RU176676U1 - SINGLE-HYGROSOPLE THREE-COMPONENT MEASURER OF ANGLE OF TURNS OF THE OBJECT ON ELECTROSTATIC SUSPENSION - Google Patents

Abstract

The utility model relates to the field of instrumentation and can be used in orientation, navigation and control systems of such moving objects as a submarine, ship, plane, satellite, car and others, where information about the three angles of rotation of a moving object (PO) is required. The technical result is an extension of functionality. For this, a single-microscope three-angle meter for rotating a moving object on an electrostatic suspension contains a spherical rotor made of a material with high electrical conductivity and enclosed in a vacuum concentric spherical chamber, on the inner surface of which there are three pairs of power supporting electrodes, also made of a material with high electrical conductivity, electrically insulated from the inner surface of the camera, the same amount along the same axes of software located electrically insulated from measuring electrodes for acquiring information about rotor radial movements made of the same material as power electrodes, a two-phase asynchronous rotor drive motor with two windings and a phase-shifting capacitor, windings of two torque sensors whose moment axes are perpendicular to the gyroscope axis of rotation, two pairs of photoelectric sensors angles for collecting information about the two corners of a moving object using special drawings on the surface of the rotor, an electronic circuit for processing information about the angular the position of the rotor with the block of the initial exhibition, the block of electric power sources, the vacuum unit. In addition, a pair of photoelectric angle sensors along the third axis of the software is introduced into the device’s design, and two pairs of measuring segment electrodes are introduced along this axis, along all three axes of the software, pairs of measuring segment electrodes are made so that each of them is located on the sides of the power electrodes, in an electronic information processing circuit additionally introduced an information processing channel with a controller about the angular position of the moving object around the third axis of the software, a unit for excitation and synchronous translational control rotor vibrations along one of the equatorial and along the polar axes of the inner surface of the chamber, while each of the pairs of measuring electrodes located on the sides of the power electrodes is connected into six measuring chains consisting of a single high-frequency power supply source and two individual a pair of segmented measuring electrodes, inductance and a reference resistor for reading information about the radial movement of the gyro rotor. 5 ill.

Description

The utility model relates to the field of instrumentation and can be used in orientation, navigation and control systems of such moving objects as a submarine, ship, plane, satellite, car and others, where information about the three angles of rotation of a moving object (PO) is required. The feature of the device is that it is single-rotor. Unlike other devices, it additionally measures the angle of rotation of the software around the axis of its own rotation of the rotor, whereby the output gives information about the three angles of rotation of the software in inertial space.

Known micromechanical gyroscope accelerometer with electrostatic suspension of the rotor (Pat. RF №2158903, IPC G01C 19/24, G01P 15/14, 2000, authors Chebotarevsky Yu.V., Melnikov A.V., Plotnikov P.K.) comprising a statically and dynamically balanced rotor in the form of a circular plate with holes, having electrically conductive parts and surrounded by stators, which include the end, lower and upper planar suspension stators, as well as the lower and upper torque stators. At the same time, the suspension end stator consists of an even number of flat electrodes located in the equatorial plane of the rotor around the circumference and fixed in the side walls of the lower electrically insulating sleeve, mounted in the housing. The design also includes the lower and upper identical planar suspension stators, each made in the form of an even number of flat electrodes located around the circumference and fixed in the lower and upper electrically insulating bushings, the latter being fixed in the cover of the gyroscope-accelerometer, and each of two adjacent flat electrodes of any from the suspension stators, together with a high-frequency voltage source and a choke connected in series with them, they form a measuring chain. In addition, the lower and upper planar torque stators, fixed in the lower and upper electrically insulating sleeves, consisting of flat electrodes, are connected in three sections, so that each section includes electrodes located through two adjacent to the third, sections connected to three phases of the source alternating current, the device includes an information processing circuit containing measuring chains.

However, the micromechanical type gyroscope-accelerometer does not possess the property of measuring three angles of rotation of software in an inertial coordinate system and is highly accurate in contrast to the precision spherical gyroscope described below using an electrostatic suspension. It is the closest analogue of the proposed utility model (prototype). This is the gyroscope described in the works: 1. Zhuravlev V.F. // Izv-RAS. MTT., 2014, No. 1, p. 6-17; 2. Gorenstein I.A., Shulman I.A. Inertial navigation systems. M.: Mechanical Engineering, 1970.232 s.

The gyroscope on an electrostatic suspension has a spherical hollow (or solid) rotor made of a material with high electrical conductivity (for example, beryllium) enclosed in a vacuum chamber, three pairs of power electrodes of the electrostatic suspension, a two-phase asynchronous motor with a phase-shifting capacitor are designed to maintain it in suspension for rotor drive, damping windings, measuring electrodes used to measure radial rotor movements, windings of two torque sensors for correction and the angular position of the rotor around the axes OX and OY, primarily for the initial exhibition, and a pair of optical sensors for acquiring information at two angles using special drawings printed on the surface of the rotor.

The disadvantage of this device is the inability to measure the third angle of rotation of the moving object around the axis of its own rotation of the rotor. Therefore, to determine the three angles of full software orientation, an additional device is required.

The objective of this utility model is to eliminate the noted drawback.

The problem is solved due to the fact that in a single-gyrometer of three angles of rotation of a moving object on an electrostatic suspension, containing a spherical rotor made of a material with high electrical conductivity and enclosed in a vacuum concentric spherical chamber, on the inner surface of which there are three pairs of power supporting electrodes, made of a material with high electrical conductivity, electrically insulated from the inner surface of the chamber, the same amount along the same axes p of electrolyzed measuring electrodes for retrieving information about rotor radial movements made of the same material as power electrodes, a two-phase asynchronous rotor drive motor with two windings and a phase-shifting capacitor, windings of two torque sensors, the moment axis of which are perpendicular to the gyroscope’s axis of rotation, two pairs photoelectric angle sensors for collecting information about the two angles of a moving object using special drawings on the surface of the rotor, electronic with a circuit for processing information about the angular position of the rotor with an initial exhibition unit, an electric power supply unit, a vacuum unit, an additional pair of photoelectric angle sensors along the third axis is introduced into its design, and two pairs of segment segment electrodes are introduced along the same axis along all three axes pairs of measuring segment electrodes are made so that each of the pair of electrodes is located on the sides of the power electrode, a processing channel is additionally introduced into the electronic data processing circuit and information, with a controller, about the angular position of the movable object around the third axis, the excitation and control unit for synchronous translational oscillations of the rotor along one of the equatorial and along the polar axes of the inner surface of the chamber, each pair of measuring segment electrodes located on each side of the power electrode are connected in six measuring chains, each consisting of a single high-frequency voltage source and all two individual segmented meters lnyh electrode inductance and the reference resistor for reading information about the radial movement of the gyroscope rotor.

The technical result of the utility model consists in measuring complete information about the angular position of a moving object of high accuracy by introducing a swing unit and controlling translational rotor vibrations along two axes, a signal processing circuit for six pairs of segment measuring electrodes and a processing system for information about the angle of rotation of the moving object on the third axis using signals from six photoelectric angle sensors.

The utility model is illustrated by drawings: FIG. 1-fig. 5.

In FIG. 1 shows a block diagram of a gyroscope connection; FIG. 2 shows a kinematic diagram of a gyroscope; FIG. 3 shows the necessary coordinate systems and their rotations, in FIG. 4 is a functional electrical diagram of the buildup of the gyroscope and the removal of output information; FIG. 5 shows a functional electrical diagram of one of the measuring chains.

The following notation is used in the drawings: 1 - gyroscope rotor (spherical hollow or solid rotor made in the form of a symmetrical Euler gyroscope), 2 - electric power supply unit; 3 - block of the initial exhibition of the gyroscope; 4 - block excitation and control of its translational vibrations; 5 - information processing unit; 6 - device body associated with the body of a moving object (ON); 7 is a contrast pattern of the upper hemisphere, which differs from the rest of the surface by reflectivity; 8 is a contrast drawing of the lower hemisphere of the rotor 1; 9-9 ^/ - power supporting the rotor 1 electrodes along the axis Oξ; 10-10 ^/ , 11-11 ^/ - power supporting the rotor of 1 pair of electrodes along the axes Oη and Oξ, respectively; 12a-12a ^/ , 12-12 ^/ , 13a-13a ^/ , 13-13 ^/ , 14-14 ^/ , 14a-14a ^/ - measuring pairs of segmented electrodes of rotor displacements along the axes Оξ, Оη, Оζ, respectively (along all three axes Software pairs of measuring segment electrodes are made so that each of them is located on the sides of the power electrodes); 15-15 ^/ , 16-16 ^/ , 17-17 ^/ - photoelectric sensors for measuring the angular information around the axes ξ, η, ζ, respectively; 18-18 ^/ , 19-19 ^/ - a pair of stator windings of an electric motor for accelerating the gyro rotor around the axis of its own rotation Oz; 20, 21, 22 - functional electrical circuits for swinging the rotor 1 along the axes Oξ, Oζ, Oη, in the initial state, i.e. at ψ = θ = γ-0, (Oξ = Ox, Oη = Oy, Oζ = Oz), to create and measure oscillations. Measurements are made along the axes ou _i , i = 1, 2, 3. Then there are increments Δu ₁ , Δu ₂ , Δu ₃ along three axes; 23 is an electronic circuit with an ADC for preprocessing signals from photoelectric angle sensors 15, 16, 17; 24 is an electronic circuit with a controller for determining angle estimates ψ, θ, γ; 25 is an electronic circuit with a second ADC for pre-processing the signals from the radial vibration sensors of the rotor 1, which are part of the sensors 9-11 ^/ ; 26 is a second controller for determining an estimate of the azimuth angle and issuing to consumers estimates of complete information about the angular orientation of the software ψ, θ, γ; Н - kinetic moment, Oξηζ - inertially non-rotating coordinate system; Oxyz - coordinate system rigidly connected with the rotor 1 of the gyroscope; Ou ₁ u ₂ u ₃ is the coordinate system associated with the software housing, O is the suspension center of the gyro rotor 7, which coincides with its center of mass. Oξ _c η _c ζ _c is the coordinate system modeled by the axis of the kinetic moment H and the plane of oscillation of the rotor; ψ, θ, γ are the angles of azimuth, pitch, rotation (roll) of the software, Re is the reference resistor for reading information, L is the inductance for providing electrical resonance in the measuring chain, R is the equivalent active resistance of the elements of the measuring chain, including the gaps, each of pairs of measuring electrodes located on the sides of the power electrodes are connected in six measuring chains, consisting of a single high-frequency power supply source for all chains and two individual segment measuring x electrodes and reference resistor inductance for reading information about the radial movement of the gyroscope rotor.

It is very important that the internal cavity in the vacuum tight housing 6 of the gyroscope has a pressure of 10 ^-9 -10 ^-10 mm RT.article

Moments of inertia in the Euler 2 gyroscope obey the relations:

I _ξ = I _η = A, I _ζ = C, C> A,

where I _ξ , I _η , I _ζ are the axial moments of inertia around the axes Oξ, Oη, Oζ, which in the initial state coincide with the axes of the coordinate system oxyz.

The device is complex, and in addition to those indicated in FIG. 1-5 connections are other, not indicated in the figures, but ensuring its functioning. In FIG. 1-5, arrows indicate the main bonds of the blocks; there are much more real links between blocks 1-5, 20-26. For example, power supplies 2 are connected to all elements of the device 1-5, 20-26, as well as in a gyroscope from elements 9 to 19 ^/ . In this case, the assignment of relations of elements of type 6 to 19; described in the article (Zhuravlev V.F. Strap-type inertial navigation system of the pendulum type (BINS MT) // Izv-RAS. MTT., 2014, No. 1, pp. 6-17.), patent (Pat. No. 155046, IPC G01C 19/24, Three-component angular velocity meter based on a spherical gyroscope with electrostatic suspension / Zhuravlev V.F., Plotnikov P.K., Kuznetsov A.O .; applicant and patentee FGBOU VPO SSTU named after Gagarin Yu.A. Application 04.06 .2015; publ. September 20, 2015), in books (Gorenstein I.A., Shulman I.A. Inertial navigation systems. M: Mechanical Engineering, 1970. 232 p .; Lukyanov D.P., Raspopov V. I., f Ilatov V.Ya. Applied Theory of Gyroscopes.Textbook. - St. Petersburg, Central Research Institute Electropribor, 2015 - 316 pp.).

A single-gyroscope meter of three angles of rotation of a moving object on an electrostatic suspension has connections and features of the elements. It contains a spherical rotor 1 made of a material with high electrical conductivity and enclosed in a vacuum concentric spherical chamber, on the inner surface of which there are three pairs of power supporting electrodes 9-9 ^/ , 10-10 ^/ , 11-11 ^/ , also made of material with high electrical conductivity, electrically insulated from the inner surface of the chamber, the same number along the same axes of the electrolyzed measuring electrodes 12a-12a ^/ , 12-12 ^/ , 13a-13a ^/ , 13-13 ^/ , 14-14 ^/ , 14a-14a ^/ detachment radial information rotor movements made of the same material as the power electrodes, a two-phase asynchronous rotor drive motor with two windings and a phase-shifting capacitor, windings of two torque sensors whose moment axes are perpendicular to the gyroscope axis of rotation, two pairs of photoelectric angle sensors for reading information about two the corners of a moving object using special drawings on the surface of the rotor, an electronic circuit for processing information about the angular position of the rotor with the block of the initial exhibition, the source block Ikov power supply 2, the evacuation unit. As for the new blocks 20-22, the connections in them require clarification. Blocks 20 and 21 are designed to create translational oscillations, stable in frequency and amplitude, of the center of mass of rotor 1 along the axes Oξ, Oη, i.e. flat vibrations. For their implementation, a high-frequency voltage is supplied to the supporting electrodes 10-10 ^/ , 11-11 ^/ , for example, in the range of 8-10 MHz from a microwave generator. It provides the operation of the indicated electrodes in the resonance frequency region of the electric circuit frequencies similarly to mechanical springs along the axes Oξ and Oη. From a voltage generator in the frequency range 250-1000 Hz, a high-voltage voltage is supplied to the same electrodes when tuned to which a resonance of mechanical vibrations of the rotor on an electrostatic suspension is provided. There are no oscillations along the Oζ axis (block 22), power electrodes 10-10 ^/ are designed to keep the rotor in a levitation state. Ou ₂ axis with θ, γ not equal to 0, oscillations take place. Amplifiers 27, 28, 29 are scalable and are intended for input into block 25, containing the ADC, of analog information. The output of this block is digital information about the estimates of the rotor displacements 7 Δu ₁ , Δu ₂ , Δu ₃ .

The outputs of the photoelectric sensors 15-17 ^{/ are} connected to the inputs of block 23, where the signals are to be digitized using the ADC and connected to the controller 24, in which the angles must be converted into estimates of the phase-sensitive detected angles θ, γ into direction cosines, i.e. into elements of the transforming matrix A ^γ A ^θ . In it, Δu _i (Δu ₁ , Δu ₂ , Δu ₃ ) i = 1, 2, 3 and the elements of the matrix A ^γ A ^θ are subject to transformation into an estimate of the azimuth angle ψ.

Consider the operation of the device.

After installing the device on a three-component rotary bench (TPS), before turning it on, the platform is installed, for example, along the axes of the local geographical coordinate system, or along the axes of the global geographical coordinate system. In the second embodiment, the TPS electric power supply is then turned on, and the Oζ axis of the assumed direction of the kinetic moment N is set along the World axis, the Oξ axis in the plane of the Greenwich meridian, and the Oη axis forms the right orthogonal coordinate system with the Oζ and Oξ axes. The platform is given a rotation equal to the angular velocity of the Earth's rotation of the opposite sign. In this case, the housing 6 in world space around the Oζ axis does not rotate. Around the other two axes also does not rotate. From the block of the initial exhibition 3 set the gyro rotor along the axes of the selected coordinate system. The gyroscope rotor is started from a traveling electromagnetic field from windings 18, 19 to a set of nominal angular velocity Ω and kinetic moment N. After that, high-voltage low-frequency voltage also of frequency Ω from the excitation and control unit 4 of the rotor synchronous translational oscillations along one of the equatorial and along polar axis of the inner surface of the chamber. The oscillations of the rotor 7 are set at an amplitude level of 2.5-5 μm, which is several times (5-10) less than the gap between the housing 6 and the rotor 7. After this, the low-frequency power is turned off, and the rotor continues to oscillate for a long time in a high vacuum environment. The oscillation plane is coplanar to the axis of the kinetic moment H, one component of the oscillations is perpendicular to the vector N. Therefore, the rotor plane and the meridional plane of oscillations form a trihedron that does not rotate in inertial space. Therefore, it is possible to measure three angles of rotation of software in inertial space (Zhuravlev V.F. Strap-on inertial pendulum-type navigation system (SINS MT) // Izv-RAN. MTT., 2014, No. 1, p. 6-17).

Assuming the method and device for measuring the angles θ, γ known through angle sensors 15-17 ^/ and Figures 8 on the sphere of the rotor 7, and the algorithm for converting the signals of the sensors 15, 16, 17 into the estimates of the angles θ, γ known (S.M. Dyugurov, BE Landau “On the measuring trihedron of a gimballess electrostatic gyroscope.” Gyroscopy and navigation, No. 1, 1999), we derive algorithms for determining the estimate of the azimuth angle ψ, which is new - p. 9.

Differential equations of displacements and oscillations of the center of mass of the rotor after disconnecting the low-frequency voltage from the power electrodes have the form (it is assumed that measures have been taken to ensure the linearity of the suspension characteristics, for example, according to [1]):

mξ ^'' + Cξ = mW _ξ

mη ^'' + Cη = mW _η

mζ ^'' + Cζ = mW _ζ

where W _ξ , W _η , W _ζ are the accelerations of the point Oo PO. Dividing the stiffness coefficients of the electrostatic suspension C by the mass of the rotor m and designating the square of the frequency of natural oscillations of the rotor Ω ² = C / m, we obtain:

ξ ^'' + Ω ² ξ = W _ζ

n ^'' + Ω ² _η = W _η

ζ ^'' + Ω ² ζ = W _ζ

Solutions are sought in the form of:

ξ = ξ _m + Δξ, n = η _m + Δ _η , ζ = ζ _m

where ξ _m , η _m , ζ _m are slowly varying components of the solution; Δξ, Δη are the fast, oscillatory components of the solution.

For initial conditions:

t = 0, Δξ (0) = Δξ ₀ , Δη (0) = Δη ₀ , Δζ (0) = Δζ ₀ ,

Δξ '(0) = Δξ' ₀ , Δη '(0) = Δη' ₀ , Δζ '(0) = Δζ' ₀

Δζ (0) = Δζ (0) = 0

We have

Δξ = Δξ ₀ cosΩt + (Δξ ' ₀ sinΩt) / Ω

Δη = Δη ₀ cosΩt + (Δη ' ₀ sinΩt) / Ω

When Δξ ' ₀ = Δη' ₀ = 0, which should be technically implemented in 26, we have

Δξ = Δξ ₀ cosΩt

Δη = Δη ₀ cosΩt

Δζ = 0

The oscillation plane is stabilized in the ISK.

In the presence of software rotations at the angles θ, γ, we have a coordinate transformation:

[u ₁ , u ₂ , u ₃ ] ^T = A ^γ A ⁰ [x, y, z] ^T

For oscillations, we have the relations;

Where

The oscillations Δu ₁ , Δu ₂ , Δu ₃ are measured by displacement sensors 12 ... 14a ^/, respectively. After the phase-sensitive detection of signals about the measured angles, we obtain:

Based on FIG. 3 we get the following formula:

The task of determining the three angles of software rotation is solved in the application using one gyroscope on an electrostatic suspension, which is new.

Information sources

1. Zhuravlev V.F. Strap-on inertial navigation system of the pendulum type (SINS MT) // Izv-RAS. MTT., 2014, No. 1, p. 6-17.

2. Gorenstein I.A., Shulman I.A. Inertial navigation systems. M.: Mechanical Engineering, 1970.232 s.

3. Pat. No. 155046. The Russian Federation. МГЖ G01С 19/24. Three-component angular velocity meter based on a spherical gyroscope with an electrostatic suspension / Zhuravlev V.F., Plotnikov P.K., Kuznetsov A.O .; applicant and patentee FGBOU VPO SSTU them. Gagarina Yu.A. Claim 06/04/2015; publ. September 20, 2015

4. Lukyanov D.P., Raspopov V.Ya., Filatov V.Ya. Applied Theory of Gyroscopes. Textbook. - St. Petersburg, Central Research Institute Electropribor, 2015 - 316 p.

5. S.M. Dyugurov, B.E. Landau "On a measuring trihedron of a gimballess electrostatic gyroscope." Gyroscopy and navigation, No. 1, 1999.

Claims (1)

A single-gyrometer measuring three angles of rotation of a moving object on an electrostatic suspension, containing a spherical rotor made of a material with high electrical conductivity and enclosed in a vacuum concentric spherical chamber, on the inner surface of which there are three pairs of power supporting electrodes, also made of a material with high electrical conductivity, electrically insulated from the inner surface of the chamber, the same number along the same axes of software located electrically insulated meters electrodes for acquiring information about the radial displacements of the rotor made of the same material as the power electrodes, a two-phase asynchronous rotor drive motor with two windings and a phase-shifting capacitor, windings of two torque sensors whose moment axes are perpendicular to the gyroscope’s axis of rotation, two pairs of photoelectric sensors angles for taking information about the two corners of a moving object using special drawings on the surface of the rotor, an electronic circuit for processing information about the angular position and a rotor with an initial exhibition unit, an electric power supply unit, an evacuation unit, characterized in that a couple of photoelectric angle sensors along the third axis of the software are added to the device’s design, and two pairs of segment measuring electrodes are introduced along this axis, along all three software axes pairs of measuring segment electrodes are made so that each of them is located on the sides of the power electrodes, an information processing channel with a controller is additionally introduced into the electronic information processing circuit b the angular position of the moving object around the third axis of the software unit, the excitation and control unit for synchronous translational rotor vibrations along one of the equatorial and along the polar axes of the inner surface of the chamber, with each of the pairs of measuring electrodes located on the sides of the power electrodes connected in six measuring chains consisting of a single high-frequency power supply source for all chains and individual two segment measuring electrodes in a pair, inductance, and this core resistor for recording information about the radial movement of the gyro rotor.

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