CN107830870B - High-precision gyroscope electrostatic support electrode distribution test method - Google Patents
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- 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
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention relates to a high-precision gyroscope electrostatic support electrode distribution test method which is technically characterized by comprising the following steps: the method comprises the following steps: step 1, measuring coordinate values of boundary lines of all electrostatic support electrode areas to obtain coordinate points on all the boundary lines; step 2, establishing a coordinate equation of the boundary line of each electrostatic support electrode area and refining coordinate points: step 3, respectively calculating the electrostatic support electrode areas of the plurality of guide pins by adopting a loop iteration method according to a boundary curve equation model, and calculating the relative electrode capacitance value of each guide pin according to the electrostatic support electrode area of each guide pin; step 4, measuring capacitance values of all electrostatic support electrode areas; and 5, starting a power supply, measuring the supporting voltage through the control circuit, and detecting the distribution correctness of the electrodes. The invention can ensure the repair capability of the failure gyroscope by testing the electrostatic supporting voltage and checking the electrode distribution testing technology.
Description
Technical Field
The invention belongs to the technical field of hot cathode pump fault repair of a high-precision gyroscope, relates to a static supporting voltage test and inspection electrode distribution test technology, and particularly relates to a high-precision gyroscope static supporting electrode distribution test method.
Background
At present, an inertial navigation system provides information such as position, attitude and the like for a naval vessel navigation and weapon system, and is key equipment for guaranteeing safe navigation and missile combat efficiency of the naval vessel. Wherein the high-precision gyroscope is a core inertial element of the inertial navigation system. The high-precision gyroscope is a free gyroscope with a spherical rotor, the spherical rotor is sealed in a ceramic bowl, a spherical electrode is connected with high voltage, and strong electrostatic force is formed between the spherical electrode and the rotor to support the spherical rotor. When the rotor is displaced, the voltage of the displacement detection electrode can automatically adjust the voltage applied to the corresponding control electrode to stabilize the rotor at the middle position, so that the supporting effect is achieved, and the testing prediction value of the system supporting voltage is smaller than 0.4V.
Currently, the active equipment is a high-precision gyroscope imported from abroad, and along with the great improvement and increase of the use frequency and the operation time of the gyroscope, the failure rate of a hot cathode pump is continuously increased, so that the naval combat efficiency is seriously influenced. The hot cathode pump is structurally located in the center of the gyroscope and connected with the ceramic electrode bowl in seal mode. In order to repair the gyroscope, the gyroscope is completely disassembled, and the control electrode of the exposed ceramic electrode bowl is opened. Because the instrument is imported abroad, no reference technical data exists, and no clear technical definition exists for the exposed control electrode lead column. Therefore, a technical method for distributing and testing the electrostatic support electrodes of the high-precision gyroscope is needed, the high-precision gyroscope with qualified performance is provided for the navy, and the urgent need of the navy army is guaranteed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a high-precision gyroscope electrostatic support electrode distribution testing method, which can solve the problem of hot cathode pump fault repair of a high-precision gyroscope through an electrostatic support voltage testing and inspection electrode distribution testing technology.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a high-precision gyroscope electrostatic support electrode distribution test method comprises the following steps:
step 1, measuring coordinate values of boundary lines of all electrostatic support electrode areas to obtain coordinate points on all the boundary lines;
step 2, establishing a coordinate equation of the boundary line of each electrostatic support electrode area and refining coordinate points:
step 3, respectively calculating the electrostatic support electrode areas of the plurality of guide pins by adopting a loop iteration method according to a boundary curve equation model, and calculating the relative electrode capacitance value of each guide pin according to the electrostatic support electrode area of each guide pin;
step 4, obtaining symmetrical electrode distribution information according to the lead pin label distribution in the step 3, and sequentially measuring capacitance values of all electrostatic support electrode areas by adopting a six-bit semi-high-precision digital capacitance meter;
step 5, starting a power supply, measuring a supporting voltage test through a control circuit, and detecting the distribution correctness of the electrodes;
moreover, the specific method of step 1 is: and measuring the coordinate value of the boundary line of each electrostatic support electrode area by adopting a three-coordinate measuring machine with the precision of 0.6 micrometer to obtain coordinate points on each boundary line.
Moreover, the specific method of the step 2 is as follows: and (3) establishing a spherical coordinate system by taking the spherical center of the spherical surface where the support electrode area is located as an origin to obtain a boundary line coordinate equation model of each electrostatic support electrode area, substituting the coordinate points on each boundary line obtained in the step (1) into the boundary line coordinate equation model to obtain each boundary line coordinate equation, and calculating to obtain refined coordinate points.
In addition, the specific step of calculating the areas of the electrostatic support electrodes of the plurality of pins by using a loop iteration method according to the boundary curve equation model in the step 3 includes:
(1) decomposing the electrode area into a typically rectangular area, wherein f1And f2Respectively two boundary curve equation models;
the initial setting divides a typical rectangular area into n sub-areas along the Y-axis direction, and the height of each sub-area is hnAnd the area of each subregion is:
Si＝[f2(yi)-f2(yi)]×h (1)
(2) the area of the electrode area is calculated by dividing the area into n sub-areas, and the area of the electrode area is as follows:
(3) s can be calculated according to the formula (1) and the formula (2) by dividing into 2n sub-regionsn2Calculating the difference in area between two separate sub-regionsRelative ratio Δ S:
ΔS＝(Sn1-Sn2)/Sn1(3)
(4) and if the delta S is more than or equal to 0.001, continuously subdividing the separation number until iteration is finished when the delta S is less than or equal to 0.001, and finally calculating the area of the electrostatic supporting electrode.
In step 3, the specific step of calculating the relative electrode capacitance value of each lead needle according to the electrostatic support electrode area of each lead needle includes:
(1) the calculation formula for calculating the capacitance of the single electrode is as follows:
in the formula (I), the compound is shown in the specification,0is the dielectric constant;ris the relative dielectric constant, 1 in vacuum; s is the electrode area; is the distance between the electrode and the rotor;
(2) the capacitance of the relative electrode area is calculated according to two series capacitors, and the calculation formula is as follows:
in the formula, C1And C2Two capacitance values are connected in series.
Further, the specific steps of step 4 include:
(1) calculating and analyzing according to a coordinate equation of a boundary line of an electrostatic support electrode area, and determining a distribution antipode of the electrode;
(2) and respectively measuring the capacitance between each pair of polar regions by using a capacitance meter.
Moreover, the specific method of the step 5 is as follows: and (4) according to the capacitance between each pair of electrode regions measured by the capacitance meter and the supporting voltage value, respectively accessing the allocated electrode regions to the control circuit and the displacement detection circuit, and measuring the supporting voltage for detecting the electrode allocation correctness in the steps 3 and 4.
The invention has the advantages and positive effects that:
1. under the condition that the technology of China is completely blocked abroad, the characteristics of the boundary line of the electrostatic supporting electrode area are researched, and the coordinate value of the boundary line of each electrostatic supporting electrode area is measured by adopting a three-coordinate measuring machine; secondly, establishing a spherical coordinate system, and calculating the area of the supporting electrode and the capacitance value by adopting a loop iteration method; thirdly, distributing the serial numbers of the electrode guide pins by establishing a horizontal coordinate reference line and measuring and determining the symmetry of the electrode guide pins by a high-order number measuring meter; and further, the method for testing the distribution of the electrostatic supporting electrodes of the high-precision gyroscope is researched and solved, and the repair capability of the foreign fault gyroscope is ensured. The invention belongs to the original creation and fills the domestic blank, and the repaired gyroscope has reliable performance after being delivered to the army of the navy for use, thereby obtaining favorable comment of users. The invention realizes the breakthrough of maintenance capability, improves the guarantee capability of active equipment, makes a contribution to the emergency guarantee test task of navy, and has military and social benefits.
2. The high-precision gyroscope electrostatic support electrode distribution test method provided by the invention is characterized in that under the background of no technical information, the method is studied and analyzed carefully, the electrode distribution test technology is automatically surveyed, calculated and researched by surveying, mapping and calculating the capacitance area in the spherical cavity, the capacitance value of the separated monopole capacitor and the bipolar capacitance ratio in an equivalent mode, and the result meets the system requirement through the support signal detection voltage test of the step 5.
3. The high-precision gyroscope electrostatic support electrode distribution testing method can be mainly applied to the repair of the hot cathode pump fault of foreign high-precision gyroscopes. Under the condition of technical blockade in China abroad, a technology for distributing and testing the electrostatic supporting electrodes of the high-precision gyroscope is needed for checking the correctness of fault repair of the hot cathode pump. The electrode distribution testing technology of the invention is also applied for the first time in China. After the technology is adopted, the electrostatic supporting voltage test and the electrode distribution test technology are checked, so that the repair capability of a foreign fault gyroscope is ensured.
Drawings
FIG. 1 is a plan view of an electrostatic support electrode upper end cap of the present invention;
FIG. 2 is a plan view of the electrostatic support electrode lower end cap of the present invention;
FIG. 3 is a schematic representation of an exemplary iterative calculation of electrode area region of the present invention;
fig. 4 is a schematic block diagram of the electrostatic support voltage of the present invention.
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
in order to realize accurate distribution of the electrostatic support electrodes, the accurate area and the gap of each electrode area are firstly known, a theoretical calculated value and an actual measured value of capacitance of the relative electrostatic support electrode area are compared and analyzed, and then the measurement verification of the support voltage is carried out by connecting the theoretical calculated value and the actual measured value into a control circuit and a displacement detection circuit. The accurate area of each electrostatic supporting electrode area is obtained by adopting a surveying and mapping mode, firstly, the coordinate value of the boundary point of each electrode area is surveyed, a boundary curve equation is established, and the accurate area of the electrostatic supporting electrode area within the calculation error range is obtained by using the boundary curve equation and gradually subdividing the area by adopting a loop iteration method. The invention has the main innovation point that the method of combining the real-time point coordinate value and the theoretical calculation of the electrostatic supporting electrode graph is adopted to calculate the electrostatic supporting electrode parameters of each area.
A high-precision gyroscope electrostatic support electrode distribution test method comprises the following steps:
step 1, measuring coordinate values of boundary lines of all electrostatic support electrode areas to obtain coordinate points on all the boundary lines;
the specific method of the step 1 comprises the following steps: and measuring the coordinate value of the boundary line of each electrostatic support electrode area by adopting a three-coordinate measuring machine with the precision of 0.6 micrometer to obtain coordinate points on each boundary line.
Step 2, establishing a coordinate equation of the boundary line of each electrostatic support electrode area and refining coordinate points:
the specific method of the step 2 comprises the following steps: and (3) establishing a spherical coordinate system by taking the spherical center of the spherical surface where the support electrode area is located as an origin to obtain a boundary line coordinate equation model of each electrostatic support electrode area, substituting the coordinate points on each boundary line obtained in the step (1) into the boundary line coordinate equation model to obtain each boundary line coordinate equation, and calculating to obtain refined coordinate points.
A boundary line coordinate equation model 1 is a section equation parallel to a 0-degree datum line;
a boundary line coordinate equation model 2 is a section equation parallel to a 90-degree datum line;
a boundary line coordinate equation model 3 is a section equation parallel to the 45-degree and 135-degree datum lines;
step 3, respectively calculating the electrostatic support electrode areas of the plurality of guide pins by adopting a loop iteration method according to a boundary curve equation model, and calculating the relative electrode capacitance value of each guide pin according to the electrostatic support electrode area of each guide pin;
the specific step of respectively calculating the areas of the electrostatic support electrodes of the plurality of guide pins by adopting a loop iteration method according to the boundary curve equation in the step 3 comprises the following steps:
(1) the electrode area is broken down into a typical rectangular area as shown in fig. 3, as shown in fig. 3. Wherein f is1And f2Respectively two boundary curve equation models;
the initial setting divides a typical rectangular area into n sub-areas along the Y-axis direction, and the height of each sub-area is hnAnd the area of each subregion is:
Si＝[f2(yi)-f2(yi)]×h (1)
(2) the area of the electrode area is calculated by dividing the area into n sub-areas, and the area of the electrode area is as follows:
(3) s can be calculated according to the formula (1) and the formula (2) by dividing into 2n sub-regionsn2Calculating two methods for separating subregions to obtain the relative ratio delta S of the area difference:
ΔS＝(Sn1-Sn2)/Sn1(3)
(4) and if the delta S is more than or equal to 0.001, continuously subdividing the separation number until iteration is finished when the delta S is less than or equal to 0.001, and finally calculating the area of the electrostatic supporting electrode.
In the embodiment, the area of the electrostatic support electrodes of a plurality of pins is calculated by using a coordinate equation of the boundary line of each electrostatic support electrode area, and the area of the electrostatic support electrodes led out by the pins 1-16 is calculated by adopting a loop iteration method, and the result is shown in table 1.
TABLE 1
The specific step of calculating the relative electrode capacitance value of each lead needle according to the electrostatic support electrode area of each lead needle in the step 3 comprises:
(1) the calculation formula for calculating the capacitance of the single electrode is as follows:
in the formula (I), the compound is shown in the specification,0is the dielectric constant;ris the relative dielectric constant, 1 in vacuum; s is the electrode area; is the distance between the electrode and the rotor;
(2) the capacitance of the relative electrode area is calculated according to two series capacitors, and the calculation formula is as follows:
in the formula, C1And C2Two capacitance values are connected in series;
in this embodiment, from the perspective of mapping, the 3 # and 7 # pins, the 11 # and 15 # pins, the 9 # and 13 # pins, and the 1 # and 5 # pins are connected by external leads, and the two corresponding electrode areas are combined into one electrode area. The theoretical calculation value of the capacitance of the relative electrode can be calculated according to the position of the rotor in the center of the electrode, and the result is shown in table 2.
TABLE 2
The working principle of the step 3 is as follows:
the area of each electrode was calculated according to the formulas (1) to (3) and is shown in Table 1. The relative electrode capacitance values were calculated from the electrode areas in Table 1 according to equations (4) to (5), and are shown in Table 2.
Wherein, the upper end cover electrode guide needle serial number definition takes the abscissa as the benchmark: the 30 ° position is denoted by reference numeral 8, the 45 ° position is denoted by reference numeral 1, the 90 ° position is denoted by reference numeral 2, the 135 ° position is denoted by reference numeral 3, the 180 ° position is denoted by reference numeral 4, the 225 ° position is denoted by reference numeral 5, the 270 ° position is denoted by reference numeral 6, and the 315 ° position is denoted by reference numeral 7.
Wherein, the lower end cover electrode guide needle serial number definition takes the abscissa as the benchmark: the 30 ° position is denoted by reference numeral 16, the 45 ° position is denoted by reference numeral 9, the 90 ° position is denoted by reference numeral 10, the 135 ° position is denoted by reference numeral 11, the 180 ° position is denoted by reference numeral 12, the 225 ° position is denoted by reference numeral 13, the 270 ° position is denoted by reference numeral 14, and the 315 ° position is denoted by reference numeral 15. The schematic diagrams are respectively shown in fig. 1 and fig. 2.
Step 4, obtaining symmetrical electrode distribution information according to the lead pin label distribution in the step 3, and sequentially measuring capacitance values of all electrostatic support electrode areas by adopting a six-bit semi-high-precision digital capacitance meter;
the electrostatic support electrodes are numbered 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16. Wherein the numbers of 1-8 are distributed on the upper end surface, and the numbers of 9-16 are distributed on the lower end surface.
The specific steps of the step 4 are as follows:
(3) calculating and analyzing according to a coordinate equation of a boundary line of an electrostatic support electrode area, and determining a distribution antipode of the electrode;
in this embodiment, the distribution counter electrode of the electrodes is: 2/6, 4/8, 3/9, 5/13, 10/14, 12/16.
(4) The capacitance of each antipode interval is measured by adopting a capacitance meter, and the measurement result is shown in table 3.
TABLE 3
| Electrode label | 2/6 | 4/8 | 3/11 | 5/13 | 12/16 | 10/14 |
| Capacitance value (pF) | 21.74 | 20.79 | 23.08 | 23.42 | 21.92 | 21.83 |
Through calculation and measurement, it is found that the inter-electrode capacitances of 2/6, 3/9, 12/16, 4/8, 5/13 and 10/14 have symmetry, and the difference between the area calculated in step 3 and the area calculated in step 3 is about 8pF, which is caused by errors brought by measurement lines and belongs to a normal error range.
The calculated capacitance values of the paired working electrodes listed in table 2 correspond to the measured values listed in table 3, and the difference is a normal error.
And 5, starting a power supply, measuring a supporting voltage through a control circuit, testing the distribution correctness of the electrodes:
the supporting voltage measurement can be realized by externally providing a direct current power supply for the supporting electrode and configuring a corresponding displacement detection and control circuit. The functional block diagram is shown in fig. 4, and the direct current supporting power supply mainly functions to provide a +27V working power supply for the displacement detection and control circuit. The control circuit realizes an electrostatic support closed-loop control algorithm through analog-to-digital and digital-to-analog conversion, and outputs the detection voltage of the support signal. The high-voltage amplification signal is used for carrying out power amplification on the detection voltage. The displacement detection circuit adopts a capacitance bridge to convert the position distance of the rotor deviating from the center of the spherical cavity into a high-frequency alternating-current signal, and generates a direct-current voltage signal proportional to the rotor displacement after gain amplification, phase-sensitive demodulation and filtering. The voltage measurements are shown in table 4. The measurement satisfies system performance requirements.
TABLE 4
| Serial number | Supporting voltage 1 | Supporting voltage 2 | Supporting voltage 3 | Remarks for note |
| Voltage value (V) | 0.153 | 0.047 | 0.068 |
The specific method of the step 5 comprises the following steps: and (4) according to the capacitance between the electrode regions measured by the capacitance meter and the supporting voltage value, respectively connecting the distributed electrode regions to a control circuit and a displacement detection circuit, and measuring the supporting voltage for detecting the electrode distribution correctness in the steps 3 and 4.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (6)
1. A high-precision gyroscope electrostatic support electrode distribution test method is characterized by comprising the following steps: the method comprises the following steps:
step 1, measuring coordinate values of boundary lines of all electrostatic support electrode areas to obtain coordinate points on all the boundary lines;
step 2, establishing a coordinate equation of the boundary line of each electrostatic support electrode area and refining coordinate points:
step 3, respectively calculating the electrostatic support electrode areas of the plurality of guide pins by adopting a loop iteration method according to a boundary curve equation model, and calculating the relative electrode capacitance value of each guide pin according to the electrostatic support electrode area of each guide pin;
step 4, obtaining symmetrical electrode distribution information according to the lead pin label distribution in the step 3, and sequentially measuring capacitance values of all electrostatic support electrode areas by adopting a six-bit semi-high-precision digital capacitance meter;
step 5, starting a power supply, measuring a supporting voltage test through a control circuit, and detecting the distribution correctness of the electrodes;
the specific steps of the step 4 comprise:
(1) calculating and analyzing according to a coordinate equation of a boundary line of an electrostatic support electrode area, and determining a distribution antipode of the electrode;
(2) and respectively measuring the capacitance between each pair of polar regions by using a capacitance meter.
2. The high-precision gyroscope electrostatic support electrode allocation test method according to claim 1, characterized by comprising the following steps: the specific method of the step 1 comprises the following steps: and measuring the coordinate value of the boundary line of each electrostatic support electrode area by adopting a three-coordinate measuring machine with the precision of 0.6 micrometer to obtain coordinate points on each boundary line.
3. The high-precision gyroscope electrostatic support electrode allocation test method according to claim 1 or 2, characterized by comprising the following steps: the specific method of the step 2 comprises the following steps: and (3) establishing a spherical coordinate system by taking the spherical center of the spherical surface where the support electrode area is located as an origin to obtain a boundary line coordinate equation model of each electrostatic support electrode area, substituting the coordinate points on each boundary line obtained in the step (1) into the boundary line coordinate equation model to obtain each boundary line coordinate equation, and calculating to obtain refined coordinate points.
4. The high-precision gyroscope electrostatic support electrode allocation test method according to claim 1 or 2, characterized by comprising the following steps: the specific step of respectively calculating the areas of the electrostatic support electrodes of the plurality of guide pins by adopting a loop iteration method according to the boundary curve equation model in the step 3 comprises the following steps:
(1) decomposing the electrode area into a typically rectangular area, wherein f1And f2Respectively two boundary curve equation models;
the initial setting divides a typical rectangular area into n sub-areas along the Y-axis direction, and the height of each sub-area is hnAnd the area of each subregion is:
Si＝[f2(yi)-f1(yi)]* hn
(2) the area of the electrode area is calculated by dividing the area into n sub-areas, and the area of the electrode area is as follows:
(3) according to two formulas of step (1) and step (2), S can be calculated and obtained by dividing the sub-area into 2n blocksn2Calculating two methods for separating subregions to obtain the relative ratio delta S of the area difference:
ΔS＝(Sn1-Sn2)/Sn1
(4) and if the delta S is more than or equal to 0.001, continuously subdividing the separation number until iteration is finished when the delta S is less than or equal to 0.001, and finally calculating the area of the electrostatic supporting electrode.
5. The high-precision gyroscope electrostatic support electrode allocation test method according to claim 1 or 2, characterized by comprising the following steps: the specific step of calculating the relative electrode capacitance value of each lead needle according to the electrostatic support electrode area of each lead needle in the step 3 comprises:
(1) the calculation formula for calculating the capacitance of the single electrode is as follows:
in the formula (I), the compound is shown in the specification,0is the dielectric constant;ris the relative dielectric constant, 1 in vacuum; s is the electrode area; is the distance between the electrode and the rotor;
(2) the capacitance of the relative electrode area is calculated according to two series capacitors, and the calculation formula is as follows:
in the formula, C1And C2Two capacitance values are connected in series.
6. The high-precision gyroscope electrostatic support electrode allocation test method according to claim 1 or 2, characterized by comprising the following steps: the specific method of the step 5 comprises the following steps: and (4) according to the capacitance between each pair of electrode regions measured by the capacitance meter and the supporting voltage value, respectively accessing the allocated electrode regions to the control circuit and the displacement detection circuit, and measuring the supporting voltage for detecting the electrode allocation correctness in the steps 3 and 4.
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