RU2521765C1 - Universal non-contact gyro - Google Patents

Abstract

FIELD: instrumentation.SUBSTANCE: gyro comprises a spherical rotor in the housing with three pairs of orthogonally arranged support elements, the electronic control unit of the suspension of the rotor and the unit of determining position of the vector of the angular momentum of the rotor. Each supporting element is made in the form of a two-phase rotation stator with the main and the control windings on the tooth magnetic circuit. The magnetic circuits are isolated from the housing and applied as a measuring and (or) supporting capacitor electrodes, and the magnetic circuits with the main windings are used as the supporting and (or) measuring electromagnets. Dynamically unbalanced rotor is made with a prolate ellipsoid of inertia. The outlets of the unit of determining the position of the vector of the angular momentum of the rotor (according to the beat signals of the unbalanced rotor) are connected through intensive-converting devices with the control windings of the stators of rotation, which enables to give the proposed gyro the properties of free gyro with limited run-time of the rotor, caused, for example, by the rotor friction on the gas residues in the evacuated casing. The proposed universal gyro can also be used in the mode of the angular velocity sensor (AVS), and as three-axial accelerometer.EFFECT: gyro is characterised with the simple design, it is intended to implement small-sized, with the rotor diameter of less than 10 mm, for use for example in underground navigation, the small size of the rotor causes a high overload capability of the gyro, necessary when working in bottomhole inclinometer.6 cl, 9 dwg

Description

Technical field

The invention relates to the field of precision instrumentation and can be used in various devices for orienting moving objects, in particular in the manufacture of reliable small-sized gyroscopes-accelerometers for underground navigation devices - inclinometers.

State of the art

Non-contact gyroscopes are known - gas, electrostatic and electromagnetic, in which the spherical rotor is held by the pressure of the gas layer or by the forces of a controlled electric or magnetic field in the center of the chamber with supporting elements: electrodes, electromagnets. To accelerate and maintain rotor rotation in traditional non-contact gyroscopes, two-phase stators are used, the rotating magnetic field of which interacts with the conductive surface of the rotor of an electrostatic gyroscope (http://mexman.ru/ "Gyroscope with an electrostatic suspension", Fig. 1, [1]) or with a conductive belt of a ferrite rotor (RF patent No. 2126135 "Magnetospherical gyroscope"). For the initial exhibition of the kinetic moment vector (VKM) and rotor motion control, special leveling windings [1], rotor angular position sensors and moment sensors are used (when using a gyroscope in the mode of the angular velocity velocity sensor, RF patent No. 2064163 “Gyroscope accelerometer with spherical a ferromagnetic rotor in a magnetic resonance suspension "). All this leads to a significant complication of the design and a decrease in the reliability of gyroscopes.

A significant drawback of non-contact gyroscopes is the need to maintain the constancy of the magnitude of the ECM. For example, in electrostatic gyroscopes this requires maintaining an extremely high and stable vacuum in a sealed chamber with a rotor. But when using the rotor dynamic unbalance for a simple (instead of optical) method of determining the VCM position, the degree of braking of the rotor is no longer determined by the residual gas, but by the dissipation of rotor rotational energy by damping of the non-contact suspension. In electromagnetic gyroscopes, the VKM value is kept constant under vacuum during continuous operation of the rotation stator (due to the more significant (compared to the electrostatic suspension) braking of the rotor in a magnetic field). The application to the rotor of the rotational moment M _BP determines the value of the so-called “gyroscopic time constant” T _weights , which can be defined as the approximate time of combining the VKM with the value H with the vector M _BP when these vectors are mismatched at an angle of 1 radian,

$$T_{g\mathrm{and}R}=H/M_{\mathrm{at}R}\left(\mathrm{from}e\mathrm{to}\right).\left(\mathrm{one}\right)$$

So, for gyroscopes with a gas support of the rotor, this constant is units of seconds, for electromagnetic gyroscopes without evacuation, a few minutes. Thus, the braking of the rotor, for example, due to residual gas in a sealed enclosure, significantly reduces the accuracy of non-contact gyroscopes. At the same time, maintaining a high and stable vacuum leads to the need to introduce special vacuum micropumps with high-voltage power supply units into the gyroscope design and the composition of the service electronics.

It is possible to fundamentally eliminate the departure of the gyroscope rotor VKM due to a mismatch with the rotor stator torque vector if it is possible to apply a spatial system of three rotation stators whose total rotation vector automatically coincides with the VKM. Such a solution is presented in RF patent No. 2275601 "Triaxial gyromotor", where a spherical rotor located in the gas support is surrounded by three circular rotation stators, on each power winding of which a magnetic flux generator is built. The description of the patent states that in this case the rotor VKM retains its position at any angles of rotation of the housing with the stators. The disadvantage of this technical solution is the design complexity of the electronic control units and the low accuracy of combining the torque vector with the VCM due to errors in the construction of self-oscillators with respect to the very small gyroscopic constant of the gyroscope in the gas support.

In the patent of the Russian Federation No. 2065134 for the invention "Method for determining the position of the kinetic moment vector of a non-contact gyroscope" describes the design of a non-contact gyro (shown in figure 1 of the description of the patent of the Russian Federation No. 2065134), in which the spherical rotor is surrounded by supporting elements (electrodes, electromagnets), mounted on case and connected to the electronic control unit of the suspension of the rotor in an electric or magnetic field. A hollow rotor with a traditional flattened ellipsoid of inertia (due to the thickening of the walls at the equator) is made with dynamic unbalance (due to the application of a film of denser material on one side of the rotor). This made it possible to simplify the block for determining the position of the VKM rotor, which generates guide cosines of the VKM in the form of constant voltage signals (with a zero carrier frequency). The gyroscope described in the patent of the Russian Federation No. 2065134, is taken as a prototype of the invention. The disadvantage of such a non-contact gyroscope is the design complexity due to the presence of a number of auxiliary elements typical of known (traditional) non-contact gyroscopes (a separate rotation stator, windings for the initial VKM exhibition, torque sensors for using the gyroscope in the mode of an angular velocity sensor, etc.). In addition, a rotor with a flattened ellipsoid of inertia requires precise static balancing. The main disadvantage of the prototype is the influence of the moment, which maintains a given rotor speed, on the accuracy of the gyroscope.

SUMMARY OF THE INVENTION

The objective of the invention is to simplify a non-contact evacuated gyroscope with a spherical rotor and give it the versatility of using electric and magnetic fields simultaneously or separately to suspend the rotor. The optimal composition of the structure and electronic components is determined in relation to the task of applying a universal gyroscope at the facility (error, overload capacity, standby time, operating mode - free gyroscope or angular velocity sensor). At the same time, a reduced degree of rarefaction of gas in a sealed chamber is allowed instead of a stable high vacuum, which requires constant operation of the built-in micropumps with their power supplies.

The problem is solved in that in a non-contact gyroscope containing a spherical rotor in a housing with three pairs of orthogonally located supporting elements, an electronic control unit for the suspension of the rotor and a unit for determining the position of the vector of the kinetic moment of the rotor, each supporting element is made in the form of a two-phase rotation stator with a main and a control windings on the toothed magnetic circuit. Magnetic cores can be isolated from the housing and used as measuring and (or) supporting capacitive electrodes. At the same time, magnetic cores with main windings can be used as supporting and (or) electromagnets measuring rotor displacement. The spherical rotor of the proposed universal gyroscope can be made with an elongated inertia ellipsoid, either by placing a cylindrical rod from a material with a density higher than the density of the rotor material in the body of the massive rotor, or by connecting two halves of the hollow rotor with a cylindrical rod of rotor material. The main new quality of the proposed gyroscope is the elimination of the influence of the position of the vector of the torque applied to the rotor on the position in the VKM space due to the fact that the outputs of the block for determining the position of the vector of the kinetic moment of the rotor are connected through amplifying and converting devices to the control windings of the rotation stators.

Enumeration of figures and drawings.

Figure 1 presents the main view of the design of the proposed universal non-contact gyro with three pairs of supporting elements.

Figure 2 shows the design of the supporting element.

Figure 3 shows the device of a monolithic spherical rotor with an elongated inertia ellipsoid and a given (for determining the position of the VCM) dynamic unbalance.

Figure 4 shows the design of a hollow rotor with an elongated inertia ellipsoid.

Figure 5 illustrates the formation of a common electrode limiter on the gyroscope body.

Figure 6 shows the block diagram of the connections of the VCM positioning unit with the control windings of the rotation stators of the supporting elements.

Figure 7 shows a block diagram of a variant of construction of a non-contact suspension with the simultaneous use of electrodes and electromagnets.

On Fig presents the formation of the vector of torque M, which coincides in direction with the VKM of the rotor N.

Figure 9 shows the overall view of the proposed gyroscope in a vacuum casing.

Figure 1-9 adopted the following notation:

1 - the body of the gyroscope,

1a - the first half of the body,

1b - the second half of the body,

2 - spherical rotor,

3, 4 - supporting elements along the Z axis,

5, 6 - supporting elements along the X axis,

7, 8 - supporting elements along the Y axis,

9 - toothed magnetic circuit,

10a - the first half of the main winding,

10b - the second half of the main winding,

10 - the main winding, formed, for example, by series connection of the halves 10a and 106,

11a - the first half of the control winding,

11b - the second half of the control winding,

11 - control winding formed by the connection of the halves 11A and 11b,

12 - insulating ring,

13 - massive spherical rotor,

14 - a rod of dense material,

15 - plug

16 - the first half of the hollow spherical rotor,

17 - the second half of the hollow spherical rotor,

18a - the first half of the cylindrical rod with a threaded protrusion,

18b - the second half of the cylindrical rod with a threaded cavity,

19 - control unit of the rotor suspension,

20 - block determining the position of the vector of kinetic moment,

21 - amplifier-converting device along the Z axis,

22 - amplifier-conversion device along the X axis,

23 - amplifier-converting device along the Y axis,

24 - source of high-frequency voltage,

25 is a source of low-frequency reference voltage,

26 - source of inverted low-frequency reference voltage,

27 - a device for determining the position of the rotor along the Z axis,

28 is a device for determining the position of the rotor along the X axis,

29 - a device for determining the position of the rotor along the Y axis,

30 - PID controller on the Z axis,

31 - PID controller on the x-axis,

32 - PID controller along the Y axis.

33 - phase shifting device.

The proposed universal non-contact gyroscope contains (Fig. 1) a housing 1 composed of the first half 1a and the second 1b, fastened together, for example, using threaded elements (not shown in the drawing). The spherical rotor 2 is surrounded by three pairs of supporting elements orthogonally located (along the Z, X, Y axes) supporting elements - 3-4, 5-6 and 7-8, respectively. Each supporting element, for example 3 in FIG. 2, is made in the form of a two-phase rotation stator containing a four-pronged magnetic circuit 9 with a main winding composed of two halves 10a and 10b connected in series, and with a control winding also composed of two halves 11a and connected in series 11b. If the gyroscope housing is made of an electrically conductive material, the support elements are mounted on it through an insulating ring 12, as shown in figure 2 for the supporting element 3. The non-contact gyroscope, which carries out the suspension of the rotor in an electric and (or) magnetic field, includes traditional the electronic control unit of the suspension of the rotor (19 in Fig.6) and the unit for determining the position of the vector of the kinetic moment of the rotor (20 in Fig.6). The magnetic circuit 9 (figure 2), isolated from the housing by the ring 12, can be used as a measuring (determining the displacement of the rotor) or power (creating a centering force) capacitive electrode (forming a capacitance relative to the conductive or dielectric surface of the rotor), and can also be simultaneously used as measuring and power electrodes in the construction of traditional passive and active electrostatic suspensions of conductive rotors. The magnetic circuit 9 with the main winding 10a and 10b also forms an electromagnet, which can be used to construct the electromagnetic suspension of the rotor as a supporting power and (or) measurement when determining the displacement of the rotor. In the proposed universal non-contact gyroscope, it is possible to simultaneously use electrostatic and electromagnetic rotor suspensions (for example, made of a magnetodielectric - ferrite with a conductive film on the surface), as well as a mixed use of supporting elements, for example magnetic conductors-electrodes, which measure the position of the rotor, and electromagnets with the main windings - as creating a force centering magnetic field.

In the proposed gyroscope, along with traditional spherical rotors with a flattened ellipsoid of inertia (one maximum - coinciding with the axis of rotation - the moment of inertia and many minimum moments of inertia perpendicular to the axis of rotation), it is proposed to use rotors with an elongated ellipsoid of inertia (one moment of inertia is the minimum and many maximum moments of inertia located in the plane on which the axis of rotation of the rotor is located). Such a classification of gyroscope rotors is given in the book: K. Magnus. Gyroscope. Theory and application / Per. from German. - M.: Mir, 1974. S. 27-32. In Fig.3, a massive spherical rotor 13 is made with an elongated inertia ellipsoid due to the fact that a cylindrical rod 14 of material with a density higher than the density of the rotor material is placed in the rotor body. The rod 14 is mounted asymmetrically (shifted along the Y axis) to give it the dynamic unbalance necessary to determine the position of the VCR using the method described in the prototype. The plug 15 is made of rotor material and fixes the rod 14 while maintaining the spherical surface of the rotor.

In Fig. 4, a rotor with an elongated inertia ellipsoid is made hollow of two halves 16-17, which are interconnected by a cylindrical rod of rotor material. The rod consists of two parts: the first half 18a with a threaded protrusion, and the second half 18b with a threaded cavity. The threaded connection is made with the formation of a cavity in the second half of the rod 18b to set the dynamic unbalance.

The halves of the gyroscope 1a and 1b (Fig. 1) are machined internally using a reference grinding ball along the spherical surface shown in Fig. 5, which forms a common limiting electrode, which forms a capacitance in relation to the rotor for supplying high-frequency voltage to the electrodes (magnetic circuits) ) and limits the displacement of the rotor, preventing it from touching electrodes with high-voltage control voltages of the electrostatic suspension. (The nominal gap “rotor - common electrode” is less than the nominal working gap “rotor-electrodes”),

The gyroscope includes (as in the prototype) an electronic block 19 (6) for controlling the rotor suspension (in electric, magnetic, or simultaneously in both fields) and a block 20 for determining the position of the kinetic moment vector (VKM) of the rotor by the beat signals of a rotating unbalanced rotor. Block 20 generates guide cosines VKM N (Fig. 8) in the form of constant voltage signals (with zero carrier frequency) in the form:

$$a=k_{\mathrm{one}}\cos \alpha ,b=k_{\mathrm{one}}\sin \alpha \cos \beta ,c=k_{\mathrm{one}}\sin \alpha \sin \beta ,\left(2\right)$$

k ₁ - gear ratio.

These signals with the help of the corresponding amplifier-converter blocks 21, 22, and 23 are transferred to the carrier with the frequency of the supply voltage of the main windings of the stator rotation and phase shift by π / 2 (for example, for windings 10-3 and 10-4 of the supporting elements 3, 4) when using multiplication devices (modulators) and amplifiers. The outputs of the blocks 21, 22, 23 are connected to the corresponding control windings of the rotation stators (for example, along the Z axis to the windings 11-3 and 11-4 of the supporting elements 3 and 4 connected in series).

An option to build a non-contact suspension with the simultaneous use of electrodes and electromagnets is presented in Fig.7. The high-frequency voltage source 24 is connected to a common limiter electrode. The magnetic circuits of the supporting elements (for example, 9 for element 3) are used as measuring capacities and are connected to the corresponding devices for determining the position (bias) of the rotor 2: the device for determining the position of the rotor 27 in the Z axis, device 28 in the X axis and device 29 in the axis Y. The source of the low-frequency reference voltage 25 and the source of the inverted low-frequency reference voltage 26 are connected to the main windings of the rotation stators of diametrically opposed supporting elements (for example, to otkam 10-3 and 10-4 elements 3 and 4). The outputs of the PID controllers are connected to the common connection points of these windings: 30 - along the Z axis, 31 - along the X axis and 32 - along the Y axis. The inputs of the PID controllers are connected to the outputs of the respective rotor position detection devices 27-29.

To the output of the source 26 is also connected a phase-shifting device 33, the output of which is connected to the amplifier-converting elements 21-23 of the block diagram (Fig.6).

The interaction of the nodes of the proposed gyroscope is as follows. When the rotor 2 is displaced (Fig. 1, Fig. 7), for example, along the Z axis, the capacity of the "magnetic circuit 9 - rotor" of the supporting element 3 decreases, and the capacity of the "magnetic circuit-rotor" of the supporting element 4 increases. The difference in currents through the capacitance from the high-frequency voltage source 24 is determined by the device 27 for determining the position of the rotor along the Z axis (for example, in the form of a differential transformer), converted to the carrier frequency of the source 25 and fed to the PID controller 30, which amplifies the input signal and generates a voltage proportional rotor displacement speeds (to give the rotor dynamic stability). The output voltage of the PID controller 30 is summed on the winding 10-3 with the voltage of the source 25 (electromagnet of element 3) and subtracted from the inverted voltage of the source 26 on the winding 10-4 (opposite electromagnet of element 4). As a result, from the side of the element 3 there is a force that holds the rotor in a central position. The power electromagnets of the supporting elements 5 and 6 along the X axis and elements 7 and 8 along the Y axis work in a similar way.

The operation of the supporting elements as rotation stators is based on the fact that when voltage is applied at the same frequency and phase shifted by π / 2 to the orthogonal main and control windings, a torque M _i arises:

, $$M_i=k_2{U}_{\mathrm{about}}{U}_{\mathrm{at}}\left(3\right)$$

,

where U _{about the} voltage on the main winding (for example, for the Z axis - on the windings 10-3 and 10-4 of the supporting elements 3 and 4),

U _y - voltage on the control winding (for example, for the Z axis - on the windings 11-3 and 11-4 of the supporting elements 3 and 4),

k ₂ - gear ratio.

(It should be noted that the regulation of the magnitude of the torque of the stators of the proposed gyroscope can also be carried out by changing the phase shift between the same magnitude of the voltage on the main and control windings).

When applying the maximum control voltage U _y , the rotor is accelerated (for example, relative to the Z axis) to a frequency of rotation higher than the resonant frequency of the electromagnetic suspension of the rotor, after which the dynamically unbalanced rotor generates beat signals with a rotation frequency that, as described in the prototype, are converted by blocks 19 and 20 (FIG. 6) in voltages proportional to the guide cosines a, b, c (2) of the VKM rotor. Then control voltages are applied to all rotation stators. In this case, the rotation moments applied to the rotor relative to the orthogonal axes Z, X, Y will be equal (Fig. 8):

$$\begin{array}{l}{M}_z=k_{\mathrm{one}}{k}_2{U}_{\mathrm{about}}\cos \alpha ,\hfill \\ M_x=k_{\mathrm{one}}{k}_2{U}_{\mathrm{about}}\sin \alpha \cos \beta ,\hfill \\ M_{\mathrm{at}}=kkU\sin \alpha \sin \beta .\hfill \end{array}\left(\mathrm{four}\right)$$

In this case, as shown in Fig. 8, the total vector of the rotor rotating moment M will always coincide in direction with the vector of kinetic moment N when the housing of the proposed gyroscope is rotated at any angle relative to the axes Z, X, Y, i.e. the proposed non-contact gyroscope possesses the properties of a free gyroscope even with a limited rotor run-out time, for example, due to braking of gas residues in a vacuum casing. Note that the position of the rotor VKM can be determined by other simple methods, for example, using rotors with an integrally spherical surface (Artyukhov E.A., Gusinsky V.Z. Rotors of gyroscopes with an integrally spherical surface // Solid Mechanics (MTT), 1995 , No. 1), when determining the position of the VKM is carried out using the beats of a rotor with an aspherical surface shape (RF application No. 94005696 for the invention “Non-contact gyroscope rotor”, RF application No. 94007371 for the invention “Aspheric non-contact gyroscope rotor”). In this case, the position of the VKM is determined in an unlimited range of angles of rotation of the gyroscope body and in the entire range of rotor speeds.

In the proposed gyroscope, along with the well-known spherical rotors with a flattened inertia ellipsoid, it is recommended to use the rotors with an elongated inertia ellipsoid described above (Fig. 3 and Fig. 4). In this case, there is no need for accurate static balancing of the rotor, since the rotor rotates relative to the axis of one of the minimum moments of inertia with a value slightly larger than the remaining minimum moments of inertia due, for example, to the manufacturing error of the rotor.

The proposed universal gyroscope can be used in the mode of an angular velocity sensor (TLS), when the rotating stators of the supporting elements 3 and 4 along the Z axis (Fig. 1) create a moment providing a given rotor speed, and the rotating stators of elements 5-6 and 7-8 they are used as moment sensors along the X and Y axes to bring the rotor VCR to the Z axis. The magnitude of the control voltages of these sensors is used to judge the components of the angular velocity of rotation of the gyroscope relative to the X and Y axes.

The proposed universal gyroscope can also be used as a three-component accelerometer to determine linear accelerations along the Z, X, Y axes. The magnitudes of these accelerations are proportional to the output voltages of the respective rotor position detection devices 27, 28 and 29 (Fig. 7).

The proposed gyroscope is supposed to be small-sized (Fig. 9) with a rotor diameter of less than 10 mm when used, for example, in underground navigation, in particular when determining the trajectories of boreholes. At the same time, the small rotor size (especially with a hollow structure) determines the high overload capacity of the gyroscope (up to 100g), which is necessary when working in the downhole inclinometer.

Claims (6)

1. A universal non-contact gyroscope containing a spherical rotor in a housing with three pairs of orthogonally located supporting elements, an electronic rotor suspension control unit and a positioning unit for the rotor kinetic moment vector, characterized in that each supporting element is made in the form of a two-phase rotation stator with a main and a control windings on the toothed magnetic circuit. 2. The universal non-contact gyroscope according to claim 1, characterized in that the magnetic cores are isolated from the housing and used as measuring and (or) supporting capacitive electrodes. 3. The universal non-contact gyroscope according to claim 1, characterized in that the magnetic cores with the main windings are used as supporting and (or) measuring electromagnets. 4. The universal non-contact gyroscope according to claim 1, characterized in that the rotor is made with an elongated inertia ellipsoid due to the placement in the body of a massive rotor of a cylindrical rod of a material with a density higher than the density of the rotor material. 5. The universal non-contact gyroscope according to claim 1, characterized in that the rotor is hollow with an elongated inertia ellipsoid from two halves connected by a cylindrical rod of rotor material. 6. The universal non-contact gyroscope according to claim 1, characterized in that the outputs of the unit for determining the position of the vector of the kinetic moment of the rotor are connected through amplifying and converting devices to the control windings of the rotation stators.

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