RU2362121C2 - Miniature solid-state wave gyro (sswg) - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: invention relates to miniature solid-state wave gyro that serves to measure angular velocity of moving objects. SSWG represents solid-state wave inertial module fitted and fixed in evacuated metal casing. It comprises rigidly interconnected hemispherical resonator and pick-up/excitation p.c.b. made from quartz glass, their surfaces being subjected to metallisation. Electronic system controls the SSWG operation and comprises microprocessor that excites resonator oscillations in required operating conditions, measures, converts and processes azimuthal data read off the resonator oscillating enclosure.

EFFECT: improved operating performances, reduced development terms and costs.

7 cl, 13 dwg

Description

The invention relates to the field of navigation technology, in particular to gyroscopic equipment, used mainly in the composition of onboard inertial navigation systems of miniature design.

These gyroscopes are intended to determine the projections of the input angular velocities on the axis of their sensitivity.

At the same time, they can be structurally performed both in the form of functionally complete uniaxial modules with inertial sensing elements built into individual metal housings, and triaxial blocks, when several, usually three gyroscopic sensors, are placed in parallel and, in particular, orthogonally in a single-section monolithic metal case equipped with appropriate mounting nests under them.

In addition to gyroscopes, the systems mentioned above usually use other basic sensitive elements, for example, accelerometers designed to measure acceleration, on-board electronics serving the indicated equipment, etc.

Inertial navigation systems as a whole make it possible to solve the complex task of navigating an object, which consists in determining the parameters of its movement, namely the coordinates of the object, the magnitude and direction of its speed.

Due to its special consumer qualities, mainly due to the miniature design (lateral dimensions are limited by a cylindrical surface with a diameter of not more than 40 mm), high weight perfection, vibration resistance (amplitude 10 ... 40g in the frequency range from 3 to 250 Hz), accuracy characteristics (random drift component at the level of 0.1 deg / h), the ability to withstand overloads (up to 60g with a pulse duration of 8 ... 12 ms) and function in a fairly wide temperature range (from -40 to + 80 ° С), as well as small ( oryadka 1.3 W) power consumption and time for preparation work (5c) and so forth., the claimed uniaxial HRG may without much difficulty be placed on different kinds of mobile objects with limited mounting volume and energy consumption, operating in extreme conditions.

In particular, they can be organically integrated, as part of the aforementioned triaxial gyroscopic units, into bottomhole telemetry systems (ZTS) used to control the geometric parameters of oil and gas wells located directly on board the drill string. In this case, the determination of well parameters is carried out without disturbing the drilling process. The drilling technology implemented in practice usually involves the alternation of direct drilling with relatively few stops used to build up (connect) another section of the pipe. Therefore, taking into account the aforementioned performance of the claimed TWG, the task of determining the angular orientation of the well, in this case, can be successfully solved precisely at the moments of such technological stops, i.e. practically without any deviations from the existing drilling technology.

In addition to measuring the angular orientation of the TSZ, a number of additional technological parameters of the well can be determined.

In principle, the claimed TWG can be used to measure the angular position of the well in the traditional way, namely as part of self-contained downhole inclinometers suspended on a cable or cable.

However, measuring the angular position of the well in this way is not technologically advanced, since the inclinometer is lowered to the bottom and raised from there, in this case, when the rig is stopped, it can take several hours. Moreover, in some cases, even with a relatively low frequency of monitoring the well curvature, the associated overhead costs may be unacceptable.

The urgent need to create a new generation of gyroscopic equipment, similar to the declared one, is obvious and is due mainly to two factors.

The first of them can be attributed to the recent sharp increase in the volume of drilling oil and gas wells and an increase in the number of horizontal, directional and offshore wells, during the laying of which frequent measurements of their curvature are necessary.

The second is due to the fact that the overwhelming majority of domestic and foreign inclinometers in operation today are built on a traditional element base and relatively outdated technical solutions that do not meet the modern technical level, and therefore do not provide competitiveness in the market for equipment of this class.

In addition to the oil and gas industry, this invention can also be used in traditional sectors of the economy (aviation, navy, rocket and space technology), as well as during some special operations.

A fairly large number of analogues of the invention are known, both domestic and foreign, as well as the corresponding technical solutions embedded in their design [see, for example, “Engineering Guide for Space Engineering”, ed. Prof. Dr. tech. sciences A.V. Solodova, M., “Military Publishing House”, 1969, BBK 6T6 (083), UDC 629, 19 (083), pp. 350-361; “Guidance on the design of elements of automation systems”, Andryushina EP et al., M., “Higher School”, 1969, UDC 621, 032-318, 57, p. 174, Fig. 7.16a; “Vacuum Apparatuses and Devices of Chemical Engineering,” ed. the second is a reslave. and add., Shumsky K.P., M., "Engineering", 1974, UDC 621, 15 / 52-66.05, p. 485 - fig. 418, p-486 - fig. 420a, p. 487 - fig. 421; “Fundamentals of vacuum technology”, B.I. Korolev et al., M., “Energy”, 1975, 6F0.31, 0-75, UDC 621.52, pp. 297-304, Fig. 14-2, 14 -3, 14-6, 14-8 ... 14-10; author testimonial. SU No. 438327, G01C 19/56, 05.02.75; D / Lynev, A. Matthews, G.N. Varty, Proceedings of the Symposium on Gyroscopic Technology in Stuttgart (Germany), 1977, p. (9.0-9.21); Pat. US No. 4157041, G01C 19/56, 05/06/79; Handbook of the instrument-technologist ”, in 2 vols. - 2nd ed. reslave. and add., T2 / ed. E.A. Skorokhodova - M., "Engineering", 1980, LBC 34.9, C74, UDC 681.2.002 (031), p. 461, Fig. 25c; “Driller's companion”, K. Johansen, M., “Nedra”, 1981, UDC 622, 24 (031), p. 152, table 13c, fig. 26; author testimonial. SU No. 591035, G01C 19/64, 07.07.82; European patent No. 0141621, G01C 19/56, 1983; "Physical Encyclopedic Dictionary." Chap. ed. A.M. Prokhorov, ed. count D.M. Alekseev et al., M., “Soviet Encyclopedia”, 1984, BBK 53 (03) F50, pp. 125-127, 276, 277, Fig. 1-3; "Workshop on Engineering Geodesy", ed. Prof. Dr. tech. Sciences V.E. Novak, ed. third, reslave. and add., M., "Nedra", 1987, UDC 528.48, pp. 169-176; author testimonial. SU No. 1361638, Н01В 17/0, 12.23.87; "Electronics", Encyclopedic Dictionary, Ch. ed. Kolesnikov V.G., M., “Soviet Encyclopedia”, 1991, LBC 32.85., E45, p. 511, 512; Kovshov G.N., Alimbekov R.I., Giber A.I. "Inclinometers", Ufa, "Galem", 1998; Kovshov G.N., Bodunov S.B. "Gyroinclinometer for measuring while drilling." Joint scientific session of the Section of navigation systems and their sensitive elements and the St. Petersburg section of precision gyroscopy on the topic: “Borehole navigation, inclinometry and navigation”: Abstracts, - Gyroscopy and navigation, 1999, - No. 3 - p. 25 ; Pat. RU No. 2147117 C1, G01C 19/56, 03/27/2000 g; Bodunov B.P., Bodunov S.B., Lopatin V.M., Chuprov V.P. “Development and testing of a wave solid-state gyroscope for use in an inclinometric system” - VII St. Petersburg International Conference on Integrated Navigation Systems: Proc. doc. - Gyroscopy and navigation. 2001, No. 2 p. 121].

Most known inclinometers up to now use azimuth sensors based on single-coil flux-gate transducers that measure the projections of the Earth's magnetic field vector (see the “Physical Encyclopedic Dictionary” mentioned above, p. 808).

A significant drawback of these sensors is their sensitivity to ferromagnetic anomalies, due, in particular, to the use of casing made of soft magnetic materials.

Measuring sensors of other inclinometers belong to the gyroscopic equipment of the so-called classical type. A sensitive element of such gyroscopes is a rotating rotor, the axis of which can change its direction in space. These gyroscopes have been used for a long time in most navigation systems and are still used in some areas of technology.

Classical gyroscopes are distinguished by the complexity of the design, the use of a rotor, bearings and other rotating parts. For this reason, such devices have a sufficiently low vibrational and impact strength, limited service life and high power consumption. To preserve the necessary accuracy characteristics of these gyroscopes in a wide temperature range, the corresponding thermostatic equipment is required, which significantly complicates the navigation system as a whole.

Despite the long dominance of classical gyroscopes and considerable efforts aimed at improving their characteristics, a new generation of gyroscopes gradually began to be preferred in navigation technology, whose work is based on other physical principles, such as quantum and vibrational ones (see “Physical Encyclopedic Dictionary”, p. 127, 276, 277 - Fig. 1-3; auth. Certificate SU No. 438327, 591035; Pat. US No. 4157041, Heb. Pat. No. 0141621 and others).

The first of these includes fiber optic, laser and nuclear gyroscopes. The principle of their action is based on the use of the special properties of atomic nuclei and electronic particles, the behavior of which is described by the laws of quantum mechanics.

Quantum gyroscopes are inertia-free, have corresponding stability of properties, and can operate in a wide temperature range. However, they are also difficult to execute and have large dimensions.

Due to the considered performance features, as well as the inability to withstand operation for a long time under the extreme conditions mentioned above and for a number of other reasons, the practical use of classical and quantum gyroscopic devices as part of inclinometric equipment is still problematic. That is why today in the practice of most of the domestic and foreign companies there are almost no gyroscopic inclinometers of the indicated type that are directly embedded in the design of drill strings and provide prompt receipt of the necessary information about the angular position of the wells without violating the existing drilling technology.

Vibration gyroscopes contain, as a sensing element, not a rotating rotor, but a vibrating body. Among them, a special place is occupied by a TWG with a hemispherical resonator.

Their principle of operation is based on the effect of the sensitivity of the vibrating solid-state, in this case hemispherical, shell of the resonator to the rotation of the base (body) on which it is attached. Structurally, they are extremely simple to perform in comparison with the previously considered types of gyroscopes, since they consist of only a few functional parts made of quartz glass, rigidly connected to each other and with the specified base.

For this reason, such gyroscopes, in fact, are called solid-state.

A distinctive feature of TBG is the complete absence of moving (rotating) parts in their design. Oscillations of a hemispherical resonator (shell) occur only within elastic deformations (with an amplitude of up to 1 μm, for example, at a sound frequency of 8000 Hz).

Due to the simplicity of the design and the use of the smallest possible number of parts, such devices have increased reliability in conditions of shock and vibration, have small dimensions, weight and low power consumption. They also lack nodes and parts that would be sources of thermal radiation.

Depending on the implementation method of TWG electronic systems, they can function both in the mode of direct measurement of speed and in the mode of its integration.

Among the known analogues of the claimed technical solution, the closest (prototype) can be a TWG, the design and description of which are given in European patent No. 0141621, G01C 19/56, 1983

The TWG selected as a prototype contains a metal evacuated casing equipped with a plug, getter, and corresponding mounting and connecting elements, in the inner cavity of which there is an inertial sensing element made of quartz glass and rigidly fastened to each other and with the casing, in the form of a hemispherical resonator, passing through the pole of its hemisphere is a double-rod holder of the rod type, and the exciter is electrically interacting with the hemisphere through the capacitive gap a holder of high-frequency elliptical oscillations of the resonator and a unit for picking up (reading) electrical signals reflecting the azimuthal orientation of the oscillatory pattern of the vibrating shell of the resonator with metallized working surfaces and a group of electrodes that are connected appropriately, connected through socket contacts with pin contacts of the through electrical hermetic leads, and also mated to the legs of these contacts multi-circuit electronic system that provides excitation and maintenance to oscillations of the resonator with a given amplitude, constant frequency and phase, regardless of the location of the vibrational pattern of the vibrating shell, and the measurement, conversion and corresponding processing of the read information.

The material and the corresponding geometric parameters of the hemispherical shell of the resonator of the known TWG give it special (elastic) properties, due to which it can be brought into vibrational motion using an external alternating electric field.

Corresponding balancing teeth are formed on the end edge of this shell, which significantly complicates the design of the part and the technology for its manufacture.

Both the inner and outer tips (legs) of the double-sided rod holder of the resonator have approximately the same reach (length) of at least three diameters of their cross section and are used to fix it in a double-support pattern.

The oscillation causative agent of the hemispherical shell of the known TWG resonator is made in the form of a hollow multi-stage part located above it, formed by a rather complex set of corresponding surfaces of revolution (conical, cylindrical, flat, spherical).

In the area adjacent to the outer surface of the resonator shell, the inner surface of the pathogen is made in the form of a hemisphere mirroring it, on which annular and four groups of four are formed, for a total of sixteen, discretely, after 22.5 degrees, spaced in the circumferential direction and commutated accordingly local control electrodes of a circular configuration connected to eight contact sockets of the pick-up unit, paired with single-conductive high-voltage pin contacts (high-current x) electrical feedthrough sealed leads embedded in isolators welded to the lower edge of the metal lid evacuatable housing with their output legs of its external contour.

The conductors from the ring electrode of the exciter and the outer surface of the hemispherical shell of the resonator are connected to two separate pass-through electrical pressure leads of the same design, located on the opposite side of the TWG, built into the corresponding insulators of the evacuated metal case with their legs extending beyond its outer contours.

The ring electrode of the pathogen is used to maintain oscillations of the hemispherical shell of the resonator with a constant amplitude, and sixteen local electrodes are used to suppress quadrature vibrations of the resonator.

The large number and remoteness of the control electrodes of the exciter of oscillations from the passage of electrical hermetic leads significantly complicates the laying of the corresponding conductors connecting these structural elements.

Due to the design features, the design of the resonator oscillator of the known TWG is too complicated and low-tech. The great complexity of its manufacture largely determines the rather high price of the product in general.

The electrical signal pick-up unit of the well-known TWG is made in the form of a flat base of a flange type with a spherical segment rising above it, on the outer surface of which eight, discretely, at 45 ° are formed, spaced in the circumferential direction and connected accordingly to the local measuring electrodes of a circular configuration used for removal (reading) the parameters of the azimuthal orientation of the oscillatory pattern of the vibrating shell of the resonator.

Each of the measuring electrodes of the removal unit is connected by means of current conductors to individual detachable coaxial connectors of through-passage low-voltage electrical leads embedded in the insulators of the metal cover of the evacuated housing mentioned above, with their legs exiting beyond its outer contours.

This (coaxial) design of the specified pressure leads is due to the presence of high-voltage control circuits in the design of the known TWG and the need for appropriate protection of low-current measuring circuits from their negative effects (electrical interference) and reduction of stray capacitances.

In the spherical segment of this assembly between the local measuring electrodes, slot-like radial grooves are cut through and through, separating them from each other.

The presence of such grooves, as well as a large number (sixteen) of different types of through-hole electrical pressure leads from their own low-voltage and high-voltage control circuits, significantly complicate the design of the removal unit, increase the complexity of its manufacture, and therefore the price of the product.

The spherical segment of the removal unit is inserted inside the hemispherical shell of the resonator to the stop by the upper surface of its flange in the lower end edge of the pathogen and is rigidly bonded to it using indium.

Spherical capacitors, ring and local electrodes of the pathogen and the pickup assembly, together with fragments of the outer and inner surfaces of the hemispherical shell of the resonator adjacent to them, form one of the shells of which (in this case, the shell fragments mentioned above) due to the elasticity of the shell, have corresponding mobility with respect to the spherical pathogen segment.

The resonator of the known TWG is rigidly fixed using both of its legs in coaxially located opposite each other along the measuring axis of the corresponding mounting holes of the pathogen and the removal unit according to the two-support scheme in the process of pairing. The resonator, the exciter of its vibrations, and the pickup unit, bonded to each other, represent the corresponding intermediate (incompletely assembled) module, which is inserted into the evacuated housing in this form and fixed there using fasteners specially provided for this.

The two-support scheme for securing the resonator with the formation of two capacitive gaps between its hemispherical shell, the pathogen, and the removal unit is much more complicated than a single-support one. In this case, the mutual exhibition of the specified parts of the TWG and the control of the aforementioned gaps are substantially hindered.

From below, the evacuated housing of the known TWG is sealed with a flat metal lid welded to it. It does not have a centering collar that provides the necessary alignment of the welded parts of the body and the corresponding power unloading of the female and male contacts of the detachable connectors of the through-hole electrical pressure leads due to the action of the leads (mechanical stresses) arising during welding, which can lead to a change in the transient resistances of the said joints .

A significant disadvantage of the known TWG should be attributed to the irrational layout of the getter in the central part of the metal cover of the evacuated housing with the formation of a cantilevered protrusion there. This greatly complicates the design of both the cover itself and the corresponding socket of the electronic system connected to it.

The specified arrangement leads to a significant increase in the dimensions of the TWG both in the axial and in the transverse directions and the limitation of size, and, consequently, the corresponding capacity of the getter.

In the design of the body of the known TVG there is no general (both mechanical and electrical) shielding of the outgoing legs of the through-passage electrical pressure leads.

The electronic system of the famous TVG is non-adaptive. Its main circuits are based on relatively outdated technical solutions and a non-digital element base that is sensitive to extreme operating conditions. The logic of its work does not provide for the separation in time of the operations of reading the measured information and control.

However, despite the noted drawbacks, in general, the prototype of the claimed technical solution among the analogues of the considered class (TWG) is undoubtedly one of the best known examples of such equipment, which have found practical application in navigation technology.

The objective of the present invention is to eliminate the above disadvantages of the known analogues and the prototype of the claimed small-sized TWG, namely: improving its technical and operational qualities, allowing to achieve the modern technical level and competitiveness of this kind of equipment, as well as the corresponding reduction in cost and shortening the time of its creation.

In accordance with the invention, it is achieved by a specific set of essential features of the claimed TWG, given below in the text.

The totality of existing signs characterizing the claimed small-sized TWG includes the following:

1) the performance of small-sized TWG;

2) the presence of a vacuum metal housing;

3) supply of the evacuated housing with a plug, which is a pump-out socket of a nipple type, for connecting the TVG to the technological vacuum chamber and undocking from it after evacuation;

4) supply of the evacuated housing with a getter with an activated working substance;

5) supply of the evacuated housing with the corresponding installation and connecting elements;

6) the presence of quartz glass with metallization of the working surfaces of the inertial sensitive element of the vibration type, the causative agent of its vibrations and the site of picking up electrical signals from the sensitive element;

7) a rigid fastening of the inertial sensing element, the causative agent of its vibrations and the pickup unit with each other in a solid-state wave inertial module, placed, with fixation, in the inner cavity of the evacuated housing;

8) the execution of an inertial sensitive element in the form of an oscillatory motion capable of being driven by an external alternating electric field of a hemispherical resonator, with a rod-type double-sided holder passing through the hemisphere pole;

9) the electrostatic interaction of the pathogen with a hemispherical resonator through a capacitive gap between them to ensure the generation of high-frequency elliptical vibrations of its shell in the zone of elastic deformation and the formation in the plane perpendicular to the axis of the last standing wave with four vibration-resistant nodal regions and four having the maximum deviation amplitude of the antinodes, pairwise oriented along groups of mutually perpendicular radians passing through them and equidistant from each other cial axes capable under the effect of inertial input rotation body precess with a corresponding change in time parameters, the above-mentioned electric field can be transformed into a current proportional to the angular velocity;

10) the implementation of the site of picking up electrical signals, displaying the azimuthal orientation of the vibrational pattern of the vibrating shell of the resonator, in the form of a flat base of a flange type with a spherical segment rising above it, on the outer surface of which eight are formed, facing its surface and acting in pairs in the areas of antinodes and nodes, local electrodes connected by means of corresponding current conductors through individual socket contacts with pin single-conductive contacts of passage electric their sealed leads embedded in isolators welded to the lower edge evacuatable housing with a metal cap yield their feet outward beyond its outer contours;

11) the presence of a pressurized hermetic lead-through of the same design separately connected to the local electrode electrodes and connected to the local electrodes, electrically connected to the metallized surface of the resonator hemisphere;

12) the presence of a multi-circuit electronic system that is coupled to the bushings of the electrical hermetic, providing the excitation and maintenance of resonator vibrations with a given amplitude, constant frequency and phase, regardless of the actual orientation of the oscillating pattern, as well as measuring, converting and corresponding processing of the read information;

13) the execution of the oscillator of the resonator and the pickup of electrical signals in the form of a single monolithic part placed inside the hemisphere of the resonator, which is a combined universal electromechanical board used both to excite and maintain vibrations of the vibrating shell of the resonator, and to pick up electrical signals, with a solid, without radial slit-like grooves by the working surface of the spherical segment, formed on which the group of local electrodes in the aggregate zuet system corresponding capacitive electrode displacement and force sensors simultaneously and is common to both solutions of said tasks;

14) the execution of the hemispherical shell of the resonator continuous without balancing teeth with the provision of a precise level of geometric and mass axial symmetry, achieved in the first case by high-precision machining and size control technology, and in the second - by appropriate balancing of the resonator with the expansion of the mass defect in a Fourier series and subsequent elimination of the first four harmonics of the defect and, in particular, the first three of them - to the minimum possible level, which allows to reduce the influence of mutalnoy damping unevenness and reduced to the necessary limits of vibration effects on the wave pattern and mass defect fourth (different frequencies) - minimized to a level that ensures the proper functioning of the control electronics for small values of power supply voltage;

15) cantilever, according to a single-support scheme, fixing the resonator only in the corresponding mounting hole of the combined electromechanical removal / excitation board to the internal tip (leg) of the double-sided rod holder inserted into it by means of an appropriate adhesive joint or soldering without using any intermediate parts;

16) shortening the outer tip of the double-sided rod holder of the resonator compared to the leg, at least several times, and its use mainly for technological purposes, and in particular, when grinding the part in the centers, transporting and assessing its imbalance by measuring the amplitude of the beats of the specified tip;

17) the introduction of the above-mentioned metal cover in the composition of the solid-state wave inertial module;

18) execution of the metal cover of the specified module in the form of a combined electromechanical removal / excitation board rigidly fastened to the bottom end of the base by means of an appropriate adhesive connection or soldering and bottom-down plate with a cylindrical centering collar flanged along the edge in the welding zone to the evacuated body and equal in diameter to the base of the board buried during assembly into the corresponding landing socket of the housing of the same configuration and size until the combination of their welded edges ;

19) the ability to perform a vacuum enclosure in the form of two installation and connecting elements of modifications with a cylindrical or square cross-sectional configuration formed in the latter case by identical flat base surfaces orthogonally located with respect to each other;

20) placement of the getter in the free volume of the upper compartment of the evacuated housing, limited by the walls of its cavity and the outer surfaces of the hemisphere and the technological tip of the bilateral rod holder of the resonator;

21) the ability to perform a getter in the form of any of two functionally equivalent modifications, namely, in a casing or a case-free version, and in the first case it is a functionally complete stand-alone pump with a titanium / vanadium type reagent enclosed in an annular or toroidal enclosure of a ring or toroidal form capable of absorbing gas activated after degassing and sealing the evacuated housing by burning through an optically transparent (glass) illumi ator latter laser beam or mechanical dissection refined shell membrane, and the second - working substance is fixed in the same zone directly to the walls of the evacuated housing and activated by corresponding heating of the outside walls of said external heat radiator;

22) the ability to perform the plug of the evacuated casing in the form of a glass or metal nipple separable by fusion, clamped by plastic deformation until the passage is completely blocked and the adjacent walls are “cold welded” with its trimming;

23) the assignment of the capacitive gap between the surfaces of the hemisphere of the resonator and local electrodes of the combined electromechanical removal / excitation board of the order of 100 μm based on the low-voltage power supply of the electronics and the possibility of technical feasibility of geometric control during assembly;

24) placing the aforementioned separate grommet output connected to the metallized surface of the hemisphere of the resonator on a combined electromechanical pick-up / excitation board with embedding the socket contact directly in the leg of the two-sided rod holder of the resonator and arranging the pin single-conductive contact mating with it directly in the center of the bottom of the plate-shaped metal cover inertial wave module;

25) minimizing the dimensions of the solid-state wave inertial module, and consequently the evacuated body, to the extent that they can be assembled in extremely small, up to 40 mm in diameter, mounting volumes both with longitudinal and transverse orientation of the sensitivity axis;

26) the implementation of an adaptive electronic system;

27) the construction of the main circuits of the electronic system, and, in particular, the measurement and control of oscillations, on a digital base that is insensitive to extreme operating conditions, minimizing the number, size and absorbed power of electronic components and tabulating the corresponding data processing and control algorithms into the composition of the microprocessor, ensuring the functioning of these circuits in a pulsed mode with the formation of the duty cycle, divided in time into measurement intervals and pack control and use when registering the output electrical signals of the method of "reverse" inclusion, when they are removed from the legs of a two-sided rod holder of the resonator;

28) the closure of the registration of electrical signals and the control of oscillations of the resonator on the same electrodes connected to the same type of through-through electrical hermetic terminals of the combined electromechanical removal / excitation board of the aforementioned design;

29) interfacing of the electronic system with the through-circuit electrical terminals of the combined electromechanical circuit board through a preliminary signal amplifier connected to the legs of their pin contacts located outside;

30) providing a general screening of the outgoing legs of the pin contacts of the electrical bushings of the combined electromechanical circuit board and the preliminary signal amplifier connected to them by means of a thin-walled protective metal casing docked to the evacuated casing;

31) the formation of the conductors of the pre-amplifier into a compact bundle, brought out through the elastic passage in the bottom of the casing.

Coinciding in the prototype and the claimed invention are the first twelve essential features listed in this list, and the rest are distinctive. Moreover, all these signs are significant, since each of them accordingly affects the result achieved during the implementation of the claimed invention, i.e. is in causal connection with him.

The nature of this influence, with respect to each of the distinguishing features, is discussed in detail below in the text when explaining the essence of the claimed invention.

The essence of the invention is illustrated by drawings, which depict:

figure 1 is a General view of the inventive small-sized TWG;

figure 2 - remote element A (see figure 1) with a General view of a solid-state wave inertial module in assembled form;

figure 3 - solid-state wave module in disassembled form (axonometric projection);

figure 4 is an external element B (see figure 1), explaining the features of the hard joint of a hemispherical resonator and a combined electromechanical board of a solid-state wave inertial module by means of adhesive bonding or soldering;

figure 5 - arrangement of the electrodes and axes of the TWG (24-31 - the number of local electrodes; x, x and y, y - axis);

- направление вращения;

- направление результирующей Кориолисовой силы);Fig.6 is a diagram of the action of the Coriolis forces on the vibrating hemispherical resonator of the TWG (A, A ', B, B' - points on the edge of the resonator; F _c - Coriolis force;

- direction of rotation;

- direction of the resulting Coriolis force);

- направление вращения; 27° - угол прецессии волновой картины; 90° - угол поворота корпуса);Fig.7 - the nature of the change in the orientation of the wave pattern of oscillations when the resonator rotates TWG (a - the initial wave pattern; b - wave pattern after rotation of the housing;

- direction of rotation; 27 ° - angle of precession of the wave pattern; 90 ° - housing rotation angle);

in Fig.8 is a General view of the TWG with a square (prismatic) design of the evacuated housing (the preliminary amplifier and the protective metal casing are conventionally not shown);

figure 9 is a bottom view of the TWG with a square (prismatic) design of the evacuated housing;

figure 10 - installation of TVG with a cylindrical design of the evacuated housing at the workplace (D - cylindrical surface);

figure 11 is a General view in section of a triaxial gyroscopic unit formed from appropriately oriented solid-state wave inertial modules placed in a single-section monolithic evacuated rod-type housing;

on Fig - cross section GG of the triaxial gyroscopic unit at the location of one of the transversely oriented solid-state wave inertial modules;

in Fig.13 is a functional diagram explaining the construction principle of the electronic system of the claimed TVG (MP - microprocessor, ADC - analog-to-digital converter, PWM - driver of measuring and control signals, X and Y - mutually perpendicular coordinate axes, BU - buffer amplifier).

Structurally, the claimed small-sized TWG contains (see FIGS. 1-13) a vacuum metal housing 1, in the inner cavity 2 of which is placed, with fixation, a solid-state wave inertial module 3, including those made of quartz glass, with metallization of the working surfaces, and the inertial sensing element 4 of the vibrational type, the exciter 5 of its vibrations and the pick-up unit 6 of the electrical signals from the sensing element, as well as Natural electronic system 7.

The evacuated housing 1 of the TWG is equipped (see Fig. 1, 8-10) with a plug 8, which is a nipple type pump socket for connecting to the process vacuum chamber (not shown in the drawing) and undocking from it after evacuation, a getter 9 with an active working substance 10 and the corresponding installation and connecting elements 11.

The inertial sensing element 4 of module 3 is made (see FIGS. 1, 3) in the form of a hemispherical resonator capable of being driven by an external electric field with a rod-type double-sided holder 14 passing through the pole 12 of its hemispherical shell 13.

The causative agent 5 electrostatically interacts (see FIGS. 1, 3, 5, 7) with the hemispherical shell 13 of the resonator 4 through the capacitive gap 15, providing high-frequency elliptical vibrations in the elastic deformation zone and the formation of a standing wave 17 s in the plane of the perpendicular polar axis 16 four oscillation-resistant nodal regions 18 and the same, having the maximum amplitude of deviations, antinodes 19, pairwise oriented along two groups passing through them and equally spaced from each other, mutually perpendicular axes X, -X and Y, -Y, capable of precessing under the influence of the inertial input rotation of the housing 1 with a corresponding change in time of the parameters of the above-mentioned field, which is converted into a current proportional to the angular velocity of rotation.

The pickup unit 6 of electrical signals displaying the azimuthal orientation of the oscillatory pattern of the vibrating shell 13 of the resonator 4 interacts with it in the same way - through the capacitive gap 15.

Structurally, it is made (see figures 1, 3, 5) in the form of a flat base 20 of a flange type with a spherical segment 21 rising above it.

On the outer surface 22 of the indicated segment, eight are formed facing the inner surface 23 of the hemispherical shell 13 of the resonator 4 and pairwise acting in the areas of the antinodes 19 and nodes 18 of the local electrodes 24-31.

These electrodes 24-31 are connected using the respective conductors 32 through individual socket contacts 33 with single-conductor pin contacts 34 of the through-hole electrical leads 35, which are built into the insulators 36, which are welded to the lower section 37 of the evacuated body 1 of the metal cover 38, with their legs 39 extending outward, its outer contours 40.

In addition to the above, the module 3 of the claimed TWG has a separately formed hermetic outlet 35 of the same design, electrically connected to the metallized surface 23 of the hemispherical shell 13 of the resonator 4.

A multi-circuit electronic system 7 of the claimed TWG, providing excitation and maintaining oscillations of the resonator 4 with a given amplitude, constant frequency and phase, regardless of the actual orientation of the oscillatory pattern, as well as measuring, converting and corresponding processing of the read information, is coupled to its module 3 through the above-mentioned electrical bushings through passage 35.

The vibration exciter 5 of the resonator 4 and the electrical signal pick-up unit 6 is made in the form of a single monolithic component placed inside the hemispherical shell 13, which is a combined universal electromechanical board 41, used both to excite and maintain vibrations of the resonator vibrating shell, and to pick up electrical signals, with a continuous, without radial grooves, working surface 22, formed on which the group of local electrodes 24-31, together, forms a system with corresponding capacitive displacement sensors and power electrodes at the same time and is common to solve both of these problems.

The specified technical solution provides for the closure of the registration of electrical signals and control oscillations on the same electrodes of the combination board, connected to its same type of through-passage electrical germs. As a result of its use, the design of a solid-state wave inertial module, and, consequently, of the claimed TWG as a whole, is greatly simplified. The total number of electrodes in its composition is reduced in comparison with the prototype by more than 3 times, and the through-glands are halved.

This circumstance allows us to extremely simplify the drawing made by metallization of the corresponding electrical wiring on the working surfaces of the combination board. In addition, everything up to one of its hermetic leads is single-conductor, pin type. Their design is much simpler and more technologically used in the prototype, coaxial.

Since all the electrodes of the combination board in the claimed TVG are located in the immediate vicinity of the hermetic leads, the laying is substantially optimized and the length of the conductors connecting them is reduced.

The absence in the body of the spherical segment of the combined board of through radial grooves between the local electrodes gives its design the necessary strength, rigidity and adaptability.

Due to a significant reduction in comparison with the prototype of the total number of parts, including the main functional ones, up to two (resonator and combo board) radically and longitudinally dimensions are drastically reduced, weight perfection and appearance are improved, the laboriousness of manufacturing, and therefore the price of the claimed TWG, is reduced generally.

The hemispherical shell 13 of the resonator 4 is solid, without balancing teeth, providing a precise level of geometric and mass axial symmetry, achieved, in the first case, by high-precision machining and dimensional control technology, and in the second, by appropriate balancing of the resonator with the expansion of the mass defect in Fourier series and the subsequent elimination of the first four harmonics of the defect, and, in particular, the first three of them - to the minimum possible level, which reduces the influence zimutalnoy unevenness damping and reduced to the extent necessary external vibration effects on the wave pattern and mass defect fourth different frequencies, minimizing to the level ensuring the proper functioning of the control electronics 7 for small values of the power supply voltage.

The absence of balancing teeth can significantly simplify the design of this part, improve manufacturability and reduce the complexity of its manufacture. This feature of this embodiment of the hemispherical shell of the resonator is possible due to the use in the manufacture of the balancing method according to patent RU 2147117 C1, which ensures the achievement of the necessary degree of mass axial symmetry of the part while maintaining high (up to 10 ⁷ or more) acoustic Q factor, at which the value of the systematic component of the drift the gyro does not exceed 1.3 ° / hour, which allows the use of such devices in navigation systems of aircraft.

The resonator 4 is fixed cantilever, according to a single-bearing scheme, only in the corresponding mounting hole 42 of the combined removal / excitation board 41 for the internal tip (leg) 43 of the double-sided rod holder 14 inserted into it by means of an adhesive connection 44 or by soldering without any intermediate parts. The other, outer, tip 45 of the holder 14 is shortened in comparison with leg 43 at least several times and is used mainly for technological purposes, and in particular, when grinding a part in centers, transporting and evaluating its imbalance by measuring the amplitude of the beats of the specified tip.

A single-support scheme for fastening the resonator to the holder leg is much simpler than a double-support one, significantly facilitates assembly and reduces longitudinal and transverse dimensions, improves weight perfection, reduces the laboriousness and cost of the claimed TWG.

Adhesive bonding of fastened parts is characterized by a low coefficient of expansion and a relatively low dielectric constant. It has a sufficiently high adhesion, the rigidity of fixing the joined parts and does not crack.

The metal cover 38 welded to the evacuated housing 1 is included in the solid-state wave inertial module 3. Structurally, it is made in the form of a combination board 41 rigidly fastened to the bottom end 46 of the base 20, by means of an adhesive joint 44 or by soldering, and a plate turned downside down 47 the edge in the zone of welding to the body with a centering collar 48 of the same diameter as the base of the board, which is buried during assembly into the corresponding mounting socket 49 of the body of the same configuration and size to the location of their welded edges 50, 51. In this case, the above-mentioned separate grommet output 35 connected with the metallized surface 23 of the hemispherical shell 13 of the resonator 4 is placed on the combination board 41 with the socket contact 33 embedded directly into the leg 43 of the double-sided rod holder 14 and the location of the interface with pin single-conductive contact 34 directly in the center of the bottom 47 of the plate-shaped metal cover 38 of the solid-state wave inertial module 3.

Entering the specified cover into the composition of the solid-state wave inertial module makes it functionally complete sat. units (node). Such a unit, of course, is more convenient and safer to transport and mount in the workplace. In this design, solid-state wave inertial modules can be installed both in individual evacuated casings 1 and without them directly in the corresponding mounting sockets 52 of multi-seat casings 53, for example, triaxial gyroscopic units 54 (see Figs. 11, 12).

Eight equally located on the same level on the periphery and one (ninth) - on the center of the bottom of the plate-shaped metal cover of the same type of through-hole electrical pressure leads of the aforementioned design with single-conductive socket and pin contacts form a compact connector (plug) with outward facing external contacts of the cover, legs of pin contacts, very convenient for connecting the electronic system of the claimed TVG.

The central location of the ninth (separate) hermetic outlet allows the installation of a current lead from the metallized surface of the hemispherical shell of the resonator along the route of the smallest possible length with the exception of cross-connections and minimization of capacitive pickups.

The presence of a centering collar greatly facilitates the task of pairing the plate cover with both the base of the combination board and the evacuated case. At the same time, both the contact joints of the through electric hermetic leads and the base body of the combination board are almost completely unloaded from the force impact of the transverse loads realized during welding, transportation and operation.

The evacuated housing 1 of the claimed TWG can be made in the form of two modifications of the mounting and connecting elements 11 with a cylindrical or square (prismatic) cross-sectional configuration (see Fig. 8-10). The square configuration of these elements 11, in particular, is formed by the same flat base surfaces 55 orthogonally disposed with respect to each other.

The implementation of the evacuated body with almost straight in height, quite simple to implement and elegant external strokes of a cylindrical or prismatic configuration, without protruding outward fragments of the structure, gives the claimed TVG an ordered and eye-catching appearance.

For mounting and connecting elements of a cylindrical configuration on a movable object 56 there must be corresponding mounting sockets 57 oriented along the coordinate axes, providing convenient and reliable fastening of the TWG.

Prismatic mounting and connecting elements allow you to install TVG on one flat site of the object of any of the base surfaces 55 with the necessary orientation.

The specified technical solution in this regard gives a sufficiently large freedom of choice to both the developer of the TVG and the customer (consumer).

The getter 9 of the claimed TWG is located in the free volume of the upper compartment 58 of the evacuated housing 1, bounded by the side and ceiling walls 59, 60 and the outer surfaces 61, 62, respectively, of the hemispherical shell 13 and the process tip 45 of the bilateral rod holder 14 of the resonator 4.

Structurally, it can be made in the form of any of two modifications, which are functionally equivalent, namely: in case or in caseless versions.

In this case, in the first case, the getter 9 is a completely finished stand-alone pump with a reagent 10 of the titanium / vanadium composition type 10 that is capable of absorbing gas from the environment, which is activated after degassing and sealing the evacuated housing 1 by burning through an optically transparent (glass) porthole (not conventionally shown in the drawing) of the latter with a laser beam or mechanical opening of a thinned membrane (on Also, conditionally not shown) shell.

In the second case, the active working substance (reagent) 10 is attached in the same zone directly to the walls 59, 60 of the evacuated housing 1 and is activated by appropriate heating of these walls from the outside with an external heat radiator (not shown conventionally in the drawing).

Such a layout and performance features of the getter of the claimed TWG are preferable to those implemented in the prototype, since it allows to significantly increase the capacity and, consequently, its working life and, no less important, a significant way due to a corresponding increase in size within the free volume of the upper compartment of the inner cavity of the evacuated housing in this regard, to optimize the design of the disk cover of the solid-state wave inertial module in terms of simplifying the design, reducing the size Comrade, improving adaptability of the latter, as well as ensuring the layout of rationality embedded in insulators it the bottom of the electrical feedthrough sealed leads.

Well, of course, this technical solution accordingly extends the freedom of choice of the developer when designing the product, depending on the available components and other factors.

The plug 8 of the evacuated housing 1 can be made in the form of glass separable by fusion or plastic compressible until the passage is completely blocked and the adjacent walls are “cold welded” with its metal nipple being cut off.

This technical solution in the same way as in the previous case, extends the freedom of the appropriate choice of the developer at the stage of product creation, depending on the same factors.

Each of the local electrodes 24-31 of the combined board 41 of the solid-state inertial wave module 3 of the claimed TWG in conjunction with the fragment of the metallized surface 23 of the shell 13 of the resonator 4 adjacent to it through the capacitive gap 15 is a spherical capacitor 64. The specified gap in the claimed TWG is due to the low-voltage power supply of the electronics 7 and the possibility of the technical feasibility of its geometric control.

The dimensions of the solid-state wave inertial module 3, and therefore, the evacuated housing 1, are minimized to the extent that they can be assembled in extremely small, up to 40 mm in diameter, mounting volumes for both longitudinal and transverse orientations of the sensitivity axis 16.

Minimization of performance is one of the main distinguishing features of the claimed TWG. A corresponding reduction in geometric dimensions provides such gyroscopic devices with high weight perfection.

Thanks to the specified performance features, they can be placed without any difficulty on various kinds of moving objects having limited mounting volumes provided for the installation of navigation equipment. As already noted above, the claimed TWG as part of the corresponding triaxial gyroscopic units can be organically integrated into the ZTS oil and gas wells used to control the geometric parameters located directly on board the drill string.

The mounting volumes of the ZTS for the corresponding measuring equipment have exactly this order, up to 40 mm across. The electronic system 7 of the inventive TWG (see figures 1, 13) is made adaptive. In such systems, the operation algorithm, and sometimes the structure of construction, can change, adapting to the corresponding changes in the measured value and the operating conditions of the object. When constructing adaptive systems, a smaller amount of preliminary information is required in comparison with systems having a rigorous functioning algorithm. They have greater flexibility due to the possibility of a corresponding change in the program of their work.

The main circuits of the electronic system 7 of the claimed TWG and, in particular, the measurement and control of oscillations of the resonator 4 are built on a digital and pulsed element base with minimizing the number, size and power dissipation of electronic components and tabulating the corresponding data processing and control algorithms into the microprocessor introduced into its composition ( MP). Shapers of measuring and control signals (PWM _x and PWM _y ) are made using programmable logic matrices and electronic keys and process pulse width-modulated and numerically-modulated signals for measuring and controlling oscillations. The use of pulsed methods of signal generation allows to obtain very small phase and amplitude errors of the signals, the minimum power dissipation and the minimum overall dimensions of the electronic system.

The functioning of the control loops ensures the formation of a duty cycle divided by time into measurement and control intervals and using the “reverse” switching method when measuring resonator oscillation parameters when the electrical signal is removed from leg 43 of the bilateral rod holder 14 of resonator 4.

The control algorithms are based on controlling the amplitude and angular position of the useful oscillations of the resonator 4 and suppressing unnecessary (“quadrature”) oscillations using pulsed latitudinal and numerically modulated signals. This allows the claimed TWG to work in a much wider range of angular velocities than in the case of controlling vibrations by changing the stiffness of the resonator with constant voltages. The sign of the electrostatic forces supplied in this case is changed by changing the phase position of the corresponding control pulses relative to the resonator oscillation phases, and not by applying additional constant bias voltages, which simplifies the design of the electronic system.

The vibration parameters are measured at a high frequency (for example, 1.024 MHz at a resonator vibration frequency of 8 kHz) with averaging of the measurement results, which helps to reduce the level of noise and interference.

The use of the “reverse” method of turning on the resonator removes the requirement of an ultrahigh input resistance of the input signal pick-up amplifier (typical requirement R _in ≥ 10 GOhm for the “normal” method of pick-up from measuring electrodes), reduces the level of pickups and noise on the input amplifier, and eliminates the instability of the scale factor due to the effect of migration of charges on the surface of the resonator, because the resonator is at zero voltage (not more than a few millivolts) and there is no charge on it.

These features of the electronic system execution allow to radically optimize the construction of the entire electromechanical part of the claimed TWG as described above in comparison with the prototype. This applies primarily to simplifying it, and therefore the claimed TWG as a whole, and improving the basic technical and operational qualities of the latter.

The electronic system of the claimed TWG is capable of functioning under conditions of quite strict limitations on dimensions, mass and energy consumption when exposed to extreme temperatures and vibrations, providing effective control of resonator vibrations, high accuracy of measurements of read information, subsequent software conversion and corresponding processing, speed and necessary reliability of operation gyroscope with full automation of the workflow.

It is elegant and quite effective that it implements a method of protecting low-current (measuring) circuits from being affected by power circuits and electrical pickups used for transmitting control signals (the measurement and control operations in the claimed TWG are simply separated in time, and, as a result, in the process reading and transmitting the measured information, the power circuits of the system are de-energized and have no effect at this moment on low-current ones)

The electronic system 7 of the claimed TWG is coupled to the electrical bushing of the electrical module 3 through a pre-amplifier (PU) of signals connected to the legs 39 of the pin contacts 34 located outside (see FIG. 1).

The specified amplifier is built directly into the design of the electromechanical part of the claimed TWG with minimizing the length of its communication lines with the points of measurement of measured information to almost zero level. Therefore, the electrical signals arriving at it are practically not attenuated.

The outgoing legs 39 of the pin contacts 34 of the electrical leak-through leads 35 of the combination board 41 and the PU signals connected to them are shielded from the outside using a thin-walled protective metal casing 65 that is docked to the evacuated housing 1.

The specified casing provides effective protection of the above-mentioned structural elements of the claimed TVG from mechanical damage and external electrical influences during transportation and operation.

The conductors 66 PU are formed into a compact bundle 67, brought out through the elastic passage 68 in the bottom part 69 of the casing 65.

Due to this, they have an ordered appearance, practically do not interfere with transportation and are conveniently located without any difficulties in the installation volume of the object.

The elastic shell 13 of the resonator 4 and the local electrodes 24-31 of the board 41 in a cross section have a circular (ring) shape. In this case, the electrodes 24-31 occupy a strictly fixed (fixed) position relative to the shell 13, since the board 41 is rigidly fastened to the evacuated housing 1. The gap 15 between these parts 13 and 24-31 is constant around the entire perimeter and has an annular configuration.

As noted above, its actual value is about 100 microns. If the elastic shell 13 is compressed on both sides within the elastic deformations by an external force in the radial direction, its diameter along the line of action of the force will accordingly decrease (see Fig. 7), and perpendicular to the specified line, will increase by about the same amount. A circular cross-sectional shape of the shell transforms into an elliptical one. In this way, the configuration of the aforementioned gap 15 will also change, and its cross section will become variable.

Upon the termination of the compressive (external) force, the thus deformed shell 13 of the resonator 4, due to its elasticity, will immediately acquire its original (circular) shape.

The same thing will happen with the elastic shell 13 of the resonator 4, if you do this in another, located to the specified position at 90 ° position.

As a result of the considered force action during its repeated repetition, in fact, the above-mentioned elliptical vibrations of the hemispherical shell 13 of the resonator 4 arise with the formation of the corresponding wave pattern.

As already noted above, the elastic shell 13 of the resonator 4 is driven into vibrational motion using an external alternating electric field. In this case, the bending of the specified shell 13 is carried out by acting on it in the necessary zones of the corresponding electric forces realized in this field between the plates of the spherical capacitors 64 of the solid-state wave inertial module 3.

The fixed electrodes of the capacitors 64 are local electrodes 24-31 of the board 41, and the moving electrodes are fragments 70 adjacent to them through the capacitive gap 15, of the same dimensions as the metallized surface 23 of the elastic shell 13 of the resonator 4.

In fact, these capacitors 64 are the corresponding electrostatic transducers (displacement sensors) mentioned above, in which electrical energy is converted into mechanical energy of moving the moving part relatively stationary.

If the corresponding voltage (control signal) is applied to a pair of diametrically located local electrodes of the combined board and the metallized shell of the resonator, then they will be charged equal in magnitude and opposite in sign charges. In the space surrounding these charges, a corresponding force field will appear, acting on the plates of spherical capacitors. As a result, the corresponding electrostatic (or so-called Coulomb) attractive forces will appear between the local electrodes of the board and the metallized surface of the resonator shell, acting as the external mechanical compressive forces just discussed above.

Under the action of electrostatic forces, the corresponding fragments of the hemispherical shell will be attracted to the local electrodes of the board, providing mechanical compression (bending) of the shell in these zones within the elastic (about 1 μm) deformations. In exactly the same way as in the case considered above, when control signals are removed (current is turned off), the initial shape of the resonator shell will also be restored under the action of elastic forces with the formation of the corresponding spectrum of the standing waves mentioned above having a number of antinodes along the oscillations of the shell each of two mutually perpendicular axes X, -X, and the same number of nodes along each of the axes Y, -Y located in the middle between them (see Fig. 5).

A change in the gap occurring during oscillations, and consequently, in the capacitance in it, causes a corresponding change in time of the readable electrical signals, proportional to the actual movements of the vibrating shell of the resonator.

The principle of operation of the claimed TWG is based on the use of the Coriolis force, since in this case the input angular velocity W interacts with the linear velocity vector V, thereby causing the Coriolis force F = 2W × V. For the shell, the velocity vector V is, in fact, the linear velocity of the resonator particles oscillating. The Coriolis force F acts on these particles and forces the vibrational pattern formed by the oscillating particles to precess.

In a TWG, an inertial sensitive element is an annular hemispherical resonator, which, when introduced into the vibration mode above, provides a variable linear velocity V with a frequency equal to the resonant one. Of the several possible modes, the elliptic (n = 2) with the natural frequency of the shell vibrations is usually chosen as the working one. When the resonator rotates around the axis of symmetry with respect to inertial space, then each individually resonating element of the standing wave mass gives an additional force causing the wave to shift relative to the resonator.

Registration of angular displacement makes it possible to determine the angular motion of the resonator, and thereby use it as a sensitive element. The reason for this angular displacement can be qualitatively explained by a detailed consideration of the effect of the Coriolis forces acting on the cavity walls during its rotation.

Consider the movement of point A located on the edge of the resonator, as shown in Fig.6.

If the resonator rotates around the central axis with a constant angular velocity, then the Coriolis force F _c will act in the tangential direction at this point. Similarly, on the opposite side of the resonator, an equivalent Coriolis force will appear in the tangential direction at point A ', but in the opposite direction.

Thus, two Coriolis forces in total will create a pair (moment) around the axis of the resonator.

At points B and B ', the radial component of the speed of rotation of the edge of the resonator will be equivalent, but opposite to points A and A', so the Coriolis forces created at these points will be equivalent and opposite to the forces at points A and A 'and create a moment in the opposite direction. The sum of these two pairs of forces gives a force component acting on the resonator edge in the radial direction at a point of 45 ° in the direction of the acting force, i.e. a vibration component will occur at a point of 45 ° relative to the original.

The magnitude of this component is proportional to the acting angular velocity. The vector sum (additive) of this component with the initial vibrational image gives a small angular displacement of the standing wave and, as a result, a corresponding displacement of the positions of the nodes on the surface of the resonator.

When the resonator does not rotate, the radial component of the motion of the nodes is zero, therefore, the voltage in the sensors is absent.

When the resonator rotates, the sensor detects the radial component of the movement produced by the Coriolis forces and the magnitude of the amplitude of the oscillations is proportional to the effective angular velocity of the base (evacuated housing TWG).

In the first half of the oscillation period, the resonator is deformed into the most ellipsoidal shape, then returns to spherical. During the next half of the oscillation period, a similar deformation occurs at an angle of 90 °.

The result of such oscillations is a standing wave with four nodes 18 and four antinodes 19 (see Fig.7).

As shown in Fig. 7, the standing wave is oriented by the antinode in the direction of the mark 71 on the base (evacuated casing 1). When the base rotates 90 °, the antinodes precess at an angle of 0.3 of the angle of rotation of the base, and, in fact, equal to 27 °. Thus, the standing wave lags behind the cavity by 70% of the angle of rotation of the base. This precession is the main effect that is used in TWG.

The overall management of the claimed TWG is carried out by the electronic system 7, a structural diagram of which is presented in Fig.13.

The system 7 has a microprocessor (MP) that provides excitation and maintenance of the oscillations of the resonator 4 with a given amplitude, constant frequency and phase, regardless of the actual orientation of the oscillatory pattern, and measurement, conversion and corresponding processing of the read information. In accordance with the algorithms laid down in it, the control of this process is built on a cyclic principle.

The MP forms a time cycle divided into time into measurement and control intervals and includes a number of resonator oscillation periods 4, with a pulse measurement repeatedly repeated at regular intervals in the first of these intervals during one oscillation period of their initial parameters, which are the amplitude of the in-phase and quadrature oscillations along the X axis, and during the next period, along the Y axis and the quadrature inverse measurement results for all samples with steam calculation meters displaying azimuthal information, and the subsequent formation on the second interval of the cycle of the corresponding control pulses.

Data exchange between the MP, on the one hand, and the solid-state wave inertial module 3 of the claimed TWG, on the other hand, is carried out through the corresponding communication channels 72.

Read from the metallized surface 23 of the hemispherical shell 13 of the resonator 4 through the leg 43 of its double-sided holder 14, the signals are amplified by the control unit (PU) to the required level and fed to the ADC input.

The ADC automatically converts (measures and encodes) the analogue values of these signals that continuously change over time into the equivalent values of numerical codes, because MP only works with digital signals.

MP processes the information received from the outputs of the ADC and BU (PU) and, taking into account the results of processing (calculations), generates the corresponding control signals. The solid-state wave inertial module 3 of the claimed TWG uses control signals (current) in a continuous (analog) form. Decoding the control signals represented by digital codes issued from the MP outputs to the equivalent control voltage values is automatically performed by the PWM _X , PWM _Y shapers. The control signals transformed in this way from the outputs of the PWM _X , PWM _Y are supplied to the corresponding pairs of local electrodes 24-31 of the board 41 through the channels X and Y, providing the necessary control of the vibrations of the vibrating shell 13 of the resonator 4.

In the claimed TVG, modern high-quality domestic materials and components that are not inferior in terms of technical characteristics to foreign ones, rational technical solutions and advanced manufacturing technology are widely used in navigation instrumentation.

One of the unique properties of the claimed TWG is its ability to retain resonator vibrations for some time without recharging from the outside. During this time (80-120 s), the waveform remains almost unchanged, and therefore, the gyroscopic device stores inertial information in case of a random short-term interruption in the power supply.

The design of the claimed TWG is extremely simple and has high consumer qualities. The miniature performance, streamlined forms, harmony and elegance of the lines, visual ordering of the layout of the claimed TVG indicates a high degree of perfection and quality of the product.

The main advantages of the claimed TWG undoubtedly include:

- the rationality of the metal structure of the evacuated housing, the main functional parts of the solid-state wave inertial module and the TWG as a whole;

- originality and high density layout;

- miniature performance;

- high adaptability, reliability in extreme conditions and accuracy characteristics;

- High-performance electronics, built on a modern elemental base;

- short preparation time for work;

- ease of installation and maintenance;

- extremely wide scope and moderate cost.

The circuit design, technological and other technical solutions incorporated in it generally allow us to raise the level of domestic gyroscopic equipment for this purpose in terms of its functional capabilities and technical, operational and economic indicators to modern and, on this basis, significantly increase the competitiveness of the equipment of this class.

The inventive TVG refers to a highly intelligent high-tech products.

In view of the foregoing, it can be repeatedly reproduced according to the documentation developed for it under conditions of mass production at specialized instrument-making enterprises that have the necessary equipment, technologies, personnel and an appropriate regulatory and permissive base for this.

Currently, the claimed TVG has fully developed the corresponding design documentation, according to which the current full-scale model has been manufactured and tested in laboratory conditions, having the following technical characteristics:

vibration resistance 10 ... 40g in the frequency range from 3 to 250 Hz; shock effects 60g with a pulse duration of 8-12 ms; random drift component 0.1 deg / s; range of measured angular velocities ± 5 deg / s; operating temperature range -20 - + 80 ° С; ready time 5 s; diameter 40 mm; power consumption 1.3 watts

The effectiveness of the solutions laid down in the design of the claimed TWG, as well as the possibility of obtaining the aforementioned technical result in the implementation of the invention, which consists in eliminating the above-mentioned disadvantages of known analogues and prototype, namely: improving its technical and operational qualities, allowing to achieve a modern technical level, high competitiveness of navigation equipment this class and reducing the time and cost of creation, - confirmed by appropriate calculations and results Atami test.

Complex tests of the claimed TWG as part of the onboard inertial navigation system are scheduled for 2008. The decision on serial production of the claimed TWG will be made after completion of these tests.

Claims (7)

1. A small-sized solid-state wave gyroscope (TWG) containing a metal evacuated casing, equipped with a plug representing a pump-out nipple-type socket for connecting to and undocking from the vacuum chamber after evacuation, a getter with an activated working substance and corresponding mounting and connecting elements, in the internal cavity of which is located, with the provision of fixation, a solid-state wave inertial module, including those made of square of the front glass, with metallization of the working surfaces, and an inertial vibration-type sensitive element rigidly fastened together in the form of a hemispherical resonator capable of being driven into oscillation by an external alternating electric field of a hemispherical resonator with a rod-type bilateral holder passing through the pole of its hemisphere, and electrostatically interacting with the indicated hemisphere through the capacitive gap, the causative agent of high-frequency elliptical oscillations of the resonator in the zone of elastic deformations the formation of a standing wave in the plane perpendicular to the polar axis, with four vibration-resistant nodal areas and the same, having the maximum amplitude of deviations of antinodes, pairwise oriented along two groups of mutually perpendicular radial axes passing through them and equally spaced from each other, capable of under the influence of input inertial rotation to precess the case with a corresponding change in time of the parameters of the above-mentioned field, converted to a current proportional to the angles speed of rotation, and a node for picking up electrical signals displaying the azimuthal orientation of the vibrational pattern of the vibrating shell of the resonator, in the form of a flat base of a flange type with a spherical segment rising above it, on the outer surface of which are formed eight facing its surface and acting in pairs in the areas of antinodes and nodes local electrodes connected by means of corresponding conductors through individual socket contacts with pin single-conductive contacts of bushing electric electrical hermetic leads embedded in insulators of a metal cover welded to the lower section of the evacuated case of the metal cover, with their legs exiting outside its external contours, and a hermetic lead of the same design formed separately from them, electrically connected to the metallized surface of the resonator hemisphere, and also interfaced with the indicated hermetic leads multi-circuit electronic system that provides excitation and maintenance of resonator oscillations with a given amplitude, constant frequency and phase, regardless of the actual orientation of the vibrational pattern, and measuring, converting and corresponding processing of the read information, characterized in that the resonator exciter and the electrical signal pick-up unit are made in the form of a single monolithic part placed inside the resonator hemisphere, which is a combined universal electromechanical board used as for the excitation and maintenance of vibrations of the vibrating shell of the resonator, and for the collection of electrical signals, with continuous, without radial grooves, the working surface formed on which the group of local electrodes, in aggregate, forms a system of corresponding capacitive displacement sensors and power electrodes at the same time and is common for solving both of these problems, the hemispherical shell of the resonator is solid, without balancing teeth, ensuring a precise level geometric and mass axial symmetry achieved, in the first case, by high-precision technology of machining and dimensional control, and about the second - through appropriate balancing of the resonator with the expansion of the mass defect in a Fourier series and the subsequent elimination of the first four harmonics of the defect and, in particular, the first three of them - to the lowest possible level, which reduces the influence of azimuthal unevenness of damping and reduces the vibrational effects to the required limits wave pattern, and mass defect of the fourth, different frequencies, minimize to a level that ensures the normal functioning of control electronics at low at the corresponding values of the supply voltage, the resonator is mounted cantilever, according to a single-support circuit, only in the corresponding mounting hole of the combined electromechanical removal / excitation board for the internal tip inserted into it - the leg of the double-sided rod holder by means of an appropriate adhesive joint or soldering, without using any intermediate parts, and its other, outer, tip is shortened, compared with the leg, at least several times, and is used mainly in those For biological purposes and, in particular, when grinding the part in the centers, transporting and assessing its imbalance by measuring the beat amplitude of the indicated tip, the metal cover mentioned above is introduced into the solid-state inertial wave module and is made in the form of a combined electromechanical removal plate rigidly fastened to the bottom end of the base / excitation by means of adhesive bonding or soldering and a bottom-down plate flanged along the edge, in the zone of welding to the evacuated body for a cylindrical centering collar of the same diameter as the end flange of the circuit board, which is buried during assembly into the corresponding mounting socket of the said housing of the same configuration and size until the welded edges are aligned, the evacuated housing can be made in the form of two, by mounting and connecting elements, modifications of a cylindrical or square in cross section of a configuration formed, in the latter case, by the same flat base surfaces orthogonally disposed with respect to to each other, the getter is placed in the free volume of the upper compartment of the evacuated housing, bounded by the walls of its cavity and the outer surfaces of the hemisphere and the technological tip of the bilateral rod holder of the resonator, and can be made in the form of any of the two functional equivalent modifications, namely: in normal or case-free versions, moreover, in the first case it is a completely finished stand-alone pump with a number of enclosed in a sealed casing tsevidnogo or toroidal form of a reagent such as titanium / vanadium, capable of absorbing gas, activated after degassing and sealing of the evacuated housing by burning through the optically transparent glass window of the latter with a laser beam or by mechanically opening the thinned membrane of the shell, and in the second - the working substance is mounted directly in the same zone to the walls of the evacuated housing and is activated by appropriate heating of these walls from the outside with an external heat radiator the removable body can be made in the form of a glass or metal nipple separable by melting, squeezed by plastic deformation to completely block the passage and “cold weld” the adjacent walls with its trimming, the dimensions of the solid-state wave inertial module, and therefore the vacuum body, are minimized to limits providing the possibility of assembling them in extremely small, up to 40 mm in diameter, mounting volumes with both longitudinal and transverse orientations of the sensitivity axis, the electronic system is adaptive, its main circuits and, in particular, the measurements and control of oscillations are built on a digital, insensitive to extreme operating conditions, element base with minimizing the number, size and power dissipation of electronic components, using pulse control and pickup signals and laying the appropriate data processing and control algorithms into the microprocessor introduced into the composition of the specified system, which ensures the operation of yanutyh circuits in pulse mode to form a cycle, shared in time for measurement and control intervals during registration and using electrical signals output process "reverse" activate when they are removed from the bilateral legs of the resonator rod holder. 2. The small-sized TWG according to claim 1, characterized in that in it the above-mentioned separate leak-through gland, connected to the metallized surface of the hemisphere of the resonator, is placed on the combined electromechanical removal / excitation board with the socket contact embedded directly in the leg of the two-sided rod holder of the resonator and the location of the mating with it a pin of a single-conductive contact directly in the center of the bottom of the disk-shaped metal cover of a solid-state wave inertial module. 3. The small-sized TWG according to claim 1, characterized in that in it the value of the capacitive gap between the surfaces of the resonator hemisphere and the local electrodes of the combined electromechanical removal / excitation board of the order of 100 μm is selected based on the low-voltage power supply of the electronics and the feasibility of geometric control it during assembly. 4. The small-sized TWG according to claim 1, characterized in that in it the registration of electrical signals and control of oscillations of the resonator are closed to the same electrodes connected to the same type of through-passage electrical hermetic terminals of the combined electromechanical removal / excitation board of the aforementioned design. 5. The small-size TVG according to claim 1, characterized in that the electronic system is interfaced with the electrical bushings of the combined electromechanical circuit board through a preliminary signal amplifier connected to the legs of their pin contacts located outside. 6. Small-sized TVG according to claim 1, characterized in that the legs of the pin contacts of the through-hole electrical terminals of the combined electromechanical circuit board and the preliminary signal amplifier connected to them are provided with general shielding by means of a thin-walled protective metal casing docked to the evacuated housing. 7. Small-sized TVG according to claim 1, characterized in that the conductors of the pre-amplifier are formed into a compact bundle that is led out through the elastic passage in the bottom of the casing.

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