the like.

그러나, 종래의 각속도 측정장치는 다음과 같은 문제점이 있었다. However, the conventional angular velocity measuring device has the following problems.

(1) 사용되는 측정장치가 매우 고가이다. (1) The measuring device used is very expensive.

(2) 임의로 제공하는 각속도의 크기를 정확하게 측정하지 못한다. (2) The magnitude of angular velocity provided arbitrarily cannot be measured accurately.

(3) 측정 및 보정방법이 복잡하다. (3) The measurement and calibration method is complicated.

상기한 문제점을 해결하기 위해서 본 발명은 배드의 상단에 설치되는 가진기와;In order to solve the above problems, the present invention provides an excitation unit installed on the top of the bad;

상기 가진기와 이격되게 컬럼이 형성되고, 상기 컬럼의 상단에 가진기의 상단으로 조사되는 레이저센서와;A laser sensor spaced apart from the exciter, the laser sensor being irradiated to an upper end of the exciter at the top of the column;

상기 배드와 이격된 시험배드의 상단에 힌지결합하고, 상단에 자이로가 올려지며, 일측단은 가진기의 가진기암에 힌지결합하는 측정배드로 구성되는 것을 특징으로 한다. Hinge coupled to the top of the test bed spaced apart from the bad, the gyro is mounted on the top, one end is characterized in that consisting of a measuring bed hinged to the excitation arm of the exciter.

본 발명에 의한 변위센서와 가진기를 이용한 각속도 측정장치에 의하면 다음과 같은 효과가 발생한다. According to the angular velocity measuring device using the displacement sensor and the exciter according to the present invention the following effects occur.

(1) 저렴한 비용으로 장치를 구성할 수 있다. (1) The device can be configured at low cost.

(2) 레이저센서를 활용하므로 임의로 제공하는 각속도의 크기를 정확하게 계산할 수 있다.(2) Since the laser sensor is used, the magnitude of the angular velocity arbitrarily provided can be calculated accurately.

(3) 측정 및 보정방법이 간단하다. (3) The measurement and calibration method is simple.

본 발명은 배드(100)의 상단에 설치되는 가진기(110)와; The present invention and the exciter 110 is installed on the top of the bed (100);

상기 가진기(110)와 이격되게 컬럼(120)이 형성되고, 상기 컬럼(120)의 상단에 가진기(110)의 상단으로 조사되는 레이저센서(122)와; A column 120 is formed to be spaced apart from the exciter 110, and a laser sensor 122 irradiated to an upper end of the exciter 110 at an upper end of the column 120;

상기 배드(100)와 이격된 시험배드(200)의 상단에 힌지결합하고, 상단에 자이로(400)가 올려지며, 일측단은 가진기(110)의 가진기암(112)에 힌지결합하는 측정배드(300)로 구성된다.Hinge coupled to the top of the test bed 200 spaced apart from the bed 100, the gyro 400 is mounted on the top, one side is a measuring bad hinge hinged to the excitation arm 112 of the exciter 110 It consists of 300.

상기 배드(100) 수평이 정확하게 측정된 바닥면에 튼튼하게 고정되고, 가진기(exciter, 110)가 올려진다.The bed 100 is firmly fixed to the bottom surface of which the horizontal is accurately measured, and the exciter 110 is raised.

상기 가진기(110)는 일반적으로 인가되는 주파수에 의해서 진동을 발생시키는 전자식 가진기 등으로 형성된다. The exciter 110 is generally formed of an electronic vibrator or the like that generates vibration by a frequency applied thereto.

상기 가진기(110)의 상단에는 가진기(110)의 작동으로 상하운동 할 수 있는 가진기암(112)이 형성되고, 상기 가진기암(112)의 끝단에는 측정배드(300)의 끝단이 힌지결합된다.The upper end of the exciter 110 is formed with an excitation arm 112 that can be moved up and down by the operation of the exciter 110, the end of the measuring arm 300 is hinged to the end of the excitation arm 112 do.

상기 컬럼(120)의 상단에 형성되는 레이저센서(122)는 레이저가 방사되고 반사되어 돌아오는 시간을 측정하여 정확한 거리를 측정하는 일반적인 장치이다. The laser sensor 122 formed on the top of the column 120 is a general device for measuring an accurate distance by measuring the time when the laser is emitted and reflected back.

상기 레이저센서(122)는 가진기(110)의 상단에 형성되어, 가진기(110)가 진동하는 거리를 측정하게 된다.The laser sensor 122 is formed on the upper end of the exciter 110, to measure the distance the vibrator 110 vibrates.

상기 측정배드(300)는 자이로(400)가 가운데 올려지고, 하단 정중앙에는 시 험배드(200)와 힌지결합한다.The measuring bed 300 is a gyro 400 is raised in the middle, the bottom of the center is hinged to the test bed 200.

상기 시험배드(200)는 첨단부를 가진 원뿔 혹은 다각형뿔로 형성될 수 있다. The test bed 200 may be formed of a cone or polygonal pyramid having a tip.

상기 측정배드(300)의 일측단은 가진기(110)의 가진기암(112)의 끝단에 힌지결합한다. One end of the measuring bed 300 is hinged to the end of the excitation arm 112 of the exciter (110).

이하, 본 발명의 바람직한 실시예로 형성된 변위센서와 가진기를 이용한 각속도 측정장치를 이용하여 자이로의 데이터 보정방법을 설명하면 다음과 같다. Hereinafter, a data correction method of a gyro using an angular velocity measuring device using a displacement sensor and an exciter formed as a preferred embodiment of the present invention will be described.

배드(100)의 상단에 가진기(110)를 설치하고, 상기 가진기(110)의 상단에 형성된 가진기암(112)을 측정배드(300)의 일단과 힌지결합한다. Installing the exciter 110 on the top of the bed 100, the hinge arm 112 formed on the top of the exciter 110 is hinged to one end of the measuring bed 300.

자이로(400)는 측정배드(300)의 중앙에 올려놓고, 측정배드(300)는 시험배드(200)의 중앙에 힌지결합된다. The gyro 400 is placed in the center of the measuring bed 300, the measuring bed 300 is hinged to the center of the test bed 200.

상기 측정배드(300)는 가진기(110)가 작동됨으로서 힌지를 중심으로 회전하도록 형성된다. The measuring bed 300 is formed to rotate about the hinge by the exciter 110 is operated.

상기 레이저센서(122)는 가진기(110)의 최상단과의 거리를 0로 설정하고, 준비한다. The laser sensor 122 sets the distance from the uppermost end of the exciter 110 to 0 and prepares it.

상기와 같이 설치된 장치에 자이로(400)를 올려놓고, 작동시킨 후에 가진기(110)를 작동시켜 임의로 각속도를 부여한다.The gyro 400 is placed on the installed device as described above, and after operation, the stimulator 110 is operated to impart an angular velocity arbitrarily.

이때, 최초에 자이로(400)가 수평을 유지하도록 하는 것이 중요하다. At this time, it is important to first keep the gyro 400 horizontal.

도 1에서와 같이 가진기(110)에 의해서 임의로 주어지는 각속도는 계산될 수 있는데, 각속도의 산출은 수식, 즉, As shown in FIG. 1, the angular velocity arbitrarily given by the exciter 110 may be calculated.

θ= D / L                              θ = D / L

에 의해서 쉽게 계산될 수 있다.Can be easily calculated by

상기와 같이 임의로 주어진 각속도와 자이로(400)에서 출력되는 데이터 값을 보상하여 자이로(400)를 오차를 수정하게 된다. As described above, the gyro 400 is corrected to an error by compensating a data value output from the gyro 400 with a given angular velocity.

본 발명은 첨부된 도면을 참조하여 바람직한 실시예를 중심으로 기술되었지만 당업자라면 이러한 기재로부터 후술하는 특허청구범위에 의해 포괄되는 본 발명의 범주를 벗어남이 없이 다양한 변형이 가능하다는 것은 명백하다.Although the present invention has been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that various modifications may be made therein without departing from the scope of the invention, which is covered by the following claims.

도 1은 본 발명의 바람직한 실시예로 형성된 변위센서와 가진기를 이용한 각속도 측정장치의 개념도. 1 is a conceptual diagram of an angular velocity measuring device using a displacement sensor and an exciter formed in a preferred embodiment of the present invention.

Claims (3)

배드(100)의 상단에 설치되는 가진기(110)와; 상기 가진기(110)와 이격되게 컬럼(120)이 형성되고, 상기 컬럼(120)의 상단에 가진기(110)의 상단으로 조사되는 레이저센서(122)와; 상기 배드(100)와 이격된 시험배드(200)의 상단에 힌지결합하고, 상단에 자이로(400)가 올려지며, 일측단은 가진기(110)의 가진기암(112)에 힌지결합하는 측정배드(300)로 구성되는 것을 특징으로 하는 변위센서와 가진기를 이용한 각속도 측정장치.An exciter 110 installed at an upper end of the bed 100; A column 120 is formed to be spaced apart from the exciter 110, and a laser sensor 122 irradiated to an upper end of the exciter 110 at an upper end of the column 120; Hinge coupled to the top of the test bed 200 spaced apart from the bed 100, the gyro 400 is mounted on the top, one side is a measuring bad hinge hinged to the excitation arm 112 of the exciter 110 An angular velocity measuring device using a displacement sensor and an exciter, characterized in that consisting of (300). 제 1항에 있어서, The method of claim 1, 상기 가진기(110)는 전자식 가진기인 것을 특징으로 하는 변위센서와 가진기를 이용한 각속도 측정장치.The exciter 110 is an angular velocity measuring device using a displacement sensor and the exciter, characterized in that the electronic excitation. 제 1항에 있어서, The method of claim 1, 상기 시험배드(200)는 첨단부를 가진 원뿔 혹은 다각형뿔로 형성된 것을 특징으로 하는 변위센서와 가진기를 이용한 각속도 측정장치. The test bed 200 is an angular velocity measuring device using a displacement sensor and the exciter, characterized in that formed by a cone or polygonal pyramid with a tip.
KR1020080069290A 2008-07-16 2008-07-16 Angular velocity measurement device using displacement sensor and exciter KR100955601B1 (en)

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KR101314151B1 (en) * 2011-09-16 2013-10-04 한국표준과학연구원 Calibration Method for 6-Axis Vibration Sensors using Periodic Angular Vibration and Its Realization System

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JPH01109214A (en) * 1987-10-22 1989-04-26 Brother Ind Ltd Rotary encoder
KR930006703A (en) * 1991-09-27 1993-04-21 오오가 노리오 Disc record reproducing apparatus and discs thereof
KR20080004879A (en) * 2006-07-07 2008-01-10 주식회사 포스코 Industrial laser speed measurement method

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Publication number Priority date Publication date Assignee Title
JPH01109214A (en) * 1987-10-22 1989-04-26 Brother Ind Ltd Rotary encoder
KR930006703A (en) * 1991-09-27 1993-04-21 오오가 노리오 Disc record reproducing apparatus and discs thereof
KR20080004879A (en) * 2006-07-07 2008-01-10 주식회사 포스코 Industrial laser speed measurement method

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