RU2572501C1 - Gyroscope drift correction method and apparatus therefor - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: method of correcting drift of a gyroscope with a two-phase eddy current motor, comprising a stator, a rotor on a spherical ball-and-roller support, angle sensors and torque sensors, includes steps of rotating the rotor, measuring drift and correcting said drift, wherein correction of drift is carried out during measurement thereof by compensating for the constant electric current component in different stator windings. An apparatus for correcting drift of a gyroscope with a two-phase eddy current motor comprises adders and control resistors, signals from which enable to compensate for the constant electric current components in phase stator windings.

EFFECT: easier manufacture and high accuracy of the gyroscopic device.

2 cl, 2 dwg

Description

The invention relates to a gyroscopic technique, and in particular to methods for correcting the drift of a gyroscope with a rotor on a spherical ball bearing.

A known method [1] of the dynamic balancing of a gyroscope containing a stator, a rotor on a spherical ball bearing and an angle sensor, including rotation of the rotor, measuring imbalance and its correction.

A known method [2] of the correction of the drift of a gyroscope with a synchronous hysteresis motor containing a stator, a rotor on a spherical ball bearing and an angle sensor, including rotation of the rotor, measurement of drift and its correction by removing the ferromagnetic mass of the stator in a place corresponding to the direction of drift.

A device for determining the drift of a gyroscope with a synchronous hysteresis motor [2], containing a stator, a rotor on a spherical ball bearing and an angle sensor, including a series-driving oscillator and an inverter, the output of which is connected to a gyroscope electric motor, a meter connected to an angle sensor, a capacitor, connected in parallel to the inverter supply bus, a switch between the generator and the inverter synchronously connected to another switch included in the power bus break inverter.

A device for controlling a two-phase brushless DC motor [3], containing a rotor with permanent magnets and a stator with several windings, including a microcontroller, analog-to-digital converter and pulse-width modulator.

A common disadvantage of the above methods and devices is the lack of correction of the drift of the gyroscope without disassembling it.

The aim of the invention is the provision of drift correction directly in the process of measuring it, without disassembling the gyroscope.

The technical result consists in reducing the complexity of manufacturing and increasing the accuracy of the gyroscopic device.

In the method for correcting the drift of a gyroscope with a two-phase brushless DC motor containing a stator, a rotor on a spherical ball bearing, angle sensors and torque sensors, including rotation of the rotor, measuring the drift and correcting it, according to the invention, the correction of the drift is carried out directly in the process of measuring it by compensating for the constant constant component of the electric current in the phase windings of the stator of the gyroscope engine.

Significant differences of the proposed method include the fact that the correction of the drift is carried out directly in the process of measuring it, without disassembling the gyroscope.

A device for correcting the drift of a gyroscope with a two-phase brushless DC motor containing a stator, a rotor on a spherical ball bearing, angle sensors and torque sensors, including two rotor position sensors, a rotor speed regulator, two power amplifiers, each of which is connected to a phase the stator windings of the gyroscope electric motor, a meter connected to the gyroscope angle sensor, according to the invention, into the open circuit “speed regulator - power amplifier These ”additionally include adders, the additional input of which receives signals from regulating resistors connected to stabilized power sources, which make it possible to compensate for the constant components of electric currents in the phase windings of the stator of the gyroscope motor.

Significant differences of the proposed device include the presence of adders and adjusting resistors in it, the signals from which compensate for the constant components of electric currents in the stator phase windings.

The proposed method is implemented as follows.

The gyroscope is turned on using a power supply of a brushless DC motor with a control circuit and stabilization of the rotor speed containing two position sensors, a rotor speed stabilizer, two adders with adjusting resistors and two power amplifiers. After complete acceleration of the gyromotor rotor, the gyro drift is measured on the angle sensor and at the same time it is corrected by applying constant voltage to the input of power amplifiers using adjusting resistors.

The invention is illustrated by drawings.

In FIG. 1 is a drawing of a gyroscope with a two-phase brushless DC motor.

In FIG. 2 shows a block diagram of a device for determining and correcting the drift of a gyroscope during its measurement.

In FIG. 1 shows a stator 1 with windings 2 and position sensors 3, a rotor 4, a spherical ball bearing 5, angle sensors 6 and torque sensors 7. An annular cavity is made in the rotor 4, in which there is an annular bipolar magnet 8 and an annular magnetic circuit 9. The creation of the rotor torque is based on the Fleming rule.

A force is applied to a current conductor located in a magnetic field. The direction of the force is determined by the rule of the left hand, and its value is:

Where

Ζ is the number of conductors;

B - magnetic induction in the air gap;

I is the electric current;

L is the effective length of the conductor.

In FIG. 2, sensors 3 of the position of the rotor 4, a device 10 for stabilizing the frequency of rotation of the rotor 4, adders 11, 12, power amplifiers 13, 14, adjustment resistors 15, 16, angle sensors 6 and a drift meter 17 are shown.

A feature of a gyroscope with a rotor on a spherical ball bearing and a two-phase brushless motor is the presence of a drift from the rotor torque, the magnitude of which depends on the distribution of electric current I of formula (1) in the stator phase windings.

The method of correction of the drift of the gyroscope is as follows.

In the circuit of FIG. 2, adders 11, 12 and adjusting resistors 15, 16 are introduced. By applying constant voltages to the input of power amplifiers 13, 14, the electric current is redistributed in phases 1, 2. Gyroscopes drift is measured with an angle sensor 17, gyroscopes drift 17, rotation of resistors 15, 16 is carried out its correction.

The operation of the device for the implementation of drift correction is as follows.

When power is applied, square-shaped signals from position sensors 3 are supplied to a rotor speed stabilization device 10, which compares the frequency of rectangular pulses from position sensors with a reference one and generates output rectangular voltages with a variable amplitude. Next, the rectangular voltages are fed to the input of the adders 11, 12, to the other input of which constant voltages are supplied from the control resistors 15, 16, the output of the adders is connected to power amplifiers 13, 14, which generate the necessary voltages and currents to control the windings 2 of the two-phase brushless motor with rotor 4 To ensure the stability of the above voltages, resistors 15, 16 are connected to stabilized + U and -U power supplies. At the same time, the gyro drift is measured on the angle sensor 6 by the meter 17. Gyro drift correction is carried out by rotating the adjustment resistors 15, 16.

This scheme allows you to compensate not only for the drift caused by the rotor torque, but also for the drift caused by other factors (friction, aerodynamics, etc.).

The proposed inventions were used in prototype gyroscopes on a ball suspension with a two-phase brushless motor and showed a significant simplification and reduction of gyro drift adjustment.

Information sources

1. RF patent No. 2334205, IPC G01M 1/34, 2007

2. RF patent No. 2410658, IPC G01M 1/34, G01C 25/00, 2009

3. Information material “AVR440: Control of a two-phase brushless DC motor without sensors”, (p. 1-10).

Claims (2)

1. The method of correction of the drift of a gyroscope with a two-phase brushless DC motor containing a stator, a rotor on a spherical ball bearing, angle sensors and torque sensors, including rotor rotation, drift measurement and its correction, characterized in that the drift correction is carried out directly during its measurement by compensating the DC component of the electric current in different stator windings. 2. A device for correcting the drift of a gyroscope with a two-phase brushless DC motor containing a stator, a rotor on a spherical ball bearing, angle sensors and torque sensors, including two position sensors, a speed stabilizer, two power amplifiers, the output of each of which is connected to phase windings the stator of the gyroscope motor, a meter connected to the gyroscope angle sensor, characterized in that adders are included in the open circuit of the “speed regulator - power amplifier”, up to olnitelny input of which receives signals from the adjusting resistors connected to stabilized power sources.

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