CN107830870A - A kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method - Google Patents
A kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method Download PDFInfo
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- CN107830870A CN107830870A CN201710914714.7A CN201710914714A CN107830870A CN 107830870 A CN107830870 A CN 107830870A CN 201710914714 A CN201710914714 A CN 201710914714A CN 107830870 A CN107830870 A CN 107830870A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The present invention relates to a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method, its technical characterstic is：Comprise the following steps：Step 1, each electrostatic suspension electrode zone boundary line coordinate value of measurement, obtain coordinate points on each boundary line；Step 2, establish each electrostatic suspension electrode zone boundary line equation in coordinates and refine coordinate points：Step 3, the electrostatic suspension electrode areas of multiple draw pins is calculated using cyclic iterative method according to boundary curve equation model respectively, and the comparative electrode capacitance of each draw pin is calculated according to the electrostatic suspension electrode area of each draw pin；Step 4, each electrostatic suspension electrode zone capacitance of measurement；Step 5, startup power supply, supporting voltage tester, detecting electrode distribution correctness are measured by control circuit.The present invention passes through electrostatic suspension voltage tester, inspecting electrode allocation for test technology, so as to ensure failure gyroscope repair capability.
Description
Technical field
The invention belongs to the hot cathode failure of pump service technique field of high accuracy gyroscope instrument, it is related to electrostatic suspension voltage tester
With inspecting electrode allocation for test technology, especially a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method.
Background technology
At present, inertial navigation system provides the information such as position, posture for ship navigating and armament systems, is to ensure naval vessels peace
Full navigation and the key equipment of missile operations efficiency.Wherein high accuracy gyroscope instrument is the core inertance element of inertial navigation system.
High accuracy gyroscope instrument is a kind of free gyroscope of spherical spinner, and spherical spinner is sealed in inside ceramic bowl, and radius tip electrode is connected
Very strong electrostatic force is formed between high voltage, with rotor to go to support spherical spinner.When there is displacement in rotor, displacement detecting electrode
Voltage can automatically adjust added voltage swing in corresponding coordination electrode, rotor stability in centre position, so as to play Zhi Chengzuo
With the system supporting pre- angle value of voltage tester is less than 0.4V.
Currently, equipment on Active Duty is the high accuracy gyroscope instrument from external import, with its frequency of use, run time significantly
Improve and increase, hot cathode failure of pump rate are continuously increased, have a strong impact on navy fight efficiency.Hot cathode pump is structurally situated at top
Spiral shell instrument center, and the envelope connection of ceramic electrode bowl indium.It is repaired gyroscope must all to be disassembled, open and expose ceramics
The coordination electrode of electrode bowl.Because the instrument belongs to external import, the technical data not referred to, for exposed control electricity
Post is drawn in pole, without clear and definite technical definition.Therefore a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test technical side is needed
Method, provide performance qualified high accuracy gyroscope instrument for naval, ensure that naval force's experiment is badly in need of.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of high accuracy gyroscope instrument electrostatic suspension electrode point
With method of testing, can solve the heat of high accuracy gyroscope instrument by electrostatic suspension voltage tester and inspecting electrode allocation for test technology
Negative electrode failure of pump repair issues.
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method, comprises the following steps：
Step 1, each electrostatic suspension electrode zone boundary line coordinate value of measurement, obtain coordinate points on each boundary line；
Step 2, establish each electrostatic suspension electrode zone boundary line equation in coordinates and refine coordinate points：
Step 3, the electrostatic branch of multiple draw pins is calculated according to boundary curve equation model respectively using cyclic iterative method
Electrode area is held, and the comparative electrode capacitance of each draw pin is calculated according to the electrostatic suspension electrode area of each draw pin；
Step 4, the draw pin label according to step 3 distribute, and obtain symmetry electrode distribution information, and using six and half high accuracy
Digital capacitance meter measures each electrostatic suspension electrode zone capacitance successively；
Step 5, startup power supply, supporting voltage tester, detecting electrode distribution correctness are measured by control circuit；
Moreover, the specific method of the step 1 is：Precision is used as each electrostatic branch of 0.6 micron of three coordinate measuring engine measurement
Electrode zone boundary line coordinate value is held, obtains coordinate points on each boundary line.
Moreover, the specific method of the step 2 is：Spherical coordinates is established as origin using the sphere centre of sphere where supporting electrode zone
System, obtains each electrostatic suspension electrode zone boundary line equation in coordinates model, is substituted into coordinate points on each boundary line are obtained in step 1
Boundary line equation in coordinates model obtains each boundary line equation in coordinates, by the way that refinement coordinate points are calculated.
Moreover, multiple draw is calculated using cyclic iterative method according to boundary curve equation model in the step 3 respectively
The specific steps of the electrostatic suspension electrode area of pin include：
(1) electrode zone is resolved into typical rectangular region, wherein, f1And f2It is two boundary curve equation models respectively；
Initially set and typical rectangular region is divided into n sub-regions along Y direction, be highly h per sub-regionsn, each
Subregion area is:
Si=[f2(yi)-f2(yi)]×h (1)
(2) it is calculated according to being divided into n block subregions, the electrode region areas and is：
(3) according to 2n block subregions are divided into, S can be calculated by formula (1) and formula (2)n2, calculate two kinds of separation subregion sides
Method obtains relative ratios' Δ S of difference in areas：
Δ S=(Sn1-Sn2)/Sn1 (3)
(4) if during Δ S >=0.001, continue subdivision and separate number, until Δ S≤0.001 when iteration terminate, take last
Calculate electrostatic suspension electrode area.
Moreover, the comparative electrode of each draw pin is calculated in the electrostatic suspension electrode area according to each draw pin of the step 3
The specific steps of capacitance include：
(1) calculating single-piece electrode electric capacity calculation formula is：
In formula, ε0It is dielectric constant；εrIt is relative dielectric constant, is 1 in vacuum；S is electrode area；δ is electrode and rotor
Between distance；
(2) comparative electrode area capacitance calculates according to two serial capacitances, and calculation formula is：
In formula, C1And C2It is two capacitances of concatenation.
Moreover, the specific steps of the step 4 include：
(1) analysis is calculated according to electrostatic suspension electrode zone boundary line equation in coordinates, determines the distribution of electrode to pole；
(2) electric capacity measuring each polar region respectively using capacitance meter.
Moreover, the specific method of the step 5 is：Electric capacity and supporting voltage each polar region measured according to capacitance meter
Value, by the electrode polar region of distribution, is respectively connected to control circuit and displacement detecting circuit, support the measurement of voltage, for examining
Survey the electrode distribution correctness of step 3 and step 4.
The advantages and positive effects of the present invention are：
1st, in the case of the present invention completely closes off to China's technology abroad, research electrostatic suspension electrode zone boundary line is special
Point, using each electrostatic suspension electrode zone boundary line coordinate value of three coordinate measuring engine measurement；Second, establish spherical coordinate system, using following
Ring iterative method calculates supporting electrode area and capacitor's capacity；Third, distribute electrode draw pin sequence number simultaneously by establishing abscissa datum line
The symmetry for determining electrode draw pin is measured by seniority top digit measurement table；And then high accuracy gyroscope instrument electrostatic suspension electricity is researched and solved
Pole allocation for test method, ensure external failure gyroscope repair capability.The invention belongs to original and fill the domestic gaps, will repair
Gyroscope deliver naval force use after, dependable performance, obtain user's favorable comment.The present invention realizes the breakthrough of maintainability,
Equipment on Active Duty supportability is improved, is contributed for the emergency guarantee test mission of naval, there is military and social benefit.
2nd, high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method of the invention, in no any technical data background
Under, concentrate on studies, careful analysis, capacity area in spherical cavity, separation monopole capacitor's capacity, the comparison of bipolar electric capacity are calculated by surveying and drawing
Etc. mode, voluntarily survey and draw, calculate, having researched and solved electrode allocation for test technology, the supporting signal detection voltage by step 5 is surveyed
Examination, as a result meets system requirements.
3rd, high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method of the invention, external high accuracy can be mainly used in
The hot cathode failure of pump of gyroscope is repaired.Abroad in the case of China's technology blockage, it is necessary to a kind of quiet to high accuracy gyroscope instrument
Electric supporting electrode allocation for test technology, for the correctness for examining hot cathode failure of pump to repair.Electrode distribution of the present invention
Measuring technology is also first Application at home.After above-mentioned technology, by electrostatic suspension voltage tester, inspecting electrode distribution is surveyed
Examination technology, so as to ensure external failure gyroscope repair capability.
Brief description of the drawings
Fig. 1 is the electrostatic suspension electrode upper end cover plan of the present invention；
Fig. 2 is the electrostatic suspension electrode bottom end cover plan of the present invention；
Fig. 3 is the typical electrode area iterative calculation area schematic of the present invention；
Fig. 4 is the electrostatic suspension voltage principle block diagram of the present invention.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing：
The present invention for realize electrostatic suspension electrode accurately distribution first it is to be understood that each electrode zone exact area and gap, and
It will be examined with respect to electrostatic suspension electrode zone capacitor theory calculated value and measured value comparative analysis, then with Access Control circuit and displacement
Slowdown monitoring circuit, support the measurement checking of voltage.Each electrostatic suspension electrode zone exact area is obtained using mapping mode, first
Survey and draw each electrode zone boundary point coordinate value, establish boundary curve equation, with boundary curve equation using cyclic iterative method by
Step divided area obtains the electrostatic suspension electrode zone exact area in the range of calculation error.The main innovation point of the present invention is
Take eyeball coordinate value to be combined method with electrostatic suspension electrode pattern theoretical calculation, calculate each region electrostatic suspension electrode
Parameter.
A kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method, comprises the following steps：
Step 1, each electrostatic suspension electrode zone boundary line coordinate value of measurement, obtain coordinate points on each boundary line；
The specific method of the step 1 is：Precision is used as each electrostatic suspension electrode of 0.6 micron of three coordinate measuring engine measurement
Zone boundary line coordinates value, obtains coordinate points on each boundary line.
Step 2, establish each electrostatic suspension electrode zone boundary line equation in coordinates and refine coordinate points：
The specific method of the step 2 is：Spherical coordinate system is established as origin using the sphere centre of sphere where supporting electrode zone, obtained
To each electrostatic suspension electrode zone boundary line equation in coordinates model, border is substituted into coordinate points on each boundary line are obtained in step 1
Line coordinates equation model obtains each boundary line equation in coordinates, by the way that refinement coordinate points are calculated.
Boundary line equation in coordinates model 1:With 0 ° of datum line parallel section equation；
Boundary line equation in coordinates model 2:With 90 ° of datum line parallel section equations；
Boundary line equation in coordinates model 3:With 45 ° and 135 ° of datum line parallel section equations；
Step 3, the electrostatic branch of multiple draw pins is calculated according to boundary curve equation model respectively using cyclic iterative method
Electrode area is held, and the comparative electrode capacitance of each draw pin is calculated according to the electrostatic suspension electrode area of each draw pin；
The electrostatic branch that multiple draw pins are calculated respectively using cyclic iterative method according to boundary curve equation of the step 3
Holding the specific steps of electrode area includes：
(1) electrode zone is resolved into typical rectangular region as shown in Figure 3, as shown in Figure 3.Wherein, f1And f2It is two respectively
Individual boundary curve equation model；
Initially set and typical rectangular region is divided into n sub-regions along Y direction, be highly h per sub-regionsn, each
Subregion area is:
Si=[f2(yi)-f2(yi)]×h (1)
(2) it is calculated according to being divided into n block subregions, the electrode region areas and is：
(3) according to 2n block subregions are divided into, S can be calculated by formula (1) and formula (2)n2, calculate two kinds of separation subregion sides
Method obtains relative ratios' Δ S of difference in areas：
Δ S=(Sn1-Sn2)/Sn1 (3)
(4) if during Δ S >=0.001, continue subdivision and separate number, until Δ S≤0.001 when iteration terminate, take last
Calculate electrostatic suspension electrode area.
In the present embodiment, the electrostatic suspension of multiple draw pins is calculated with each electrostatic suspension electrode zone boundary line equation in coordinates
Electrode area, take loop iteration method that draw pin 1~16 is calculated and draw electrostatic suspension electrode area, the results are shown in Table 1.
Table 1
The comparative electrode capacitance of each draw pin is calculated in the electrostatic suspension electrode area according to each draw pin of the step 3
Specific steps include：
(1) calculating single-piece electrode electric capacity calculation formula is：
In formula, ε0It is dielectric constant；εrIt is relative dielectric constant, is 1 in vacuum；S is electrode area；δ is electrode and rotor
Between distance；
(2) comparative electrode area capacitance calculates according to two serial capacitances, and calculation formula is：
In formula, C1And C2It is two capacitances of concatenation；
In the present embodiment, in terms of mapping situation, No. 3 draw pins and No. 7 draw pins, No. 11 draw pins and No. 15 draw pins, No. 9 draw pins
Connected with No. 13 draw pins, No. 1 draw pin with No. 5 draw pins by outside lead, corresponding two electrode zones just synthesize an electrode zone.
Electrode centers position is occupy according to rotor to calculate, and comparative electrode capacitor theory calculated value can be calculated, the results are shown in Table 2.
Table 2
The operation principle of the step 3 is：
Each electrode area is calculated according to formula (1)-(3), is listed in table 1.According to formula (4)-(5), with electrode in table 1
Areal calculation obtains comparative electrode capacitance, is listed in table 2.
Wherein, upper end cover electrode draw pin sequence number defines, on the basis of abscissa：30 ° of positions are that 8,45 ° of positions of label are mark
Number 1,90 ° of position is that 2,135 ° of positions of label are that 3,180 ° of positions of label are that 4,225 ° of positions of label are that 5,270 ° of positions of label are
6,315 ° of positions of label are label 7.
Wherein, bottom end cover electrode draw pin sequence number defines, on the basis of abscissa：30 ° of positions are that 16,45 ° of positions of label are
9,90 ° of positions of label are that 10,135 ° of positions of label are that 11,180 ° of positions of label are that 12,225 ° of positions of label are 13,270 ° of label
Position is that 14,315 ° of positions of label are label 15.Its schematic diagram is shown in Fig. 1, Fig. 2 respectively.
Step 4, the draw pin label according to step 3 distribute, and obtain symmetry electrode distribution information, and using six and half high accuracy
Digital capacitance meter measures each electrostatic suspension electrode zone capacitance successively；
Electrostatic suspension electrode sequence number numbering is 1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16.Wherein 1~8
Number distribution is distributed in lower surface in upper surface, 9~16.
The step 4 concretely comprises the following steps：
(3) analysis is calculated according to electrostatic suspension electrode zone boundary line equation in coordinates, determines the distribution of electrode to pole；
In the present embodiment, the distribution of electrode is to extremely：2/6、4/8、3/9、5/13、10/14、12/16.
(4) electric capacity measuring each polar region respectively using capacitance meter, measurement result are shown in Table 3.
Table 3
| Electrode label | 2/6 | 4/8 | 3/11 | 5/13 | 12/16 | 10/14 |
| Capacitance (pF) | 21.74 | 20.79 | 23.08 | 23.42 | 21.92 | 21.83 |
By calculating and measuring, it is found that 2/6,3/9,12/16,4/8,5/13,10/14 each interelectrode capacity has symmetry,
Area difference 8pF calculated with step 3 or so, is due to the error for measuring tape, belongs to nominal error scope.
List paired working electrode calculating capacitance in table 2 with listing measured value in table 3 to be consistent, difference belongs to positive constant error
Difference.
Step 5, startup power supply, supporting voltage tester, detecting electrode distribution correctness are measured by control circuit：
Supporting voltage measurement needs outside to provide dc source for supporting electrode, while configures corresponding displacement detecting and control
Circuit processed can be realized.Theory diagram is shown in Fig. 4, and direct current supports power supply major function and provides+27V for displacement detecting and control circuit
Working power.Control circuit realizes electrostatic suspension closed loop control algorithm, the inspection of output supporting signal by modulus and digital-to-analogue conversion
Survey voltage.High voltage amplifier signal will detect voltage and carry out power amplification.Displacement detecting circuit is using capacitance bridge that rotor is inclined
Positional distance from spherical cavity center is converted into high frequency ac signal, then produce after gain amplification, phase demodulation and filtering with
The proportional d. c. voltage signal of rotor displacement.The voltage measuring value is shown in Table 4.The measured value meets system performance requirements.
Table 4
| Sequence number | Support voltage 1 | Support voltage 2 | Support voltage 3 | Remarks |
| Magnitude of voltage (V) | 0.153 | 0.047 | 0.068 |
The specific method of the step 5 is：Electric capacity and supporting magnitude of voltage, will be distributed between each polar region measured according to capacitance meter
Electrode polar region, be respectively connected to control circuit and displacement detecting circuit, carry out support voltage measurement, for the He of detecting step 3
The electrode distribution correctness of step 4.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
Include and be not limited to embodiment described in embodiment, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Claims (7)
- A kind of 1. high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method, it is characterised in that：Comprise the following steps：Step 1, each electrostatic suspension electrode zone boundary line coordinate value of measurement, obtain coordinate points on each boundary line；Step 2, establish each electrostatic suspension electrode zone boundary line equation in coordinates and refine coordinate points：Step 3, according to boundary curve equation model using cyclic iterative method be calculated respectively multiple draw pins electrostatic suspension electricity Pole-face accumulates, and the comparative electrode capacitance of each draw pin is calculated according to the electrostatic suspension electrode area of each draw pin；Step 4, the draw pin label according to step 3 distribute, and obtain symmetry electrode distribution information, and use six and half high accuracy numbers Capacitance meter measures each electrostatic suspension electrode zone capacitance successively；Step 5, startup power supply, supporting voltage tester, detecting electrode distribution correctness are measured by control circuit.
- A kind of 2. high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1, it is characterised in that： The specific method of the step 1 is：Precision is used as each electrostatic suspension electrode zone border of 0.6 micron of three coordinate measuring engine measurement Line coordinates value, obtain coordinate points on each boundary line.
- 3. a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1 or 2, its feature exist In：The specific method of the step 2 is：Spherical coordinate system is established as origin using the sphere centre of sphere where supporting electrode zone, obtained each Electrostatic suspension electrode zone boundary line equation in coordinates model, boundary line seat is substituted into coordinate points on each boundary line are obtained in step 1 Mark equation model obtains each boundary line equation in coordinates, by the way that refinement coordinate points are calculated.
- 4. a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1 or 2, its feature exist In：The electrostatic branch that multiple draw pins are calculated respectively using cyclic iterative method according to boundary curve equation model of the step 3 Holding the specific steps of electrode area includes：(1) electrode zone is resolved into typical rectangular region, wherein, f1And f2It is two boundary curve equation models respectively；Initially set and typical rectangular region is divided into n sub-regions along Y direction, be highly h per sub-regionsn, per sub-regions Area is:Si=[f2(yi)-f2(yi)]×h(2) it is calculated according to being divided into n block subregions, the electrode region areas and is：<mrow> <msub> <mi>S</mi> <mrow> <mi>n</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msubsup> <mi>&Sigma;</mi> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </msubsup> <mi>S</mi> <mi>i</mi> </mrow>(3) according to 2n block subregions are divided into, S can be calculated by two formula of step (1) and step (2)n2, calculate two kinds points Relative ratios' Δ S of difference in areas is obtained every subregion method：Δ S=(Sn1-Sn2)/Sn1(4) if during Δ S >=0.001, continue subdivision and separate number, until Δ S≤0.001 when iteration terminate, take last calculating Electrostatic suspension electrode area.
- 5. a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1 or 2, its feature exist In：The tool of the comparative electrode capacitance of each draw pin is calculated in the electrostatic suspension electrode area according to each draw pin of the step 3 Body step includes：(1) calculating single-piece electrode electric capacity calculation formula is：<mrow> <mi>C</mi> <mo>=</mo> <msub> <mi>&epsiv;</mi> <mn>0</mn> </msub> <msub> <mi>&epsiv;</mi> <mi>r</mi> </msub> <mfrac> <mi>S</mi> <mi>&delta;</mi> </mfrac> </mrow>In formula, ε0It is dielectric constant；εrIt is relative dielectric constant, is 1 in vacuum；S is electrode area；δ is between electrode and rotor Distance；(2) comparative electrode area capacitance calculates according to two serial capacitances, and calculation formula is：<mrow> <mi>C</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>C</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>C</mi> <mn>2</mn> </msub> </mrow> <mrow> <msub> <mi>C</mi> <mn>1</mn> </msub> <msub> <mi>C</mi> <mn>2</mn> </msub> </mrow> </mfrac> </mrow>In formula, C1And C2It is two capacitances of concatenation.
- 6. a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1 or 2, its feature exist In：The specific steps of the step 4 include：(1) analysis is calculated according to electrostatic suspension electrode zone boundary line equation in coordinates, determines the distribution of electrode to pole；(2) electric capacity measuring each polar region respectively using capacitance meter.
- 7. a kind of high accuracy gyroscope instrument electrostatic suspension electrode allocation for test method according to claim 1 or 2, its feature exist In：The specific method of the step 5 is：Electric capacity and supporting magnitude of voltage each polar region measured according to capacitance meter, by distribution Electrode polar region, is respectively connected to control circuit and displacement detecting circuit, support the measurement of voltage, for detecting step 3 and step Rapid 4 electrode distribution correctness.
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| CN111046538A (en) * | 2019-11-26 | 2020-04-21 | 中国科学院空间应用工程与技术中心 | Voltage distribution method and system for electrostatic force actuator |
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