RU2298151C1 - Gyroscope - Google Patents

Abstract

FIELD: the invention refers to the field of measuring technique namely to gyroscopic transformers of angular speed with two-stage elastic suspension of a sensitive element.

SUBSTANCE: in the gyroscope with elastic suspension providing dynamic tuning a unit of two-stage elastic suspension consisting of two units of one frame suspension is fulfilled out of high-strength elinvar with high module of elasticity and small temperature coefficient of linear expansion. On the end faces of its units there are grooves matching at assembling. The constant magnets are fulfilled of segments out of rare-earth metal alloy and are hermetically covered with a cowl. The shaft of the drive is fulfilled out of two parts displacing at assembling progressively to each other in the radial direction to the axis of the shaft with the aid of a lever leaning on the stop of one part of the shaft and passing through a window in an arbor. The bar in the collet of the unit out of two-stage elastic suspension is fulfilled out of alloy W-Ni-Co having the temperature coefficient of linear expansion close to the temperature coefficient of linear expansion of beryl bronze out of which the collet with four springs is fulfilled. The flywheel of the unit of the rotor of the gyroscope is fulfilled out of alloy Fe-Co with high induction of saturation in weak magnetic fields. The balancing arrangement is fulfilled as one element with the flywheel in the shape of corbels with lugs. The gyroscope details are fulfilled preliminary prepared for providing balanced condition of the gas medium in the gyroscope cavity filled with hydrogen under pressure of 4-20 mm of mercury column.

EFFECT: increases accuracy of measuring of an angular speed, increases the diapason of measurements, miniaturization of the construction.

5 cl, 23 dwg

Description

This invention relates to the field of measuring technology, namely to gyroscopic angular velocity transducers with a two-stage elastic suspension of the sensing element.

Known gyroscopes [1] containing an engine, a rotor, position converters, moment converters of a magnetoelectric type, a two-stage elastic suspension assembly.

The closest in technical essence is a gyroscope [2], comprising a housing, first and second covers on opposite ends of the housing, a stator of a two-phase hysteresis motor, outer rings of ball bearings of the drive, fixed parts of the first and second position converters, a mandrel with frameless compensation coils of the first and a second magnetoelectric-type torque transducer, a shaft installed in the inner rings of the ball bearings of the drive with the motor rotor on the side a first cover and a two-stage elastic suspension unit located on the side of the second cover, on which a gyro rotor assembly with permanent magnets of torque converters is located, the two-stage elastic suspension assembly comprising a first single-frame suspension unit and a second single-frame suspension unit; the first single-frame suspension unit contains a moving part, an inner frame and a fixed (relative to the shaft) part, the inner frame is connected to the moving part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in the first plane, the fixed part is connected to the inner frame by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in perpendicular to the first plane of the second plane, T The swarm of the single-frame suspension contains the first and second end parts and the central part located between them, the first end part is connected to the central part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in a third plane perpendicular to the longitudinal axis of the shaft, the central part is connected with the second end part with two elastic jumpers located in the third plane in two diametrically opposite positions, deployed 90 ° relative to the position in the third plane of the elastic bridges connecting the first end part to the central part, each of the elastic bridges located in the first, second and third planes is formed by the gap between the two holes, a collet with a bar is installed in the central hole of the first frame of the first single-frame suspension, in a gyroscope a stop is made, the rotor of the engine has a sleeve and an active part mounted on it, the shaft is made with a central hole along its longitudinal axis, the gyro rotor assembly has a indeed created from the outer and inner parts of the flywheel with balancing devices frameless compensation coil transducers points on the one hand fastened circumferentially perpendicular to the longitudinal axis of the shaft end plane of the mandrel, the inner cavity of the gyroscope, enclosed between the body and two lids, filled with a gaseous medium other than air.

However, such gyroscopes do not adequately solve the problems of miniaturizing the structure, increasing the accuracy of measuring angular velocity due to the complexity and instability of balancing devices, the instability of dynamic tuning and disturbing moments under temperature influences and in time. In addition, with a miniaturization of the structure, a decrease in the range of measurement of angular velocity can occur.

The technical result of the invention is to increase the accuracy of measuring angular velocity, increasing the range of measuring angular velocity, miniaturizing the design of the gyroscope.

This technical result is achieved in a gyroscope containing the housing, the first and second covers on opposite ends of the housing, the stator of the two-phase hysteresis motor installed in the housing, the outer rings of the ball bearings of the drive, the stationary parts of the first and second position converters, the mandrel with frameless compensation coils of the first and second moment converters magnetoelectric type installed in the inner rings of the ball bearings of the drive shaft with the motor rotor from the side of the first bumps and a node of the two-stage elastic suspension located on the side of the second cover, on which the gyro rotor assembly with permanent magnets of the moment transducers is located, the two-degree elastic suspension assembly comprising a first single-frame suspension unit and a second single-frame suspension unit; the first single-frame suspension unit contains a moving part, an inner frame and a fixed (relative to the shaft) part, the inner frame is connected to the moving part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in the first plane, the fixed part is connected to the inner frame by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in perpendicular to the first plane of the second plane, T The swarm of the single-frame suspension contains the first and second end parts and the central part located between them, the first end part is connected to the central part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in a third plane perpendicular to the longitudinal axis of the shaft, the central part is connected with the second end part with two elastic jumpers located in the third plane in two diametrically opposite positions, deployed 90 ° relative to the position in the third plane of the elastic bridges connecting the first end part to the central part, each of the elastic bridges located in the first, second and third planes is formed by the gap between the two holes, a collet with a bar is installed in the central hole of the first frame of the first single-frame suspension, in a gyroscope a stop is made, the rotor of the engine has a sleeve and an active part mounted on it, the shaft is made with a central hole along its longitudinal axis, the gyro rotor assembly has a A flywheel with balancing devices from the external and internal parts, frameless compensation coils of torque transducers are fixed on one side on a circle perpendicular to the longitudinal axis of the shaft of the end plane of the mandrel, the internal cavity of the gyroscope enclosed between the body and two covers is filled with a gas medium other than air, the fact that the shaft is made of the first part and located opposite the first cover of the second part, articulated by glue on the inner cylindrical surface of the second parts and on the outer cylindrical surface of the first part of the shaft for a length greater than half the length of each of the first and second parts of the shaft, the inner rings of the ball bearings of the drive are mounted on the second part of the shaft, in the first cover there is a first plug, coaxial with the shaft, located opposite the first cover an end cap of the second shaft part is sealed to close the central bore of the shaft; a second plug coaxial with the shaft; a threaded hole coaxial with the shaft is formed in the end face of the first shaft part opposite the first cover ; perpendicular to the longitudinal axis of the shaft, the plane of symmetry of the active part of the motor rotor is shifted relative to the symmetry plane of the active part of the motor stator towards the gyro rotor assembly by a distance of 0.055-0.065 from the length of the active part of the motor stator, and the length of the active part of the motor rotor is made with a ratio of 1.1-1, 2 to the length of the active part of the motor stator, in the end face of the rotor sleeve located on the side of the first cover, eight studs are spaced apart from each other at an angular distance of 45 °, each of which Nena volframonikelemednogo of the alloy with a density of not less than 17 g / cm ^3, the flywheel is made of a soft magnetic iron-cobalt alloy with a saturation induction of at least 2 T in a weak magnetic field of not more than 160 A / m; two permanent ring-shaped permanent magnets are installed on the inside of the flywheel, each of which is formed by five or nine segments of an alloy with a rare-earth metal Sm ₂ Co ₅ magnetized in the radial direction, each permanent magnet is closed by a cap that creates an airtight space in the area of the permanent magnet, each the cap contains a lid of soft magnetic iron and two walls of non-magnetic steel, the lid is located on the outer cylindrical surface of the permanent magnet, and the walls are located on the perp ndikulyarnyh longitudinal axis of the shaft opposite ends of the permanent magnet; the two-stage elastic suspension unit is made of high-strength elinvar with a first-order elastic modulus of at least 1.67 · 10 ⁹ N / m ² , a linear expansion temperature coefficient of not more than 5 · 10 ^{-6 1} / ° С, the fixed part of the first single-frame suspension unit is made as the first part of the shaft, which has three sections, the diameter of which increases sequentially from the first section further to the second and third sections, forming elastic bridges of the hole are made to a depth of at least 0.45 from the diameter of the hole at an intercenter distance of 1.02-1.03 from d ametra holes; the outer diameter of the movable part of the first node of the single-frame suspension and the diameter of the third section of the first part of the shaft are made equal to the inner diameter of the second node of the single-frame suspension, in the first node of the single-frame suspension, a groove is made on its outer surface, including at least the length of the holes forming elastic jumpers, including the size of the inner frame in the direction of the longitudinal axis of the shaft; on the outer end of the movable part of the first single-frame suspension unit, the first half-cylindrical groove is made, located in the diametrically opposite position, the second half-cylindrical groove, the longitudinal axes of which are located in the first plane, the third half-cylindrical groove and located on the outer end of the second end part of the second single-frame suspension unit in a diametrically opposite position, the fourth groove is semi-cylindrical in shape, which have an identical profile with ofil of the first and second grooves and the longitudinal axes of which are located in a plane passing through the centers of the elastic bridges forming the holes of those elastic bridges that connect the second end part of the second unit of the single-frame suspension with its central part; the first node of the single-frame suspension and the second node of the single-frame suspension are connected so that the longitudinal axes of the first, second, third and fourth grooves are aligned, the fixed part of the first node of the single-frame suspension in the part of the third section of the first shaft part is aligned with the inner surface of the first end part of the second node a single-frame suspension and along the perimeter of their connection a weld is made by laser welding, the sleeve is made in the form of a collet made of beryllium bronze BrB2 with four springs in its size carved portion, the rod is made of a single element volframonikelemednogo alloy with a density of not less than 17 g / cm ^3, from the second lid at a length component 0.1-0.15 length of rod, the rod is formed with a diameter of around twice the diameter of the rest of the rod, the rod is installed in the collet so that its cross section, located at a distance of 0.65-0.75 of the length of the rod from the side of the first cover, is aligned with the third plane of the second unit of the single-frame suspension, on the length of the continuous part of the collet between the outer surface of the continuous part of the collet and the friction surfaces of the inner frame of the first node odnoramochnogo suspension formed adhesive bond between the inner cylindrical surface of the collet and the outer cylindrical surface of the rod in the part with the smallest diameter of the adhesive bond formed; in the second section of the first part of the shaft, a disk-shaped stop is installed, between the outer cylindrical surface of which and the inner cylindrical surface of the inner part of the flywheel, a gap is made equal to the allowable movement of the gyro rotor assembly with its angular movements relative to the bending axes of the elastic bridges of the two-stage elastic suspension unit; a window is made in the mandrel with compensation coils, the longitudinal axis of which is located radially to the longitudinal axis of the shaft in the region of the middle of the first part of the shaft; the stop in the second section of the first part of the shaft is mounted from the gyro rotor assembly towards the first cover so that its end from the side of the first cover extends beyond the nearest end of the flywheel, and this part of the stop extending outside the flywheel is located radially opposite the window in the mandrel; gyro rotor assembly balancing devices are formed on the external cylindrical surface of the external part of the flywheel in the form of the first, second and third belts made along with the external part of the flywheel, the plane of symmetry of which is perpendicular to the longitudinal axis of the shaft, the plane of symmetry of the first belt is aligned with the third plane in which the elastic jumpers are located the second node of the single-frame suspension, the second and third bands are located at the ends of the outer part of the flywheel symmetrically with respect to the first belt, each with four protrusions are formed along with them, located 90 ° around the circumference of the belts, the diameter of the belts is 1.05-1.10 of the outer diameter of the outer part of the flywheel, the width of each belt is made of 0.08-0.12 of the size of the outer parts of the flywheel in the direction of the longitudinal axis of the shaft, the protrusions are made with an angular distribution of α ₁ up to 25 ° and a height of up to 0.015 of the diameter of the bands; on the mandrel made in the form of a hollow cylinder, four compensation coils of rectangular shape are installed in plan view, and in the arc-shaped profile repeating the profile of the mandrel, each compensation coil is made with angular propagation α ₂ from 75 to 85 °, size S ₁ = Rα ₂ (where R - the outer radius of the mandrel) along an arc with an angle α _{2 of} each compensation coil is 2-2.3 times larger than its size S ₂ in the direction of the longitudinal axis of the shaft; hydrogen was used as a gaseous medium at a pressure of 4 to 20 mm Hg, facing the internal part of the gyroscope of the body part, the first and second covers, as well as the stator and rotor of the motor, ball bearings of the drive, shaft, assembly of a two-stage elastic suspension, assembly gyro rotor, rim, each cap with a permanent magnet sealed in it, compensating coils of the first and second moment transducers, fixed parts of the first and second position transducers are pre-hydrogenated m of exposure in a hydrogen medium at a pressure of 450 mm Hg within 210 hours as part of a gyroscope; a first film heating element is installed on the gyroscope case in the engine location region, a second film heating element is installed on the second cover, connected in series with the first film heating element; a board with elements of bridge circuits of the first and second position transducers is mounted on the flange formed on the gyroscope case; the board elements are closed by a layer of elastic filler.

In the first particular case of the gyroscope, each compensation coil is additionally fixed on two more sides in the protrusions formed on the end plane of the mandrel, covering part of one half of the compensation coil, in which the turns are parallel to the end plane of the mandrel, the protrusions are directed towards the second half of the compensation coil with the direction of the turns parallel to the end plane of the mandrel, the protrusions are made in a configuration that repeats the configuration of the compensation part covered by the protrusions th coil, between the surfaces of the cage and the compensating coils in contact with each other adhesive connections are made.

In the second particular case in a gyroscope, the resistance of the second film heating element is made twice as large as the resistance of the first film heating element.

In the third particular case in a gyroscope, the height of the elastic jumpers in the second node of the single-frame suspension is made twice the height of the elastic jumpers in the first node of the single-frame suspension.

In the fourth particular case, along the perimeter of the connection of the end of the continuous part of the collet with the end of the inner frame of the first node of the single-frame suspension, a weld is made by laser welding.

By using hydrogen as a gaseous medium at a pressure of 4 to 20 mm Hg, the hydrogen fluids are pre-hydrogenated at a pressure of 450 mm Hg. for 210 h, ball bearings of the drive, shaft, two-stage elastic suspension assembly, gyro rotor assembly, rim, each cap with a permanent magnet sealed in it, torque transducers and position transducers facing the inner cavity of the gyroscope of the housing parts, the first and second covers provide equilibrium the state of the gas medium in the gyro during the calendar service life. As a result, the gas perturbing moments acting on the rotor assembly of the gyroscope remain unchanged, which leads to the stability of the drift of the gyroscope and, therefore, increases the accuracy of the gyroscope during operation during the calendar service life.

By making the permanent magnets made of an alloy with the rare-earth metal Sm ₂ Co ₅ , the number of turns of the compensation coils of the torque converters is increased due to the possibility of increasing the working gap in the magnetic system of the torque converters due to the greater magnetic energy of such permanent magnets compared to ordinary permanent magnets. Therefore, the range of measurement of angular velocity increases due to an increase in the moments created by the moment transducers.

When performing permanent magnets sealed by caps, the integrity of the permanent magnets from the alloy with the rare-earth metal Sm ₂ Co ₅ and the magnetic flux generated by them due to their isolation from the destructive medium of hydrogen are preserved, which results in increased gyroscope accuracy.

By making caps comprising a soft magnetic iron cover and non-magnetic steel walls, the measurement range of the angular velocity increases due to an increase in the torque developed by the transducers due to an increase in the magnetic flux in the working gap of the torque transducers.

When the compensation coils of the moment transducers are made rectangular in plan with an angular propagation of 75-85 ° and a ratio of 2-2.3 of their length to width, the active fraction of the turns in the magnetic field of the permanent magnets increases, resulting in an increase in the moments created by the transducers of the moment, and the range of measurement of angular velocity increases.

By installing in the formed on the end plane of the mandrel protrusions of the compensation coils, additionally covered on both sides by these protrusions, repeating the configuration of the compensation coils, a more accurate arrangement of the compensation coils around the circumference on the end plane of the mandrel is achieved, which ensures a more accurate orientation of the compensation coils relative to the measuring axes of the gyroscope and stabilization of their position under temperature influences. As a result, the accuracy of the gyroscope measurements is improved by eliminating the transverse connections between the measuring axes of the gyroscope due to the reduction of the error in the location of the measuring axes of the gyroscope.

When making the center-to-center distance between the generators of the elastic jumpers in the node of the two-stage elastic suspension of the holes in the ratio of 1.02-1.03 to the diameter of the holes, and the height of the elastic jumpers in the ratio of not less than 0.45 to the diameter of the holes provides an increase in the accuracy of the gyroscope due to the minimization of cross connections between the measuring axes of the gyroscope, achieved by performing the rigidity of the elastic suspension along the bending axes of the elastic jumpers at least three orders of magnitude greater rigidity of the elastic suspension relative to bending axes of elastic bridges.

In addition, the dimensions of the gyro rotor assembly are reduced due to the possibility of dynamically adjusting the gyro at the optimum engine speed, which ensures the strength of the gyro rotor assembly.

By making the first and second grooves on the first node of the single-frame suspension, the third and fourth grooves on the second node of the single-frame suspension, the first groove with the third groove, and the second groove with the fourth groove, the two-stage elastic suspension is equidistant due to the elastic jumpers are located in pairs exactly in two mutually perpendicular planes. As a result, the accuracy of measuring angular velocity increases due to minimization of the error from the square of linear acceleration.

When performing the site of a two-stage elastic suspension from a high-strength elinvar with a high modulus of elasticity of the first kind, miniaturization of the dimensions of the node of the two-stage elastic suspension is achieved while ensuring the specified stiffness of the elastic jumpers.

By performing a two-stage elastic suspension unit from a high-strength elinvar with a low temperature coefficient of linear expansion, the gyroscope is improved due to the stability of the dynamic gyroscope adjustment in a wide range of operating ambient temperatures.

When performing the flywheel of the rotor assembly of a gyroscope of iron-cobalt alloy with high saturation induction in weak magnetic fields, an increase in the range of measurements of angular velocities is ensured due to an increase in the moments created by the moment converters, since an increase in the magnetic induction in the working gap of the moment converters is achieved.

By performing two permanent magnets from the rare-earth metal alloy segments Sm ₂ Co ₅ , the flywheel of the gyro rotor assembly from soft magnetic iron-cobalt alloy with high saturation induction in weak magnetic fields, the ratio of 2-2.3 lengths to the width of the compensation coils ensures miniaturization of the dimensions of the torque converters due to achieving high magnetic induction in the working gap of torque converters and increasing the active share of the turns of the compensation coils.

The implementation of the window in the cage with compensation coils in the middle of the first part of the shaft, the location of the stop on the second section of the first part of the shaft, the emphasis extending beyond the end of the flywheel opposite the window provides an increase in the accuracy of measuring angular velocity due to more accurate alignment of the center of mass of the gyro rotor assembly with the longitudinal axis of the shaft achieved by translational movement of the first part of the shaft relative to the second part of the shaft in a direction perpendicular to the longitudinal axis of the shaft.

With the gap between the stop and the flywheel, which constitutes the allowable angular displacement of the gyro rotor assembly, the integrity of the elastic jumpers and the stability of the dynamic gyro setup are ensured. As a result, the accuracy of measuring angular velocity increases.

By making belts with protrusions at the same time as the outer part of the flywheel, the gyroscope is improved in accuracy due to increased stability of the balance due to the lack of moving masses, as well as increased kinetic moment stability of the gyro rotor assembly due to the increased strength of the gyro rotor assembly.

When performing on the outer part of the flywheel the gyro rotor assembly of the belts with protrusions, the ratio between the sizes of which ensures the balancing of the gyro rotor assembly, the balancing accuracy and gyro accuracy are improved, since the dosed amount of mass is removed from the protrusions at precisely known places on the protrusions on strictly a fixed distance of the removed amount of mass from the longitudinal axis of the shaft.

By making rims with belts with a certain ratio between their sizes, miniaturization of the dimensions of the gyro rotor assembly is achieved, as well as an increase in the accuracy of measuring angular velocity, since it is possible to balance by means of a laser at which a minimal amount of dispersed metal is formed, which reduces the likelihood of contamination of elastic jumpers and, therefore, maintain the dynamic gyro setting.

Reducing the size of the moment transducers, the gyro rotor assembly, the two-stage elastic suspension assembly provides miniaturization of the gyro dimensions.

By making the rod a single element of high-density tungsten-nickel-copper alloy, miniaturization of the dimensions of the two-stage elastic suspension unit is achieved, since in this case the minimum rod dimensions are sufficient to balance the gyro rotor assembly.

When the rod is made of a material with high density with certain ratios between the dimensions of the rod and its parts, a certain position of the rod relative to the bending axes of the elastic jumpers, the relationship between the axial and polar moments of the inner frame and the central part of the second unit of the single-frame suspension is accurately fulfilled. The result is an increase in the accuracy of measuring angular velocity due to the accuracy of the dynamic tuning of the gyroscope.

By making a collet of beryllium bronze and a rod of tungsten-nickel-copper alloy, an increase in the accuracy of measuring angular velocity is achieved, since due to the proximity of the temperature coefficients of linear expansion of beryllium bronze and a tungsten-nickel-copper alloy, the gyroscope is dynamically tuned in a wide range of operating ambient temperatures.

By performing four springs in the split part of the collet, the rod is centered, as a result of which its center of mass is in a stable position, providing gyro drift stability, thereby improving the accuracy of measuring angular velocity.

By laser welding the weld along the perimeter of the connection of the end of the continuous part of the collet to the end of the inner frame of the first single-frame suspension, the glue connection between the inner surface of the first frame of the first single-frame suspension and the external surface of the continuous part of the collet on the length of the continuous part of the collet this connection is installed in collet of the rod with the inner frame of the first single-frame suspension, in which the adhesive joint under temperature exposure x creates freedom of radial movement of the rod, and restricts the weld eliminates radial movement and longitudinal movement. As a result, the temperature deformations in the gyroscope are stable, the stability of the gyroscope drift and its accuracy increase.

By arranging the two-stage elastic suspension assembly on the first part of the shaft, forming the first plug in the first cover located on the front end of the engine coaxially with the shaft, installing the second plug coaxially with the shaft in the central hole of the second part of the shaft opposite the first cover, this way of air passage is provided during the process of degassing the gyroscope, in which air does not pass through the central hole of the shaft to the elastic jumpers of the two-stage elastic suspension assembly.

As a result, impurities contained in the air are not deposited on the elastic bridges; their deformation remains stable when the angular velocity changes. Therefore, the random component of the gyro drift velocity becomes stable and the accuracy of measuring angular velocity increases.

When the shaft is made up of two parts and articulated by means of an adhesive joint when balancing the gyro rotor assembly, the second part of the shaft is moved radially relative to the first part and the second part of the shaft is fixed in a position in which the static moments of the gyro rotor assembly are minimal. As a result, the accuracy of the gyroscope increases.

When performing the length of the active part of the motor rotor with a ratio of 1.1-1.2 to the length of the active part of the motor stator, shifting the plane of symmetry of the active part of the motor rotor relative to the symmetry plane of the active part of the motor stator by a distance of 0.055-0.065 from the length of the active part of the motor stator angular velocity measurements due to dynamic balancing of the rotor of the motor with ball bearings of the drive.

By performing the resistance of the second film heating element twice as large as the resistance of the first film heating element, it is possible to increase the accuracy of measuring the angular velocity due to more accurate maintenance of the gyroscope temperature by redistributing the heat fluxes from the engine and the first and second film heating elements.

By performing studs in the end face of the high-density alloy motor rotor bushing, miniaturization of the gyroscope motor is achieved due to balancing of the motor rotor by small-size balancing devices and their small movements.

Figure 1 presents a General view of the gyroscope, figure 2 is a front view of the first node single-frame suspension, figure 3 is a view along A of figure 2 of the first node single-frame suspension, figure 4 is a horizontal view of the first node single-frame suspension, Fig.5 is a front view of the second node of the single-frame suspension, Fig.6 is a view according to B of Fig.5 of the second node of the single-frame suspension, Fig.7 is a horizontal view of the second node of the single-frame suspension, Fig.8 is a section along BB points .5 the second node of a single-frame suspension, in Fig.9 is a front view of a node of a two-stage elastic suspension, in Fig.10 - a view according to G of Fig. 9 of a two-stage elastic suspension unit, Fig. 11 is a profile view of a two-stage elastic suspension unit, Fig. 12 is a view of a collet, Fig. 13 is a view of an inner frame of a first unit of a single-frame suspension with a collet, in Fig. 14 is a view of the outer part of the flywheel of the gyro rotor assembly; FIG. 15 is a section along DD of FIG. 14 of the outer part of the flywheel; FIG. 16 is a view of the engine rotor; FIG. 17 is a view of the rim with compensation coils; FIG. 18 is a view of the compensation coil, FIG. 19 is a scan of the rim with projections, and FIG. 20 is a scan of the rim with projections and compensation cat. shkami on 21 - view of the housing with stationary parts of the transducer, on 22 - view of the permanent magnet, on the 23 - gyro circuitry.

In the housing 1 of the gyroscope (Fig. 1) with the first cover 2 and the second cover 3 located on opposite ends of the gyroscope, a stator 4 of a two-phase hysteresis motor, outer rings 5 ', 5 "of ball bearings 6', 6" of the drive, fixed parts 7 ', 7 are installed "first position transmitter, mandrel 8 with frameless compensation coils 9 ', 9" of the first magnetoelectric type torque transducer. A shaft 11 is mounted on the inner rings 10 ', 10 "of the ball bearings 6', 6" of the drive, on which the rotor 12 of the engine is located on the side of the first cover 2, and on the side of the second cover 3 is mounted a node 13 of a two-stage elastic suspension on which the rotor assembly 14 is located gyroscope with permanent magnets 15 ', 15 "of the first and second moment converters.

The active part 16 and the sleeve 17 are made in the rotor 12 of the engine, in the end 18 of which from the side of the first cover 2 are mounted studs 19 ', 19 "made of tungsten-nickel-copper alloy with a high density (not less than 17 g / cm ³ ). As such material an alloy of the VNM-5 grade can be used. In total, eight hairpins are installed at end face 18 and are located 45 ° apart.

A central hole 21 is made along the longitudinal axis 20-20 of the shaft 11. The shaft 11 comprises a first part 22 and a second part 23, which are joined by an adhesive joint 24 along a length l ₁ along the inner cylindrical surface of the second part 23 of the shaft 11 and along the outer cylindrical surface of the first part 22 shaft 11. The length l ₁ with an adhesive connection is made more than half the length of each first part 22 and the second part 23 of the shaft 11.

The inner rings 10 ', 10 "of the ball bearings 6', 6" of the drive are installed on the second part 23 of the shaft 11.

A window 25 is formed in the mandrel 8, the longitudinal axis of which is located radially to the longitudinal axis 20-20 of the shaft 11 in the region of the middle of the first part 22 of the shaft 11.

A threaded hole 26 is formed opposite the first cover 2 of the first part 22 of the shaft 11, coaxial with the shaft 11. In the first cover 2, a first plug 27 is installed, coaxial with the shaft 11. In the opposite end of the first cover 2, the end of the second part 23 of the shaft 11 has a second plug 28, coaxial with the shaft 11. The second plug 28 seals the central hole 21 of the shaft 11. The flywheel 29 of the rotor assembly 14 of the gyroscope is made of the inner part 30 and the outer part 31 made of a soft magnetic iron-cobalt alloy that provides induction and a saturation of not less than 2 T in a weak magnetic field of not more than 160 A / m. As such a material, steel grade 49KF can be used.

Each of the 29 permanent magnets 15 ', 15 "mounted on the inner part of the flywheel 30 is made as an annular. The annular shape of the permanent magnets 15', 15" is formed by five or nine segments of an alloy with a rare-earth metal Sm ₂ Co ₅ , magnetized in the radial direction relative to the longitudinal axis 20-20 of the shaft 11 so that to the compensation coils 9 ', 9 "permanent magnets 15', 15" facing opposite poles. Permanent magnets 15 ', 15 "are closed respectively by caps 32', 32" so that in the area of each of the permanent magnets 15 ', 15 "a sealed space is created.

At node 13 of the two-stage elastic suspension, a collet 33 is made of BrB2 beryllium bronze, in which a rod 34 is fixed, made of a single element of a high density tungsten-nickel-copper alloy (at least 17 g / cm ³ ), for example, an alloy of the VNM-5 brand.

An abutment 36 is mounted on a part 35 of the rotor assembly 14 of the gyroscope 14, which is stationary relative to the shaft 11, and a gap δ ₁ is formed between its outer cylindrical surface and the inner cylindrical surface of the inner part 30 of the flywheel 29, which constitutes the allowable movement of the gyro rotor assembly 14 during angular displacements. The stop 36 is mounted from the rotor assembly 14 of the gyroscope towards the first cover 2 so that its end from the side of the first cover 2 extends beyond the nearest end of the flywheel 29, and this part of the stop 36 extending outside the flywheel 29 is located radially opposite the window 25 in the mandrel 8.

The first film heating element 37 'is installed on the housing 1 in the engine location region, and the second film heating element 37 ", connected in series with the first film heating element 37', is installed on the second cover 3.

In a preferred embodiment, the resistance of the second film heating element 37 'is made twice as large as the resistance of the first film heating element 37'.

A flange 38 is made in the housing 1, on which a board 39 is mounted with elements of bridge circuits of the first and second position transducers, covered with layers 40 ', 40 "of elastic filler, for example, of the type" Vixint ".

The node 13 of the two-stage elastic suspension is made of high-strength elinvar, in which the modulus of elasticity of the first kind is at least 1.67 · 10 ⁹ N / m ² , the temperature coefficient of linear expansion does not exceed 5 · 10 ^-6 1 / ° С. The two-stage elastic suspension unit 13 comprises a first single-frame suspension unit 41 and a second single-frame suspension unit 42.

The first node 41 single-frame suspension (figure 2) contains a movable part 43, an inner frame 44 and a fixed part 45, which is the first part 22 of the shaft 11 and made of the first section 46 of diameter d ₁ , the second section 47 of diameter d ₂ and the third section 48 of diameter d ₃ , and d ₁ <d ₂ <d ₃ .

The end face 49 of the inner frame 44 is separated from the stationary part 45, and the end face 50 is separated from the movable part 43. The inner frame 44 from the end face 49 is connected to the movable part 43 by a jumper 51 'located in the first plane 52-52, in which the longitudinal axis 20 is located -20 of the shaft 11. An elastic jumper 51 'is formed by a gap 53 between the holes 54', 54 ", with a diameter of d ₄ each hole.

The distance l ₂ is the center-to-center distance between the holes 54 ', 54 ", with l ₂ = (1.02-1.03) d ₄ .

The bending axis of the elastic bridge 51 'is located on the gap 53 at the point "a" lying on the connecting axis of the holes 54', 54 "straight 55-55.

The first part 22 of the shaft 11 in the third section 48 is connected to the inner frame 44 from the side of its end 50 by elastic bridges 56 ', 56 "located in two diametrically opposite positions relative to the longitudinal axis 20-20 of the shaft 11 in the second plane perpendicular to the first plane 52- 52.

On the outer surface 57 of the first unit 41 of the single-frame suspension, a groove is made with a diameter of d ₅ <d ₃ at a length l ₃ greater than the length l _{4 of the} inner frame 44, in the region including the elastic jumpers 51 ', 56', 56 ". At the outer end 58 of the movable part 43 made the first groove 59 of the semi-cylindrical shape.

At the outer end 58 (FIG. 3) of the movable part 43 of the first single-frame suspension unit 41, a second semi-cylindrical groove 60 is formed in a diametrically opposite position relative to the first groove 59. The longitudinal axes of the first groove 59 and the second groove 60 are located in the first plane 52-52 .

Made similarly to the elastic jumper 51 '(Fig. 4), the elastic jumper 51 "is diametrically opposed to the elastic jumper 51' and connects the movable part 43 of the first unit 41 of the single-frame suspension with the inner frame 44 from the side of its end 49.

The elastic jumper 56 'located in the second plane 61-61 is formed by the gap 62 between the holes 63', 63 ". Similarly, the elastic jumper 56" is made.

The height h _{1 of the} elastic jumpers is the same for all elastic jumpers 51 ', 51 ", 56', 56" and is the depth of the holes 54 ', 54 ", 63', 63". Moreover, h ₁ ≥0.45d ₄ .

The second single-frame suspension unit 42 (Fig. 5) comprises a first end portion 64, a second end portion 65 and a central portion 66 located between them. An elastic bridge 68 'formed by a gap is made in the perpendicular longitudinal axis 20-20 of the shaft 11 of the third plane 67-67 69 between the holes 70 ', 70 ".

An elastic web 68 'connects the second end portion 65 to the central portion 66.

At the end 71 of the second end portion 65, a third half-cylindrical groove 72 is formed.

At the end 71 (Fig. 6) of the second end part 65, a fourth groove 73 is provided, which is located in a diametrically opposite position compared to the third groove 72.

The first groove 59, the second groove 60 of the first single-frame suspension unit 41, the third groove 72, the fourth groove 73 of the second single-frame suspension unit 42 are made with identical profiles.

In the second node 42 (Fig. 7) of the single-frame suspension, an elastic jumper 74 'is formed, formed by the gap 75 between the holes 76', 76 "and connecting the first end part 64 to the central part 66.

The inner diameter d _{6 of the} second node 42 single-frame suspension is made equal to the outer diameter d _{3 of the} third section 48 of the first part 22 of the shaft 11.

Located diametrically opposed to the elastic bridge 68 '(Fig. 8), the elastic bridge 68 "connects the central portion 66 to the second end portion 65 of the second single-frame suspension assembly 42.

The diametrically opposed relative to the elastic bridge 74 'elastic bridge 74 "connects the Central part 66 with the first end portion 64 of the second node 42 single-frame suspension.

The elastic bridges 68 ', 68 "in the third plane 67-67 are rotated 90 ° relative to the elastic bridges 74', 74".

The elastic bridges 51 ', 51 ", 56', 56", 68 ', 68 ", 74', 74" are made identical (hole diameters d ₄ , center distance l ₂ , depth h ₁ ≥0,45d ₄ ), and their bending axes are located in the third plane 67-67.

In a particular case, the height of the jumpers 68 ', 68 ", 74', 74" in the second node 42 single-frame suspension is twice the height of the jumpers 51 ', 51 ", 56', 56" of the first node 41 single-frame suspension.

The first node 41 single-frame suspension (Fig.9) and the second node 42 single-frame suspension are connected so that the outer surface with a diameter d _{3 of the} third section 48 of the first part 22 of the shaft 11 is aligned with the inner surface with a diameter d _{6 of the} first end portion 64 of the second node 42 of the single-frame suspension, the outer surface of a diameter d _3, the movable part 43 first node 41 odnoramochnogo suspension is combined with the inner surface of the diameter d ₆ of the second end portion 65 of the second assembly 42 odnoramochnogo suspension, the first node 41 odnoramochnogo end 58 is aligned with the torus suspension 71 th second end portion 65 of the second assembly 42 odnoramochnogo suspension.

Collet 33 is installed in the Central hole with a diameter of d _{7 of the} inner frame 44 of the first node 41 single-frame suspension.

The rod 34 is made of a length l ₅ , a longer length l _{6 of the} flywheel 29 of the rotor assembly 14 of the gyroscope.

At a length l ₇ along the axis 20-20 of the shaft 11, comprising 0.1-0.15 of the length l _{5 of the} rod 34, the rod 34 is made with a diameter d _{8 of} about two diameters d _{9 of the} rest of the rod 34.

The rod 34 is installed in the collet 33 so that its cross section located in the third plane 67-67 is separated from the end face 75 opposite the first cover 2 by a distance l _{8 of} 0.65-0.75 of the length l _{5 of the} rod 34.

The emphasis 36 is installed on the second section 47 of the first part 22 of the shaft 11.

In the node 13 of the two-stage elastic suspension (Fig. 10), the first groove 59 and the second groove 60 of the first single-frame suspension unit 41 are aligned with the third groove 72 and the fourth groove 73 of the second single-frame suspension unit 42 so that the longitudinal axes of the first groove 59, the second groove 60, the third groove 72 and the fourth groove 73 are located on a straight line 76-76.

A weld is made along the perimeter 77 of the outer surface of the first node 41 of the single-frame suspension combined along the diameter d _{3 with the} diameter d _{6 of the} inner surface of the second node of the single-frame suspension 42 of the ends 58 and 71 by laser welding.

Around the perimeter 78 (11) alignment along the diameter d _{3 of the} outer surface of the third section 48 of the first part 22 of the shaft 11 and the diameter d _{6 of the} inner surface of the first end part 64 by means of laser welding, a weld is made.

Collet 33 (Fig. 12) comprises a continuous part 79 along a length of l ₉ and four springs 80 ', 80 ", 80"' (spring 80 ^IV not shown in the drawing) in its split part.

On the perimeter 81 (Fig.13) of the connection of the end face 82 of the continuous part 79 of the collet 33 with the end face 83 of the inner frame 44 of the first single-frame suspension unit 41, a weld can be made by laser welding.

On the length l _{9 of the} continuous part 79 of the collet 33 between the outer surface of the continuous part 79 and the inner surface of the inner frame 44 of the first node 41 single-frame suspension made adhesive connection.

On the outer cylindrical surface 84 (Fig. 14) of the outer part 31 of the flywheel 29, first belts 85, second 85 "and third 85" are formed integrally with the outer part 31, the symmetry planes of which are 86'-86 ', 86 "-86, respectively "and 86" - 86 "'are perpendicular to the longitudinal axis 20-20 of the shaft 11. The plane of symmetry 86'-86' of the first girdle 85 'is located in the third plane 67-67, and the second girdle 85" and the third girdle 85 "" are located on the ends of the outer part 31 of the flywheel 29 symmetrically with respect to the first belt 85 '.

The diameter d _{7 of the} belts 85 ', 85 ", 85"' is 1.05-1.10 of the outer diameter d _{8 of the} outer part 31 of the flywheel 29.

The width l _{10 of} each of the belts 85 ', 85 ", 85"' is made of 0.08-0.12 of size l _{11 of the} outer part 31 of the flywheel 29 along the longitudinal axis 20-20 of the shaft 11.

On the first girdle 85 ′ (FIG. 15), protrusions 87 ′, 87 ″, 87 ″, 87 ^IV formed at the same time as 90 ° are formed along with it. Each of the protrusions 87 ′, 87 ″, 87 ″, 87 ^{IV is} made with an angular position α _{1 of} up to 25 ° and a height h ₂ from the girdle 85 ′ of up to 0.015 of the diameter d _{7 of the} girdles 85 ′, 85 ’, 85 "'.

In the same arrangement as the protrusions 87 ', 87 ", 87", 87 ^IV on the girdle 85', similar protrusions 87 ^V , 87 ^VI , 87 ^VII , 87 ^{VIII are} made on the second girdle 85 ", and the protrusions 87 ^IX , 87 ^X , 87 ^XI , 87 ^XII - in the third belt 85 "."

The rotor 12 of the engine (Fig. 16) is fixed to the shaft 11 by means of a nut 88. The length l _{12 of the} active part 16 of the rotor 12 of the engine is made with a ratio of 1.1-1.2 to the length l _{13 of the} active part 89 of the stator 4 of the engine. Perpendicular to the longitudinal axis 20-20 of the shaft 11, the plane of symmetry 90-90 of the active part 16 of the rotor 12 of the engine is shifted towards the rotor assembly of the gyroscope 14 by a distance l _{14 of} 0.055-0.065 of the length l _{13 of the} active part 89 of the stator 4 of the motor relative to the plane of symmetry 91 -91 active part 89 of the stator 4 engine.

On the mandrel 8 (Fig.17) in the form of a hollow cylinder, frameless compensation coils 9 ', 9 "of the first torque transducer located symmetrically with respect to the first plane 52-52 are installed, as well as frameless compensation coils 9"' located symmetrically with respect to the second plane 61-61, 9 ^{IV of the} second torque converter. Each of the compensation coils 9 ', 9 ", 9", 9 ^{IV with} its outer surface 92 and inner surface 93 repeats the profile of the mandrel 8 and is made with an angular position α ₂ from 75 to 85 ° with an arc size s ₁ = Rα ₂ , where R is the outer radius of the mandrel 8.

In the plan view (Fig. 18), the compensation coil 9 'is rectangular in shape. Its size s ₂ along the longitudinal axis 20-20 is such that the size s ₁ along an arc with an angle α ₂ is 2-2.3 times larger than the size s ₂ .

In the compensation coil 9 ', the coils located in one half of it between the outer surface 94 and the inner surface 95 are parallel to the end plane of the mandrel 8. The coils located between the outer surface 96 and the inner surface 97 of the compensation coil 9' are also parallel to the end plane of the mandrel 8. . The lateral surfaces 98, 99 of the compensation coil 9 'have a curved surface. Compensation coils 9 ", 9"', 9 ^{IV are} similarly made.

In the particular case of the gyroscope, on the end plane 100 of the cage 8 (Fig. 19), protrusions 101 ′, 101 ″, 101 ″, 101 ^{IV are located} , having curved surfaces 102 ′, 102 ″, 102 ″, 102 ^IV on one side, respectively and, on the other hand, curved surfaces 103 ', 103 ", 103"', 103 ^IV .

The configuration of the surface 102 'of the protrusion 101' repeats the configuration of the side surface 98 of the compensation coil 9 ', and the configuration of the surface 103 of the "protrusion 101" coincides with the configuration of the side surface 99 of the compensation coil 9'.

The compensation coil 9 '(Fig. 20) is installed between the protrusions 101' and 101 "of the cage 8 on its end plane 100 so that its outer surface 94 is aligned with the end plane 100 of the cage 8, the side surface 98 is aligned with the surface 102 'of the protrusion 101' , the side surface 99 is aligned with the surface 103 of the "protrusion 101". The protrusions 101 ', 101 "are directed towards the second half of the compensation coil 9" between the outer surface 96 and the inner surface 97, the protrusions 101', 101 "cover part of the two the first half of the compensation coil 9 'between the outer surface 94 and the inner surface 95. Similarly, with the surfaces of the cage 8, the surfaces of the compensation coils 9 ", 9"', 9 ^{IV are} aligned.

The compensation coil 9 ″ is fixed between the protrusions 101 ″ and 101 ^IV , the compensation coil 9 ″ is fixed between the protrusions 101 ″ and 101 ″, and the compensation coil 9 ^{IV is} fixed between the protrusions 101 ′, 101 ^IV .

An adhesive joint is made between the surfaces 94, 98, 99 of the compensation coil 9 'in contact with the surfaces 100, 102', 103 "of the cage 8. Similar adhesive joints are made between the surfaces of the cage 8 and the compensation coils 9", 9 ", 9 ^IV .

In the gyroscope housing 1 (Fig. 21), the stationary parts 7 ', 7 "of the first position transducer are located symmetrically with respect to the first plane 52-52, and the stationary parts 7"', 7 ^{IV of the} second position transducer are located symmetrically with respect to the second plane 61-61.

The fixed part 7 'of the first position transducer comprises a core 104' and a first winding 105 'with an inductance L ₁ ' and a second winding 105 "with an inductance L ₁ ", and a fixed part 7 "contains a core 104" and a first winding 105 "" with an inductance L ₂ 'and the second winding 105 ^IV with inductance L ₂ ". The fixed parts 7 ″, 7 ^{IV of the} second position transmitter are likewise made.

The cap 32 '(Fig. 22) on the permanent magnet 15' comprises a lid 107 mounted on the outer cylindrical surface 106 of the permanent magnet 15 'and soft magnetic iron and also a wall 109' located on the end face 108 of the permanent magnet 15 'and located on the end 110 permanent magnet 15 'wall 109'. Walls 109 ', 109 "are made of non-magnetic steel.

The cap 32 "on the permanent magnet 15" is similarly made.

In the gyroscope (Fig.23) in the first bridge position transmitter of the winding position 105 ′, 105 ″, 105 ″, 105 ^IV are connected in series, resistors R1 and R2 are connected in series. The AC supply voltage U _{pit is} connected to the winding 105 'and the resistor R1, as well as to the winding 105 ^IV and the resistor R2. The signal from the output of the bridge circuit of the first position converter is taken from the connection point of the windings 105 ", 105""and from the connection point of the resistors R1 and R2 and fed to the input of a differential amplifier 111 containing an AC amplifier, a demodulator and a DC amplifier. The output of the amplifier 111 is connected in series with compensation coils 9 ″, 9 ^{IV of the} second torque converter.

The connection of the second position transducer and the first moment transducer is similarly performed.

In the gyroscope, hydrogen was used as a gaseous medium at a pressure of 4 to 20 mmHg, facing the inner part of the gyroscope of the body part 1, the first 2 and second 3 covers, as well as the stator 4 and the rotor 12 of the engine, ball bearings 6 ', 6 "drive, shaft 11, node 13 two-stage elastic suspension, rotor assembly 14 of the gyroscope, rim 8, caps 32 ', 32" with permanent magnets 15', 15 "sealed in them, compensation coils 9 ', 9", 9 " , 9 ^{IV of the} first and second moment converters, fixed parts 7 ', 7 ", 7"', 7 ^{IV of the} first and second floor converters The flares were preliminarily hydrogenated by holding in a hydrogen medium at a pressure of 450 mm Hg for 210 hours in a gyroscope.

As a free gyroscope in the presence of an angular velocity along the first measuring axis directed along the line of intersection of the first plane 52-52 with the third plane 67-67, the angular displacement of the rotor assembly 14 of the gyroscope is measured by the first position transducer, and a signal proportional to the output of its bridge circuit angular velocity along the first measuring axis. If there is an angular velocity along the second measuring axis directed along the line of intersection of the second plane 61-61 with the third plane 67-67, the angular displacement of the rotor assembly 14 is measured by the second position transducer, and a signal proportional to the angular velocity from the second measuring axis.

As an angular velocity sensor, in the presence of angular velocity along the first measuring axis, the angular displacement signal of the gyro rotor assembly 14 from the output of the bridge circuit of the first position transducer is amplified in the amplifier 111 and supplied to the compensation coils 9 ", 9 ^{IV of the} second moment transducer. As a result, the rotor assembly 14 of the gyroscope returns to its original position, and the current of the compensation coils 9 ″, 9 ^IV is a measure of the angular velocity along the first measuring axis. If there is an angular velocity along the second measuring axis, the amplified signal of the bridge circuit of the second position transducer is supplied to the compensation coils 9 ', 9 "of the first moment transducer, and their current is a measure of the angular velocity along the second measuring axis of the gyroscope.

With the static balancing of the rotor assembly of the gyroscope 14, the mass is removed either on the protrusions 87 ^V , 87 ^VI , 87 ^VII , 87 ^{VIII of the} second belt 85 ", or the protrusions 87 ^IX , 87 ^X , 87 ^XI , 87 ^{XII of the} third belt 85", depending on the sign of the moment of imbalance of the rotor assembly of the gyroscope 14.

With the static balancing of the radial imbalance, the mass is removed from the protrusions 87 'or 87 "', 87" or 87 ^{IV of the} first rim 85 ', depending on the angular position of the microvolume with the highest density in the rotor assembly of the gyroscope 14.

In dynamic balancing, mass is removed from the 87 ^V protrusion on the second 85 "belt and from the 87 ^XI protrusion on the 85" third protrusion or from the 87 ^VII protrusion on the 85 "second protrusion and from the 87 ^IX protrusion on the 85" third protrusion 87 ^VI on the second belt 85 "and from the protrusion 87 ^XII on the third belt 85"'or from the protrusion 87 ^XIII on the second belt 85 "and from the protrusion 87 ^X on the third belt 85"' depending on the phase of the position along the longitudinal axis 20-20 the shaft 11 of the microvolume with the highest density in the node of the rotor 14 of the gyroscope.

The protrusions 87 ', 87 "... 87 ^XII and the belts 85', 85", 85 "'at the same time as the outer part 31 of the flywheel 29 achieve dimensional stability of the gyroscope balancing device by eliminating the moving masses, thereby improving the accuracy of the node balancing rotor 14.

When the diameter of the bands 85 ', 85 ", 85"' is 1.05-1.10 of the outer diameter of the outer part 31 of the flywheel 29, the width of each of the bands 85 ', 85 ", 85" is 0.08-0.12 from the length of the outer part 31 of the flywheel 29, the protrusions 87 ', 87 "... 87 ^XII extended to an angle of 25 °, and the height of the protrusions 87', 87" ... 87 ^XII is up to 0.015 of the diameter of the bands 85 ', 85 " 85 "', then such a miniaturization of the rotor assembly of the gyroscope 14 is provided, in which balancing is performed by removing the masses by means of a laser beam based on yttrium aluminum garnet, providing a processing depth of up to 1.5 mm with a diameter spot laser spot up to 0.3 mm.

With the above ratios of the sizes of the belts 85 ', 85 ", 85"', protrusions 87 ', 87 "... 87 ^XII and the outer part 31 of the flywheel 29 during balancing, the formation of a minimum amount of dispersed metal is ensured, which reduces the likelihood of contamination of the elastic jumpers 51', 51 ", 56 ', 56", 68', 68 ", 74 ', 74" and changes the dynamic gyro settings.

At the same time, the optimal strength of the outer part 31 of the flywheel 29 is achieved without an excessive increase in the mass of the flywheel 29, which increases the stability of its size. The result is an increase in the stability of the kinetic moment of the rotor assembly of the gyroscope 14.

With dynamic balancing of the rotor 12 of the engine, its center of mass is reduced to the point of intersection of the longitudinal axis 20-20 of the shaft 11 with a plane of symmetry 90-90. Balancing is done by selecting the masses of studs 19 ', 19 "... 19 ^VIII , installed around the circumference of the sleeve 17. To select the masses, a set of studs 19', 19" ... 19 ^{VIII of} calibrated length is manufactured.

During dynamic balancing of the gyroscope rotation unit, which includes the engine rotor 12, the shaft 11, the inner rings 10 ', 10 "of the ball bearings 6', 6" of the drive, the node 13 of the two-stage elastic suspension, the rotor assembly of the gyroscope 14, the pins 19 ', 19 "are moved .. .19 ^{VIII in} pairs in different directions along the longitudinal axis 20-20 of the shaft 11.

In the actual design of the engine (Fig. 16), the gaps δ ₂ and δ ₃ between the outer surface of the active part 16 of the rotor 12 of the engine and the inner surface of the active part 89 of the stator 4 are not equal. If δ ₂ <δ ₃ , then a radial force F _rad arises, acting on the rotor 12 of the engine and causing angular vibrations of the rotor 12 relative to the center of symmetry (cs) of the gyroscope rotation node.

Due to the displacement of the plane of symmetry 90-90 of the active part 16 of the rotor 12 of the engine by a distance l ₁₄ = (0,055-0,065) · l ₁₃ (l ₁₃ - the length of the active part 89 of the stator 4 of the motor) the axial force F _OS acts on the rotor 12 of the motor.

As a result, the sum of the moments acting on the rotor 12 of the engine is zero:

F _rad · l ₁₅ -F _OS · l ₁₆ = 0,

where l ₁₅ is the shoulder of the force F _rad equal to the distance from the center of symmetry (ts.s.) of the gyroscope rotation node to the direction of the force;

l ₁₆ - arm of the force F _a, equal to the distance from the symmetry center (cs) of rotation of the gyroscope assembly to the direction of action of force ₍₁₆ a distance l is determined by the difference gap δ ₂ and δ _3).

The result of the equality of the moments acting on the rotor 12 of the engine is the elimination of the angular vibrations of the rotor 12 of the engine with respect to the center of symmetry of the gyroscope rotation unit caused by the imperfect geometry of the rotor 12 of the engine and stator 4.

During dynamic balancing of the gyro rotor assembly 14, the center of mass of the gyro rotor assembly 14 is aligned with the longitudinal axis 20 of shaft 20-20. To do this, a coupler is inserted into the central hole 21 of the second part 23 of shaft 11 and screwed into the threaded hole 26, fixing the first part 22 of shaft 11 relative to the second part 23. Then, a lever is inserted into the window 25 in the mandrel 8 and, pressing them on the part of the stop 36 extending outside the flywheel 29, move the first part 22 of the shaft 11 relative to the second part 23 in the direction perpendicular to the longitudinal axis 20-20 of the shaft 11. Adhesive joint 24 along the inner cylindrical surface of the second part 23 of the shaft 11 and the outer cylindrical surface of the first part 22 of the shaft 11, made on a length l ₁ greater than half the length of each first part 22 and the second part 23 of the shaft 11, ensures the stability of the established relative position of the first part 22 and the second part 23 of the shaft 11 relative to each other and the preservation of the parameters of the balancing node of the rotor 14 of the gyroscope.

Since the longitudinal axis of the window 25 is located in the middle region of the first part 22 of the shaft 11, the first part 22 moves progressively relative to the second part 23 of the shaft 11. Therefore, when balancing provides a more accurate alignment of the center of mass of the rotor 14 of the gyroscope with the longitudinal axis 20-20 of the shaft 11 .

During the process of filling the gyroscope with hydrogen, the gyroscope through the hole in the first cover 2, not yet closed by the first stopper 27, is hermetically connected to the vacuum system and degassed. If there was no second plug 28, the path of the air removed during the degassing would go through the central hole 21 of the shaft 11. In this case, foreign particles in the air would settle on the elastic jumpers 51 ', 51 ", 56', 56", 68 ', 68 " 74 ', 74 ".

Foreign particles settled on elastic bridges change the dynamic tuning of the rotor assembly of the gyroscope 14, which leads to the appearance of an error in the measurement of angular velocity.

When installing the second plug 28 coaxially with the shaft 11 and the first plug 27 in the Central hole 21 of the shaft 11 overlaps the path of air passage through the Central hole 21 and the elastic jumpers 51 ', 51 ", 56', 56", 68 ', 68 ", 74' , 74 ", thereby eliminating the deposition of foreign particles on the elastic bridges. As a result, the dynamic tuning of the rotor assembly of the gyroscope 14 is maintained.

For preliminary hydrogenation, the gyroscope through the hole in the first cover 2, not yet closed by the first stopper 27, is hermetically connected to the vacuum system, degassed, and the gyroscope’s internal cavity is filled with hydrogen at a pressure of 450 mm Hg. and incubated for 210 hours. To fill, the hydrogen pressure is adjusted to 4 ... 20 mm Hg. and close the first cover 2 with the first stopper 27.

After preliminary hydrogenation, the housing 1, the first cover 2, the second cover 3, the stator 4 and the rotor 12 of the engine, the shaft 11, the ball bearings 6 ', 6 "drive, the cage 8, the stationary parts 7', 7", 7 "', 7 ^IV converters positions, compensation coils 9 ', 9 ", 9", 9 ^IV torque converters, node 13 of two-stage elastic suspension, rotor assembly 14, caps 32', 32 "do not adsorb hydrogen from the internal cavity of the gyroscope in which hydrogen pressure 4 is created. ..20 mmHg As a result, the pressure of hydrogen in the internal cavity of the gyroscope remains within the limits obtained during filling, and the characteristics of the drift of the gyroscope remain at the level of the initial values.

Permanent magnets 15 ', 15 "of an alloy with a rare-earth metal Sm ₂ CO ₅ due to their high magnetic energy allow a larger gap between them and the inner surface of the outer part 31 of the flywheel 29, which ensures an increase in the number of turns of the compensation coils 9', 9", 9 ″, 9 ^IV and magnetic field strengths of the compensation coils 9 ′, 9 ″, 9 ″ ’, 9 ^IV . The result is an increase in the torque developed by the torque converter.

When the permanent magnets 15 ', 15 "are closed by caps 32', 32" and sealed, the destructive effect of hydrogen on the rare-earth metal alloy Sm ₂ CO _{5 is} eliminated, and the permanent magnets 15 ', 15 "do not lose their integrity.

The walls 109 ', 109 "of the cap 32' made of non-magnetic steel reduce the scattering of the magnetic field. The lid 107 of soft magnetic iron provides the path of the magnetic flux of the permanent magnet 15 'to the working gap of the torque converter.

The result is an increase in magnetic flux in the working gap of the moment transducer, an increase in the moment created by the transducer.

The compensation coils 9 ', 9 ", 9"', 9 ^IV , made rectangular in plan with an angular distribution of 75-85 ° and a ratio of 2-2.3 of their length to width, increases the active fraction of turns in the magnetic field of permanent magnets 15 ', 15 ". Therefore, the moment created by the torque converter increases.

In the case of installing compensation coils 9 ", 9"', 9 ^IV as well as compensation coil 9', when it is secured between the protrusions 101 'and 101 "of the cage 8 on its end plane 100 by aligning the side surface 98 with the surface 102' protrusion 101 ', and the side surface 99 with the surface 103 of the "protrusion 101", a more accurate orientation of the compensation coils 9', 9 ", 9", 9 ^IV relative to the measuring axes of the gyroscope is achieved. Therefore, the transverse connections between the measuring axes of the gyroscope are minimized.

Due to the fact that the temperature coefficients of the BrB2 beryllium bronze, of which the collet 33 is made, and the tungsten-nickel-copper alloy, of which the bar 34 is made, are close, the gyroscope is dynamically tuned over a wide range of operating ambient temperatures.

When combining the longitudinal axes of the first groove 59 and the second groove 60 of the first single-frame suspension unit 41, the third groove 72 and the fourth groove 73 of the second single-frame suspension unit 42 in a straight line 76-76, elastic bridges 51 ', 51 ", 56', 56", 68 ', 68 ", 74', 74" are arranged in pairs so that in each pair one elastic jumper is located in a plane perpendicular to the plane in which the other elastic jumper is located. Thus, the elastic bridge 51 'of the first single-frame suspension unit 41 and the elastic bridge 68' of the second single-frame suspension unit 42 form a pair located on one side of the longitudinal axis 20-20 of the shaft 11, the elastic bridge 51 'being located in the first plane 52-52, and the elastic jumper 68 'is located in the third plane 67-67 perpendicular to it. On the opposite side relative to the longitudinal axis 20-20 of the shaft 11 is another pair of jumpers 51 "and 68" located respectively in the first plane 52-52 and the third plane 67-67.

In the third pair, the elastic jumper 56 'and the elastic jumper 74' are located on one side of the longitudinal axis 20-20 of the shaft 11, the elastic jumper 56 'being located in the second plane 61-61, the elastic jumper 74 located in the third plane 67-67 perpendicular to it '. A similar pair is made of elastic jumpers 56 "and 74".

In this case, the common bending axis of the elastic bridges 51 ', 51 ", 68', 68" is located on the line of intersection of the first plane 52-52 with the third plane 67-67, and the general bending axis of the elastic bridges 56 ', 56 ", 74', 74 "is located at the intersection of the second plane 61-61 with the third plane 67-67.

As a result of such an arrangement of the axes of bending of the elastic bridges and the pairwise combination of elastic bridges, performing welds by laser welding along the perimeters 77, 78 of combining the ends of the first node 41 of the single-frame suspension and the second node 42 of the single-frame suspension, an equally rigid two-stage elastic suspension of the rotor assembly of the gyroscope 14 is created.

When all the elastic bridges 51 ", 56 ', 56", 68', 68 ", 74 ', 74" are identical with the elastic bridge 51' formed by holes 54 ', 54 "with a diameter of d ₄ at their center-to-center distance l ₂ = ( 1.02-1.03) · d ₄ and height h ₁ ≥0.45d ₄ , then the stiffness of the elastic suspension along the bending axes of the elastic bridges is at least three orders of magnitude greater than the stiffness of the elastic suspension relative to the bending axis of the elastic bridges. the gyroscope is carried out at the optimal engine speed, which ensures the strength of the rotor assembly of the gyroscope 14 at its minimum dimensions.

When measuring the angular velocity along the first measuring axis, the gyro rotor assembly 14 is angularly moved relative to the bending axis of the elastic jumpers 51 ', 51 ", 68', 68" located at the intersection of the first plane 52-52 with the third plane 67-67. And when measuring the angular velocity along the second measuring axis, the angular movement of the rotor assembly of the gyroscope 14 occurs relative to the bending axis of the elastic jumpers 56 ', 56 ", 74', 74" located on the intersection line of the second plane 61-61 with the third plane 67-67.

The implementation of the node 13 of a two-stage elastic suspension from a high-strength elinvar with a high modulus of elasticity of the first kind and a low temperature coefficient of linear expansion allows to reduce its size to perform the specified stiffness of the elastic jumpers 51 ', 51 ", 56', 56", 68 ', 68 ", 74 ', 74 "and at the same time ensures the stability of their rigidity in a wide range of operating ambient temperatures.

When the flywheel 29 is made of an iron-cobalt alloy with high saturation induction in weak magnetic fields, high magnetic induction is achieved in the working gap of the torque converters formed between the outer surface of the permanent magnets 15 ', 15 "and the inner surface of the outer part 31 of the flywheel 29. Therefore, the torque converter developed moment.

Four springs 80 ', 80 ", 80", 80 ^IV collets 33 center the rod 34, providing a stable position of its center of mass, thereby achieving stability of the gyro drift due to the stability of the frequency of the dynamic tuning.

Combined weld around the perimeter 81 of the end face 82 of the continuous part 79 of the collet 33 with the end face 83 of the inner frame 44 of the first node 41 of the single-frame suspension with glue on the length of the continuous part 79 of the collet 33 of the outer surface of the continuous part 79 of the collet 33 with the inner surface of the inner frame 44 of the first node 41 single-frame suspension provides reduced temperature deformation of the connected parts and makes them stable. Therefore, the random and systematic components of the gyro drift are reduced.

In the gyroscope temperature control mode, the heat generated by the gyroscope engine and the first 37 'and second 37 "film heating elements is used to maintain the nominal operating temperature. When the resistance of the second film heating element 37" is twice as large as the resistance of the first film heating element 37', the thermal field is uniform in the volume of the gyroscope.

Information sources

1. French patent No. 2322366, cl. G01M 1/20. Rotating, dynamically tuned devices that form gyroscopes and accelerometers. 1976.

2. US Patent No. 3354726, cl. 74-5. Two-stage gyroscope. 1967.

Claims (5)

1. A gyroscope comprising a housing, first and second covers on opposite ends of the housing, a stator of a two-phase hysteresis motor installed in the housing, outer rings of drive ball bearings, fixed parts of the first and second position transducers, a mandrel with frameless compensation coils of the first and second magnetoelectric type moment transducers, a shaft installed in the inner rings of the ball bearings of the drive with the engine rotor on the side of the first cover and located on the side of the second wing sheaves by a two-stage elastic suspension unit on which the gyro rotor assembly with permanent magnets of moment transducers is located, the two-stage elastic suspension assembly comprising a first single-frame suspension unit and a second single-frame suspension unit; the first single-frame suspension unit contains a moving part, an inner frame and a fixed (relative to the shaft) part, the inner frame is connected to the moving part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in the first plane, the fixed part is connected to the inner frame by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in perpendicular to the first plane of the second plane, T The swarm of the single-frame suspension contains the first and second end parts and the central part located between them, the first end part is connected to the central part by two elastic jumpers located in two diametrically opposite positions relative to the longitudinal axis of the shaft in a third plane perpendicular to the longitudinal axis of the shaft, the central part is connected with the second end part with two elastic jumpers located in the third plane in two diametrically opposite positions, deployed 90 ° relative to the position in the third plane of the elastic bridges connecting the first end part to the central part, each of the elastic bridges located in the first, second and third planes is formed by the gap between the two holes, a collet with a bar is installed in the central hole of the first frame of the first single-frame suspension, in a gyroscope a stop is made, the rotor of the engine has a sleeve and an active part mounted on it, the shaft is made with a central hole along its longitudinal axis, the gyro rotor assembly has a A flywheel with balancing devices from the external and internal parts, frameless compensation coils of torque transducers are fixed on one side on a circle perpendicular to the longitudinal axis of the shaft of the end plane of the mandrel, the internal cavity of the gyroscope enclosed between the body and two covers is filled with a gas medium other than air, characterized in that the shaft is made of the first part and located opposite the first cover of the second part, articulated by glue on the inner cylindrical surface In particular, on the outer cylindrical surface of the first part of the shaft for a length greater than half the length of each of the first and second parts of the shaft, the inner rings of the ball bearings of the drive are installed on the second part of the shaft, in the first cover there is a first plug, coaxial with the shaft, located opposite a second cap, sealed to the shaft’s central hole in the shaft, is provided with a second plug coaxial with the shaft, a threaded hole is formed in the end of the first shaft part opposite the first cover, axial with a shaft; perpendicular to the longitudinal axis of the shaft, the plane of symmetry of the active part of the motor rotor is shifted relative to the symmetry plane of the active part of the motor stator towards the gyro rotor assembly by a distance of 0.055-0.065 from the length of the active part of the motor stator, and the length of the active part of the motor rotor is made with a ratio of 1.1-1, 2 to the length of the active part of the motor stator, in the end face of the rotor sleeve located on the side of the first cover, eight studs are spaced apart from each other at an angular distance of 45 °, each of which Nena of volframonikelemednogo alloy with a density of not less than 17 g / cm ^3, the flywheel is made of a soft magnetic iron-cobalt alloy with a saturation induction of at least 2 T in a weak magnetic field of not more than 160 A / m, on the inside of the flywheel two permanent magnet of annular shape are set, each of which is formed by five or nine segments of an alloy with a rare-earth metal Sm ₂ Co ₅ , magnetized in the radial direction, each permanent magnet is closed by a cap that creates a sealed space in the location zone I have a permanent magnet, each cap contains a lid of soft magnetic iron and two walls of non-magnetic steel, the lid is located on the outer cylindrical surface of the permanent magnet, and the walls are located on the opposite ends of the permanent magnet perpendicular to the longitudinal axis of the shaft; the two-stage elastic suspension unit is made of high-strength elinvar with a first-class elastic modulus of at least 1.67 · 10 ⁹ N / m ² , a linear expansion temperature coefficient of not more than 5 · 10 ^{-6 1} / ° C, the fixed part of the first single-frame suspension unit is made as the first part of the shaft having three sections, the diameter of which increases sequentially from the first section further to the second and third sections, forming elastic bridges of the hole are made to a depth of at least 0.45 from the diameter of the hole with an intercenter distance of 1.02-1.03 from d hole diameter; the outer diameter of the movable part of the first node of the single-frame suspension and the diameter of the third section of the first part of the shaft are made equal to the inner diameter of the second node of the single-frame suspension, in the first node of the single-frame suspension, a groove is made on its outer surface, including at least the length of the holes forming elastic jumpers, including the size of the inner frame in the direction of the longitudinal axis of the shaft; on the outer end of the movable part of the first single-frame suspension unit, the first half-cylindrical groove is made, located in the diametrically opposite position, the second half-cylindrical groove, the longitudinal axes of which are located in the first plane, the third half-cylindrical groove and located on the outer end of the second end part of the second single-frame suspension unit in a diametrically opposite position, the fourth groove is semi-cylindrical in shape, which have an identical profile with ofil of the first and second grooves and the longitudinal axes of which are located in a plane passing through the centers of the elastic bridges forming the holes of those elastic bridges that connect the second end part of the second unit of the single-frame suspension with its central part; the first node of the single-frame suspension and the second node of the single-frame suspension are connected so that the longitudinal axes of the first, second, third and fourth grooves are aligned, the fixed part of the first node of the single-frame suspension in the part of the third section of the first shaft part is aligned with the inner surface of the first end part of the second node a single-frame suspension and along the perimeter of their connection a weld is made by laser welding, the sleeve is made in the form of a collet made of beryllium bronze BrB2 with four springs in its size carved portion, the rod is made of a single element volframonikelemednogo alloy with a density of not less than 17 g / cm ^3, from the second lid at a length component 0.1-0.15 length of rod, the rod is formed with a diameter of around twice the diameter of the rest of the rod, the rod is installed in the collet so that its cross section, located at a distance of 0.65-0.75 of the length of the rod from the side of the first cover, is aligned with the third plane of the second unit of the single-frame suspension, on the length of the continuous part of the collet between the outer surface of the continuous part of the collet and the friction surfaces of the inner frame of the first node odnoramochnogo suspension formed adhesive bond between the inner cylindrical surface of the collet and the outer cylindrical surface of the rod in the part with the smallest diameter of the adhesive bond formed; in the second section of the first part of the shaft, a disk-shaped stop is installed, between the outer cylindrical surface of which and the inner cylindrical surface of the inner part of the flywheel, a gap is made equal to the allowable movement of the gyro rotor assembly with its angular movements relative to the bending axes of the elastic bridges of the two-stage elastic suspension unit; a window is made in the mandrel with compensation coils, the longitudinal axis of which is located radially to the longitudinal axis of the shaft in the region of the middle of the first part of the shaft; the stop in the second section of the first part of the shaft is mounted from the gyro rotor assembly towards the first cover so that its end from the side of the first cover extends beyond the nearest end of the flywheel, and this part of the stop extending outside the flywheel is located radially opposite the window in the mandrel; gyro rotor assembly balancing devices are formed on the external cylindrical surface of the external part of the flywheel in the form of the first, second and third belts made along with the external part of the flywheel, the plane of symmetry of which is perpendicular to the longitudinal axis of the shaft, the plane of symmetry of the first belt is aligned with the third plane in which the elastic jumpers are located the second node of the single-frame suspension, the second and third bands are located at the ends of the outer part of the flywheel symmetrically with respect to the first belt, each with four protrusions are formed along with them, located 90 ° around the circumference of the belts, the diameter of the belts is 1.05-1.10 of the outer diameter of the outer part of the flywheel, the width of each belt is made of 0.08-0.12 of the size of the outer parts of the flywheel in the direction of the longitudinal axis of the shaft, the protrusions are made with an angular distribution of α ₁ up to 25 ° and a height of up to 0.015 of the diameter of the bands; on the mandrel made in the form of a hollow cylinder, four compensation coils of rectangular shape are installed in plan view, and in the arc-shaped profile repeating the profile of the mandrel, each compensation coil is made with angular propagation α ₂ from 75 to 85 °, size S ₁ = Rα ₂ (where R - the outer radius of the mandrel) along an arc with an angle α _{2 of} each compensation coil is 2-2.3 times larger than its size S ₂ in the direction of the longitudinal axis of the shaft; hydrogen was used as a gaseous medium at a pressure of 4 to 20 mm Hg, facing the internal part of the gyroscope of the body part, the first and second covers, as well as the stator and rotor of the motor, ball bearings of the drive, shaft, assembly of a two-stage elastic suspension, assembly gyro rotor, rim, each cap with a permanent magnet sealed in it, compensating coils of the first and second moment transducers, fixed parts of the first and second position transducers are pre-hydrogenated m of exposure in a hydrogen medium at a pressure of 450 mm Hg within 210 hours as part of a gyroscope; a first film heating element is installed on the gyroscope case in the engine location region, a second film heating element is installed on the second cover, connected in series with the first film heating element; a board with elements of bridge circuits of the first and second position transducers is mounted on the flange formed on the gyroscope case; the board elements are closed by a layer of elastic filler. 2. The gyroscope according to claim 1, characterized in that each compensation coil is additionally fixed on two sides in the protrusions formed on the end plane of the mandrel, covering part of one half of the compensation coil, in which the turns are parallel to the end plane of the mandrel, the protrusions are directed towards the second half of the compensation coil with the direction of the turns parallel to the end plane of the mandrel, the protrusions are made in a configuration that repeats the configuration of the part of the compensating cat shki surfaces between holder and bucking coils in contact with each other adhesive connections are made. 3. The gyroscope according to claim 1, characterized in that the resistance of the second film heating element is made twice as large as the resistance of the first film heating element. 4. The gyroscope according to claim 1, characterized in that the height of the elastic jumpers in the second node of the single-frame suspension is made twice the height of the elastic jumpers in the first node of the single-frame suspension. 5. The gyroscope according to claim 1, characterized in that along the perimeter of the end connection of the continuous part of the collet with the end face of the first frame of the first single-frame suspension, a weld is made by laser welding.

Images