CN103487065B - For the program control percussion device that optical fibre gyro output delay time is measured automatically - Google Patents

Abstract

The invention discloses a program-controlled impact device for automatic measurement of output delay time of an optical fiber gyroscope. A motor is installed on the underside of the base of the program-controlled impact device, and a push rod, a torsion spring and a swing arm striker are installed on the motor shaft in sequence from bottom to top, so that The push rod can rotate together with the motor shaft, and the swing arm striker can freely rotate around the motor shaft; the other end of the motor shaft is equipped with a rotation angle sensor; the limit reed is installed on the base through a torsion spring, so that the limit reed acts on the torsion spring. The bottom is close to the end of the striker; the control unit is respectively connected to the angle sensor and the motor, and through real-time monitoring of the angle, the motor is controlled to rotate to drive the push rod to rotate, and then the striker is pushed back to its original position, and the limit reed is triggered to release the striker. The program-controlled impact device involved in the present invention adopts feedback control technology, and has precise control, stable operation, no need for high-current start-up, and no introduction of electromagnetic interference. The application of the device can realize the automatic measurement of the output delay time of the fiber optic gyroscope.

Description

Program-controlled impact device for automatic measurement of output delay time of fiber optic gyroscope

technical field

The invention relates to a program-controlled impact device, in particular to an automatic impact device for measuring output delay time of an optical fiber gyroscope based on instantaneous impact.

Background technique

The output delay time of the fiber optic gyroscope is the part of the delay time of the fiber optic gyroscope signal output relative to the signal input that has nothing to do with the input frequency, and is an index that reflects the dynamic performance of the fiber optic gyroscope. The output delay time of the FOG reflects the tracking accuracy of the FOG to the angular velocity input. The shorter the output delay time, the faster the fiber optic gyroscope responds to the angular velocity input.

Fiber optic gyroscopes are widely used in the field of national defense and military affairs. Modern aviation weapons have high flight speeds and rapid changes in flight trajectories. Under high dynamic environmental conditions such as vibration and sharp turns, the output delay time of fiber optic gyroscopes has become a key factor in evaluating the dynamic performance of fiber optic gyroscopes. Key factor. Therefore, the accurate measurement of the output delay time of the fiber optic gyroscope is very important to the use of the fiber optic gyroscope and related fields.

The basic measurement principle of the existing system for measuring the output delay time of the fiber optic gyroscope is to measure the time difference between the instant angular velocity input moment and the fiber optic gyroscope output moment. The input of instantaneous angular velocity is based on instantaneous impact, that is, the impact of the collider on the stage loaded with the fiber optic gyroscope makes the stage and the fiber optic gyroscope instantly obtain a large angular momentum, thereby realizing the input of the instantaneous angular velocity of the fiber optic gyroscope. However, manual operation is required to complete the mid-impact action during the measurement process of the existing system, which makes the measurement efficiency and consistency of the system low. For this reason, the present invention provides a program-controlled striking device, which can precisely control the execution of the striking action according to a preset program. Applying the modified device to the fiber optic gyroscope output delay time measurement system can realize fully automatic measurement of the fiber optic gyroscope output delay time without manual intervention in the measurement process, improving test efficiency and test consistency.

Contents of the invention

The object of the present invention is to provide a program-controlled impact device for automatic measurement of output delay time of the fiber optic gyroscope. The application of the device can realize the automatic measurement of the output delay time of the fiber optic gyroscope.

The purpose of the present invention is achieved through the following technical solutions: a program-controlled impact device for automatic measurement of the output delay time of the fiber optic gyroscope, which includes: a base, a limit rod, a push rod, a swing arm striker, and a limit reed , motor, rotation angle sensor, swing arm striker torsion spring, limit reed torsion spring and control unit; wherein, the limit lever, limit reed installation shaft and stage are fixed on the base, and the motor is installed on the base On the lower side, the motor shaft of the motor is concentric with the motor shaft installation hole on the base, passes through the motor shaft installation hole and extends to the upper side of the base; rod and swing arm striker; the push rod is locked with the motor shaft, so that the push rod can rotate together with the motor shaft; the swing arm striker and the motor shaft are installed through ball bearings, so that the swing arm striker can rotate freely around the motor shaft; the motor shaft and the pendulum There is a torsion spring between the arm striker, so that the swing arm striker is subjected to the torque that tends to the limit rod; the other end of the motor shaft is installed with a rotation angle sensor; the limit reed installation shaft is installed with a limit reed, and the limit reed The rotation center hole and the limit reed installation shaft are installed concentrically, so that the limit reed can freely rotate around the limit reed installation shaft; a torsion spring is installed between the limit reed and the limit reed installation shaft, so that The working end of the limiting reed is always in contact with the end of the striker of the swing arm under the action of the return torque of the torsion spring; the stage is installed on the base.

Further, the push rod has two working ends, one is the striker end that can be in contact with the striker of the swing arm; the other is the trigger end of the limit reed that can be in contact with the limit reed; the striker end has an upward protrusion cylindrical structure.

Further, the control unit includes: a microcontroller, a motor drive circuit, a rotation angle acquisition circuit and an RS communication interface; the microcontroller is respectively connected to the motor drive circuit, the rotation angle acquisition circuit and the RS communication interface, and the motor drive circuit is connected to the motor, The angle acquisition circuit is connected to the angle sensor; the microcontroller acquires the angle value of the angle sensor in real time through the angle acquisition circuit, and calculates the position of the push rod accordingly, and then judges the working state of the device; then feedbacks the working state through the RS communication interface; through the motor drive circuit Control the rotation of the motor, and the motor drives the push rod to move accordingly to complete the return, hold and release of the swing arm striker.

The beneficial effect of the present invention is that: the programmed impact device of the present invention can complete the impact action according to the input instruction. The device adopts multi-sensor fusion technology and feedback control technology, which has precise control, reliable operation, no need for high current start-up, no electromagnetic interference and other interference, which reduces the systematic error in the measurement process. The application of the device can realize the automatic measurement of the output delay time of the fiber optic gyroscope, reduce the manual intervention in the measurement process of the measurement system, and further improve the test accuracy, test efficiency and test consistency.

Description of drawings

Figure 1 Structural block diagram of the program-controlled impact device;

Figure 2 is a block diagram of the control system of the program-controlled impact device;

Figure 3 The push rod rotation angle in the working process of the program-controlled impact device location map;

Figure 4 The push rod rotation angle in the working process of the program-controlled impact device location map;

Figure 5 The push rod rotation angle in the working process of the program-controlled impact device location map;

Figure 6 is a flow chart of the control software of the program-controlled impact device control system;

In the figure: base 1, limit rod 2, limit reed installation shaft 3, push rod 4, swing arm striker 5, limit reed 6, motor 7, motor shaft 8, angle sensor 9, swing arm striker torsion Spring 10, limit reed torsion spring 11, limit card slot 12, control unit 13, stage 14, microcontroller 15, motor drive circuit 16, angle acquisition circuit 17, RS232 communication interface circuit 18.

Detailed ways

The basic principle of measuring the output delay time of FOG is to measure the time difference between the instant angular velocity input moment and the FOG output moment. The instantaneous angular velocity input is achieved by instantaneous impact, that is, the high-speed moving collider is used to impact the stage loaded with the fiber optic gyroscope, so that the stage and the fiber optic gyroscope instantly obtain a large angular momentum, thereby realizing the instantaneous angular velocity of the fiber optic gyroscope. input of. Therefore, in order to realize the automatic measurement of the output delay time of the fiber optic gyroscope, it is necessary to design a device that can automatically complete the impact action.

A program-controlled impact device of the present invention for automatic measurement of output delay time of an optical fiber gyroscope uses a microprocessor as the control core, and can automatically complete torsion spring compression and torsion spring compression deformation retention under the drive of a motor, and automatically realize it according to external instructions The instantaneous release of the compression deformation of the torsion spring uses the energy released by the torsion spring to drive the striker to complete the impact with the turntable.

As shown in Figure 1, the program-controlled impact device for the automatic measurement of the output delay time of the fiber optic gyroscope in the present invention includes: a base 1, a limit rod 2, a push rod 4, a swing arm striker 5, a limit reed 6, a motor 7, Angle sensor 9, swing arm striker torsion spring 10, limit reed torsion spring 11, control unit 13 and stage 14. A limit rod 2 and a limit reed installation shaft 3 are fixed on the base 1 . Base 1 is the installation datum for all parts. Motor 7 is installed on the lower side of base 1, and the motor shaft 8 of motor 7 is concentric with the motor shaft mounting hole on the base 1, passes through the motor shaft mounting hole and extends to the upper side of base 1, to ensure that when motor 7 rotates, the motor Shaft 8 is free to rotate. On the motor shaft 8 on the upper side of the base 1, a push rod 4 and a swing arm striker 5 are coaxially installed sequentially from bottom to top. The push rod 4 and the motor shaft 8 are locked so that the push rod 4 can rotate together with the motor shaft 8; In addition, a torsion spring 10 is provided between the motor shaft 8 and the swing arm striker 5, so that the swing arm striker 5 is subjected to the torque that tends to rotate towards the limit rod 2, and the magnitude of the torque received increases with the distance from the limit rod 2. increase. The other end of the motor shaft 8 is equipped with a rotation angle sensor 9 . The limit reed installation shaft 3 is used to install the limit reed 6. The rotation center hole of the limit reed 6 is concentrically installed with the limit reed installation shaft 3, so that the limit reed 6 can be installed with the limit reed shaft 3 The axis rotates freely. A torsion spring 11 is also housed between the limit reed 6 and the limit reed mounting shaft 3, so that the limit reed 6 is always in contact with the end of the swing arm striker 5 under the recovery torque of the torsion spring 11 . The stage 14 is installed on the base and can rotate freely.

As shown in FIGS. 3-5 , the push rod 4 has two working ends, one is the striker end that can contact the swing arm striker 5 ; the other is the limit reed trigger end that can contact the limit reed 6 . The striker end of the push rod 4 is designed with an upwardly protruding cylindrical structure. The protruding cylindrical structure can be in contact with one side of the swing arm striker 5, and driven by the motor 7, the swing arm striker 5 can be pushed to compress the torsion spring 10, so as to make a homing rotation away from the limit rod 2. The end of the swing arm striker 5 is designed with a limit card slot 12. When the push rod 4 pushes the swing arm striker 5 away from the limit rod 2, it moves to a specific angle during the homing process , the working end of the limit reed 6 is snapped into the limit slot 12 at the end of the striker 5 of the swing arm under the action of the torsion spring 11 . After the working end of the limit reed 6 is inserted into the limit slot 12 at the end of the striker 5 of the swing arm, the limit reed 6 can offset the torque generated by the torsion spring 10 of the striker of the swing arm and restrain the movement of the striker 8 of the swing arm to the limit rod 2. Rotation, thereby realizing the maintenance of the compression deformation of the swing arm striker torsion spring. When the working end of the limit reed 6 is inserted into the limit slot 12 at the end of the striker 5 of the swing arm, the motor 7 drives the striker end of the push rod 4 away from the striker 5 of the swing arm, and the trigger end of the limit reed of the push rod 4 gradually approaches the limit reed 6, but the position of the swing arm striker 5 remains unchanged under the action of the limit reed 6. When the push rod 4 is rotated to the angle , the trigger end of the limit reed of push rod 4 just contacts with the trigger end of limit reed 6. When the motor 7 drives the striker end of the push rod 4 to continue to leave the swing arm striker 5, the trigger end of the limit reed of the push rod 4 begins to push the limit reed 6 to overcome the torque of the torsion spring 11. When the push rod 4 rotation angle reaches , the trigger end of the limit reed of the push rod 4 overcomes the torque of the limit reed torsion spring 11 and completely pushes the limit reed 6 away, releases the swing arm striker 5 instantly, and completes the impact of the swing arm striker 5 under the drive of the torsion spring 10 action. During the return movement of the swing arm striker 5 to the limit rod 2 , the collision with the object table 14 can be realized.

As shown in FIG. 2 , the control unit 13 includes: a microcontroller 15 , a motor drive circuit 16 , a rotation angle acquisition circuit 17 and an RS232 communication interface 18 . The microcontroller 15 is connected to the motor drive circuit 16, the angle acquisition circuit 17 and the RS232 communication interface 18 respectively through wires, the motor drive circuit 16 is connected to the motor 7, and the angle acquisition circuit 17 is connected to the angle sensor 9. The working process of the whole control unit 13 is as follows, the microcontroller 15 obtains the angle value of the angle sensor 9 in real time through the angle acquisition circuit 17, and calculates the position of the push rod 4 accordingly, and then judges the working state of the device; then feedbacks the work through the RS232 communication interface 18 The instruction obtained after the state; through the motor drive circuit 16 to control the rotation of the motor 7, the motor 7 drives the push rod 4 to perform corresponding movements, and completes the homing, holding and releasing of the swing arm striker 5.

Microcontroller 15 can adopt single-chip microcomputer, DSP etc. to realize, and its workflow is as shown in Figure 6: after microcontroller 15 finishes initializing work, begins to wait to obtain external instruction; If the instruction that obtains is homing instruction, microcontroller 15 Then send a control signal to control the motor to rotate clockwise, and at the same time collect the rotation angle until the rotation angle is After that, send a control signal to control the motor to rotate counterclockwise, and at the same time collect the rotation angle until the rotation angle is Finally, send a control signal again to control the motor to stop moving, then send the striker return completion status code through the RS232 communication pin, and wait for the external command again; if the command obtained is a release command, the microcontroller 15 then sends a control signal to control The motor rotates counterclockwise, and the rotation angle is collected at the same time until the rotation angle is Finally, send a control signal to control the motor to stop moving, then send the striker release status code through the RS232 communication pin, and wait for the external command again.

According to the obtained RS232 command, the complete working process of the program-controlled impact device is as follows:

1. RS232 striker return command: swing arm striker 5 return process. After receiving the homing command through the RS232 communication interface 18, the microcontroller 15 uses the motor drive circuit 16 to control the motor 7 to rotate clockwise. The push rod 4 is driven by the motor 7, and its striker end pushes the swing arm striker 5 to compress the torsion spring 10, away from the limit rod 2; the angle sensor 9 feeds back the angle of the push rod 4 in real time, and when the microcontroller 15 passes through the angle acquisition The circuit 17 collects that the push rod 4 rotates to an angle , the limit reed 6 working ends are automatically snapped into the limit slot 12 at the end of the swing arm striker 5 under the action of the limit reed torsion spring 11, and the swing arm striker 5 homing process is completed.

2. The process of maintaining the position of the striker 5 of the swing arm. The microcontroller 15 collects the arrival of the push rod 4 corners through the corner acquisition circuit 17 Finally, the motor drive circuit 16 is used to control the motor 7 to drive the push rod 4 to rotate counterclockwise. At this time, the position of the swing arm striker 5 under the action of the limit reed 6 remains unchanged, and the trigger end of the limit reed of the push rod 4 approaches the limit reed 6 gradually. When the microcontroller 15 collects the push rod 4 through the angle acquisition circuit 17 and rotates to the angle , the limit reed trigger end of the push rod 4 just contacts the limit reed 6 trigger end, waiting to trigger the limit reed 6. At the same time, the micro-controller 15 sends the return completion status code of the swing arm striker 5 through the RS232 communication interface 18 .

3. RS232 striker release command: the release process of swing arm striker 5. After receiving the release command through the RS232 communication interface 18, the microcontroller 15 uses the motor drive circuit 16 to control the motor 7 to continue to rotate counterclockwise. The trigger end of the push rod 4 limit reed starts to promote the limit reed 6 to overcome the torque of the torsion spring 11. When the microcontroller 15 collects the push rod 4 through the angle acquisition circuit 17 and rotates to the angle , the trigger end of the push rod 4 limit reeds overcomes the torque of the limit reed torsion spring 11 and pushes the limit reed 6 away completely, and instantly releases the swing arm striker 5 to complete the swing arm striker 5 impact action. At the same time, the microcontroller 15 sends the release status code of the swing arm striker 5 through the RS232 communication interface 18 .

Claims (3)

1. A program-controlled impact device for automatic measurement of fiber optic gyroscope output delay time, characterized in that it includes: base (1), limit rod (2), push rod (4), swing arm striker (5) , limit reed (6), motor (7), angle sensor (9), swing arm striker torsion spring (10), limit reed torsion spring (11) and control unit (13); wherein, the basic On the seat (1), the limit rod (2) and the limit reed installation shaft (3) are fixed, the motor (7) is installed on the underside of the base (1), and the motor shaft (8) of the motor (7) is connected to the base The motor shaft mounting holes on (1) are concentric, pass through the motor shaft mounting holes and extend to the upper side of the base (1); the motor shaft (8) on the upper side of the base (1) is installed coaxially from bottom to top There are a push rod (4) and a swing arm striker (5); the push rod (4) is locked with the motor shaft (8), so that the push rod (4) can rotate together with the motor shaft (8); the swing arm striker (5) It is installed with the motor shaft (8) through a ball bearing, so that the swing arm striker (5) can freely rotate around the motor shaft (8); a swing arm striker torsion spring ( 10), so that the swing arm striker (5) is subjected to the torque action of the rotation of the limit rod (2); the other end of the motor shaft (8) is equipped with a rotation angle sensor (9); the limit reed is installed on the shaft (3) The limit reed (6), the limit reed (6) rotation center hole and the limit reed installation shaft (3) are concentrically installed, so that the limit reed (6) can be installed with the limit reed shaft (3) The axis is free to rotate; a limit reed torsion spring (11) is installed between the limit reed (6) and the limit reed mounting shaft (3), so that the limit reed (6) is in the position of the limit reed torsion spring (11) Under the action of the restoring torque, its limit working end is in contact with the end of the swing arm striker (5) all the time; the stage (14) is installed on the base. 2. The program-controlled impact device for automatic measurement of fiber optic gyroscope output delay time according to claim 1, characterized in that, the push rod (4) has two working ends, one of which can be in contact with the swing arm striker (5) The striker end; the other is the trigger end of the limit reed that can be in contact with the limit reed (6); the striker end has an upwardly protruding cylindrical structure; the protruding cylindrical structure can be connected to the swing arm striker (5) One side is in contact, and driven by the motor (7), the swing arm striker (5) can be pushed to compress the swing arm striker torsion spring (10) to make a homing rotation away from the limit lever (2); the swing arm striker (5) The end has a limit card slot (12). When the push rod (4) pushes the swing arm striker (5) away from the limit rod (2) and moves to an angle θ ₁ during the homing process, the limit reed (6) working end Under the action of the torsion spring (11) of the limit reed, snap into the limit slot (12) at the end of the swing arm striker (5); the working end of the limit reed (6) snaps into the swing arm striker (5) After the limit slot (12) at the end, the limit reed (6) can counteract the torque generated by the torsion spring (10) of the swing arm striker (10), restraining the rotation of the swing arm striker (5) to the limit lever (2), thereby Realize the maintenance of the contraction deformation of the swing arm striker torsion spring (10); when the working end of the limit reed (6) is inserted into the limit slot (12) at the end of the swing arm striker (5), the motor (7) drives the push rod (4) When the striker end is away from the swing arm striker (5), the trigger end of the limit reed of the push rod (4) is close to the limit reed (6), but the swing arm striker (5) acts on the limit reed (6) The lower position remains unchanged; when the push rod (4) rotates to the angle θ ₂ , the trigger end of the limit reed of the push rod (4) just contacts with the trigger end of the limit reed (6); when the motor (7) drives When the striker end of the push rod (4) continues to leave the swing arm striker (5), the trigger end of the push rod (4) limit reed starts to push the limit reed (6) to overcome the torque of the limit reed torsion spring (11); When the push rod (4) angle of rotation reaches θ ₀ , the trigger end of the push rod (4) limit reed overcomes the torque of the limit reed limit reed torsion spring (11) and pushes the limit reed (6) away completely, The swing arm striker (5) is released instantaneously, and the strike action of the swing arm striker (5) is completed under the drive of the swing arm striker (5) torsion spring (10); The object stage (14) fixed on the base (1) can be impacted. 3. The program-controlled percussion device for automatic measurement of fiber optic gyroscope output delay time according to claim 1, characterized in that, the control unit (13) includes: a microcontroller (15), a motor drive circuit (16), a rotation angle Acquisition circuit (17) and RS232 communication interface (18); Microcontroller (15) is connected with motor drive circuit (16), corner acquisition circuit (17) and RS232 communication interface (18) respectively, motor drive circuit (16) and The motor (7) is connected, and the angle acquisition circuit (17) is connected to the angle sensor (9); the microcontroller (15) obtains the angle value of the angle sensor (9) in real time through the angle acquisition circuit (17), and calculates the push rod accordingly ( 4), and then judge the working status of the device; then feedback the working status through the RS232 communication interface (18); control the rotation of the motor (7) through the motor drive circuit (16), and the motor (7) drives the push rod (4) to do corresponding Movement to complete the homing, holding and releasing of the swing arm striker (5).