RU2446382C1 - Gyroscope - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: gyroscope consists of housing 1, gyro motor including stator 2 with coils and rotor 3 on spherical ball bearing support 4, angle sensors and torque sensors. In rotor 3 of gyroscope there made is annular cavity in which there is annular magnetic conductor 6 and annular double-pole constant magnet 7. Fixed coils of stator 2 are rigidly fixed on gyroscope housing and located in annular cavity of rotor so that working parts of winding of coils are arranged opposite annular magnetic conductor 6 and annular double-pole constant magnet 7 of rotor 3. Operation of gyro motor is based on principle of action of two-phase brushless DC motor.

EFFECT: invention allows considerable reduction of overall dimensions and working hours of manufacture, at maintaining accuracy parameters of gimballess gyroscopes on spherical ball bearing support.

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Description

The invention relates to instrumentation and can be used to create gimballess gyroscopes on a spherical ball bearing, which can be used, for example, as sensitive elements of gyrostabilizers or two-channel angular velocity meters.

Known gyroscope [1] containing a housing, a gyromotor, cardan suspension, angle sensors and torque sensors, rotated relative to each other by 90 ° around the longitudinal axis of the gyroscope.

The main disadvantage of this gyroscope is the presence of a cardan suspension, which leads to a significant drift of the gyroscope due to the need to use current leads to supply power to the windings of the gyromotor, angle sensors and torque sensors and ball bearings to ensure rotation of the frames of the cardan suspension.

The closest in technical essence to the claimed device is a gyroscope [2], comprising a housing with a hermetically sealed cover, a gyromotor, a rotor on a spherical ball bearing, angle sensors of inductive type and electromagnetic torque sensors. The stator of the gyrodrive consists of two burst packages, separated by a non-magnetic element, and a winding, the turns of which cover both packages. The gyro motor winding, in addition to its main function, performs the function of the primary winding of an inductive angle sensor. The secondary windings of the angle sensors are wound separately on each package, with each pair of windings geometrically offset relative to each other by 90 °, which allows measurements on two axes. The torque sensors are structurally made similarly to angle sensors and are geometrically shifted relative to them by 180 °.

The disadvantage of this gyroscope is the complicated, labor-intensive construction of the gyro motor stator, which does not allow the creation of small-sized gyroscopes.

The problem to which the invention is directed, is to create a small-sized gyroscope on a spherical ball-bearing support by simplifying the design and reducing the complexity of manufacturing a gyromotor stator.

The task for a gyroscope containing a housing with a gyromotor located inside it, including a stator with coils and a rotor on a spherical ball bearing, transformer-inductive angle sensors and electromagnetic torque sensors, is solved due to the fact that the annular cavity in which the gyromotor is located has an annular cavity in which gyromotor stator coils: the excitation coil and the position coil are 90 ° offset from each other and rigidly fixed to the gyroscope body, and the ring mag itoprovod and annular pole permanent magnet giromotora located opposite the working portions of the stator coils.

Significant differences of the proposed gyroscope compared to the known one are the implementation of the annular cavity in the rotor of the gyromotor for the location of the excitation coils and the position of the stator of the gyromotor and the placement of the annular bipolar permanent magnet of the gyromotor on the rotor, which made it possible to reduce the size of the gyroscope and reduce the complexity of its manufacture, while preserving the exact parameters prototype devices.

The invention is illustrated by drawings.

In Fig 1 presents a sectional view of the proposed gyroscope; figure 2 is a view in section along the line aa of figure 1; figure 3 presents the stator in section with a diagram of the winding; figure 4 is a dimensional drawing of one of the options for a gyroscope.

The gyroscope contains a housing 1, a gyromotor, including a stator 2 with coils and a rotor 3 on a spherical ball bearing support 4, angle sensors 8 and torque sensors 9. An annular cavity is made in the gyro rotor 3, in which there is an annular magnetic circuit 6 and an annular bipolar permanent magnet 7. The fixed stator coils 2 are rigidly fixed to the gyroscope body and are located in the annular cavity of the rotor 3 so that the working parts of the winding coils 12 are located opposite the annular magnetic circuit 6 and the annular bipolar permanent magnet 7 of the rotor 3. The operation of the gyromotor is based on the principle of operation of a two-phase brushless DC motor [3]. The creation of rotor torque is based on Fleming's rule. A force is applied to a current conductor located in a magnetic field. The direction of the force is determined by the rule of the left hand, and its value is equal to

where z is the number of conductors,

B - magnetic induction in the air gap;

I is the electric current;

l is the effective length of the conductor.

To register the rotation angle of the rotor 3 of the gyromotor, angle sensors 8 are used, the fixed (stator) part of which is made, for example, in the form of a U-shaped core, on which two identical coils 11 are worn, one of these coils is an excitation winding, and the second is a signal winding . The angle sensor 8 for each channel contains two such cores with coils 11 located diametrically and offset relative to the gyro sensitivity axes by an angle of 45 °. The signal windings of the angle sensors 8 are connected in series with each other so that the emf induced in them are subtracted. To create control moments, electromagnetic moment sensors 9 operating on direct current are used. A control coil is put on the middle core of each core, for example, having a U-shape. The rotor common to angle sensors 8 and moment sensors 9 is, for example, a ferrite ring 10 located on the rotor 3 of the gyromotor.

The gyroscope is sealed and filled with a helium-hydrogen mixture to a pressure of, for example, 750 mmHg. in order to reduce the aerodynamic moment of resistance and its effect on the drift of the gyroscope (through the projection of this moment on the axis of sensitivity of the gyroscope). For removal and supply of electrical signals, pressurizes 13.

The gyroscope works as follows. In the zero position due to symmetry, the output signal from the angle sensors 8 is absent. In the measurement mode, if there is an angular velocity, for example, relative to the Y axis, the gyroscope body 1 will begin to turn around this axis, and the rotor 3 will tend to keep the direction of the kinetic moment vector unchanged in inertial space. The gaps between the ferrite ring 10 and the end surfaces of the cores of the angle sensors 8 will change and a signal will appear at the output of the angle sensor 8, the amplitude of which is proportional to the measured angle, and the phase determines the sign of the angular displacement. This signal is electrically processed and fed into the coils of the torque sensor 9 along the Z axis, while the rotor 3, according to the gyroscopy rule, will precess (rotate) about the Y axis, trying to reduce the mismatch on the angle sensor 8 to zero. A measure of the angular velocity is the current in the coils of the torque sensor 9. Quadratic dependence

where w is the measured angular velocity;

k is the scale factor of the torque sensor;

I is the current in the coil of the torque sensor.

When using a gyroscope as a sensitive element of the gyrostabilizer, the signal from the angle sensor 8 is electrically processed and fed, for example, to the gyro stabilizer unloading engine. The sensor 9 of the gyroscope moment is used either to compensate for the drift of the gyro platform, or to control, if necessary, the turn of the gyro platform.

The proposed design of the gyroscope is simple, high adaptability and low complexity compared to similar devices, while maintaining the accuracy of the gyroscope. The advantages are due to the following main features:

1) lack of cardan frames;

2) the use of a two-phase brushless DC motor;

3) the use of a single spherical ball bearing that combines the functions of the gyro rotor bearings and frame bearings and implements the Zhukovsky friction reduction principle, according to which the friction moment is directed opposite to the relative angular velocity of rotation of the ball bearing rings and in this case is practically not projected on the gyro sensitivity axis.

Information sources

1. AS of the USSR No. 431808 Three-stage gyroscope // IPC G01C 19/00, declared on 11.26.1971

2. US patent No. 3517562, NKI 74 / 5.6, IPC G01C 19/28, issued June 30, 1970 (prototype).

3. Information material “AVR440: Control of a two-phase brushless DC motor without sensors” p.1-10.

Website on the Internet: www.gaw.ru, b / g.

Claims (1)

A gyroscope containing a housing with a gyromotor located inside it, including a stator with coils and a rotor on a spherical ball bearing, transformer-inductive angle sensors and electromagnetic torque sensors, characterized in that the rotor of the gyromotor has an annular cavity in which the stator coils of the gyromotor are located, the coil excitations and position coils, 90 ° offset from each other and rigidly fixed to the gyroscope body, and on the rotor there is an annular magnetic circuit and an annular double-field coherent integrated permanent magnet giromotora located opposite the working parts of the stator coils.

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