RU2541711C1 - Solid-state wave gyroscope - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: invention refers to measurement equipment and is a solid-state wave gyroscope. Gyroscope has vacuumised housing in the form of dome-shaped shell of even thickness, which external side is provided with three adjusting-affixing elements, mutually spaced apart to 120°, and internal side is provided with three cone segmented elements displaced to 60° relative to adjusting-affixing elements, for installation of multifunction information exciting card using annular split spring. Gyroscope resonator has graduated thickness of dome-shaped shell wall. In bowl of multifunction card, formed are electrodes of information retrieval and control electrodes. In the card cavity, located is getter pump. Electrodes of information retrieval are connected in pairs on mounting plate provided with coaxial connectors for electrical connection with preamplifiers. Between mounting plate and plate with preamplifiers, located is thermal shield. For electrical connection of electrodes of information retrieval and control electrodes with external electronics, gyroscope has two connectors. Digital external electronic system controls resonator vibrational condition.

EFFECT: improving gyroscope performance.

9 dwg

Description

The invention relates to the field of gyroscopic instrumentation and can be used in orientation systems, navigation and control.

A solid-state wave gyroscope is known (see patent EP 0141621 A2), comprising a metal evacuated casing provided with a plug, a getter and corresponding mounting and attachment elements, in the inner cavity of which are made of quartz glass and rigidly bonded to each other and to the casing, an inertial sensing element, in the form of a hemispherical resonator with a rod-type double-sided holder passing through the pole of its hemisphere and electrically interacting with the hemispherical a sphere through the capacitive gap, the causative agent of high-frequency elliptical oscillations of the resonator and the electrical signal pickup unit, which displays the azimuthal orientation of the vibrational pattern of the vibrating shell of the resonator with metallized working surfaces, and a group of electrodes that are connected appropriately, connected through socket contacts with pin contacts of the through-hole electrical pressure outputs, as well as with legs of the indicated contacts, multi-circuit electronic system, I provide excitation and maintenance of resonator vibrations with a given amplitude, constant frequency and phase, regardless of the location of the vibrational pattern of the vibrating shell, and measuring, converting and corresponding processing of the read information.

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

Both the inner and outer legs of the double-sided rod holder of the resonator have approximately the same length, at least three diameters of their cross-section, and are used to fix it according to the two-support scheme, which leads to an increase in the size of the gyroscope.

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

In the zone adjacent to the outer surface of the resonator shell, the inner surface of the pathogen is made in the form of a hemisphere mirroring it. An annular and four groups of four are formed on it, in a total of sixteen, discretely, through 22.5 °, spaced in the circumferential direction and accordingly connected to the local control electrodes of a circular configuration. These electrodes are connected to eight contact sockets of the pick-up unit, coupled to single-conductor pin contacts of high-voltage field-mounted electrical pressure glands, embedded in insulators, welded to the lower cut of the evacuated metal cover body with the exit of their legs for its external contours. The current leads from the ring electrode of the exciter and the outer surface of the hemispherical shell of the resonator are connected to two separate pass-through electrical pressure leads of the same design, located on the opposite side of the TWG, built into the corresponding insulators of the evacuated metal case with their legs extending beyond its outer edges. The ring electrode of the pathogen is used to maintain oscillations of the hemispherical shell of the resonator with a constant amplitude, and sixteen local electrodes are used to suppress quadrature vibrations of the resonator. The large number and remoteness of the control electrodes of the exciter of oscillations from the passage of electrical hermetic leads significantly complicates the laying of the corresponding conductors connecting these structural elements.

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

The electrical signal pick-up unit of the well-known TWG is made in the form of a flat base of a flange type with a spherical segment, on the outer surface of which eight, discretely, through 45 °, spaced in the circumferential direction and respectively connected to the local pick-up electrodes of a circular configuration used to measure the azimuthal orientation parameters are formed vibrational pattern of the vibrating shell of the resonator. Each of the pick-up electrodes is connected by means of current conductors to individual detachable coaxial connectors of low-voltage electrical pressure leads integrated into the insulators of the metal cover of the evacuated housing mentioned above, with their legs exiting outside the outer contours. Such (coaxial) execution of the indicated pressure leads is due to the presence of high-voltage control circuits in the design of the known TWG and the need for appropriate protection of low-current measuring circuits from their negative effects of electrical interference and reduction of stray capacitances.

In the spherical zone of the indicated assembly, between the local pick-up electrodes, slot-like radial grooves are cut through and through, separating them from each other. The presence of such grooves, as well as a large number (sixteen) of different types of through-type electrical pressure leads from their own low-voltage and high-voltage control circuits, significantly complicates the design of the removal unit, increases the complexity of manufacturing, and, consequently, the price of the product.

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

Spherical capacitors are ring and local electrodes of the pathogen and the pickup unit, together with fragments of the outer and inner surfaces of the hemispherical shell of the resonator adjacent to them, one of the shells of which (shell fragments) have corresponding mobility with respect to the spherical zone of the pathogen.

The resonator of the known TWG is rigidly fixed using its legs, coaxially located opposite each other along the measuring axis of the corresponding mounting holes of the pathogen and the removal unit, according to a two-support scheme in the process of pairing them. Bonded to each other, the resonator, the exciter of its vibrations and the removal unit are the corresponding intermediate (incompletely assembled) module, which is inserted into the evacuated housing in this form and fixed there using fasteners specially provided for this. The two-sided fixing circuit of the resonator, with the formation of two capacitive gaps between its hemispherical shell and the pathogen of vibrations and removal, is much more complicated than a single one. In this case, the mutual exhibition of the specified parts of the TWG and the control of the mentioned gaps are substantially complicated.

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

The known TWG has an irrational getter arrangement in the central part of the metal cover of the evacuated housing with the formation of a cantilevered protrusion there. This complicates the design of both the cover itself and the corresponding socket of the electronic system connected to it. This arrangement leads to a significant increase in the size of the TWG both in the axial and transverse directions, and the size is limited, and therefore, the corresponding capacity of the getter.

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

The electrical system of the famous TVG is non-adaptive. Its main circuits are based on relatively outdated technical solutions, without the use of a digital element base, which leads to sensitivity to extreme operating conditions.

A solid-state wave gyroscope was taken as a prototype (see patent RU 2362121 C2), in which the noted disadvantages of the analogue were eliminated (see patent EP 0141621 A2).

In this TWG, the resonator oscillation exciter and the electrical signal pick-up unit are made in the form of a single monolithic part placed inside the resonator hemisphere. This part is a combination electromechanical board for universal use. It is used to excite and maintain vibrations of the vibrating shell of the resonator and to pick up electrical signals with a continuous without radial grooves work surface, on which a group of local electrodes is formed, which form a system of corresponding capacitive displacement sensors and power electrodes simultaneously.

The hemispherical shell of the resonator is solid, without balancing teeth, with the provision of a precise level of geometric and mass axial symmetry, achieved in the first case. By means of high-precision machining and dimensional control technology, and in the second - by appropriate balancing of the resonator with the expansion of the mass defect in a Fourier series and the subsequent elimination of the first four harmonics of the defect and, in particular, the first three of them - to the minimum possible level, which reduces the influence of azimuthal uneven damping and reduce to the required size the vibration effects on the wave pattern, and the mass defect of the fourth harmonic, the frequency difference, will minimize to a level that ensures the proper functioning of the control electronics for small values of the power supply voltage.

The resonator is fixed cantilever, according to a single-bearing scheme, only in the corresponding mounting hole of the combined electromechanical removal / excitation board, for the inner tip inserted into it - the leg of the double-sided rod holder by means of an appropriate adhesive joint or soldering without using any intermediate parts. The other, outer, tip is shortened by several times compared with the leg, and is used mainly for technological purposes, and in particular, when grinding a part in centers, transporting and evaluating its imbalance through measuring the beat amplitude of the specified tip.

The metal cover is included in the solid-state wave inertial module and is made in the form of a combined electromechanical removal / excitation board rigidly fastened to the bottom end of the base by means of an adhesive joint or soldering and facing the bottom of the plate with a flanged along the edge, in the welding zone to the evacuated body, a cylindrical centering a collar of the same diameter as the end flange of the board, buried during assembly into the corresponding landing socket of the housing of the same configuration and dimensions d about combining their welded edges.

The evacuated housing can be made in the form of two, according to the mounting and connecting elements, modifications — a cylindrical or square cross-sectional configuration formed in the latter case by identical flat base surfaces orthogonally arranged with respect to each other. The getter is placed in the free volume of the upper compartment of the evacuated housing, bounded by the walls of its cavity and the outer surfaces of the hemisphere and the technological tip of the bilateral rod holder of the resonator, and can be made in the form of any of the two functional equivalent modifications, namely, in normal or open cases, moreover in the first case, it is a completely finished stand-alone pump with a ring-shaped or enclosed in a sealed enclosure a toroidal form with a reagent such as titanium / vanadium, capable of absorbing gas activated after degassing, sealing the evacuated housing by burning the latter with a laser beam through an optically transparent glass porthole, or by mechanically opening the thinned membrane of the shell, and in the second, the working substance is attached directly to the same zone the walls of the evacuated housing and is activated by appropriate heating of these walls from the outside with an external heat radiator.

The plug of the evacuated housing can be made in the form of a glass or metal nipple separable by fusion, clamped by plastic deformation until the passage is completely blocked and the adjacent walls are "cold welded" with its trimming.

The dimensions of the solid-state wave inertial module, and consequently, the evacuated housing, are minimized to the extent that they can be assembled in extremely small mounting volumes with both longitudinal and transverse orientation of the sensitivity axis.

The electronic system is adaptive, its main circuits and, in particular, the measurements and control of oscillations are built on a digital base, which is insensitive to extreme operating conditions, minimizing the number of sizes and power dissipation of electronic components, using pulsed control and acquisition signals, and setting up appropriate data processing algorithms and control into the microprocessor introduced into the composition of the specified system, which ensures the functioning of the mentioned circuits in a pulse m mode to form the operating cycle shared in time by measuring the interval and the control and use in registering electrical signals output process "reverse" enable when they are removed from the bilateral legs of the resonator holder.

A separate leak-through gland connected with the metallized surface of the hemisphere of the resonator is placed on the combined electromechanical pick-up / excitation board with the socket contact inserted directly into the leg of the double-sided rod holder of the resonator and the pin of the single-conducting contact mating with it located directly in the center of the bottom of the plate-shaped metal cover of the solid-state wave module.

The value of the capacitive gap between the surfaces of the resonator hemispheres and the local electrodes of the combined electromechanical detachment / excitation circuit board of 100 μm is selected based on the low-voltage power supply of the electronics and the feasibility of its geometric control during assembly.

Registration of electrical signals and control of oscillations of the resonator are closed to the same electrodes connected to the same type of through-through electrical hermetic outputs of the combined electromechanical removal / excitation board.

The electronic system is interfaced with the electrical bushings of the combined electromechanical circuit board through a preliminary signal amplifier connected to the external legs of the pin contacts.

The outgoing legs of the pin contacts of the electrical hermetic bushings of the combined electromechanical circuit board and the preamplifier of signals connected to them are provided with general shielding by means of a thin-walled protective metal casing docked to the evacuated housing. The current leads of the pre-amplifier are formed into a contact harness, which is led out through the elastic passage in the bottom of the casing.

The TWG, taken as a prototype, we can note the following disadvantages.

The gyroscope has an uneven gap between the evacuated housing and the outer hemispherical shell of the resonator. This unevenness of the gap causes a temperature gradient in the meridian plane of the hemispherical resonator under external thermal influences and the occurrence of a drift velocity.

With a cubic design of the evacuated housing, the gyroscope is in contact with the installation surface of the object with the entire surface of the face of the housing. In the cylindrical design of the evacuated housing, the gyroscope is in contact with the mounting surface with the entire mating plane of its flange ring. Both in the first and in the second variants there is a significant contact area with the object, which, due to the small thermal resistance of the contact, causes a significant thermal effect of the temperature of the installation location of the object on the gyroscope, causing the temperature drift velocity.

The metal cover of the inertial module is rigidly fastened to the bottom end of the base of the combined electromechanical removal / excitation board using adhesive bonding or soldering. In turn, the metal cover is flanged along the edge to be welded to the centering cylindrical flange of the evacuated housing. Such a combination of a combination board with an evacuated case has a low thermal resistance, which leads to a significant effect of the case temperature on the board. The resulting thermal deformations of the board cause the temperature drift velocity of the TWG. With such a combination of parts, the assembly of the inertial module becomes non-separable, which excludes its re-assembly to achieve the required technical parameters during production.

In the meridian section, the hemispherical resonator has a uniform wall thickness up to the interface zone with the double-sided rod holder. The thickness of the cavity wall determines the magnitude of the reduced mass located in the area of influence of the pathogen, and the stiffness of its elastic connection with the holder. The magnitude of the reduced mass and the rigidity of its elastic connection with the holder determine the value of the natural frequency of the resonator. When the natural frequency of the resonator coincides with the possible during operation frequency of external vibrational impact with a certain acceleration of vibration, a resonant phenomenon occurs that can cause the destruction of the design of the resonator. To eliminate the resonance phenomenon, it is necessary to change the design parameters of the resonator. In a known structural scheme, the cavity wall thickness is determined by the radii of the outer and inner hemispherical concentric surfaces. Following this design scheme, a change in the natural frequency of the resonator can be performed by changing the radius of the outer hemisphere. For example, to increase the natural frequency of the resonator, you can increase the radius of the outer hemisphere, thereby increasing the stiffness of the elastic connection with the holder. However, with this approach, an increase in the cavity wall thickness in the region of its working edge will occur, which, together with an increase in stiffness, will lead to an increase in the reduced mass. If the increase in stiffness prevails over the increase in reduced mass, an increase in the natural frequency of the resonator occurs. In the known structural scheme there is no unambiguous effect only on the value of stiffness by changing the radius of the outer hemisphere, while the value of the reduced mass also changes. An increase in the reduced mass is also undesirable for the resonator vibration excitation system, since, while maintaining its power, the amplitude of its working vibrations decreases.

In the combined electromechanical removal / excitation board, there is no exact mounting hole with rigid landing dimensions for accurate fixation of the resonator relative to the ball zone of the board with electrodes. The combination board only has a mounting hole with a large gap, which is used for adhesive bonding. Such a constructive option for installing the resonator on the board can introduce significant errors in ensuring the uniformity of the gap.

The removal / excitation board is, as a whole, a monolithic part without significant cavities, which leads to its excessive weight and the inability to use its volume to place other elements in order to reduce the total volume of the gyroscope.

On the working surface of the ball zone of the electromechanical removal / excitation board there is a group of local electrodes, which forms a system of capacitive displacement sensors and power control electrodes at the same time. To ensure the required accuracy of the TWG used at a highly maneuverable object, a high frequency of information retrieval and the influence of the control signals of the vibrational state of the resonator is required. By combining the pick-up and control functions on the same electrodes in the known method, the pick-up frequency of the information signal and the control action that the gyroscope electronic system can provide is reduced by at least two times.

In the design of the gyroscope, the upper and lower end caps are used to seal the evacuated housing. This is due to the fact that the gyroscope is assembled from the two end faces of the sealed housing. A getter pump (getter) is installed on one end side, and an inertial module assembly is installed on the other side. The housing also has an opening for the ram. The presence of two covers located in different parts of the sealed housing complicates the design of the gyroscope, technological operations for checking the tightness, and also makes it difficult to maintain a high vacuum during operation.

For electrical communication with the electrodes in the gyroscope, socket contacts are used with single-conductor pin contacts of the through-gland electrical leads embedded in insulators (teardrops), which are welded to the lower cut of the metal cover. The use of tears determines three contact zones: pin-contact glass of a tear; glass teardrop-metal case teardrop; metal case tear-metal cover. To ensure high reliability of the general sealing of the horoscope, the high reliability of these contact zones in terms of gas permeability is required, which is not always achieved with a long service life and actual operating conditions. Since a rather significant number of tears are used in the gyroscope, their use reduces the reliability of the TWG as a whole.

The gyroscope getter (getter pump) in the case version (with a membrane shell) is activated after degassing, sealing the evacuated body by burning with a laser beam through an optically transparent glass porthole or by opening the thinned membrane membrane mechanically. In the open case of the getter, the working substance is installed in the immediate area to the walls of the evacuated housing and is activated by appropriate heating of these walls from the outside with an external heat emitter. The use of a transparent porthole for activation or mechanical opening complicates the design of the TVG and reduces its reliability during operation, since a special vacuum-tight installation of a porthole or a mechanical device in a sealed enclosure is required. Local external heating of the sealed housing in the area of the getter complicates the manufacturing process of the gyroscope, since a special device that implements this heating is required. Local heating of the gyroscope housing to the appropriate temperature can lead to thermal deformations of the structure and the appearance of errors in the readings of the TWG.

Local electrodes are connected via appropriate current leads through individual socket contacts with pin-type single-conductive contacts of through-gland electrical leads. Individual socket contacts do not have spring elements that select the gap between the pin contacts and the electrically conductive elements of the socket, which maintain a constant clamping force. During operation in a socket contact that does not have spring elements, the clamping force of the contacting elements can change, up to the appearance of a gap, which will lead to a change in the electrical contact resistance and the appearance of noise in the gyro information signal.

The electronic system is coupled to the electrical bushings of the combined electromechanical circuit board through the pre-amplifier unit of the gyroscope, which is in electrical communication with the external legs of the pin contacts. The block of preamplifiers has eight socket contacts, providing electrical connection separately with each of the eight electrodes of the resonator. The combination of electrodes in pairs occurs in the design of the pre-amplifier. The preamplifier unit has no other rigidly fixing connection with the gyroscope body except for communication via socket contacts. The unit of preliminary amplifiers and the gyroscope have one loop through, in which the electric wires of the information channel and the control channel are combined.

In the known gyroscope, the socket contacts also perform a power function, fixing the block of pre-amplifiers relative to the housing. Such use of socket contacts during power, vibration influences can lead to contact disruption and interference in the information signal. The inertial forces arising in this case affect the tear design of the pin contacts, which can cause depressurization and failure of the gyroscope. Association in pairs of electrodes in the preamplifier determines the maximum number of socket contacts in it, which reduces the reliability of the gyroscope. The combination of the information channel and the control channel in one wiring harness, as well as the performance by the electrodes of both signal and control functions, imposes a limitation on the interrogation and control frequency, which in this case should not exceed the frequency of transients in the electrical circuits of the electrodes. If this condition is not observed, the influence of the control loop on the information signals may occur, which will lead to gyro errors. Compliance with this condition imposes a limitation on the frequency of operation of the gyroscope circuits, which may reduce its accuracy when used on highly maneuverable aircraft.

The heat in the pre-amplifier unit is transmitted through female connections and pin contacts to the internal cavity of the gyroscope, which can cause temperature deformation of the elements of the inertial unit and temperature errors of the gyroscope. The block of preamplifiers is located in close proximity to the sealing cover, which also causes a thermal effect on the elements of the inertial module.

The overall management of the TWG is carried out by an electronic system. The system includes a microprocessor that provides excitation and maintenance of resonator vibrations with a given amplitude, constant frequency and phase, regardless of the actual orientation of the vibrational pattern, and measurement, conversion and corresponding processing of the read information. In accordance with the algorithms laid down in it, the control of this process is built on a cyclic principle. The microprocessor forms a duty cycle, divided in time into measurement and control intervals. The duty cycle is repeated at regular intervals and includes a number of oscillation periods of the resonator. In the first interval, the amplitude of the in-phase and quadrature oscillations along one axis is measured during one oscillation period, and along the other axis during the next period. The measurements are performed repeatedly in a series of cycles, then the measurements are processed for all samples with the calculation of parameters representing the angular position of the elastic wave relative to the body, and the subsequent formation of the corresponding control pulses on the second cycle interval.

The information is read from the metallized surface of the hemispherical shell of the resonator through the leg of its double-sided holder. The read signals are amplified by a preliminary amplifier (PU) to the required level and fed to the input of an analog-to-digital converter (ADC). An analog-to-digital converter performs automatic conversion (measurement, coding) of analogue signal values continuously changing in time into equivalent values of numerical codes. The microprocessor (MP) processes the information received from the outputs of the ADC and PU and, taking into account the results of processing (calculations), generates the corresponding control signals. Decoding the control signals represented by digital codes issued from the MP outputs to the equivalent control voltage values is automatically performed by the PWMx PWM drivers. The control signals transformed in this way from the PWMx and PWM outputs are supplied to the corresponding pairs of local electrodes through one or the other channels, providing the necessary control of the vibrations of the vibrating shell of the resonator. In the known electronic control system for the vibrational parameters of the resonator, only electric forces compressing the resonator are used as the control action. However, better control can be achieved by using a new well-known principle, when the electric force applied to the resonator can both stretch and compress it. The advantage of this control is linearity, low level of control voltage, the ability to implement a wave precession control mode, and a null indicator mode.

The technical result that can be obtained by implementing the present invention is the elimination of the above-considered disadvantages of the prototype of the claimed TWG, namely the improvement of its technical and operational qualities, allowing to achieve the technical characteristics of the gyroscope for orientation and navigation systems of modern aircraft.

The technical result is achieved by the fact that in the known solid-state wave gyroscope containing a metal evacuated housing having mounting and attachment elements, and a sealing cover, in the inner cavity of which there is a solid-state inertial wave sensing module including a hemispherical resonator made of quartz glass with a metallized working metal surface capable of being driven into vibrational motion by means of an external alternating electric field, with a rod-type double-sided holder passing through the pole of its hemisphere, with which it is rigidly fastened to the combined circuit board of the resonator oscillation exciter and picking up electrical signals reflecting the vibrational state of the resonator, a getter pump with a reagent enclosed in a shell, an electronic system for measuring and controlling resonator oscillations, which is digital using a microprocessor and pulse control signals, consisting of analog and digital parts, optionally vacuum The housing being made is made in the form of a hemispherical shell with uniform thickness, having a protruding cavity in the pole region to accommodate an external rod-type holder, and an annular belt is located at the equator, on the outside of which there are three mounting and fixing elements of the gyroscope, 120 ° apart from each other and on the inner side there are three conical segment elements for installation using an annular split spring, a combined information-excitation board, admitted relative to each other by 120 ° and 60 ° relative to the mounting and fixing elements of the gyroscope, the resonator has a variable wall thickness of the hemispherical shell formed by displacement along the axis of symmetry towards the outer holder of the center of the outer sphere of the resonator relative to the center of the inner sphere, combined information-excitation the board is formed by a flange base with a conical edge on the side adjacent to the conical mounting elements of the case, a ball zone protruding above it the second and the largest base, the cylindrical part for installing the resonator protrudes above the small base along the axis of symmetry, a bore is made in the flange base and from the side of the large base of the ball zone, forming a cavity to accommodate the getter pump, and two bores are made along the central part of the ball zone and the cylindrical with different diameters forming the mounting and fixing holes for the inner cavity holder, eight holes are formed on the outer surface of the ball zone from the side of the small base steel control electrodes spaced on the surface of the ball zone with a step of 45 ° and cut by a laser beam in a chrome film deposited on the surface of this zone from the side of the large base on the outer surface of the ball zone, eight information pick-up electrodes located synchronously under the control electrodes are formed near the edge of the resonator, forming a capacitive system of sensors for moving the hemispherical shell of the resonator, the gap between the housing and the resonator in the spherical part is uniform, sealing The main cover consists of a metal ring and a ceramic-metal vacuum tight block with soldered bore pin conductive contacts, a sleeve on the outer diameter of the welding block with a ring, a ring in the region of the central hole of the vacuum tight block on the inside for mounting a getter pump, a sleeve in the region of the central hole of the vacuum tight block with the outer side for welding with an evacuating plug, a getter pump consisting of the active substance of sintered titanium-vanadium powder with with a porosity of 43%, spirals made of nichrome wire to activate it by heating when current is supplied to it in the degassing and activation mode, turning it off in the operating mode of the gyroscope while maintaining the gas absorption properties of the pump, gold-plated bushings with gold-colored springs are located on the through contacts inside the gyroscope a copper alloy for interfacing with the contact pads of the electrodes of the combination board, a multi-layer adapter circuit board located in the leaky part of the gyroscope, on which coaxial with one pair, the electrodes of information retrieval are connected in pairs opposite to those on the combo board and they are connected through four coaxial connectors with the inputs of the gyroscope pre-amplifiers, the electrical contact of the pre-amplifiers with the external electronic gyro system is made through a small-sized connector mounted on the pre-amplifier circuit board with an output male part of the connector outside the gyroscope casing, electrical contact of the control and removal electrodes, metallization of the resonance The contact and the shields of the control and removal electrodes with an external electronic system are provided through another small-sized connector, mounted on the ring element connected to the sealing cover, by supplying conductors from it to the corresponding single-conductive pin contacts of the sealing cover, between the adapter mounting plate and the board with preamplifiers a heat shield is located that reduces the thermal effect of pre-amplifiers on the inertial sensitive module, preliminary The gyro amplifiers are voltage followers with a zero bias of the supply relative to the common ground by the value of the constant high-voltage supply voltage of the pick-up electrodes, the analog part of the electronic system contains sine and cosine information signals, control signal generator, switching units, inverters and adders, information signal receivers sine and cosine have signal differentiator circuits and series-connected electronic devices for high-voltage cut-off zoning, pre and final amplification, biasing the zeros of the sine and cosine signals, analog-to-digital converters with a differential input, the digital part of the electronic circuit, in addition to the digital signal processing processor, contains buffers of analog-to-digital converters, a frequency synthesizer, an asynchronous microcontroller for the serial interface and processing algorithms determines the angles of increment and orientation of the resonator wave relative to the body, the amplitude of the oscillations of the resonator, these quadrature components oscillations and, using this information, generates weight coefficients for control laws for two channels according to the control algorithm, each of the two channels of control signal generators contains four digital-to-analog converters, the input of which in digital form receives information about control weight coefficients, and as reference sine and cosine signals and their derivatives from information signal receivers, from the output of analog-to-digital converters, information about the products of these signals is sent to the sums ry channel control formers forming control law U ₁ and U _2, channel switches operatively connected to the frequency synthesizer formers control signals and processor command provide startup excitation resonator from the frequency of the resonator, and in the operating mode issuing formed control laws for holiday inverters and adders, where they form the final control signals supplied to the control electrodes through two channels in the form of V ₀ + U ₁ and V ₀ -U ₁ for one channel and V ₀ + U ₂ and V ₀ -U ₂ for another channel, where V _{0 is the} operating high-voltage voltage supplied from the power source.

Thus, the proposed TWG has the following differences from the prototype:

- the sealed housing is made in the form of a hemispherical shell with uniform thickness;

- fixing the gyroscope on the base is performed using three mounting sectors on the outer part of the housing, 120 ° apart from each other, and installing a combined information-excitation board on the inside of the housing on three conical segment elements 120 ° apart from each other and 60 ° relative to the installation sectors on the outside of the housing;

- the resonator has a variable wall thickness of the hemispherical shell formed by displacement along the axis of symmetry towards the outer holder of the center of the outer sphere of the resonator relative to the center of the inner sphere;

- the combined information-excitation circuit board is formed by a cylindrical flange base with a conical edge on the side adjacent to the conical mounting elements of the housing;

- the cylindrical part protrudes above the small base of the ball zone of the combination board along the axis of symmetry;

- a bore is made in the flange base and from the side of the large base of the ball zone, forming a cavity for accommodating the getter pump;

- on the central part of the ball zone and the cylindrical part, two bores are made with different diameters forming an installation and fixing hole for the inner cavity holder;

- an additional eight local control electrodes are formed on the outer surface of the spherical zone from the side of the small base, spaced on the surface of the spherical zone with a step of 45 °, information electrodes are located on the side of the large base on the outer surface of the spherical zone synchronously under the control electrodes;

- the gap between the housing and the resonator in the spherical part is uniform;

- a solid-state wave inertial sensing module is fixed in an evacuated housing using an annular split clamping spring;

- the sealing cover consists of a metal ring and a metal-ceramic vacuum tight block with soldered through pin single-conductor contacts, a sleeve on the outer diameter of the block for welding with a ring, rings in the region of the central hole inside for mounting the getter pump, a sleeve in the region of the central hole from the outside for welding with pumping caliper;

- getter pump, consisting of the active substance of sintered titanium-vanadium powder with a volume porosity of 43%, a spiral of nichrome wire for its activation by heating when it is supplied with current in the degassing and activation mode, it is turned off in the gyroscope operating mode while maintaining the gas absorption properties of the pump ;

- gold-plated bushings with springs from a gold-copper alloy are located on the through contacts inside the gyroscope for connection with the contact pads of the board electrodes;

- additionally there is a transitional multilayer circuit board located in the non-tight part of the gyroscope, in which electrodes of information collection are connected in pairs opposite to those on the information board, and information is connected through four coaxial connectors to the inputs of each channel of the preliminary amplifiers;

- the electric wires of the information channel and the control channel are divided and output to different connectors; the electrical contact of the preamplifiers with the external electronic system of the gyroscope is provided through a small-sized connector mounted on the board of the preliminary amplifiers with the male part of the connector leaving the gyroscope casing, and the electrical contact of the electrodes of the excitation system, the resonator and the screens of the excitation and removal systems with the external electronic system is provided through another small-sized connector, mounted on the casing, by supplying conductors from it to the corresponding single-conductor through passage sealing cap contacts.

- the construction of an electronic system provides the principle of controlling the vibrational state of the resonator, in which the control forces not only compress, but also stretch the resonator;

- pre-amplifiers of information channels are voltage followers with a zero bias of the supply relative to the common ground by the value of the constant high-voltage supply voltage of the information electrodes;

- the analog part of the electronic system contains receivers of information signals of a sine and cosine, a shaper of control signals, switching units, inverters and adders;

- information signal receivers and cosines have signal differentiator circuits and series-connected electronic devices for cutting off high-voltage voltage, preliminary and final amplification, shifting the zeros of the sine and cosine signals, analog-to-digital converters with a differential input;

- the digital part of the electronic circuit, in addition to the digital signal processor, contains buffers of analog-to-digital converters, a frequency synthesizer and determines the angles of increment and orientation of the resonator wave relative to the body, the oscillation amplitude, the quadrature components of these oscillations and, using this information, generates for two channels according to the control algorithm weights for control laws;

- each of the two channels of the control signal conditioners contains four digital-to-analog converters, the input of which in digital form receives information about the control weights and as reference signals of sines and cosines and their derivatives from the receivers of information signals, from the output of analog-to-digital converters information about the products of these signals are fed to the adders of the channel control formers, forming the control laws U1 and U2;

- the channel commutators are functionally connected to the frequency synthesizer, control signal generators and, upon command of the processor, provide excitation of resonator oscillations at the start using the resonator frequency, and in operating mode, generate generated control laws for output inverters and adders, where they form the final control signals received at the electrodes control over two channels in the form of V ₀ + U ₁ and V ₀ -U ₁ for one channel and V ₀ + U ₂ and V ₀ -U ₂ for the other channel, where V ₀ is the operating high-voltage voltage supplied from the source ika nutrition.

The invention is illustrated by the drawings presented in figures 1-9.

Figure 1 presents a three-dimensional image of the main elements of the inventive solid-state wave gyroscope.

Figure 2 shows a General view of the design of the inventive solid-state wave gyroscope.

Figure 3 shows a three-dimensional image of the housing of the inventive solid-state wave gyroscope.

Figure 4 presents a three-dimensional image of a combined Board excitation / removal of the inventive solid-state wave gyroscope.

Figure 5 shows a three-dimensional image of a getter pump of the inventive solid-state wave gyroscope.

Figure 6 shows a three-dimensional image of the circuit board of the inventive solid-state wave gyroscope.

Figure 7 shows a three-dimensional image of a board with preliminary amplifiers of the inventive solid-state wave gyroscope.

On Fig presents a three-dimensional image of a General view of the inventive solid-state wave gyroscope.

Figure 9 shows a functional diagram of the inventive solid-state wave gyroscope.

Structurally, the claimed TWG contains (see Fig. 1, 2, 3, 8) a metal evacuated casing 1 having mounting and connecting elements 2-4 (see Fig.). The evacuated housing 1 is closed by a sealing cover 5.

The vacuum housing 1 (see FIGS. 1, 2) has an internal cavity 6 in which a solid-state inertial wave inertial sensing module 7 is located, including a hemispherical resonator 8 with a metallized working surface 9. A hemispherical resonator 8 has a hemispherical pole 10, through which a double-rod holder of the rod type 11 passes, with the help of which it is rigidly fastened to the combined circuit board of the resonator oscillation exciter and the removal of electrical signals 12.

In the inner cavity 6 is also placed getter pump 13.

The vacuum housing 1 (see Figs. 2, 3) in the form of a hemispherical shell with uniform thickness in the hemispherical shell region of the resonator 8 has a protruding cavity 14 in the pole region to accommodate the outer part of the rod-type double-sided holder, and an annular belt 15 at the equator, on the outside of which there are three mounting and fixing elements 2-4, separated by 120 ° relative to each other, and on the inside there are three conical segment elements 16-18 for installation using an annular split pr zhiny 19, the gasket 20 of the combined information-excitatory board 12 spaced from each other by 120 ° and 60 ° relative to the mounting and clamping elements Gyro 2-4. The uniform thickness of the hemispherical shell of the evacuated casing 1 in the zone of the hemispherical shell of the resonator 8 provides the same thermal resistances at local points of the casing, which leads to a uniform temperature distribution over the hemispherical shell of the resonator with changes in ambient temperature and a decrease in the temperature drift velocity of the gyroscope. The outer part of the double-sided rod-type holder is a technological one used in production operations. The execution of the evacuated housing 1 in the form of a streamlined resonator and the outer part of the double-sided holder, in addition to reducing the temperature gradients of the resonator, also allows to reduce the volume of the gyroscope.

The use of three mounting and fixing elements of the gyroscope 2-4 (see figure 3), in contrast to the prototype, in which the installation is performed on the face or completely on the flange area, can significantly reduce the contact area with the object and, as a result, its temperature effect on TVG.

The use of three conical segment elements 16-18 (see figure 3) on the inner side of the equatorial annular zone 15 of the evacuated housing 1 allows you to accurately center the solid-state wave inertial sensing module 7 relative to the inner spherical part of the housing. 60 ° spacing of the cone elements 16-18 relative to the mounting and fixing elements of the gyroscope 2-4 provides a decrease in the temperature effect on the solid-state wave inertial sensing module 7 of the temperature change of the evacuated housing 1 due to the maximum increase in this case of thermal conductivity between elements 2-4 and 16- eighteen. Precise installation and fastening of the solid-state wave inertial sensing module 7 in the evacuated housing 1 is achieved using conical segment elements 16-18 and an annular split clamping spring 19. This installation of module 7 allows you to create a collapsible, unlike prototype, TVG design, which allows the process its manufacture, if necessary, to remove from the housing 1 of the module 7.

The resonator 8 (see Fig. 2) has a variable wall thickness of the hemispherical shell formed by displacement along the axis of symmetry towards the outer part of the rod-type double-sided holder 11 of the center of the outer sphere of the resonator relative to the center of the inner sphere. The use in the design of a variable wall thickness of a hemispherical shell allows you to change the stiffness of the resonator, achieving diversity of the natural frequency of the resonator and the frequency of the external disturbance. Moreover, in the working zone, the thickness of the cavity wall is less than in the zone of its interface with the double-sided holder, which leads to a stronger change in stiffness than the mass and, as a result, the natural frequency of the resonator.

The combined information-excitation board 12 (see figures 1, 2, 3, 4) is formed by a flange base 21 with a conical edge 22 from the side adjacent to the conical segment elements of the housing 16-18, protruding above the ball zone 23 with a small 24 and a large base. Above the small base 24 along the axis of symmetry is the cylindrical part 25 of the combination board for installing the resonator. A bore is made in the flange base of the combination board 21 from the side of the large base of the ball zone 23, forming a cavity 26 for receiving the getter pump 13 (see FIG. 5), and two bores with different diameters are formed along the central part of the ball zone 23 of the cylindrical part 25 installation 27 and mounting 28 holes for the internal holder 11 of the resonator 8. The presence in the design of the combination board 21 of the cavity 26 for accommodating the getter pump made it possible to reduce the size of the gyroscope. The use of the mounting hole 27 ensured the exact centering of the resonator 8 relative to the combination board 21 when securing with an adhesive joint 29 in the mounting hole for the lower double-sided rod-type holder 11. On the outer surface of the ball zone 23 of the combination board 12, eight local ones are formed control electrodes 30-37 spaced on the surface of the spherical zone with a step of 45 ° and cut out by a laser beam in a chromium film deposited on the surface of this zone. From the side of the large base, on the outer surface of the ball zone, near the edge of the resonator, eight local information pick-up electrodes 38-45 are formed, located synchronously under the control electrodes 30-37 and forming a capacitive system of displacement sensors for the hemispherical shell of the resonator 8.

The formation of separate groups of information pickup electrodes and control electrodes provides an increase in the quality of control of the vibrational state of the resonator, which improves the accuracy characteristics of the gyroscope.

Around the control electrodes 30-37 and the pickup 38-45 of the deposited chromium film, the screens of the control electrodes 47 and the screen of the pickup electrodes 46 are formed around their perimeter. The formation of the screens makes it possible to reduce the influence of the control channel on the pickup channel and thereby reduce the interference signals in the electronic paths.

On the combination board 12 for control electrodes 30-37, the conductors 130-137 are formed from the chrome film, coming from the control electrodes to the upper base of the ball zone, then through the through holes 171-178 in the body of the combination board to the contact pads 114-121 (see Fig. .1) control electrodes located on the surface of the combination board facing the sealing cover 5.

For the information pickup electrodes 38-45, current conductors 138-145 are formed, coming from the pickup electrodes, through passage holes 179-186 in the flange 21 of the combination board 12 to the contact pads 122-129 located on the base surface of the combination board facing the sealing cover 5.

To ensure electrical connection of the metallized surface 9 of the resonator 8, a current conductor 146 is formed on the combination board 12, ending with a contact pad 147 located on the surface of the combination board facing the sealing cover 5.

For electrical connection of the shield 47 in the area of the control electrodes on the combination board 12, a conductor 148 is formed, extending from the shield 47 to the upper base of the ball zone, then through the passage hole 187 in the body of the combination board 12 to the contact area 149 located on the surface of the combination board 12 facing to the sealing cap 5.

For the electrical connection of the shield 46 in the area of the information pickup electrodes, a conductor 150 is formed on the combination board 12, extending from the shield 46 through the through hole 188 in the flange of the combination board 12 to the contact pad 151 located on the base surface of the combination board facing the sealing cover 5.

The gap 48 (see figure 2) between the housing 1 and the connector 8 in the spherical part is uniform, which leads to the same thermal resistance in the local zones between the housing and the resonator and the uniformity of the surface temperature of the resonator.

The sealing cover 5 (see Figs. 1, 2) consists of a metal ring 49, a ceramic-metal vacuum tight block 50 with integrated pin-through single-conductive contacts of the control electrodes 51-58, removal electrodes 59-66 of the screens 67, 68, the resonator 69, the cuff 70 the outer diameter of the pads 50 for welding with the ring 49, the rings 71 in the region of the central hole of the vacuum tight block 50 on the inside for mounting the getter pump 13, the sleeve 72 in the region of the central hole of the block 50 on the outside for welding with the pumping unit Ngele 73. The design of the sealing cover 5 are not used slezki: communicating odnoprovodyaschie pin contacts are built directly into the body of a vacuum-tight metal ceramic pad 50. This arrangement increases vakuumnostoykost gyroscope. On the sealing cover 5, in contrast to the known construction, the following are installed: pumping ram 73 and getter pump 13. At the same time, a special space in the gyroscope is not used to accommodate the getter pump 13 - it is located in the cavity 26 of the combination board 12, which allowed to reduce the volume and size gyroscope.

The getter pump 13 (see Fig. 5) has an active substance 74 of sintered titanium-vanadium powder with a volume porosity of 43% and a spiral of nichrome wire 75 for its activation by heating when current is supplied to it in the degassing and activation mode and it is turned off in gyro operating mode while maintaining the pump’s getter properties. The proposed design of the getter pump does not use laser, mechanical or external thermal effects: the activation of the substance 74 is carried out by heating it with electric current. This solution simplifies the design of the gyroscope as a whole, and also increases its reliability. At the same time, the getter pump not only ensures the maintenance of the required vacuum in the internal volume of the gyroscope in the operating mode, but also performs the degassing function together with external equipment in the technical operation for the gas cleaning of the TWG.

The control electrodes 30-37 are connected through contact pads 114-121 with single-conductive pin contacts 51-58, having gold-plated bushings 76-83 with springs 95-102 of a gold-copper alloy.

The information pickup electrodes 38-45 are connected through contact pads 122-129 with single-conductive pin contacts 59-66 through passage, having bushings 84-91 with springs 103-110.

The metallized surface 9 of the resonator 8 is connected through a contact pad 147 to a single-conductive pin 69 through passage having a sleeve 92 with a spring 111.

The shield of the control electrodes 47 is connected through a contact pad 149 to a bushing single-conductor pin 67 having a sleeve 93 with a spring 112.

The screen of the electrodes for information retrieval 46 is connected through a contact pad 151 to a bushing single-conductor pin 68 having a sleeve 94 with a spring 113.

The use of springs 95-113 as an electrical contact instead of the socket contact used in the prototype, improves the reliability of electrical communication during operation.

A multilayer circuit board 152 (see Figs. 1, 2, 6) located in the leaky part of the gyroscope, coaxial conductors soldered to the through pin single-conductive contacts 59-66 pickup electrodes, pairs information pickup electrodes opposite to those located on the combination board 12 -45 and through four small-sized coaxial connectors 153-156, the sockets of which are installed on the circuit board, provides communication with the inputs of four pre-amplifiers 157-160. The multilayer circuit board with screws 161-163 is rigidly fastened to the cuff 70 of the sealing cover, which is welded to the evacuated metal housing 1. To ensure a predetermined location of the mounting plate 152 relative to the sealing cover 5, a mounting ring 164 is used.

The pre-amplifiers 157-160 (see FIGS. 1, 2, 7) are mounted on the pre-amplifier board 165. The board 165 is rigidly fixed with screws 166-168, which are included in the threaded holes of the screw heads 161-163. The location of the board 165 relative to the multilayer circuit board 152 is determined by the height of the heads 161-163. On the housings of the preliminary amplifiers 157-160, male parts of small-sized coaxial connectors 153-156 are installed, which, when the board 165 is installed, are connected to the male part of the connectors 153-156 located on the circuit board. After fixing the board 165 of the preamplifiers with screws 166-168, the contacts of the small connectors 153-156 are unloaded from mechanical influences, since the inertia forces acting on the accelerations acting on the side of the board 165 are not perceived by the contacts of the connectors, as in the prototype, but by the fixing screws 165-168.

The use of the mounting plate 152 and its screw fastening together with the pre-amplifier board 165 on the sealing cover 5 made it possible to relieve the pin contacts and contacts of the pre-amplifiers from inertia, providing reliable electrical connection between the elements of the gyroscope.

The control electrodes 30-37 are suitably connected in pairs by conductors on the outside of the sealing cover 5; Here, the chains of the screen of the removal electrodes and the metallized surface of the resonator are combined. The conductors associated with the chains of the control electrodes, the screen of the pick-up electrodes and the sphere are brought to the external connector of the control electrodes 169 (see FIGS. 2, 8), mounted on the site of the ring 164 for mounting a multilayer circuit board. The outputs of the pre-amplifiers by printed wiring are connected to the output connector 170 (see Figs. 1, 8), to which voltages are also applied, which ensure the operation of the pre-amplifiers and the information retrieval circuit.

Between the adapter mounting plate 152 and the pre-amplifier board 165 there is a heat shield 189 (see FIGS. 1, 2), which reduces the thermal effect of the pre-amplifiers on the inertial sensitive module 7.

TVG 190 includes a board 165 with pre-amplifiers 157-160 (see Fig.9). Pre-amplifiers 157-160 of the information channels are voltage followers with a zero bias of the supply relative to the common ground by the value of the constant high-voltage supply voltage of the pick-up electrodes from source 206. The pre-amplifiers are also powered by a low-voltage constant voltage source 207. TVG 190 works in conjunction with an external electronic system 191, including the power supply system 192, the electronics unit of the gyro circuit 193. The electronics unit of circuit 193 consists of an analog part 194 and a digital part 195.

The analog part 194 of the electronic system contains receivers of information signals of sine 196 and cosine 197, a shaper of control signals 198, a switching unit 199, inverters of the first 200 and second 201 channels, adders of the first channel 202, 203 and adders of the second channel 204, 205.

The digital part 195 of the electronic system contains buffers 230 of analog-to-digital converters (ADCs) 218, 219, a digital signal processing processor 231, a frequency synthesizer 232, and a universal serial interface microcontroller 233.

The buffer 230 is designed to transmit digital values of the input signals from the ADC 218, 219 to the processor 231.

The processor 231 is designed to collect data from the ADC, calculate the amplitude, quadrature, wave angle, models of errors of the TVG, calculate the coefficients for the shaper control signals 198, switch modes "Acceleration" and "Work" and load the frequency values in the frequency synthesizer 232.

Frequency synthesizer 232 is the voltage source for the initial launch of the TWG.

The universal asynchronous microcontroller of the serial interface is designed for exchange with the external environment of the electronics block of the TVG circuit via the RS-232/422 communication channel.

TVG has four outputs of capacitive sensors formed by the pick-up electrodes 38-45, and four inputs of capacitive control sensors, consisting of control electrodes 30-37. The sensitive element of the TWG is a hemispherical quartz resonator 8.

The output signals of capacitive sensors 38-45 have a sinusoidal shape and are current sources and inputs for four pre-amplifiers 157-160.

Preamplifiers 157, 158 are located in the sine channel. The outputs of the sine amplifiers 157, 158 are the signals "+ USin" and "-Usin", with them also a constant voltage supply voltage to the pickup electrodes is supplied to the receiver of the sinus information signals.

Preamplifiers 159, 160 are located in the cosine channel. The outputs of the cosine amplifiers 159, 160 are the signals "+ UCos" and "-UCos", from them also a high-voltage supply voltage of the pick-up electrodes is supplied to the receiver of the cosine information signals.

The receivers of the input signals 196, 197 are designed to receive output signals from the TWG. Sine and cosine receivers are identical. The output signals from the preamplifiers 157-160 TWG - "± USin" and "± Ucos" relative to the high-voltage voltage are supplied to the high-voltage voltage cut-off circuits 210, 211, which ensure that these signals are brought to zero DC component.

Pre-amplifiers 212, 213 of the input signal receivers perform the required amplification of the output signals of the TWG.

The terminal amplifiers 214, 215 ensure the equality of the output amplitudes of the signals “± INSin” and “± INCos” for the sine and cosine channels, respectively.

Zero bias schemes 216, 217 shift the zeros of the signals "± INSin" and "± INCos" to the positive voltage region by the value of the ADC support signal 218, 219, which ensures the linearity of the transfer characteristics of the receiver channels over the entire range of input signal amplitudes.

The ADCs 218, 219 with a differential input provide the conversion of the differential signals "± INSin" and "± INCos" into digital codes that enter the processor 231, which controls the ADC channels of the receivers.

The channel differentiators 208, 209 provide the formation of signals "+ INSin90" and "+ INCos90" with amplitudes equal to the amplitudes of the signals "+ INSin" and "+ INCos", respectively. Signals "+ INSin" and "+ INCos" and their derivatives "+ INSin90" and "+ INCos90" are supplied to the control signal generator 198 TVG.

The control signal generator 198 is designed to generate two linear combinations of U ₁ and U ₂ control signals for the first and second channels from the output signals of the TWG and their derivatives. The values of the coefficients of linear combinations are calculated in the processor 231 using the control loop algorithm. The control signal generator functionally consists of two parts: the first channel of forming a linear combination of U ₁ and the second channel of forming a linear combination of U ₂ .

Each of the two channels contains identical multipliers built on four digital-to-analog converters (DACs). To form the combination of U ₁ , the ADC 220, 222 224, 226 are used, and to form the sequence U _{2, the} ADC 221 223 225 227 are used. The coefficients K ₀ and K ₄ calculated by the processor 231 for "+ INSin", the coefficients K ₁ and K ₅ , calculated by the processor for the "+ INSin90" signal, as well as the coefficients K ₂ and K ₆ for the + INCos signal, the K ₃ and K ₇ coefficients for the "+ INCos90" signal are simultaneously loaded into all eight DACs 220-227.

For the corresponding DACs, the signals "+ INSin", "+ INCos", "+ INSin90", "+ INCos90" are the reference signals. At the output of the multiplier of the first channel, four signals of the products "+ K ₀ INSin", "+ K ₂ INCos", "+ K ₁ INSin90", "+ K ₃ INCos90" are formed, and at the output of the multiplier of the second channel, four signals of the products "+ K ₄ INSin "," + K ₆ INCos90 "," + K ₅ INSin90 "," + K ₇ INCos90 ".

The generated signals of the works are fed to the analog adders 228 and 229 of the first second channel, respectively, from the outputs of which linear combinations of control signals are removed:

U ₁ = 2 ("+ K ₀ INSin" + "+ K ₁ INSin90" + "+ K ₂ INCos" + "+ K ₃ INCos90");

U ₂ = 2 ("+ K ₄ INSin" + "+ K ₅ INSin90" + "+ K ₆ INCos" + "+ K ₇ INCos90").

These linear combinations are supplied to the switching units 199, designed to switch the control signals to the modes "Acceleration" and "Operation".

The switch of the first channel of the formation consists of two series-connected analog keys. With the command "WORK / FORSAGE" = 0, it generates and issues the accelerating meander "FMNDR" with the given amplitude from the frequency of the synthesizer 232 (frequency "SYNTHOT" of the processor 231) to the output "+ U ₁ " of the first channel in overclocking mode. When the command "WORK / FORSAGE" = 1, the switch of the first channel gives the generated linear combination of the control signal U ₁ to the output "+ U ₁ " of the first channel in the operating mode.

The second channel switch is a key. It provides the command "WORK / FORSAGE" = 0 the absence of a control signal at the output "+ U ₂ " of the second channel in acceleration mode. When the command "WORK / FORSAGE" = 1, the switch of the second channel of formation generates a generated linear combination of the control signal U ₂ to the output "+ U ₂ " of the second channel in the operating mode.

The inverter 200 of the first channel provides the inverse of the overclocking meander (in acceleration mode) and the inversion of the linear combination of the control signal U ₁ (in operating mode) and their output to the output "-U ₁ " of the first channel.

The adders 202, 203 form the final control signals of the first channel in the form of V ₀ + U ₁ and V ₀ -U ₁ , where V ₀ is the operating high-voltage voltage supplied from the power source 206.

The control signal V ₀ + U _{1 of the} first channel is supplied to the electrodes 30, 34 of the TWG.

The control signal V ₀ -U _{1 of the} first channel is supplied to the electrodes 32. 36.

The control signal V ₀ + U _{2 of the} second channel is supplied to the electrodes 31, 35.

The control signal V ₀ -U _{2 of the} second channel is supplied to the electrodes 33, 37.

Currently, experimental design documentation has been developed for the claimed TWG and tests of design samples have been carried out, which, when operating in the integrating mode, had a rms value of the stability of the drift velocity of 0.05 ° / h.

The technical effect of the technical solutions laid down in the claimed TWG consists in eliminating the above-mentioned disadvantages of the known analogues and prototype, which provided an improvement in its technical and operational qualities, which made it possible to achieve the level of accuracy characteristics required for inertial orientation and navigation systems.

The achieved results during testing of the claimed TWG showed the possibility of creating an accurate TWG operating in an integrating mode, which opens up the possibility of its use in strapdown orientation and navigation systems for highly maneuverable aircraft.

Given also that the TWG has a number of technical and operational characteristics that potentially exceed the characteristics of laser and fiber-optic gyroscopes, further improvement of the claimed TWG will allow the creation of inertial navigation systems of a modern technical level, high competitive ability.

Claims (1)

A solid-state wave gyroscope containing a metal evacuated housing having mounting and attachment elements and a sealing cover, in the internal cavity of which a solid-state wave inertial sensing module is placed, including a hemispherical resonator made of silica glass with a metallized working surface, capable of being driven into oscillatory motion by external alternating electric field, with a two-sided der passing through the pole of its hemisphere a rod type device, with which it is rigidly attached to a combined circuit board of the resonator oscillation exciter and the collection of electrical signals reflecting the vibrational state of the resonator, a getter pump with a reagent enclosed in a shell, an electronic system for measuring and controlling resonator oscillations, which is digital using a microprocessor and pulse control signals, consisting of analog and digital parts, characterized in that the evacuated housing is made in the form of a hemispherical balls with uniform thickness, having a protruding cavity in the pole region to accommodate an external rod-type holder, and an equatorial belt is located on the equator, on the outside of which are three mounting and fixing elements of the gyroscope, separated by 120 ° from each other, and located on the inside three cone segment elements for installation using an annular split spring, a combined information-excitation circuit board, spaced 120 ° and 60 ° apart relative to the mounting and fixing elements of the gyroscope, the resonator has a variable wall thickness of the hemispherical shell formed by shifting along the axis of symmetry towards the outer holder of the center of the outer sphere of the resonator relative to the center of the inner sphere, the combined information-excitation board is formed by a flange base with a conical edge on the side adjacent to the conical mounting elements of the housing, a ball zone protruding above it with a small and large base, above the small base along the axis of symmetry is the cylindrical part for installing the resonator, a bore is made in the flange base and from the side of the large base of the ball zone, forming a cavity for accommodating the getter pump, and two bores with different diameters forming the mounting and fixing holes are made along the central part of the ball zone and the cylindrical part for the inner cavity holder, on the outer surface of the ball zone from the side of the small base, eight local control electrodes are formed, spaced apart by the surface of the ball zone with a step of 45 ° and cut out by a laser beam in a chrome film deposited on the surface of this zone, from the side of the large base on the outer surface of the ball zone, near the edge of the resonator, eight information pick-up electrodes are formed, located synchronously under the control electrodes, forming a capacitive sensor system moving the hemispherical shell of the resonator, the gap between the body and the resonator in the spherical part is uniform, the sealing cover consists of a metal ring and m ceramic-ceramic vacuum-tight pads with soldered through-hole single-conductor contacts, a cuff on the outer diameter of the pads for welding with a ring, rings in the region of the central hole of the vacuum-tight block on the inside for mounting the getter pump, a sleeve in the region of the central hole of the vacuum-tight block on the outside for welding with the evacuation plug , getter pump, consisting of the active substance of sintered titanium-vanadium powder with a volume porosity of 43%, a spiral of nichrome p a wire for its activation by heating when a current is supplied to it in the degassing and activation mode, it is turned off in the operating mode of the gyroscope, while maintaining the gas absorption properties of the pump, gold-copper alloy springs with gold-copper alloy springs are located on the passage contacts inside the gyroscope for pairing with contact pads electrodes of the combination board, a transitional multilayer circuit board located in the non-tight part of the gyroscope, on which coaxial conductors are connected in pairs, opposite to The information collection electrodes are located on the combination board and provide their communication through four coaxial connectors with the inputs of the gyroscope preamplifiers, the electrical contact of the preamplifiers with the external electronic gyroscope system is made through a small-sized connector mounted on the preamplifier board, with the male part of the connector leaving the casing gyroscope, electrical contact of control and removal electrodes, resonator metallization and screens of control and removal electrodes with The external electronic system is provided through another small-sized connector, mounted on the ring element connected to the sealing cover, by supplying conductors from it to the corresponding through-pin, single-conducting contacts of the sealing cover, a heat shield is located between the adapter mounting plate and the board with preliminary amplifiers, which reduces the thermal effect of preliminary amplifiers per inertial sensing module; gyro pre-amplifiers are repeaters voltages with a zero offset of the power supply relative to the common ground by the value of the constant high-voltage supply voltage of the pick-up electrodes, the analog part of the electronic system contains sine and cosine information signal receivers, control signal generator, switching blocks, inverters and adders, sine and cosine information signal receivers have circuits differentiators of signals and series-connected electronic devices for cutting off high-voltage voltage, preliminary and final amplification, replacing the zeros of the sine and cosine signals, analog-to-digital converters with differential input, the digital part of the electronic circuit, in addition to the digital signal processing processor, contains buffers of analog-to-digital converters, a frequency synthesizer, an asynchronous microcontroller of the serial interface and determines the angles of increment and orientation of the resonator wave according to the processing algorithms relative to the body, the amplitude of the oscillations of the resonator, the quadrature components of these oscillations and, using this information, generate for two channels, according to the control algorithm, weights for control laws, each of the two channels of control signal generators contains four digital-to-analog converters, the input of which in digital form receives information about control weights, and as reference signals of sines and cosines and their derivatives from receivers information signals, from the output of analog-to-digital converters, information about the products of these signals is fed to the adders of the channel control formers, According to the control laws U ₁ and U ₂ , the channel commutators are functionally connected to the frequency synthesizer, the control signal shapers and, upon the command of the processor, provide excitation of the resonator oscillations at the start using the resonator frequency, and in the operating mode, the generated control laws are transmitted to the output inverters and adders, where form the final control signals received at the control electrodes through two channels in the form of V ₀ + U ₁ and V ₀ -U ₁ for one channel and V ₀ + U ₂ and V ₀ -U ₂ for the other channel, where V _{0 is the} working high-voltage n voltage was supplied from the power source.

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