RU2594628C1 - Two degrees of freedom float gyroscope - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: invention relates to precision instrumentation and can be used in designing and manufacturing two degrees of freedom float-type gyroscopes. Two degrees of freedom float gyroscope includes housing with two end covers, cylindrical float gyro chamber installed in housing on jewel supports, supporting fluid filling gap between housing of gyroscope and float gyro chamber, heating winding and temperature sensor winding arranged on outer cylindrical surface of housing, angle sensor, torque sensor, wherein inside housing coaxially to it there is a cylinder, on inner surface along of which float chamber insulated from housing there are two identical systems of m electrodes, where m = 2(n +2), n = 1.2 …, rigidly connected with cylinder, geometric centre of surface of flat sweep one system of electrodes lies on one side of plane perpendicular to longitudinal axis of gyroscope, divides cylindrical surface of built-in cylinder into two equal parts and is symmetrical to geometric centre of surface of flat sweep of second system.

EFFECT: technical result is increased accuracy two degrees of freedom float gyroscope.

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Description

The invention relates to the field of precision instrumentation and can be used in the development and production of two-stage float gyroscopes.

Known gyroscope [1], containing a sealed housing, a spherical rotor, an electrostatic suspension system of the rotor, including electrodes mounted in pairs on the inner surface of the housing along three mutually perpendicular axes of the device and an electronic control unit for the position of the rotor relative to the electrodes, a rotor acceleration system, a vacuum maintaining system inside housing, a system for measuring the angular position of the rotor relative to the housing.

The disadvantage of the gyroscope is its low resistance to external mechanical stresses, due to the relatively small overload capacity of the electrostatic suspension.

Known two-stage float gyroscope [2].

The gyroscope contains a sealed housing, a cylindrical float chamber with a gyromotor installed in the liquid inside the housing. The camera centering device relative to the housing (non-contact suspension of the electromagnetic type float chamber) has two conical rotors located at the ends of the chamber and two stators mounted on the corresponding end caps. The stator windings are connected to the camera position control unit relative to the housing. On the outer cylindrical part of the housing are placed a heating coil and a thermal sensor winding. A bellows is installed on the end cap to compensate for volumetric fluid expansions.

The disadvantage of a gyroscope is its low accuracy, due to the instability of the moment acting from the electromagnetic suspension. The reason for the instability of the moment is the instability of the parameters of the material - ferrite, used for the manufacture of suspension elements, its sensitivity to changes in external conditions. The parameters of ferrite are affected by:

- destruction of the material;

- correlation of subsequent and previous states of the material;

- ambient temperature and its changes;

- vibration and shock;

- magnetic fields and their changes. Sources of fields can be located both in the gyroscope and outside it.

All these factors interacting with each other in various combinations and proportions, besides having a different degree of influence on the material parameters, and through this dependence on the forces and moments applied to the float chamber, turn the output parameters of the device into random values. The accuracy of the gyro is reduced.

Also known two-stage float gyroscope [3], which is taken as a prototype.

The gyroscope contains a sealed housing with two end caps, a cylindrical float gyrocamera mounted in the housing on stone supports. The gap between the body of the device and the float chamber is filled with liquid with a specific gravity close to the specific gravity of the chamber. The liquid provides hydrostatic unloading of stone supports. On the outer cylindrical part of the housing there is a heating coil and a thermal sensor winding connected to the temperature control unit of the device. An angle sensor, a torque sensor are installed along the axis of the camera suspension. A bellows is installed on the end cap to compensate for volumetric fluid expansions.

The disadvantage of the gyroscope prototype is its low accuracy. The specified disadvantage is due to:

- the presence of a friction moment in the stone supports of the float gyro camera proportional to its residual weight;

- the factor of "swimming" of the float chamber in the working gap, accompanied by a change in time of the moment acting in the suspension during mechanical contacts in the stone supports.

The objective of the present invention is to improve the design of the float two-stage gyroscope.

Achievable technical result - improving the accuracy of a two-stage float gyro.

The problem is solved in that in the well-known two-stage float gyroscope containing a body with two end caps, a cylindrical float gyrocamera installed in the housing on stone supports, supporting liquid filling the gap between the gyroscope body and the float gyrocamera, the heating coil and the temperature sensor winding, placed on the temperature sensor a cylindrical surface of the housing, an angle sensor, a torque sensor, a cylinder is mounted coaxially with it. Two identical systems of m electrodes, where m = 2 (n + 2), n = 1.2 ..., are rigidly connected to the cylinder, are installed on the inner surface of this cylinder along the float chamber, isolated from the body. The geometric center of the flat scan surface of one electrode system lies on one side of the plane perpendicular to the longitudinal axis of the gyroscope, divides the cylindrical surface of the built-in cylinder into two equal parts, while it is symmetrical to the geometric center of the flat scan surface of the second system.

The invention is illustrated by drawings of FIG. 1-3. In FIG. 1 shows a general view of the device. In FIG. 2 shows a scan of a cylinder with electrodes. In FIG. 3 shows a functional diagram of one of the suspension channels.

The proposed gyroscope 1 (Fig. 1) consists of a housing 2 with two end caps 3, 4; cylinder 5 (cylinder 5 is made of a material with electrical insulating properties, such as ceramic), installed inside the housing 2 coaxially with it; a cylindrical float gyrocamera 6 installed inside the housing 2 coaxially with the cylinder 5 on the restrictive stone supports 7. On the inner surface of the cylinder 5 along the cylindrical surface of the float chamber 6 two identical systems of m electrodes are installed, where m = 2 (n + 2), n = 1,2 ... rigidly connected to cylinder 5.

In FIG. 2 shows a scan of the cylinder for n = 2, containing electrodes 8 ₁ -11 ₁ (8 ₂ -11 ₂ ). The opposite pair of electrodes in each system (in Fig. 3 a pair of 8 ₁ , 10 ₁ and a pair of 9 ₁ and 11 ₁ ) is connected to the corresponding control unit (in Fig. 3 to the control units 17 and 18) by the position of the float gyrocamera 6 relative to the corresponding electrodes. Each control unit, for example, block 17 contains a circuit 19 for measuring the movement of the chamber 6 relative to these electrodes (capacitive displacement sensor), a high-voltage amplifier 20, and a generator 21 for supplying the displacement sensor. The construction principle of the generator 21, the sensor 19 and the amplifier 20 are similar to the construction principle of the devices described in [1].

The electrodes 8 ₁ and 10 ₁ , 9 ₁ and 11 ₁ , 8 ₂ and 10 ₂ , 9 ₂ and 11 ₂ with the corresponding control units form a four-channel radial electrostatic suspension of the chamber 6 relative to two mutually perpendicular axes O ₁ Y ₁ (O ₂ Y ₂ ) , O ₁ Z ₁ (O ₂ Z ₂ ) (Fig. 2). The axis O ₁ Y ₁ Z ₁ connected to the system of electrodes installed along one end of the float chamber 6. The axis O ₂ Y ₂ Z ₂ connected to the system of electrodes installed along the other end of the float chamber 6.

To create the angular stiffness of the suspension, the electrodes are installed so that the geometric center A _{1 of} the flat surface of one electrode system 8 ₁ -11 ₁ lies on one side of the OYZ plane (OXYZ axes are the axes associated with the float chamber 6) perpendicular to the longitudinal axis of the cylinder OX 5 and dividing its surface into two equal parts, and is symmetrical to the geometric center A _{2 of} the flat-scan surface of the second electrode system 8 ₂ -11 ₂ . This prevents the angular movement of the chamber 6 and mechanical contact in the stone supports 7 under the action of a moment directed along the axis OY.

The gap between the electrode block and the float gyrocamera 6 is filled with liquid 12 with a specific gravity close to the specific gravity of the float gyrocamera 6.

Supports 7 are necessary to ensure the manufacturability of the assembly of the device 1, in addition, they limit the movement of the chamber 6 in the working clearance of the device 1.

An angle sensor 13 and a torque sensor 14 are mounted on the axis of the chamber 6. The heating coil 15 and the temperature sensor winding 16 are located on the outer cylindrical surface of the housing 2 and are connected to the temperature control system of the gyroscope 1 (not shown in the figure). The temperature control system is configured to maintain the temperature in the working gap of the gyroscope 1, close to the zero buoyancy temperature of the chamber 6. A bellows 22 is installed on the end cover 4 to compensate for the volumetric expansion of the liquid 12.

In operating mode, the OX axis of the proposed gyroscope 1 is oriented in the horizon plane. The gyroscope 1 is heated to a predetermined temperature value. In this case, the bulk of the weight of the float gyrocamera 6 is compensated by the buoyancy of the fluid 12 of the hydrostatic suspension. The residual weight of the float gyrocamera 6 (the difference between the weight and the buoyancy force) is compensated by the force exerted by the electrostatic suspension. Pre-float chamber is exposed and fixed in a position in which there is no mechanical contact in the stone supports. The possibility of moving the camera in the working gap under the action of the moment relative to the OY axis is excluded by installing two electrode systems creating the angular stiffness of the suspension.

The accuracy of the proposed gyroscope compared with the prototype increases. Improving accuracy is provided by:

1. The exception / reduction of the error component from the "swimming" of the float chamber in the working gap in the conditions of acceleration acting on the gyroscope, due to its imperfect balancing, due to its retention by electrostatic suspension in a position relative to the electrodes.

2. The exception / reduction of the frictional moment in the stone supports 7 when exhibiting the float gyrocamera 6 to a position in which there is no mechanical contact in the stone supports 7.

In addition, the gyroscope eliminated the inherent disadvantages of a gyroscope with an electromagnetic suspension of the float chamber. The electrostatic suspension, in comparison with electromagnetic, is not sensitive to the influence of a magnetic field. There is no destruction of the applied material, sensitivity to the effects of vibration and shock loads, changes in the parameters of the material from switching on to turning on the suspension, and the influence of the ambient temperature on the material.

Thus, the claimed technical result is achieved.

At the enterprise Central Research Institute "Elektribribor" the proposed device is manufactured and tested. Received positive results. The technical documentation of the device is developed. Currently, the process of its implementation is underway for serial production in the production of two-stage float gyroscopes with a radial electrostatic suspension of the float gyro camera.

Used Books:

1. Maleev P.I. New types of gyroscopes // L .: Sudostroenie, 1971, p. 16.

2. W. Wrigley, W. Hollister, W. Denhard. Theory, design and testing of gyroscopes // M .: Mir, 1972, p. 288, 292.

3. Nikitin E.A., Balashova A.L. Designing differentiating and integrating gyroscopes and accelerometers // M .: Mashinostroenie, 1968, p. 104, 121.

Claims (1)

A two-stage float gyroscope containing a body with two end caps, a cylindrical float gyro camera installed in the housing on stone supports, supporting liquid filling the gap between the gyro body and the float gyro camera, a heating coil and a temperature sensor winding, located on the outer cylindrical surface of the housing, an angle sensor, torque sensor, characterized in that a cylinder is installed coaxially with the inside of the housing, on the inner surface of which, along the float chamber, is isolated from of the housing, two identical systems of m electrodes are installed, where m = 2 (n + 2), n = 1.2 ..., rigidly connected to the cylinder, the geometric center of the flat scan surface of one electrode system lies on one side of the plane perpendicular to the longitudinal axis of the gyroscope divides the cylindrical surface of the built-in cylinder into two equal parts and is symmetrical to the geometric center of the flat surface of the second system.

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