CN106123883A - Spheroid rotor three-axis gyroscope - Google Patents
Spheroid rotor three-axis gyroscope Download PDFInfo
- Publication number
- CN106123883A CN106123883A CN201610783734.0A CN201610783734A CN106123883A CN 106123883 A CN106123883 A CN 106123883A CN 201610783734 A CN201610783734 A CN 201610783734A CN 106123883 A CN106123883 A CN 106123883A
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- Prior art keywords
- rotor
- gimbal
- pedestal
- spheroid
- axle
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 39
- 239000007787 solid Substances 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of spheroid rotor three-axis gyroscope, belong to gyroscope technology field.It includes some sensors and spheroid rotor, pedestal, gimbal and the gyroscopes frame arranged the most successively, described spheroid rotor is rotationally connected with the pedestal of its periphery, described pedestal is rotationally connected with gimbal, gimbal is rotationally connected with gyroscopes frame, the center of rotation of described spheroid rotor, pedestal, gimbal and gyroscopes frame both passes through the centre of sphere of spheroid rotor, connects carrier base bottom gyroscopes frame.The present invention substantially increases the stability of gyroscope self, the erratic variation at gyroscopic precession angle is contained, thus improve certainty of measurement, it is compared to equivalent diameter disk rotor, in the case of its rotating speed is constant, rotor moment of inertia is increased, and has strengthened gyroscope three axle perpendicularity stability.
Description
Technical field
The present invention relates to a kind of multiaxis gyroscope applying spheroid rotor, belong to gyroscope technology field.
Background technology
Also can detect in the attitude of carrier own and state change without extraneous reference signal even if gyroscope is a kind of
Portion's sensor, sphere structure three-axis gyroscope as new-type in this is applied universal, utilizes the gyroscopic inertia of gyro and precession to survey
The attitude angle (course, pitching, rolling) of amount movable body, accurately measures the angular movement of movable body, and the inertia consisted of gyro is sat
Mark system realizes stablizing inertial platform, such that it is able to utilize the characteristic of gyro to set up the artificial reference coordinate in a relative inertness space
System, calculates vehicle by accurate gyroscope and accelerometer and (includes that rocket, guided missile, submarine, long-range aircraft, long-haul aircraft, aerospace are flown
Device etc.) rotary motion and linear motion signal, through computer COMPREHENSIVE CALCULATING, and instruct attitude control system and propulsion system,
Realize the entirely autonomous navigation of vehicle.The existing gyroscope being applied to every field, the limitation designed because of its structure, application
When the occasion that some special environment is severe, often can, rotor moment of inertia little due to rotor velocity be big not and three axles
Perpendicularity occurs that the reasons such as deviation make gyroscope self be not sufficiently stable, and causes that measurement is inaccurate, stability inadequate, even there will be
The most malfunctioning situation, thus cause measurement volume deviation.It is mainly manifested in, and rotor moment of inertia is big not and three axles are vertical
There are the reasons such as deviation in degree, and strong influence user of service is to the judgement of local environment and some other technology application.
Summary of the invention
For solve prior art exist defect, it is an object of the invention to provide a kind of reliable and stable, certainty of measurement is high
Spheroid rotor three-axis gyroscope.
The technical scheme is that spheroid rotor three-axis gyroscope, including some sensors and arrange the most successively
Spheroid rotor, pedestal, gimbal and the gyroscopes frame of cloth, spheroid rotor is in by gyroscopes frame and gimbal, pedestal
In the solid space structure formed, described spheroid rotor is rotationally connected with the pedestal of its periphery, and described pedestal turns with gimbal
Being dynamically connected, gimbal is rotationally connected with gyroscopes frame, turning of described spheroid rotor, pedestal, gimbal and gyroscopes frame
The moving axis heart both passes through the centre of sphere of spheroid rotor, connects carrier base bottom gyroscopes frame.
Described spheroid rotor is rotationally connected with pedestal by the fixing axle a connected, and axle a and pedestal are provided with and cooperate
Sensor.
Described pedestal is rotationally connected with gimbal by the fixing axle b connected, and axle b and gimbal are provided with and cooperate
Sensor.
Described gimbal is rotationally connected with gyroscopes frame by the fixing axle c connected, and axle c and gyroscopes frame are provided with
The sensor cooperated.
Described pedestal, gimbal and gyroscopes frame are cirque structure.
The fixing point of described gyroscopes frame and carrier base and the centre of sphere of spheroid rotor and axle a are in the same plane.
Described carrier base includes disc base, and described disc base connects vertebral body, and vertebral body top connects gyroscopes frame.
The invention has the beneficial effects as follows: rotary inertia is the key factor affecting precession, and rotary inertia is the biggest, angle of precession
Speed is the least, and gyroscope dynamic characteristic is the best, and spheroid rotor is compared to equivalent diameter disk rotor, the situation that its rotating speed is constant
Lower rotor part rotary inertia is increased, and substantially increases the stability of gyroscope self, the irregular change to gyroscopic precession angle
Move and contained, thus improve certainty of measurement, gyroscope three axle perpendicularity stability has been strengthened.
Accompanying drawing explanation
The present invention has accompanying drawing 1 width.
Fig. 1 is the structure chart of the present invention.
In figure, reference is as follows: 1, gyroscopes frame, and 2, axle a, 3, gimbal, 4, spheroid rotor, 5, pedestal, 6, support
Seat, 7, axle b, 8, axle c.
Detailed description of the invention
1 the present invention will be further described below in conjunction with the accompanying drawings:
Spheroid rotor three-axis gyroscope, the spheroid rotor 4 including some sensors and arranged the most successively, pedestal 5,
Gimbal 3 and gyroscopes frame 1, spheroid rotor 4 is in the solid being made up of gyroscopes frame 1 and gimbal 3, pedestal 5
In space structure, described spheroid rotor 4 is rotationally connected with the pedestal 5 of its periphery, and described pedestal 5 is rotationally connected with gimbal 3, often
Flatrack 3 is rotationally connected with gyroscopes frame 1, described spheroid rotor 4, pedestal 5, gimbal 3 and the rotary shaft of gyroscopes frame 1
The heart both passes through the centre of sphere of spheroid rotor 4, connects carrier base 6 bottom gyroscopes frame 1.
Described spheroid rotor 4 is rotationally connected with pedestal 5 by the fixing axle a2 connected, and axle a2 and pedestal 5 are provided with mutually
The sensor coordinated, when the spheroid rotor 4 of gyroscope and pedestal 5 are changed by External Force Acting position, spheroid rotor 4
Original state changes, the change of mutually countershaft a2 initial position generation angle, just can be measured object by sensor empty
Between the situation of change of position.
Described pedestal 5 is rotationally connected with gimbal 3 by the fixing axle b7 connected, and axle b7 and gimbal 3 are provided with mutually
The sensor coordinated, when the gimbal 3 of gyroscope and pedestal 5 are changed by External Force Acting position, flatrack axle 3 relative to
The change of axle b7 initial position generation angle, just can measure the situation of change of object space position by sensor.
Described gimbal 3 is rotationally connected with gyroscopes frame 1 by the fixing axle c8 connected, axle c8 and gyroscopes frame 1
It is provided with the sensor cooperated, when gyroscopes frame 1 and the gimbal 3 of gyroscope are changed by External Force Acting position
Time, gyroscopes frame 1, relative to the change of axle c8 initial position generation angle, just can measure object space by sensor
The situation of change of position.
Described pedestal 5, gimbal 3 and gyroscopes frame 1 are cirque structure.
Described gyroscopes frame 1 and the fixing point of carrier base 6 and the centre of sphere of spheroid rotor 4 and axle a2 are at same plane
In.
Described carrier base 6 includes disc base, and described disc base connects vertebral body, and vertebral body top connects gyroscopes frame 1.
When gyroscope normally uses, spheroid rotor 4 is in by gyroscopes frame 1 and axle a2, gimbal 3, pedestal 5, props up
In the solid space structure that stand 6 is formed.As a example by axle a2, gimbal 3, spheroid rotor 4 under the effect of external force around top
Spiral shell instrument axle a2 carries out high speed rotating；When by other External Force Actings, the original state of spheroid rotor 4 changes, mutually countershaft
A2 or the change of gimbal axis 3 initial position generation angle, just can measure the change of object space position by sensor
Situation.
Gross data is calculated as follows:
Spheric coordinate system chooses arbitrary volume element as mass-element, the volume of this volume element:
DV=r sin φ d θ rd φ dr=r^2sin φ drd θ d φ
Its quality:
Dm=m/ (4/3 π R^3) dV=4m/3 π R r^2 sin φ drd θ d φ
Rotary inertia to OZ axle in a coordinate system:
The rotary inertia of whole spheroid:
J==sin^3 φ d φ=2/5mR^2
And the rotary inertia of Thin Disk:
J=1/2mR^2
The volume of the ball of same diameter (50mm) is 523333 cubic millimeters；
The volume of the dish (thick 20mm) of same diameter (50mm) is 157000 cubic millimeters.
The volume of ball is 3.3 times of the volume of dish.
Substitute into: the rotary inertia of ball is 3300.
The rotary inertia of dish is 1250.The rotary inertia of ball is 2.64 times of dish.
Calculated by above-mentioned theory, be much larger than the quality of disk rotor with diameter dimension lower sphere rotor quality, its
Rotor moment of inertia numerical value is all greatly increased, thus decreases the angular velocity of precession of gyroscope；The spheroid rotor that quality is bigger exists
Also disk rotor gyro it is better than in the overall three axle perpendicularity structures of gyroscope to maintaining.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and modification, these improve and modification
Also should be regarded as protection scope of the present invention.
Claims (7)
1. a spheroid rotor three-axis gyroscope, it is characterised in that include some sensors and the ball arranged the most successively
Body rotor (4), pedestal (5), gimbal (3) and gyroscopes frame (1), spheroid rotor (4) be in by gyroscopes frame (1) and
In the solid space structure that axle a (2), gimbal (3), pedestal (5) are formed, described spheroid rotor (4) and the pedestal of its periphery
(5) being rotationally connected, described pedestal (5) is rotationally connected with gimbal (3), and gimbal (3) is rotationally connected with gyroscopes frame (1),
The center of rotation of described spheroid rotor (4), pedestal (5), gimbal (3) and gyroscopes frame (1) both passes through spheroid rotor (4)
The centre of sphere, gyroscopes frame (1) bottom connect carrier base (6).
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described spheroid rotor (4) is by solid
The fixed axle a (2) connected is rotationally connected with pedestal (5), and axle a (2) and pedestal (5) are provided with the sensor cooperated.
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described pedestal (5) is connected by fixing
The axle b (7) connect is rotationally connected with gimbal (3), and axle b (7) and gimbal (3) are provided with the sensor cooperated.
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described gimbal (3) is by fixing
The axle c (8) connected is rotationally connected with gyroscopes frame (1), and axle c (8) and gyroscopes frame (1) are provided with the sensing cooperated
Device.
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described pedestal (5), gimbal (3)
And gyroscopes frame (1) is cirque structure.
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described gyroscopes frame (1) with
The fixing point of stand (6) and the centre of sphere of spheroid rotor (4) and axle a (2) are in the same plane.
Spheroid rotor three-axis gyroscope the most according to claim 1, it is characterised in that described carrier base (6) includes disk
Base, described disc base connects vertebral body, and vertebral body top connects gyroscopes frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783734.0A CN106123883A (en) | 2016-08-31 | 2016-08-31 | Spheroid rotor three-axis gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783734.0A CN106123883A (en) | 2016-08-31 | 2016-08-31 | Spheroid rotor three-axis gyroscope |
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| Publication Number | Publication Date |
|---|---|
| CN106123883A true CN106123883A (en) | 2016-11-16 |
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| CN201610783734.0A Pending CN106123883A (en) | 2016-08-31 | 2016-08-31 | Spheroid rotor three-axis gyroscope |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705986A (en) * | 2016-12-23 | 2017-05-24 | 温州职业技术学院 | Automotive projection navigation device |
| CN106927066A (en) * | 2017-03-20 | 2017-07-07 | 上海航天控制技术研究所 | A kind of five axle position markers |
| CN107086001A (en) * | 2017-06-12 | 2017-08-22 | 南京林业大学 | A fingertip three-axis gyroscope |
| CN107340782A (en) * | 2017-07-03 | 2017-11-10 | 深圳市中微信息技术有限公司 | A kind of intelligence follows unmanned vehicle and its control method |
| CN108404847A (en) * | 2018-05-07 | 2018-08-17 | 福州鼎烯飞扬科技有限公司 | A kind of reaction kettle for producing graphene-based negative material |
| CN111260992A (en) * | 2018-11-30 | 2020-06-09 | 王振兴 | Simulation flight system and simulation flight method of rotor wing |
| CN111776150A (en) * | 2020-06-12 | 2020-10-16 | 浙江海洋大学 | Unmanned boat structure suitable for harsh sea conditions |
| CN115962251A (en) * | 2022-12-28 | 2023-04-14 | 华南理工大学 | An integrated device of flywheel energy storage and anti-rolling for marine floating platform |
| TWI801250B (en) * | 2022-05-30 | 2023-05-01 | 互宇向量股份有限公司 | Spherical multi-axis optical fiber sensing device, its assembly method and movable device using it |
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|---|---|---|---|---|
| EP0521757A1 (en) * | 1991-07-05 | 1993-01-07 | AEROSPATIALE Société Nationale Industrielle | Gyroscopic system measuring rotor orientation |
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| 史利国: "《站在大学讲台上 北京高校第九届青年教师教学基本功比赛实录及最佳教案汇编》", 31 July 2016, 北京理工大学出版社 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705986A (en) * | 2016-12-23 | 2017-05-24 | 温州职业技术学院 | Automotive projection navigation device |
| CN106705986B (en) * | 2016-12-23 | 2019-08-20 | 温州职业技术学院 | Car projection navigation device |
| CN106927066A (en) * | 2017-03-20 | 2017-07-07 | 上海航天控制技术研究所 | A kind of five axle position markers |
| CN106927066B (en) * | 2017-03-20 | 2019-03-26 | 上海航天控制技术研究所 | A kind of five axis position markers |
| CN107086001A (en) * | 2017-06-12 | 2017-08-22 | 南京林业大学 | A fingertip three-axis gyroscope |
| CN107340782A (en) * | 2017-07-03 | 2017-11-10 | 深圳市中微信息技术有限公司 | A kind of intelligence follows unmanned vehicle and its control method |
| CN108404847A (en) * | 2018-05-07 | 2018-08-17 | 福州鼎烯飞扬科技有限公司 | A kind of reaction kettle for producing graphene-based negative material |
| CN111260992A (en) * | 2018-11-30 | 2020-06-09 | 王振兴 | Simulation flight system and simulation flight method of rotor wing |
| CN111776150A (en) * | 2020-06-12 | 2020-10-16 | 浙江海洋大学 | Unmanned boat structure suitable for harsh sea conditions |
| TWI801250B (en) * | 2022-05-30 | 2023-05-01 | 互宇向量股份有限公司 | Spherical multi-axis optical fiber sensing device, its assembly method and movable device using it |
| US12209867B2 (en) | 2022-05-30 | 2025-01-28 | Aegiverse Co., Ltd | Spherical multi-axis optical fiber sensing device, assembling method and movable device |
| CN115962251A (en) * | 2022-12-28 | 2023-04-14 | 华南理工大学 | An integrated device of flywheel energy storage and anti-rolling for marine floating platform |
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Application publication date: 20161116 |