RU2641018C1 - Double-stepped float gyroscope - Google Patents

Abstract

FIELD: tool engineering.SUBSTANCE: electrodes on inner surface of cylinder of double-stepped float gyroscope are set in such way that the plane of symmetry of the i-th pair of electrodes in each system passing through the longitudinal axis of the body, is equal to the plane passing through the axis of rotation of the rotor of the gyro motor and the longitudinal axis of the body, an angle of = α180⋅(2i+1)/m, where m is the number of electrodes in one system, i = 0, 1, 2 …is ordinal number of symmetry plane of electrode pair.EFFECT: reduced time of gyroscope readiness, expanded range of gyroscope operation without loss of accuracy.3 dwg

Description

The invention relates to the field of precision instrumentation and can be used in the development and production of precision two-stage float gyroscopes (hereinafter referred to as the gyroscope).

Known two-stage float gyroscope [1]. The gyroscope contains a sealed housing, a cylindrical float chamber with a gyromotor installed in the fluid inside the housing, a non-contact suspension of an electromagnetic type float chamber, including 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 the volume expansion of the fluid.

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.

Also known two-stage float gyroscope [2], 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 restrictive stone supports. The gap between the gyroscope body and the gyrocamera is filled with a supporting fluid, the radial electrostatic suspension of the gyrocamera includes a cylinder with two identical systems of electrode pairs mounted on the inner surface of the cylinder along the float chamber isolated from the body. In each system, the plane of symmetry of the first pair of electrodes passing through the longitudinal axis of the gyroscope case coincides with the plane passing through the axis of rotation of the gyro rotor and the longitudinal axis of the body. The plane of symmetry of the second pair of electrodes passing through the longitudinal axis of the gyroscope case coincides with the plane passing through the measuring axis and the longitudinal axis of the body. The gyroscope also contains an electrostatic suspension control system, a heating coil and a thermal sensor coil located on the outer cylindrical surface of the housing, an angle sensor, and a torque sensor.

The disadvantages of the gyroscope prototype are:

- long standby time, determined by the time of bringing the float gyrocamera to the centering position;

- a small range of angular velocities in which the gyroscope functions without loss of accuracy, determined by the ability of the suspension to compensate for the forces from the action of the gyroscopic moment that occurs when the gyroscope rotates around the longitudinal axis of the suspension of the float chamber. The excess of forces from the action of the gyroscopic moment, the forces exerted by the electrostatic suspension, leads to the rotation of the chamber to mechanical contact in the limit supports, which leads to a decrease in the accuracy of the gyroscope.

These disadvantages are due to insufficient force acting on the side of the electrostatic suspension.

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

Achievable technical result - reducing the availability time of the gyroscope, expanding the range of operation of the gyroscope without loss of accuracy.

The problem is solved in that in the well-known two-stage float gyroscope containing a housing with two end caps; a cylindrical float gyrocamera installed in the housing on restrictive stone supports; a support fluid filling the gap between the gyroscope body and the gyro camera; a radial electrostatic suspension of the gyro camera, including a cylinder mounted inside the housing coaxially with it, on the inner surface of which along the float chamber, in isolation from the body, two identical electrode systems are mounted rigidly connected to the cylinder; electrostatic suspension control system; heating coil and thermal sensor coil located on the outer cylindrical surface of the housing; angle sensor; torque sensor. In this case, the electrodes on the inner surface of the cylinder are installed in such a way that the plane of symmetry of the i-th pair of electrodes in each system passing through the longitudinal axis of the housing makes up an angle equal to: with the plane passing through the axis of rotation of the gyromotor rotor and the longitudinal axis of the housing:

α = 180⋅ (2i + 1) / m,

where i = 0, 1, 2 ... is the serial number of the plane of symmetry of the pair of electrodes;

m is the number of electrodes in one system.

The invention is illustrated in FIG. 1, 2, 3.

In figures 1, 2, 3, the following notation:

1 - gyroscope,

2 - housing

3, 4 - end caps,

5 - cylinder

6 - cylindrical float gyrocamera (hereinafter referred to as gyrocamera),

7 - restrictive stone supports (hereinafter - supports),

8 ₁ -11 ₁ , 8 ₂ -11 ₂ - electrodes,

12 - liquid

13 - angle sensor

14 - torque sensor,

15 - heating coil

16 - winding of the temperature sensor,

17, 18 - control units,

19 is a diagram of a measurement of the linear movement of a gyro camera (hereinafter referred to as a capacitive sensor),

20 - high-voltage amplifier (hereinafter referred to as the amplifier),

21 - generator

22 - bellows

n is the number of systems in the suspension (in this case n = 2),

A is a flat scan of two orthogonal electrode systems,

X, Y, Z - axis of symmetry of two orthogonal coordinate systems,

O is the center of two orthogonal coordinate systems,

A ₁ is a flat scan of the first orthogonal system of m = 4,

X ₁ , Y ₁ , Z ₁ - axis of symmetry of the first orthogonal coordinate system,

O ₁ is the center of the first orthogonal coordinate system,

And ₂ is a flat scan of the second orthogonal system of m = 4,

X ₂ , Y ₂ , Z ₂ - axis of symmetry of the second orthogonal coordinate system,

O ₂ - the center of the second orthogonal coordinate system,

C - capacitors of the displacement measuring system,

α is the angle between the axis of the orthogonal coordinate system and the axis,

ζ is the axis from the origin and the center of the electrode.

The proposed gyroscope 1 (Fig. 1) consists of a housing 2 with two end caps 3, 4; cylinder 5 (made of a material with electrical insulating properties, for example, ceramic) mounted 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 gyrocamera 6 two systems are installed with n = 2, m = 2 (n + 2) = 8 electrodes. The electrodes are rigidly connected to cylinder 5.

The gap between the electrode block and the 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 gyroscope 1 assembly, in addition, they limit the movement of the gyrocamera 6 in the working gap of the gyroscope 1. On the axis of the gyrocamera 6 an angle sensor 13 and a torque sensor are installed 14. A heating coil 15 and a temperature sensor coil 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). 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 gyrocamera 6. A bellows 22 is installed on the end cover 4 to compensate for the volumetric expansion of the liquid 12.

In FIG. 2 shows a scan of the cylinder for n = 2, containing electrodes 8 ₁ -11 ₁ (8 ₂ -11 ₂ ).

The electrodes on the inner surface of the cylinder 5 are installed in such a way that the plane of symmetry of the i-th pair of electrodes in each system passing through the longitudinal axis OX of the casing 2 makes with the plane passing through the axis of rotation of the rotor of the gyro motor OZ and the longitudinal axis OX of the casing 2, an angle, equal to α = 180⋅ (2i + 1) / m.

In FIG. 3 shows the system for m = 4. In this case, the plane of symmetry OXξ ₁₁ (OXξ ₁₂ ) of the electrodes 9 ₁ (9 ₂ ) is located at an angle α ₁ = 45 ° to the plane OXZ passing through the axis of rotation of the rotor OZ of the gyromotor and the longitudinal axis OX of the casing 2; the plane of symmetry OXξ ₂₁ (OXξ ₂₂ ) of the electrodes 8 ₁ (8 ₂ ) is located respectively at an angle α ₂ = 135 °.

The opposite pair of electrodes in each system (in Fig. 3, a pair of 8 ₁ -10 ₁ and a pair of 9 ₁ -11 ₁ ) is connected to the corresponding control unit (in Fig. 3 to the control units 17 and 18) by the position of the gyro camera 6 relative to the corresponding electrodes. Each control unit, for example, block 17, contains a circuit for measuring the movement of the gyro camera 6 relative to these electrodes (capacitive sensor 19), an amplifier 20, a generator 21 for powering the capacitive sensor 19. The principle of construction of the generator 21, capacitive sensor 19 and amplifier 20 is similar to the principle of device construction, given in [2].

The gyroscope 1 is as follows. The gyroscope 1 is oriented to a position in which its longitudinal axis OX is horizontal. The gyroscope 1 is heated to the calculated (predetermined) temperature value. The gyro camera 6 is brought into a centered position (the position in which the signals of the capacitive sensor 19 of the electrostatic suspension are zero, and there is no mechanical contact in the supports 7); the parameters of the centered position are determined and fixed in advance, for which they include an electrostatic suspension. Given the proposed orientation of the electrodes, for the case m = 8, n = 2 (Fig. 3) in each nth system installed at the ends of the gyrocamera 6, the force R = (Fsinα ₁ + Fsinα ₂ ), where F is the force acting on the side of two electrodes of the same system n. From the side of two systems n, a force equal to P = 2R will act. Under the action of the resultant force P, the gyrocamera 6 will begin to move to a centered position. The travel time of the gyro camera 6 is determined by the magnitude of the force R.

When the base with the gyroscope 1 rotates around the OX longitudinal axis, the possibility of moving the gyrocamera 6 in the working gap under the action of the gyroscopic moment forces is eliminated by installing two electrode systems creating angular suspension stiffness. Moreover, the speed range in which the gyroscope operates without loss of accuracy, without the occurrence of mechanical contact in the supports 7 is determined by the magnitude of the force applied to the gyrocamera 6 from the electrodes 10 ₁ , 9 ₁ (10 ₂ , 9 ₂ ). Given the proposed orientation of the electrodes, for the case m = 8, n = 2 (Fig. 3) from the side of one and the second system, forces of the same order and directed in opposite directions will prevent the gyrocamera from turning.

Compared to the prototype:

. Увеличение силы достигается путем изменения ориентации электродов.- The gyro readiness time, determined by the centering time of the float gyro camera, is reduced. The reduction of time is achieved by increasing the force exerted on the float gyrocamera by two electrostatic suspension systems. In the prototype, this force is P ₁ = 2F. For the case m = 8,

. The increase in force is achieved by changing the orientation of the electrodes.

. Увеличение силы достигается также путем изменения ориентации электродов.- The range of operation of the gyroscope is increased without loss of accuracy. The increase in the range occurs due to an increase in the force exerted by the electrostatic suspension to compensate for the forces from the gyroscopic moment during rotation of the gyroscope with the base around its longitudinal axis OX. In the prototype, this force is equal to P ₃ = F. In the proposed gyroscope (Fig. 3)

. An increase in force is also achieved by changing the orientation of the electrodes.

Thus, the claimed technical result is achieved.

At the enterprise, the proposed device is manufactured and tested. Received positive results. The technical documentation of the gyroscope has been developed. Currently, preparations are underway for the production of float gyroscopes with a radial electrostatic suspension of the float gyro camera.

Literature

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

2. RF patent No. 2591287.

Claims (1)

A two-stage float gyroscope containing a body with two end caps, a cylindrical float gyro camera installed in the housing on restrictive stone supports, supporting liquid filling the gap between the gyro body and the gyro camera, a radial electrostatic suspension of the gyro camera, including a cylinder mounted coaxially with it inside the body, on the inner surface of which, along the float chamber, in isolation from the body, two identical electrode systems are installed, rigidly connected to the cylinder m, 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 scan surface of the second system, the electrostatic suspension control system, heating coil and winding temperature sensors located on the outer cylindrical surface of the housing, an angle sensor, a torque sensor, characterized in that the electrodes on the inside the cylinder surfaces are set in such a way that the plane of symmetry of the i-th pair of electrodes in each system passing through the longitudinal axis of the housing makes up, with the plane passing through the axis of rotation of the gyromotor rotor and the longitudinal axis of the housing, an angle equal to α = 180⋅ (2i + 1) / m, where m is the number of electrodes in one system, i = 0, 1, 2 ... is the serial number of the plane of symmetry of the pair of electrodes.

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