RU2491555C2 - Method to measure parameters of angular movement of controlled objects - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: method consists in cyclic measurement of increments of a rotation angle of an inertial body relative to a frame in the specified time interval. At the same time two inertial bodies are used, which are made of magnetostrictive material placed in two gaseous media with different pressure values. Mechanical oscillations are excited in two inertial bodies with ultrasonic frequency in the range from 20 kHz and to 50 kHz, as well as resonant oscillations of electromagnetic field in twelve oscillating circuits, currents are changed, which flow via twelve inductance coils of energy pumping into twelve oscillating circuits. Electromotive mutual induction forces are induced in inductance coils of oscillating circuits, under action of which amplitudes of resonant oscillations of electromagnetic fields are increased in oscillating circuits, capacitances of oscillating circuits are changed. Increments of angles of inertial bodies rotation relative to the body are measured due to change of frequencies of resonant oscillations of electromagnetic field of oscillating circuits.

EFFECT: invention makes it possible to increase accuracy of measurement, manufacturability of making and service life of a device that realises the method.

2 cl, 11 dwg

Description

Technical field

The invention relates to the field of measuring technology and can be used to measure angular displacements, speeds and accelerations of aircraft, cars and other controlled objects in strapdown inertial navigation systems, as well as rotors of electric machines.

State of the art

A known method of measuring the angular velocity of objects described in the book. edited by I. Gorenstein Inertial navigation systems. - M.: Mechanical Engineering, 1970, p.145-147. In the description, this book is indicated as literature [1].

In the specified method, the gyroscopic sensing element is weighed using a gas or air suspension using the lifting force of compressed gas or air coming from a special tank.

The low accuracy of the measurement of a two-stage gyroscopic angular velocity sensor with a gas suspension of the sensing element that implements the technical implementation of this method is determined by the moments due to the uneven action of the capillary holes in the glass of gas jets flowing on the body suspended in the gas, the inverse moments (tension) of the angle and moment sensors from -for the forces of electromagnetic interaction of the fields of their rotors and stators, as well as the tension of the conductive devices of the gyromotor and angle sensors moment.

The presence of a special tank for gas or air in the design of the specified sensor reduces the manufacturability.

The closest analogue is the prototype of the proposed method for measuring the parameters of the angular motion of controlled objects is the method of measuring the parameters of the angular motion of objects (see description in the AS of the USSR No. 640407, IPC G01P 3/48, publ. 02.27.79).

The specified method for measuring the parameters of the angular motion of objects by cyclically measuring increments along the corresponding axes of the angles of rotation of the housing relative to the inertial body. In this case, the measurement of the increments in the next cycle is carried out when the inertial body is completely freed from all force connections with the body in a given time interval, the duration of which is selected based on the increments of the angular velocity of the object determined in the previous cycle.

A device that implements the technical implementation of the indicated method for measuring the parameters of the angular motion of objects - the prototype, contains an inertial body, a sensor for the angular displacement of the inertial body relative to the body, controlled clamps of the inertial body relative to the body.

In the next measurement cycle, the inertial body previously fixed relative to the body using the latch is released for the time interval specified by the results of measurements in the previous cycle, during which the increment of the angle of rotation of the body relative to the inertial body is measured using sensors. After that, the inertial body is again fixed with the help of clamps, at the same time returning relative to the housing to its original position, and the value of the time interval for the next measurement cycle is determined by the increment of the angular velocity of the object in the next cycle.

The low accuracy of the measurement of the device that implements the technical implementation of the method for measuring the parameters of the angular motion of objects - the prototype, is determined by the presence of time intervals during which measurements are not made, which reduces the accuracy of the measurement. Moreover, in the indicated time intervals, the inertial body is fixed relative to the body, as well as the determination of the value of the time interval for the next measurement cycle.

With a large number of measurement cycles, mechanical wear of the clamps and the inertial body occurs due to dry friction between them, which occurs at the moments of fixation and release of the inertial body relative to the housing, which reduces the measurement accuracy and the service life of the specified device.

Low manufacturability. is determined by the presence of latches in the design of the specified device that implements the prototype method.

Disclosure of invention

The objective of the invention is to develop a method, as well as a device having a higher measurement accuracy, manufacturable with a longer service life to implement the proposed method for measuring the angular motion parameters of controlled objects.

The problem is solved using the signs specified in the 1st claim, common with the prototype method, such as a method for measuring the parameters of the angular motion of controlled objects by cyclically measuring the increments of the angle of rotation of the inertial body relative to the body in a given time interval, and distinctive essential features , such as two inertial bodies made of magnetostrictive material, placed in two gaseous media with different pressure values and excite mechanical oscillations in two inertial bodies under the action of an alternating magnetic field applied to two inertial bodies, excite resonant electromagnetic field oscillations in twelve oscillatory circuits, change the currents flowing through twelve induction coils of energy pumping into twelve oscillatory circuits, when these currents change, they induce electromotive forces of mutual induction into twelve inductors of twelve oscillatory circuits, under the influence of which the amplitudes of the resonant to fluctuations of the electromagnetic field in twelve oscillatory circuits, change the capacitance of the twelve oscillatory circuits, and the increments of the angles of rotation of two inertial bodies relative to the housing in a given time interval are measured by changing the frequencies of the resonant vibrations of the electromagnetic field of the twelve oscillatory circuits.

In paragraph 2 of the formula, the frequency range of mechanical vibrations of two inertial bodies is reflected, namely, mechanical vibrations in two inertial bodies excite with an ultrasonic frequency in the range from 20 kHz to 50 kHz.

In the proposed method for measuring the parameters of the angular motion of controlled objects in two inertial bodies made of magnetostrictive material and placed in two gaseous media with different pressure values, they excite mechanical vibrations under the action of an ultrasonic frequency alternating magnetic field applied to two inertial bodies in the range from 20 kHz and up to 50 kHz.

When this happens, the aerodynamic weighing of two inertial bodies inside the body of the device, carrying out the technical implementation of the proposed method for measuring the parameters of the angular motion of controlled objects.

As a result, dry friction between two inertial bodies and the body of the specified device is completely absent, which increases the accuracy of measurement and the long service life.

In the proposed method for measuring the parameters of the angular motion of controlled objects, a cyclic measurement of the increments of the angles of rotation of two inertial bodies relative to the body in a given time interval is measured due to changes in capacitances and frequencies of resonant vibrations of the electromagnetic field of twelve oscillatory circuits. As a result of this, there is a decrease in the effect on the measurement result of changes in the geometric dimensions of two inertial bodies during their mechanical vibrations in two gaseous media with different pressure values inside the body of the specified device, which increases the measurement accuracy.

The above set of essential features allows you to get the following technical result - improving the measurement accuracy, manufacturability and service life of the device that implements the technical implementation of the proposed method for measuring the angular motion parameters of controlled objects.

Brief Description of the Drawings

The angular velocity sensor is illustrated by the following drawings:

Figure 1. Angular velocity sensor, longitudinal section.

Figure 2 and figure 3. Block diagram of the angular velocity sensor.

Figure 4. View A in figure 1 with a conditionally transparent cover, a ring, an exciting inductor with a frame, a disk and an inertial body (the conductors of the inertial body are located above the conductors of the stator).

Figure 5. View of the inertial body from the side facing the disk.

6. View of the stator from the outside.

7. The first dielectric frame with inductors, longitudinal section.

Fig. 8. View A in Fig. 7.

Fig.9. State diagrams of logic signals at the inputs of six OR elements relative to logic signals at the corresponding outputs of six comparators (resonance frequencies of six oscillatory circuits).

Figure 10. Diagrams of capacitance between sections of electrodes of the first, second and third oscillatory circuits during rotation of the inertial body relative to the stator.

11. State diagrams of capacitances between sections of electrodes of the fourth, fifth and sixth oscillatory circuits during rotation of the inertial body relative to the stator.

The implementation of the invention

A device that implements the technical implementation of the proposed method contains two angular velocity sensors, which have the same design.

The angular velocity sensor contains an inertial body 1 made in the form of a disk (see Fig. 1), a disk 21, a ring 22, a stator 23 and a cover 24 made in the form of two disks, and also a measuring circuit 25 (see Fig. 2, 3).

Preferably, the stator 23, the disk 21, the ring 22 and the cover 24 are made of glass, for example, electrovacuum glass (low gas permeability to argon (almost gas impermeable to argon)), or glass ceramic (glass or photo metal, low gas permeability to gases). When performing these parts from glass there is no crystallization operation, which increases the manufacturability.

The inertial body 1 is made of magnetostrictive material, for example, magnetostrictive ceramic ferrite (piezomagnetic ceramics), rare earth intermetallic compounds - a transition metal or magnetodielectric (particles of finely dispersed ferromagnetic material are insulated by vacuum glass or glass ceramics).

The stator 23, the disk 21, the ring 22 and the cover 24 perform the function of the housing. The disk 21 is installed on the stator 23. The ring 22 is installed between the disk 21 and the cover 24.

Places of diffusion connections between the specified parts of the housing are indicated in figure 1 by lines of double (increased) thickness.

Diffusion welding provides the connection of these parts of the body with virtually no change in their shape (microplastic deformation in the zone of diffusion welding between the parts to be joined can be 2 μm or less), as well as the stability of the working gaps between the inertial body 1 and the body, which can be 1 μm or more ( see figure 1).

At the first stage, diffusion welding of the glasses (preferably electrovacuum glasses) or the initial glasses of the stator 23 and the disk 21 is performed in the welding installation (the initial glasses do not crystallize at the first stage). Then, the initial (increased) thickness of the disk 21 is reduced by grinding to a thickness of 10 microns (preferably (minimum radial dimensions of the inertial body 1)) and up to 30 microns.

Subsequently, diffusion welding of the glasses or the source glasses of the body parts is carried out (the compressive load on the parts of the body to be joined is supplied when the glasses or the source glasses are transferred from the brittle region to the plastic).

United by means of diffusion welding, the source glasses are then crystallized (obtaining glass ceramics) in several stages by gradually increasing the temperature inside the welding machine in order to prevent deformation of the body parts (welded source glasses). In this case, before diffusion welding of the casing, ultraviolet irradiation can be carried out over the entire surface of all parts of the casing made of photosensitive initial glasses (obtaining photo-metal).

Diffusion welding of glasses or initial glasses (producing glass ceramics) is carried out inside a welding machine in an argon atmosphere at its increased pressure, which can be from 1 MPa to 10 MPa, and more (preferably).

After diffusion welding of glasses or initial glasses of body parts, as well as crystallization of the body, the disk shape of the inertial body 1 and its magnetostrictive properties (magnetostriction) must be preserved.

The temperature coefficients of expansion of the inertial body 1 of the magnetostrictive material and the housing of glass or glass ceramics agree with each other.

The housing is rigidly fixed to the controlled object (not shown in Fig. 1).

The implementation of the housing of the angular velocity sensor of glass or glass ceramics and the connection of the housing parts by diffusion welding (there are no separate connecting layers between the housing parts) reduces the gas permeability of the housing, which increases the measurement accuracy

The first 3, second 4, third 5, fourth 6, fifth 7 and sixth 8 oscillatory circuits are galvanically isolated from the measuring circuit 25 and respectively contain an inductor 15 of the first 3 oscillatory circuit, an inductor 16 of the second 4 oscillatory circuit, an inductor 17 of the third 5 oscillatory circuit, inductor 18 of the fourth 6th oscillatory circuit, inductor 19 of the fifth 7th oscillatory circuit and an inductor 20 of the sixth 8th oscillatory circuit.

Sections of the first 26 and second 27 electrodes of the first 3 oscillatory circuit (see figure 4), sections of the first 28 and second 29 electrodes of the second 4 oscillatory circuit, as well as sections of the first 30 and second 31 electrodes of the third 5 oscillatory circuit are located and evenly distributed around the circumference on the side of the stator 23 facing the disk 21.

Sections of the first 32 and second 33 electrodes of the fourth 6 oscillatory circuit, sections of the first 34 and second 35 electrodes of the fifth 7 oscillatory circuit, as well as sections of the first 36 and second 37 electrodes of the sixth 8 oscillatory circuit are located and evenly distributed around a circle of smaller diameter on the side of the stator 23, facing disk 21.

The first and second leads of the inductance coil 15 of the first 3 oscillatory circuits are connected respectively to sections of the first 26 and second 27 electrodes of the first 3 oscillatory circuits, the first and second leads of the inductance coil 16 of the second 4 oscillatory circuits are connected respectively to sections of the first 28 and second 29 electrodes of the second 4 oscillatory circuit, the first and second conclusions of the inductor 17 of the third 5 oscillatory circuits are connected respectively to sections of the first 30 and second 31 electrodes of the third 5 oscillatory circuit, the first and second conclusions of the inductance coil 18 of the fourth 6 oscillatory circuit are connected respectively to the sections of the first 32 and second 33 electrodes of the fourth 6 oscillatory circuit, the first and second conclusions of the inductance coil 19 of the fifth 7 oscillatory circuit are connected respectively to the sections of the first 34 and second 35 electrodes of the fifth 7 of the oscillatory circuit, as well as the first and second conclusions of the inductor 20 of the sixth 8 of the oscillatory circuit are connected respectively to sections of the first 36 and second 37 electrodes of the pole wow 8 oscillatory circuit.

The sections of the common electrode 38 of the first 3. second 4 and third 5 oscillatory circuits are located and evenly distributed around the circumference on the side of the inertial body 1 facing the disk 21 (see Fig. 4, 5), over the sections of the six electrodes of the first 3, second 4 and the third 5 oscillatory circuits located and evenly distributed around the circumference on the side of the stator 23, facing the disk 21.

The sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits are located and evenly distributed around a circle of smaller diameter on the side of the inertial body 1 facing the disk 21, over the sections of the six electrodes of the fourth 6, fifth 7 and sixth 8 oscillatory circuits located and evenly distributed around a circle of smaller diameter on the side of the stator 23 facing the disk 21.

With a uniform distribution of the sections of each electrode of six oscillatory circuits along the corresponding circles on the sides of the inertial body 1 and the stator 23 facing the disk 21 (facing each other), there is a decrease in the influence on the measurement result of the angular displacement, speed and acceleration of the controlled object of the non-parallelism of the inertial planes body 1 and stator 23, misalignment (axis displacement) of the inertial body 1 and stator 23 relative to each other, as well as changes in the geometric dimensions of the sections of two common electro of six oscillatory circuits during longitudinal and radial mechanical vibrations of the disk of an inertial body 1.

In this case, the anisotropy of the magnetostriction of the magnetostrictive material (for example, rare earth – transition metal intermetallic compounds) of the inertial body 1 does not have a practical effect on the measurement result.

The section is made in the form of a metal plate, which is bounded by an outer circle, an inner circle and two radii.

Each specified section occupies an angular sector equal to 15 ° minus the angular sector, which occupies the gap between two adjacent sections located adjacent to the circumference (each gap between two adjacent sections has the same and small angular width).

Each section of two common electrodes of six oscillatory circuits, located on the side of the inertial body 1 facing the disk 21, occupies an angular sector equal to 75 °. The sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits are shifted around the circumference relative to the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits by an angle equal to 7.5 °.

The number of sections in each of the electrodes of the six oscillatory circuits may be four or eight.

In the general case, the number of sections in each of the electrodes of the six oscillatory circuits may be even or a multiple of four (preferably).

The sections of each electrode of six oscillatory circuits located on the side of the stator 23 facing the disk 21 are interconnected by intersectional electrical connections in the form of concentric and radial metal conductors with contact pads, for example, of molybdenum, as well as metallized holes or soldered (preferably ) into the stator 23 of the wire with a diameter of 0.05 mm, for example, of molybdenum (see figure 4 and 6). This forms a vacuum-tight thermally matched electrical inputs in the form of wires in the stator 23.

The disk 21 is designed to reduce the gas permeability of the stator 23, which can occur at the locations of the metallized holes or wires soldered into the stator 23, for example, during cyclic changes in the temperature of the external environment.

In Fig. 4, for clarity of the image, only one of the four sections of each electrode of six oscillatory circuits is indicated.

The interior of the housing is filled with a gaseous medium 2, for example, argon (preferably). The inertial body 1 is mounted to move into a gaseous medium 2 between the disk 21 and the cover 24. The gaseous medium 2 performs the function of aerodynamic suspension of the inertial body 1 inside the body.

For aerodynamic weighing of the inertial body 1 inside the body with a small amplitude of mechanical vibrations of the inertial body 1, a minimum volume and increased pressure of the gaseous medium 2 inside the body are required. With increasing pressure of the gaseous medium 2 inside the body (the stiffness of the aerodynamic suspension of the inertial body 1), it is possible to increase the working gaps between the inertial body 1 and the body (see figure 1), which increases the manufacturability.

In this case, the gaps between the surfaces of the ring 22 and the inertial body 1 facing each other, the inertial body 1 and the disk 21, as well as the inertial body 1 and the cover 24, can be 1 μm or more (see Fig. 1).

Diffusion welding of body parts from glass or the original glass, intended for glass ceramics, improves the stability of the working gaps between the inertial body 1 and the body, which increases the manufacturability.

The housing may be made of optically transparent electrovacuum glass or glass. As a result of this, visual control of the aerodynamic weighing of the inertial body 1 in a gaseous medium 2 inside the housing is possible when setting up a device that implements the technical implementation of the proposed method.

The exciting inductor 40 is made by winding a wire on a dielectric frame, mounted above the inertial body 1 and connected to an alternating voltage generator of ultrasonic frequency (not shown) of the measuring circuit 25.

It is possible to excite mechanical vibrations in the inertial body 1 at the frequency of the alternating magnetic field of the exciting inductor 40 (preferably) or at the double frequency of the alternating magnetic field of the exciting inductor 40 and higher even harmonics.

In the first case, the magnetic state of the inertial body 1 is determined by the simultaneous action of a constant magnetic induction on it and a variable (changing according to the sinusoidal law) induction. In this case, the alternating voltage of the generator of the measuring circuit 25 has a constant (magnetizing) component (constant bias relative to the output of the "common" power).

In the second case, the magnetic state of the inertial body 1 is determined by the effect on it of a variable (changing according to the sinusoidal law) induction. In the absence of magnetization (constant magnetic induction is equal to zero), mechanical vibrations in the inertial body 1 at the frequency of the variable induction (variable magnetic field of the exciting inductor 40) are absent, that is, in the inertial body 1 there are only mechanical vibrations at the double frequency and higher even harmonics.

Figure 4 shows the initial relative position of the inertial body 1 relative to the stator 23, corresponding to zero angular degrees (the arrow shows the direction of rotation of the inertial body 1 relative to the stator 23 (housing)).

The measuring circuit 25 contains an inductor 9 for pumping energy into the first 3 oscillatory circuit, an inductor 10 for pumping energy into a second 4 oscillator circuit, an inductor 11 for pumping energy in a third 5 oscillator circuit, an inductor 12 for pumping energy in a fourth 6 oscillator circuit, an inductor 13 pumping energy into the fifth 7th oscillating circuit, inductor 14 pumping energy into the sixth 8th oscillating circuit, inductor 41 reading the frequency of the resonant oscillations the first 3 oscillatory circuits, the inductor 42 read the frequency of the resonant oscillations of the second 4 oscillatory circuits, the inductor 43 read the frequencies of the resonant oscillations of the third 5 oscillatory circuits, the inductor 44 read the frequencies of the resonant oscillations of the fourth 6 oscillatory circuits, the inductor 45 read the frequencies of the resonant oscillations of the fifth 7 the oscillatory circuit and the inductor 46 read the frequency of the resonant vibrations of the sixth 8 of the oscillatory circuit.

Six inductors of six oscillatory circuits, six inductors of pumping energy into six oscillatory circuits and six inductors of reading the frequency of resonant oscillations of six oscillatory circuits are wound in the same way on the first 47, second 48, third 49, fourth 50, fifth 51 and pole 52 dielectric frames, which are placed around the circumference on the outer side 53 of the stator 23 using glass junctions or adhesive joints. In this case, the axes of all inductors are directed tangentially to a circle passing through the centers of six dielectric frames (preferably).

In the General case, each of the six dielectric frames with inductors can be rotated 90 ° relative to its position shown in Fig.6 (the rotation of each of the six dielectric frames with inductors takes place in the plane of the drawing shown in Fig.6).

In Fig.7 and Fig.8 shows the first 47 dielectric frame with an inductor 15 of the first 3 oscillatory circuit wound on it, an inductor 9 for pumping energy into the first 3 oscillatory circuit and an inductor 41 for reading the frequency of the resonant oscillations of the first 3 oscillatory circuit. In Fig. 1, six dielectric frames with inductors located on the outer side 53 of the stator 23 are not shown.

The first and second leads of the inductor 15 of the first 3 oscillatory circuits, the first and second leads of the inductor 16 of the second 4 oscillatory circuits, the first and second leads of the inductance 17 of the third 5 oscillatory circuits, the first and second leads of the inductance 18 of the fourth 6 oscillatory circuits, the first and the second conclusions of the inductor 19 of the fifth 7th oscillatory circuit, as well as the first and second conclusions of the inductor 20 of the sixth 8th oscillatory circuit are soldered respectively to the first 54, second 55, third 56, fourth 57, fifth 58, sixth 59, seventh 60, eighth 61, ninth 62, tenth 63, eleventh 64 and twelfth 65 pads.

In Fig.6, electrical connections (conductors) made by surface mounting are indicated by dashed lines.

The measuring circuit 25 further includes a first 66, second 67, third 68, fourth 69, fifth 70 and sixth 71 elements OR (each indicated OR element has one input and acts as a logical repeater), first 72, second 73, third 74, fourth 75 , fifth 76 and sixth 77 transistors, first 78, second 79 third 80, fourth 81, fifth 82 and sixth 83 comparators, as well as a computing device (not shown in FIGS. 2, 3).

The input 84 of the first 66 OR element, the input 85 of the second 67 OR element, the input 86 of the third 68 OR element, the input 87 of the fourth 69 OR element, the input 88 of the fifth 70 OR element, and the input 89 of the sixth 71 OR element are inputs for triggering and maintaining resonant oscillations of the electromagnetic field respectively, in the first 3, second 4, third 5, fourth 6, fifth 7 and sixth 8 oscillatory circuits. The first conclusions of the six energy pumping inductors in six oscillatory circuits are connected to the positive terminal 90 of the power supply.

The second terminal of the inductance coil 9 of the energy pumping in the first 3 oscillatory circuit, the second terminal of the inductor 10 of the energy pumping in the second 4 oscillatory circuit, the second terminal of the inductance coil 11 of the energy pumping in the third 5 oscillatory circuit, the second terminal of the inductance coil 12 of the electric energy pumping in the fourth 6 oscillatory circuit, the second terminal of the inductance coil 13 of the energy pumping in the fifth 7 oscillatory circuit and the second terminal of the inductor 14 of the energy pumping in the sixth 8 oscillatory circuit are connected respectively tween the collectors of the first 72, second 73, third 74, fourth 75, fifth 76 and sixth 77 transistors.

The first output of the inductance coil 41 for reading the frequency of the resonant oscillations of the first 3 oscillatory circuits, the first output of the inductance coil 43 for the reading of the frequency of resonant vibrations of the third 5 oscillatory circuits, the first output of the inductor 44 for reading the frequency of the resonant oscillations of the fourth 6 oscillatory circuit, the first output of the inductor 45 read the frequency of the resonant oscillations of the fifth about 7 of the oscillatory circuit and the first output of the inductance coil 46 for reading the frequency of the resonant oscillations of the sixth 8 oscillatory circuit are connected respectively to the direct inputs of the first 78, second 79, third 80, fourth 81, fifth 82 and sixth 83 comparators, to the inverse inputs of which (in FIG. 2 and 3 not shown) supply a reference voltage.

The second conclusions of the six inductance coils for reading the frequency of the resonant vibrations of the six oscillatory circuits are connected to the output of the "common" power. The outputs of the first 66, second 67, third 68, fourth 69, fifth 70 and sixth 71 elements OR are connected respectively to the bases of the first 72, second 73, third 74, fourth 75, fifth 76 and sixth 77 transistors, the emitters of which are connected to the output "common »Food. The outputs 91, 92, 93, 94, 95 and 96, respectively, of the first 78, second 79, third 80, fourth 81, fifth 82 and sixth 83 comparators are connected to the computing device of the measuring circuit 25.

Figure 9 shows the state diagrams of logical signals at these outputs and the state diagrams of logical signals at six inputs of six OR elements relative to logical signals at these outputs, which are indicated by dashed lines. In this case, an increase or decrease in the currents flowing through three energy pumping inductors in the first 3, second 4 and third 5 (or fourth 6, fifth 7 and sixth 8) oscillatory circuits occurs through ten half-periods of resonant oscillations of the electromagnetic field of the first 3, second 4 and third 5 (or fourth 6, fifth 7 and sixth 8) oscillatory circuits.

In order to reduce the influence of the edge effect on the measurement result, it is necessary that the edge of the working section placed on the inertial body 1 does not fit the edge of the working section placed on the stator 23 closer than 10 · h (see figure 4) where h is the axial distance between the inertial body 1 and the stator 23.

The zone of the edge effect is separated from the middle of the gap between two adjacent sections located next to the circumference on the side of the stator 23 facing the disk 21 (inertial body 1) by an angle equal to 3 °. The dashed lines in Fig. 10 and Fig. 11 denote the zones of the edge effect when measuring angular displacement (α °).

If the capacitances, inductances and electrical resistances of the first 3, second 4 and third 5 (or fourth 6, fifth 7 and sixth 8) vibrational loops are equal, the minimum frequencies of resonant vibrations of these vibrational loops will be equal to each other when the inertial body 1 rotates relative to stator 23 (specified the operation mode can be used when setting up the device, carrying out the technical implementation of the proposed method).

If necessary, the alignment of the constant components of the capacities of these oscillatory circuits can be done by changing the width of the corresponding connecting conductors.

A device that implements the technical implementation of the proposed method contains two angular velocity sensors, the covers of which are interconnected using adhesive bonding.

The housing of the device implementing the technical implementation of the proposed method consists of two buildings of two angular velocity sensors.

The pressure of the gaseous medium inside the housing of the first angular velocity sensor is different from the pressure of the gaseous medium inside the housing of the second angular velocity sensor.

When constructing diagrams (see Fig. 10 and Fig. 11), the small angular width of the gap between two adjacent sections located next to the circumference on the side of the stator 23 facing the disk 21 (inertial body 1) is not taken into account.

The angular velocity sensor and its structural elements may have the following technical characteristics and parameters:

The accuracy of measuring the angular displacement of the inertial body 1 relative to the stator 23, angular one Speed (the number of samples of the angular displacement of the inertial body 1 relative to the stator 23 for a time equal to 1 second at the above measurement accuracy > 10,000 The diameter of the disk of the inertial body 1, mm <10 The radial width of the sections of the six electrodes of the first 3, second 4 and third 5 oscillatory circuits, mm > 0.5 The maximum oscillation frequency of each of the six oscillatory circuits, MHz <2.5 Inductance of each of the six oscillatory circuits, μH > 1000 The minimum quality factor of each of the six oscillatory circuits > 100 The number of turns of each of the six inductors of six oscillatory circuits <500 The inner diameter of six inductors of six oscillatory circuits D (see Fig.7), mm <4 Diameter of a copper wire of each of six inductors of six oscillatory circuits, mm 0.05

A specific embodiment of the invention is illustrated in the description of the operation of the device implementing the technical implementation of the proposed method.

The first and second angular velocity sensors work in the same way.

The first or second angular velocity sensor (hereinafter the angular velocity sensor) operates as follows.

After turning on the power from the ultrasonic frequency alternating voltage generator of the measuring circuit 25, an alternating voltage or voltage, which consists of a constant (magnetizing) and variable components, is supplied to the exciting inductor 40.

As a result, in the inertial body 1, mechanical vibrations of the ultrasonic frequency in the range from 20 kHz to 50 kHz are excited by the action of an alternating magnetic field applied to it. In this case, in the inertial body 1, the longitudinal (parallel to the axis of the inertial body 1) and radial dimensions of the inertial body 1 change.

In the general case, linear (dimensional changes of the inertial body 1 with its constant volume) or volume magnetostriction of the inertial body 1 are possible.

Gaseous, for example, an inert gas (preferably argon), medium 2, is located in the gaps between the inertial body 1 and the body, and acts as an aerodynamic suspension (gas "pillow") of the inertial body 1 inside the body. When mechanical vibrations are excited in the inertial body 1, aerodynamic weighing of the inertial body 1 takes place in a gaseous medium 2 inside the body.

When reducing one of these gaps, the stiffness of the aerodynamic suspension of the inertial body 1 in this place increases. As a result of this, the inertial body 1 is mounted in a gaseous medium 2 inside the housing practically in a central position, which is shown in FIG.

The gaseous medium 2 damps vibration and shock loads on the inertial body 1, which significantly increases the vibrational and impact strength of the inertial body 1 inside the housing of the angular velocity sensor.

Then, from the parallel channel of the computing device of the measuring circuit 25 to the input 84 of the first 66 OR element, the input 85 of the second 67 OR element, the input 86 of the third 68 OR element, the input 87 of the fourth 69 OR element, the input 88 of the fifth 70 OR element, and the input 89 of the sixth 71 element OR supply logical zero levels and unit positive pulses (after previously applied logical zero levels, logical unit levels are supplied, and then logical zero levels). From the outputs of the first 66, second 67, third 68, fourth 69, fifth 70 and sixth 71 elements OR, positive pulses arrive respectively at the bases of the first 72, second 73, third 74, fourth 75, fifth 76 and sixth 77 transistors and open these transistors.

As a result, at the moments of changes in currents in six energy pumping inductors in six oscillatory circuits, EMF is induced - electromotive forces of mutual induction (electromotive induction forces) in six inductors of six oscillatory circuits in which resonant oscillations of the electromagnetic field occur.

The frequencies of the resonant vibrations of the electromagnetic field of six oscillatory circuits are measured by taking information from six inductance coils of reading the frequency of the resonant vibrations of six oscillatory circuits. From the outputs of the six comparators, the positive rectangular signals arrive at the computing device of the measuring circuit 25.

Further, in order to reduce the influence of six oscillatory circuits on each other (electromagnetic compatibility of the six oscillatory circuits with each other), logical signals (pulses) are fed to six inputs of six OR elements from the parallel channel of the measuring circuit 25 in accordance with the diagrams shown in Fig.9. In these diagrams, the frequency of logical pulses arriving at each of the six inputs of six OR elements decreases with respect to the frequency of resonant vibrations of the electromagnetic field of the corresponding oscillatory circuit.

In this case, the amplitudes of the mutual induction EMF (induced voltages) decrease in the other five oscillatory circuits from current pulses flowing through the energy pumping inductance coil of the corresponding oscillatory circuit, and, consequently, the electromagnetic compatibility of the six oscillatory circuits increases.

As a result of this, it is possible to reduce the overall (radial) dimensions of a device that implements the technical implementation of the proposed method for measuring the angular motion parameters of controlled objects by reducing the radius of the circle passing through the centers of all inductors placed on six dielectric frames.

The voltage at the positive 90 power output of the measuring circuit 25 (the amplitude of the resonant vibrations of the electromagnetic field of each of the six oscillatory circuits) is chosen to be minimal, which can be 0.05 V.

In this case, there are no screens made of conductive material in the angular velocity sensor, which are located near (at a small distance) and cover each of the six inductors of six oscillatory circuits. As a result of this, there is practically no change in the inductance of each of the six inductors of the six oscillatory circuits associated with a change in the frequency of the resonant vibrations of the electromagnetic field of the corresponding oscillatory circuit (skin effect), which increases the measurement accuracy.

From the outputs of six elements OR, rectangular pulses arrive at the bases of the corresponding six transistors. When these transistors are opened, currents flow through six energy pumping coils into six oscillatory circuits, when they change, the mutual induction EMF (induction EMF) occurs in the corresponding six oscillatory circuits.

In this case, during the positive half-periods of the oscillations, the pumping of energy into six oscillatory circuits occurs during an increase in the current in the corresponding six inductance coils of the energy pumping into six oscillatory circuits, and during the negative half-periods of the oscillations of the six oscillatory circuits, the pumping occurs during the decrease in current.

Since energy transfer to six oscillatory circuits occurs at the moments of current changes in the corresponding six inductors of energy pumping into six oscillatory circuits (under the influence of mutual induction, currents are induced that agree with the direction of the currents in each of the six oscillatory circuits).

Thus, in six oscillatory circuits, continuous undamped resonant oscillations of the electromagnetic field are excited with pumping energy at certain moments, times, amplitudes of currents, voltages of resonant oscillations of the electromagnetic field are increased at these moments, and the frequency of resonant oscillations of the electromagnetic field of six oscillatory circuits is determined.

10 and 11, double hatching shows the overlapping zones of the measuring ranges of the first 3, second 4, third 5 and fourth 6, fifth 7, sixth 8 oscillatory circuits. Inside the overlapping zone of the measurement ranges, the width of which is 1.5 °, there is a switch (transmission of the measurement of angular displacement) from the first 3, second 4 and third 5 oscillatory circuits to the fourth 6, fifth 7 and sixth 8 oscillatory circuits, and vice versa.

It is known that the natural frequency of oscillations of the oscillatory circuit (see book. Savelyev IV Course in General Physics, vol. 1, vol. 2. - M .: Nauka, 1978, in the description of this book is designated as literature [2]) determine according to the formula

, литература [2], том 2, с.254, $${\mathrm{<figure-callout\; id="0"\; label="\omega "\; filenames="00000064.png,00000065.png"\; state="\{\{state\}\}">\omega </figure-callout>}}_0=\mathrm{one}/{(L\cdot C)}^{\mathrm{one}/2}(\mathrm{one})$$

, literature [2], volume 2, p. 254,

where ω ₀ is the natural frequency of oscillation of the oscillatory circuit (circular or cyclic frequency);

L is the inductance of the oscillatory circuit;

C is the capacitance of the oscillatory circuit.

The oscillation period of the oscillatory circuit is

, литература [2], том 1, с.193, $$\text{T}=\left(\text{2}\cdot \text{π}\right){\text{/ ω}}_{\text{0}}\text{(2)}$$

, literature [2], volume 1, p.193,

where π = 3,14 ...

, литература [2], том 1, с.193, $$\text{f}=\text{1 / T}\text{(3)}$$

, literature [2], volume 1, p.193,

where f is the oscillation frequency.

Given the active (electrical) resistance, the frequency of the resonant oscillations of the real oscillatory circuit is determined by the formula

литература [2], том 2, с.255, $$\text{ω}={\left[\text{one/}\left(\text{L}\cdot \text{C}\right)-{\text{<figure-callout id="2" label="R" filenames="00000056.png" state="{{state}}">R</figure-callout>}}^{\text{2}}\text{/}{\left(\text{2}\cdot \text{L}\right)}^2\right]}^{\text{1/2}}\left(\text{four}\right),$$

literature [2], volume 2, p.255,

where ω is the frequency of oscillations of the real oscillatory circuit (circular or cyclic frequency);

R is the active (electrical) resistance of the oscillatory circuit.

At 1 / (L · С) much more R ² / (2 · L) ² , that is, with a high quality factor of the oscillatory circuit, we can put

, литература [2], том 2, с.257. $$\text{ω}={\text{<figure-callout id="0" label="ω" filenames="00000064.png,00000065.png" state="{{state}}">ω</figure-callout>}}_{\text{0}}=\text{one/}{\left(\text{L}\cdot \text{C}\right)}^{\text{1/2}}\text{(5)}$$

, literature [2], volume 2, p.257.

The oscillation period of the oscillatory circuit according to the Thomson formula is

, литература [2], том 2, с.254. $$\text{T}=\text{2}\cdot \text{π (L}\cdot {\text{C)}}^{\text{1/2}}\text{(6)}$$

, literature [2], volume 2, p. 254.

In the future, the oscillation periods of the first 3, second 4, third 5, fourth 6, fifth 7 and sixth 8 oscillatory circuits will be determined by the Thomson formula.

The oscillation period of the first 3 oscillatory circuit is

, $${\text{T}}_{\text{one}}=\text{2}\cdot \text{π}{\left\{{\text{L}}_{\text{one}}\cdot \left[{\text{C}}_{\text{01}}+\left({\text{C}}_{\text{one}}\cdot {\text{C}}_{\text{four}}\right)\text{/}\left({\text{C}}_{\text{one}}+{\text{C}}_{\text{four}}\right)\right]\right\}}^{\text{1/2}}\left(\text{7}\right)$$

,

where L ₁ is the inductance of the first 3 oscillatory circuit;

C ₀₁ is a constant component of the capacitance of the first 3 oscillatory circuits;

C ₁ - the total capacitance between the sections of the first 26 electrode of the first 3 oscillatory circuit and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C ₄ is the total capacitance between the sections of the second 27 electrodes of the first 3 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits.

The oscillation period of the second 4 oscillatory circuit is

, $${\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}=\text{2}\cdot {\text{π {<figure-callout id="2" label="L" filenames="00000056.png" state="{{state}}">L</figure-callout>}}_{\text{2}}\cdot {\text{[C}}_{\text{02}}+{\text{(<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}\cdot {\text{C}}_{\text{5}}{\text{) / (<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}+{\text{C}}_{\text{5}}{\text{)]}}}^{\text{1/2}}\left(\text{8}\right)$$

,

where L ₂ is the inductance of the second 4 oscillatory circuits;

C ₀₂ is a constant component of the capacitance of the second 4 oscillatory circuits;

C ₂ is the total capacitance between the sections of the first 28 electrode of the second 4 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

With ₅ - the total capacitance between the sections of the second 29 electrodes of the second 4 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits.

The oscillation period of the third 5 oscillatory circuit is

, $${\text{T}}_{\text{3}}=\text{2}\cdot {\text{π {L}}_{\text{3}}\cdot {\text{[C}}_{\text{03}}+{\text{(C}}_{\text{3}}\cdot {\text{C}}_{\text{6}}{\text{) / (C}}_{\text{3}}+{\text{C}}_{\text{6}}{\text{)]}}}^{\text{1/2}}\left(\text{9}\right)$$

,

where L ₃ is the inductance of the third 5 oscillatory circuit;

C ₀₃ is a constant component of the capacitance of the third 5 oscillatory circuit;

C ₃ is the total capacitance between the sections of the first 30 electrode of the third 5 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C ₆ is the total capacitance between the sections of the second 31 electrodes of the third 5 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits.

The first 3, second 4 and third 5 oscillatory circuits are made in such a way that the constant components of the capacitances and inductances of these oscillatory circuits are practically equal to each other

, $${\text{C}}_{\text{01}}={\text{C}}_{\text{02}}={\text{C}}_{\text{03}}\left(\text{10}\right)$$

,

. $${\text{L}}_{\text{one}}={\text{<figure-callout id="2" label="L" filenames="00000056.png" state="{{state}}">L</figure-callout>}}_{\text{2}}={\text{L}}_{\text{3}}\left(\text{eleven}\right)$$

.

When the angular displacement of the inertial body 1, relative to the stator 23, the following equalities

, $${\text{C}}_{\text{1M}}={\text{C}}_{\text{2M}}={\text{C}}_{\text{3M}}={\text{C}}_{\text{4M}}={\text{C}}_{\text{5M}}={\text{C}}_{\text{6M}}\left(\text{12}\right)$$

,

where C _1M is the maximum total capacitance between the sections of the first 26 electrodes of the first 3 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C _2M is the maximum total capacitance between sections of the first 28. electrode of the second 4 oscillatory circuits and sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C _3M is the maximum total capacitance between sections of the first 30 electrode of the third 5 oscillatory circuits and sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C _4M is the maximum total capacitance between the sections of the second 27 electrodes of the first 3 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C _5M is the maximum total capacitance between the sections of the second 29 electrodes of the second 4 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits;

C _6M is the maximum total capacitance between the sections of the second 31 electrodes of the third 5 oscillatory circuits and the sections of the common electrode 38 of the first 3, second 4 and third 5 oscillatory circuits.

The oscillation period of the fourth 6 oscillatory circuit is

, $${\text{T}}_{\text{four}}=\text{2}\cdot {\text{π {L}}_{\text{four}}\cdot {\text{[C}}_{\text{04}}+{\text{(<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}\cdot {\text{C}}_{\text{10}}{\text{) / (<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}+{\text{C}}_{\text{10}}{\text{)]}}}^{\text{1/2}}\left(\text{13}\right)$$

,

where L ₄ is the inductance of the fourth 6 oscillatory circuit;

C ₀₄ - a constant component of the capacitance of the fourth 6 oscillatory circuit;

C ₇ is the total capacitance between the sections of the first 32 electrodes of the fourth 6 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

With ₁₀ - the total capacity between the sections of the second 33 electrodes of the fourth 6 oscillatory circuits and sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits.

The oscillation period of the fifth 7 oscillatory circuit is

, $${\text{T}}_{\text{5}}=\text{2}\cdot {\text{π {L}}_{\text{5}}\cdot {\text{[C}}_{\text{05}}+{\text{(<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}\cdot {\text{C}}_{\text{eleven}}{\text{) / (<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}+{\text{C}}_{\text{eleven}}{\text{)]}}}^{\text{1/2}}\left(\text{fourteen}\right)$$

,

where L ₅ is the inductance of the fifth 7 oscillatory circuit;

C ₀₅ - the constant component of the capacitance of the fifth 7 oscillatory circuit;

C ₈ is the total capacitance between the sections of the first 34 electrode of the fifth 7 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

With ₁₁ - the total capacity between the sections of the second 35 electrode of the fifth 7 oscillatory circuit and sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits.

The oscillation period of the sixth 8th oscillation circuit is

, $${\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}=\text{2}\cdot {\text{π {<figure-callout id="6" label="L" filenames="00000057.png" state="{{state}}">L</figure-callout>}}_{\text{6}}\cdot {\text{[C}}_{\text{06}}+{\text{(<figure-callout id="9" label="C" filenames="00000061.png,00000064.png" state="{{state}}">C</figure-callout>}}_{\text{9}}\cdot {\text{C}}_{\text{12}}{\text{) / (<figure-callout id="9" label="C" filenames="00000061.png,00000064.png" state="{{state}}">C</figure-callout>}}_{\text{9}}+{\text{C}}_{\text{12}}{\text{)]}}}^{\text{1/2}}\left(\text{fifteen}\right)$$

,

where L ₆ is the inductance of the sixth 8 oscillatory circuit;

C ₀₆ - the constant component of the capacitance of the sixth 8 oscillatory circuit;

C ₉ is the total capacitance between the sections of the first 36 electrode of the sixth 8 oscillatory circuit and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits;

C ₁₂ - the total capacitance between the sections of the second 37 electrode of the sixth 8 of the oscillatory circuit and the sections of the common electrode 39 of the fourth 6 of the fifth 7 and the sixth of 8 oscillatory circuits.

The fourth 6, fifth 7 and sixth 8 oscillatory circuits are made in such a way that the constant components of the capacitance and inductance of these oscillatory circuits are almost equal to each other

, $${\text{C}}_{\text{04}}={\text{C}}_{\text{05}}={\text{C}}_{\text{06}}\left(\text{16}\right)$$

,

. $${\text{L}}_{\text{four}}={\text{L}}_{\text{5}}={\text{L}}_{\text{6}}\left(\text{17}\right)$$

.

When the angular displacement of the inertial body 1, relative to the stator 23, the following equalities are satisfied;

, $${\text{C}}_{\text{7M}}={\text{C}}_{\text{8M}}={\text{C}}_{\text{9M}}={\text{C}}_{\text{10M}}={\text{C}}_{\text{11M}}={\text{C}}_{\text{12M}}\left(\text{eighteen}\right)$$

,

where C _7M is the maximum total capacitance between the sections of the first 32 electrodes of the fourth 6 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

C _8M is the maximum total capacitance between the sections of the first 34 electrode of the fifth 7 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

C _9M is the maximum total capacitance between the sections of the first 36 electrode of the sixth 8 oscillatory circuit and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits;

C _10M is the maximum total capacitance between the sections of the second 33 electrodes of the fourth 6 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

C _11M is the maximum total capacitance between the sections of the second 35 electrode of the fifth 7 oscillatory circuits and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 oscillatory circuits;

C _12M is the maximum total capacitance between the sections of the second 37 electrode of the sixth 8 oscillatory circuit and the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits.

We introduce the following notation in equalities (10), (11), (12), (16), (17) and (18)

, $${\text{C}}_{\text{0A}}={\text{C}}_{\text{01}}={\text{C}}_{\text{02}}={\text{C}}_{\text{03}}\left(\text{19}\right)$$

,

, $${\text{L}}_{\text{A}}={\text{L}}_{\text{one}}={\text{<figure-callout id="2" label="L" filenames="00000056.png" state="{{state}}">L</figure-callout>}}_{\text{2}}={\text{L}}_{\text{3}}\left(\text{twenty}\right)$$

,

, $${\text{C}}_{\text{AM}}={\text{C}}_{\text{1M}}={\text{C}}_{\text{2M}}={\text{C}}_{\text{3M}}={\text{C}}_{\text{4M}}={\text{C}}_{\text{5M}}={\text{C}}_{\text{6M}}\left(\text{21}\right)$$

,

, $${\text{C}}_{\text{0B}}={\text{C}}_{\text{04}}={\text{C}}_{\text{05}}={\text{C}}_{\text{06}}\left(\text{22}\right)$$

,

, $${\text{L}}_{\text{B}}={\text{L}}_{\text{four}}={\text{L}}_{\text{5}}={\text{L}}_{\text{6}}\left(\text{23}\right)$$

,

. $${\text{C}}_{\text{BM}}={\text{C}}_{\text{7M}}={\text{C}}_{\text{8M}}={\text{C}}_{\text{9M}}={\text{C}}_{\text{10M}}={\text{C}}_{\text{11M}}={\text{C}}_{\text{12M}}\left(\text{24}\right)$$

.

The radial width of the sections of the common electrode 39 of the fourth 6, fifth 7 and sixth 8 of the oscillatory circuits is chosen so that the capacitances included in equalities (21) and (24) are close to each other.

Formulas (7), (8) and (9) taking into account equalities (19), (20) and (21) depending on the magnitude of the angular displacement of the inertial body 1 relative to the stator 23 (see Fig. 10) can be represented as:

In the measuring range from 0 ° to 9 °

, $${\text{T}}_{\text{one}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{one}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{one}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{25}\right)$$

,

, $${\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{AM}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{26}\right)$$

,

. $${\text{T}}_{\text{3}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{AM}}\cdot {\text{C}}_{\text{6}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{6}}{\text{)]}}}^{\text{1/2}}\left(\text{27}\right)$$

.

In the measuring range from 15 ° to 24 °

, $${\text{T}}_{\text{one}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{one}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{one}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{28}\right)$$

,

, $${\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}\cdot {\text{C}}_{\text{AM}}{\text{) / (<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{29th}\right)$$

,

. $${\text{T}}_{\text{3}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{AM}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{thirty}\right)$$

.

In the measuring range from 30 ° to 39 °

$${\text{T}}_{\text{one}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{AM}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{31}\right)$$

,

, $${\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}\cdot {\text{C}}_{\text{AM}}{\text{) / (<figure-callout id="2" label="C" filenames="00000056.png" state="{{state}}">C</figure-callout>}}_{\text{2}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{32}\right)$$

,

. $${\text{T}}_{\text{3}}=\text{2}\cdot {\text{π {L}}_{\text{A}}\cdot {\text{[C}}_{\text{0A}}+{\text{(C}}_{\text{3}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{3}}+{\text{C}}_{\text{AM}}{\text{)]}}}^{\text{1/2}}\left(\text{33}\right)$$

.

The computing device of the measuring circuit 25, depending on the magnitude of the angular displacement of the inertial body 1 relative to the stator 23 (see Fig. 10), calculates the following expressions:

In the measuring range from 0 ° to 9 °

. $$\begin{array}{c}{\text{(<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}-{\text{T}}_{\text{one}}^{\text{2}}{\text{) / (<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}-{\text{T}}_{\text{3}}^{\text{2}}\text{)}={\text{[C}}_{\text{AM}}\text{/ 2}-{\text{(C}}_{\text{one}}\cdot {\text{C}}_{\text{AM}}{\text{) / (C}}_{\text{one}}+{\text{C}}_{\text{AM}}\text{)] /}\\ {\text{/ [C}}_{\text{AM}}\text{/ 2}-{\text{(C}}_{\text{AM}}\cdot {\text{C}}_{\text{6}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{6}}\text{)]}=\\ ={\text{[(C}}_{\text{AM}}-{\text{C}}_{\text{one}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{one}}{\text{)] / [(C}}_{\text{AM}}-{\text{C}}_{\text{6}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{6}}\text{)]}\left(\text{34}\right)\end{array}$$

.

In the measuring range from 15 ° to 24 °

. $$\begin{array}{c}{\text{(T}}_{\text{3}}^{\text{2}}-{\text{T}}_{\text{one}}^{\text{2}}{\text{) / (T}}_{\text{3}}^{\text{2}}-{\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}\text{)}=\\ ={\text{[(C}}_{\text{AM}}-{\text{C}}_{\text{one}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{one}}{\text{)] / [(C}}_{\text{AM}}-{\text{C}}_{\text{2}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{2}}\text{)]}\left(\text{35}\right)\end{array}$$

.

In the measuring range from 30 ° to 39 °

. $$\begin{array}{c}{\text{(T}}_{\text{one}}^{\text{2}}-{\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}{\text{) / (T}}_{\text{one}}^{\text{2}}-{\text{T}}_{\text{3}}^{\text{2}}\text{)}=\\ ={\text{[(C}}_{\text{AM}}-{\text{C}}_{\text{2}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{2}}{\text{)] / [(C}}_{\text{AM}}-{\text{C}}_{\text{3}}{\text{) / (C}}_{\text{AM}}+{\text{C}}_{\text{3}}\text{)]}\left(\text{36}\right)\end{array}$$

.

Expressions (34), (35) and (36) are a measure of the angular displacement in the above measurement ranges and uniquely determine the angular displacement of the inertial body 1 relative to the stator 23. The functional relationship between the angular displacement of the inertial body 1 relative to the stator 23 and expressions (34), (35) and (36) are determined by preliminary calibration (calibration).

The computing device of the measuring circuit 25 calculates the expressions

, $${\text{(<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}-{\text{T}}_{\text{one}}^{\text{2}}{\text{) / (<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}-{\text{T}}_{\text{3}}^{\text{2}}\text{)}\left(\text{37}\right)$$

,

или $${\text{(T}}_{\text{3}}^{\text{2}}-{\text{T}}_{\text{one}}^{\text{2}}{\text{) / (T}}_{\text{3}}^{\text{2}}-{\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}\text{)}\left(\text{38}\right)$$

or

$${\text{(T}}_{\text{one}}^{\text{2}}-{\text{<figure-callout id="2" label="T" filenames="00000056.png" state="{{state}}">T</figure-callout>}}_{\text{2}}^{\text{2}}{\text{) / (T}}_{\text{one}}^{\text{2}}-{\text{T}}_{\text{3}}^{\text{2}}\text{)}\left(\text{39}\right)$$

every 45 degrees of the angular displacement of the inertial body 1 relative to the stator 23 in the corresponding measurement range.

Formulas (13), (14) and (15) taking into account equalities (22), (23) and (24) depending on the magnitude of the angular displacement of the inertial body 1 relative to the stator 23 (see Fig. 11) can be represented as:

In the measuring range from 7.5 ° to 16.5 °

, $${\text{T}}_{\text{four}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{40}\right)$$

,

$${\text{T}}_{\text{5}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(C}}_{\text{BM}}\cdot {\text{C}}_{\text{BM}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{41}\right)$$

,

. $${\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(C}}_{\text{BM}}\cdot {\text{C}}_{\text{12}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{12}}{\text{)]}}}^{\text{1/2}}\left(\text{42}\right)$$

.

In the measuring range from 22.5 ° to 31.5 °

$${\text{T}}_{\text{four}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{43}\right)$$

,

$${\text{T}}_{\text{5}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{44}\right)$$

,

. $${\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(C}}_{\text{BM}}\cdot {\text{C}}_{\text{BM}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{45}\right)$$

.

In the measuring range from 37.5 ° to 46.5 °

$${\text{T}}_{\text{four}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(C}}_{\text{BM}}\cdot {\text{C}}_{\text{BM}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{46}\right)$$

,

$${\text{T}}_{\text{5}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="8" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{8}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{47}\right)$$

,

. $${\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}=\text{2}\cdot {\text{π {L}}_{\text{B}}\cdot {\text{[C}}_{\text{0B}}+{\text{(<figure-callout id="9" label="C" filenames="00000061.png,00000064.png" state="{{state}}">C</figure-callout>}}_{\text{9}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="9" label="C" filenames="00000061.png,00000064.png" state="{{state}}">C</figure-callout>}}_{\text{9}}+{\text{C}}_{\text{BM}}{\text{)]}}}^{\text{1/2}}\left(\text{48}\right)$$

.

The computing device of the measuring circuit 25, depending on the magnitude of the angular displacement of the inertial body 1 relative to the stator 23 (see Fig. 11), calculates the following expressions:

In the measuring range from 7.5 ° to 16.5 °

. $$\begin{array}{c}{\text{(T}}_{\text{5}}^{\text{2}}-{\text{T}}_{\text{four}}^{\text{2}}{\text{) / (T}}_{\text{5}}^{\text{2}}-{\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}\text{)}={\text{[C}}_{\text{BM}}^{}\text{/ 2}-{\text{(<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}\cdot {\text{C}}_{\text{BM}}{\text{) / (<figure-callout id="7" label="C" filenames="00000057.png" state="{{state}}">C</figure-callout>}}_{\text{7}}+{\text{C}}_{\text{BM}}\text{)] /}\\ {\text{/ [C}}_{\text{BM}}\text{/ 2}-{\text{(C}}_{\text{BM}}\cdot {\text{C}}_{\text{12}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{12}}\text{)]}=\\ ={\text{[(C}}_{\text{BM}}-{\text{C}}_{\text{7}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{7}}{\text{)] / [(C}}_{\text{BM}}-{\text{C}}_{\text{12}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{12}}\text{)]}\left(\text{49}\right)\end{array}$$

.

In the measuring range from 22.5 ° to 31.5 °

. $$\begin{array}{c}{\text{(<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}-{\text{T}}_{\text{four}}^{\text{2}}{\text{) / (<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}-{\text{T}}_{\text{5}}^{\text{2}}\text{)}=\\ ={\text{[(C}}_{\text{BM}}-{\text{C}}_{\text{7}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{7}}{\text{)] / [(C}}_{\text{BM}}-{\text{C}}_{\text{8}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{8}}\text{)]}\left(\text{fifty}\right)\end{array}$$

.

In the measuring range from 37.5 ° to 46.5 °

. $$\begin{array}{c}{\text{(T}}_{\text{four}}^{\text{2}}-{\text{T}}_{\text{5}}^{\text{2}}{\text{) / (T}}_{\text{four}}^{\text{2}}-{\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}\text{)}=\\ ={\text{[(C}}_{\text{BM}}-{\text{C}}_{\text{8}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{8}}{\text{)] / [(C}}_{\text{BM}}-{\text{C}}_{\text{9}}{\text{) / (C}}_{\text{BM}}+{\text{C}}_{\text{9}}\text{)]}\left(\text{51}\right)\end{array}$$

.

Expressions (49), (50) and (51) are a measure of the angular displacement in the above measurement ranges and uniquely determine the angular displacement of the inertial body 1 relative to the stator 23 (housing). The functional dependence between the angular displacement of the inertial body 1 relative to the stator 23 and expressions (49), (50) and (51) is determined by preliminary calibration (calibration).

The computing device of the measuring circuit 25 calculates the expressions

, $${\text{(T}}_{\text{5}}^{\text{2}}-{\text{T}}_{\text{four}}^{\text{2}}{\text{) / (T}}_{\text{5}}^{\text{2}}-{\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}\text{)}\left(\text{52}\right)$$

,

или $${\text{(<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}-{\text{T}}_{\text{four}}^{\text{2}}{\text{) / (<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}-{\text{T}}_{\text{5}}^{\text{2}}\text{)}(\text{53)}$$

or

$${\text{(T}}_{\text{four}}^{\text{2}}-{\text{T}}_{\text{5}}^{\text{2}}{\text{) / (T}}_{\text{four}}^{\text{2}}-{\text{<figure-callout id="6" label="T" filenames="00000057.png" state="{{state}}">T</figure-callout>}}_{\text{6}}^{\text{2}}\text{)}\left(\text{54}\right)$$

every 45 degrees of the angular displacement of the inertial body 1 relative to the stator 23 in the corresponding measurement range.

The angular displacement (increment of the angle of rotation) of the inertial body 1 relative to the stator 23 is a measure and unambiguously determines the angular velocity of the controlled object in a given time interval relative to the pseudo-inertial (inertial) coordinate system (see literature {1}, p.8, 131, 132) .

The functional dependence between the angular displacement (increment of the angle of rotation) of the inertial body 1 relative to the stator 23 (housing) and the angular velocity (a single integral over time from the angular acceleration) of the controlled object in a given time interval relative to the pseudo-inertial (inertial) coordinate system is determined by preliminary calibration (calibration) .

In this case, the angular velocity of the controlled object is calibrated taking into account the temperature characteristic - the difference in angular velocities of the first and second angular velocity sensors divided by the angular velocity of the first or second angular velocity sensor.

As a result of this, the influence of changes in ambient temperature on the result of measuring the angular velocity of the controlled object is reduced, which increases the accuracy of measuring the angular velocity of the controlled object.

The computing device of the measuring circuit 25 calculates the angular displacement and acceleration of the controlled object relative to the pseudo-inertial (inertial) coordinate system, respectively, by single integration and single-time differentiation in time of the angular velocity of the controlled object relative to the pseudo-inertial (inertial) coordinate system.

Thus, in the device implementing the technical implementation of the proposed method for measuring the parameters of the angular motion of controlled objects, there is a decrease in the effect on the measurement result of the angular displacement, speed and acceleration of the controlled object relative to the pseudo-inertial (inertial) coordinate system of changes in the frequency of the master oscillator, for example, from temperature device measuring circuit 25, the temperature of the environment, the axial distance between facing each other the surfaces (planes) of the inertial body 1 and the stator 23, the non-parallelism of the planes and misalignment of the inertial body 1 and the stator 23, as well as changes in the geometric dimensions of the sections of two common electrodes of six oscillatory circuits during longitudinal and radial mechanical vibrations of the inertial body 1, which increases the measurement accuracy.

In this case, the measurement of the angular displacement, speed and acceleration of the controlled object occurs strictly in the plane and coaxially with the stator disk 23 (there is no lateral sensitivity), which increases the measurement accuracy.

In the proposed method for measuring the parameters of the angular motion of controlled objects, there is completely no dry friction between the inertial body 1 and the body, which also increases the accuracy of the measurement.

For example, during the temperature expansion of the conductors of the first 3, second 4, and third 5 (or fourth 6, fifth 7, and sixth 8) oscillatory circuits due to changes in the temperature of the environment, changes occur almost proportionally to the constant components of the capacitors and almost proportionally to the total capacitance between the electrode sections of the indicated oscillatory contours.

As a result of this, there is a decrease in the influence on the measurement result of the angular displacement, speed and acceleration of the controlled object relative to the pseudo-inertial (inertial) coordinate system of the temperature expansion of the conductors of the first 3, second 4 and third 5 (or fourth 6, fifth 7 and sixth 8) vibrational circuits.

Industrial applicability

The proposed method for measuring the parameters of the angular motion of controlled objects will find wide application in devices of measuring equipment, other special cases of automation of measuring angular displacements, velocities and accelerations of a controlled object will be obvious to specialists. This description and examples are considered as material illustrating the invention, the essence of which and the scope of patent claims are defined in the following claims, a combination of essential features and their equivalents.

Claims (2)

1. The method of measuring the parameters of the angular motion of controlled objects by cyclically measuring the increments of the angle of rotation of the inertial body relative to the body in a predetermined time interval, characterized in that the two inertial bodies are made of magnetostrictive material, placed in two gaseous media with different pressure values and excite mechanical vibrations in two inertial bodies under the action of an alternating magnetic field applied to two inertial bodies excite resonant vibrations of the electron magnetic field in twelve oscillatory circuits, change the currents flowing through twelve induction coils of energy pumping into twelve oscillatory circuits, when changing these currents induce electromotive forces of mutual induction in twelve inductors of twelve oscillatory circuits, which increase the amplitudes of resonant oscillations of electromagnetic fields in twelve contours, change the capacities of twelve oscillatory circuits, and the increments of the angles of rotation of two inertia ionic bodies relative to the housing in a predetermined time interval measured by changing the resonant frequency of the electromagnetic field oscillations twelve resonant circuits. 2. The method according to claim 1, characterized in that mechanical vibrations in two inertial bodies excite with an ultrasonic frequency in the range from 20 kHz to 50 kHz.

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