CN108613686A - A kind of oscillation gyro automation method for repairing and regulating - Google Patents

Abstract

The invention belongs to sensor fields, disclose a kind of oscillation gyro automation method for repairing and regulating, include the following steps：(1) intrinsic frequency of the harmonic oscillator of automatic measurement oscillation gyro under two kinds of operation modes, and frequency cracking value is calculated according to intrinsic frequency；(2) if frequency cracking value is unsatisfactory for required precision, mode and corresponding correction method are trimmed to automatically determine by comparing the size of two intrinsic frequencies；(3) gyration is controlled to expected Working position by the associated physical location of automatic positioning gyro and the physical location of process equipment correction of the flank shape mechanism；(4) processing technology being cooked up automatically according to the relationship between the quality and working process parameter of required removal, and automation being carried out to gyro according to the processing technology planned and is trimmed, completion trims rear return to step (1).High degree of automation of the present invention improves and trims precision and trim efficiency.

Description

A vibrating gyroscope automatic trimming method

technical field

The invention relates to a vibrating gyroscope, in particular to an automatic adjustment method for a vibrating gyroscope.

Background technique

With the continuous advancement of aerospace technology, applications such as high-resolution imaging, relay communication and navigation have higher and higher requirements on the attitude stability and life of satellites. As the core component of the satellite attitude control system, the gyroscope is used to measure the angular displacement and angular velocity of the satellite relative to the inertial space, and its zero bias stability is directly related to the satellite attitude stability. The on-orbit operation time of the satellite is more than 3 years or even 10 years. The gyroscope is a vulnerable part in the satellite, and its continuous working time is a key factor affecting the life of the satellite. The vibrating gyroscope is a solid wave gyroscope based on the principle of Coriolis force. It has the advantages of high sensitivity, low cost, high reliability and long life, and has good development potential. Vibrating gyroscopes mainly include hemispherical harmonic oscillator gyroscopes, MEMS micro gyroscopes, tuning fork gyroscopes, etc. Among them, the cylindrical shell vibrating gyroscope is a relatively easy-to-process gyroscope. The United States, Russia and the United Kingdom are in the leading position in the research of vibrating gyroscopes. my country's China Power Group 26, National University of Defense Technology, Harbin Institute of Technology, etc. have done some research on the harmonic oscillator of vibrating gyroscopes. In the structural theory and control of vibrating gyroscopes Some substantive results have been achieved in system design.

The fabrication of the vibrating gyroscope is a key step in the verification of its theoretical research. The National University of Defense Technology has done a lot of research in theory and manufacturing, not only put forward the corresponding theoretical model, but also manufactured a prototype. The prototype can basically work as expected, but there is still a gap between the working performance and the demand. This gap mainly comes from manufacturing errors, including material uniformity, processing accuracy, residual internal stress, etc. In order to improve the working performance of the gyroscope so that it meets the requirements of use, it is an important and effective method to trim the resonator after finishing. The trimming process can make up for defects in the resonator material and errors in processing, so that the resonator can work according to the required performance parameters.

Trimming accuracy and efficiency are the two main indexes to evaluate the trimming process of vibrating gyro. The level of precision directly determines the application occasion and market positioning of the gyroscope, while the modification efficiency is a necessary guarantee for mass production. At present, the trimming process is mostly done manually, which will bring uncertain factors in the control of removal quality, the positioning of the trimming position, and the processing of the trimming shape, which will eventually lead to poor trimming accuracy and low efficiency. The use of automatic trimming technology, on the one hand, can use image processing technology for high-precision positioning, and on the other hand, can realize stable control of processing parameters, so as to achieve high-precision and high-efficiency trimming. At present, there are few domestic reports on trimming equipment, and even less research on automatic trimming.

Contents of the invention

The object of the present invention is to provide an automatic adjustment method of a vibrating gyroscope, which has a high degree of automation and ensures adjustment accuracy and efficiency.

In order to achieve the above object, the present invention provides a vibrating gyroscope automatic trimming method (as shown in Figure 1), and Fig. 2 is a structural schematic diagram of the trimming device, and the trimming method includes the following steps:

(1) automatically measure the natural frequencies of the harmonic oscillator of the vibrating gyroscope under two operating modes, and calculate the frequency cracking value according to the natural frequencies;

(2) If the frequency cracking value does not meet the preset accuracy requirements, then automatically determine the trimming mode and the corresponding modification method by comparing the size of the two natural frequencies;

(3) controlling the movement of the gyroscope to the expected processing position by automatically positioning the relevant physical position of the gyroscope and the physical position of the processing equipment modification mechanism;

(4) Automatically plan the processing technology according to the relationship between the quality to be removed and the processing technology parameters, and automatically adjust the gyroscope according to the planned processing technology, and return to step (1) after completing the adjustment. ;

Optionally, in the step (1), the automatic switching between the two working modes is realized through the mode switching circuit, so as to realize the continuous and uninterrupted rapid measurement of the natural frequencies under the two working modes. As shown in Figure 3, eight pieces (four pairs) of piezoelectric sheets of a vibrating gyroscope are evenly arranged at the bottom of the resonator, and one side of the piezoelectric sheet is bonded to the bottom of the resonator cup by conductive glue through the ground wire in the figure Common ground, the other side leads the wire to the corresponding electrode for input or output signal. The excitation piezoelectric sheet in the driving mode is used to excite the gyroscope to vibrate in the driving mode, and the vibration frequency in this mode is measured by the driving mode detection piezoelectric sheet. When the detection mode detection piezoelectric film is used for the gyroscope, under the condition of angular velocity input, the vibration frequency and amplitude of the mode are measured. The detection mode compensation piezoelectric film is used to compensate the measurement signal of the detection mode detection piezoelectric film. It is found from the above analysis that the corresponding natural frequency can only be measured if the corresponding mode is excited to vibrate. When trimming, it is necessary to measure the natural frequencies of the two modes. The usual method is: input the excitation signal from the excitation piezoelectric film of the driving mode, and measure the natural frequency of the driving mode from the detection piezoelectric film of the driving mode. Then the excitation signal is input from the compensation piezoelectric sheet of the detection mode, and the natural frequency of the mode is measured by the detection piezoelectric sheet of the detection mode. However, the process of switching the input signal requires plugging and unplugging the lead wires, which reduces the measurement efficiency, and artificial plugging and unplugging brings uncertain factors. Therefore, the present invention realizes automatic switching of circuits by combining electromagnetic relays and giving control signals by a computer.

Optionally, in the step (2), the modification method of punching holes at the top of the cup wall of the resonator is used on the mode with low natural frequency to perform modification (Fig. 4), or the mode with high natural frequency adopts The modification method of the side wall groove is modified (Figure 5). After research, it is found that punching holes will increase the natural frequency of the mode where the hole is located, and slotting will reduce the natural frequency of the mode where the slot is located. Accordingly, by comparing the natural frequencies of the two modes, the corresponding trimming method and mode can be automatically selected.

Optionally, in the step (3), the relevant physical position of the vibrating gyroscope includes the physical position of the point to be processed by the harmonic oscillator and the physical position of the working mode of the harmonic oscillator, wherein the physical position of the point to be processed by the harmonic oscillator refers to the point to be processed by the harmonic oscillator The position coordinates of the point, the physical position of the harmonic oscillator working mode is the azimuth angle of the harmonic oscillator working mode. As shown in Figure 6, the images of the various orientations of the gyro resonator are acquired through the camera. The first camera 2 and the second camera 4 respectively acquire the edge and axis of the harmonic oscillator, and through corresponding image processing, the x value of the processing point of the harmonic oscillator is obtained from the edge, and the y value of the processing point of the harmonic oscillator is obtained from the axis. Then process the picture of camera 2 or 4 to obtain the coordinates of the top line of the harmonic oscillator as the z value of the point to be processed. Finally, the third camera 6 is used to look down on the harmonic oscillator to take a circumferential picture, which can be processed to obtain the azimuth of the working mode of the harmonic oscillator. Therefore, the position coordinates of the point to be processed and the azimuth angle of the working mode of the resonator can be obtained automatically.

Optionally, the processing equipment described in step (3) is a laser or ion beam equipment, and the corresponding modification mechanism is a laser or ion beam focal point; the physical position of the processing equipment modification mechanism refers to the spatial coordinates of the focal point , the three spatial coordinate values of the focus point can be obtained by processing the focus point images captured by the cameras 2 and 4 above.

Optionally, the gyroscope in step (3) is jointly driven to the expected processing position by a three-degree-of-freedom motion platform and a rotating platform; wherein the three-degree-of-freedom motion platform drives the gyro in the X-axis and Y-axis and Z axial movement, so that the position coordinates of the point to be processed of the harmonic oscillator coincide with the spatial coordinates of the focus point; the rotating platform drives the gyro to rotate, so that the modal positioning mark on the gyro rotates to Expected machining position. When the coordinates of the position of the harmonic oscillator to be processed, the azimuth of the working mode of the harmonic oscillator, and the space coordinates of the focus point are known, the system first judges whether the azimuth of the working mode of the harmonic oscillator is in the trimming azimuth, and if not, it will pass the rotating platform make it to the corresponding position. Then calculate the difference between the position coordinates of the harmonic oscillator to be processed and the space coordinates of the focus point, determine the distances that need to be moved by the X, Y, and Z axes respectively, and realize positioning by moving the three-degree-of-freedom motion platform. Automatic positioning can be realized by using the corresponding displacement parameters obtained by image processing.

Optionally, the processing parameters in step (4) include laser energy, repetition frequency, polarization direction, pulse number, etc. of the laser equipment, as well as the motion trajectory of the three-degree-of-freedom motion platform during processing. After the positioning is completed, the laser and the three-degree-of-freedom motion platform can be controlled to realize automatic adjustment, in which the laser parameters and the motion trajectory of the three-degree-of-freedom motion platform are automatically generated by the system. Among them, the laser parameters are determined by the natural frequency difference and the mechanism of action between the laser and the resonator material, and the motion trajectory of the three-degree-of-freedom motion platform during processing is determined by the modified shape. After the process is determined, the corresponding laser parameters are realized by controlling the attenuator, laser, polarizer, and shutter in the optical path of the laser equipment, and the three-degree-of-freedom motion platform is controlled to realize the planned processing trajectory, so that automatic processing can be realized.

Optionally, in step (4), after a trimming is completed, the frequency cracking value after trimming is automatically measured, and it is judged whether the accuracy requirement is met and whether further trimming is required. If the accuracy requirement is met, the trimming task of the gyroscope is ended, otherwise, the next trimming cycle is automatically entered, so as to realize automatic trimming with high precision.

Through the above technical solution, the following beneficial technical effects can be achieved:

1. It can automatically switch the measurement mode, avoiding the trouble of plugging and unplugging the lead wire, avoiding the loss of the circuit board caused by multiple plugging and unplugging of the lead wire and the uncertain factors of each plugging and unplugging circuit, and improving the measurement accuracy and efficiency;

2. Utilize the measured natural frequency values of the two working modes to automatically identify the mode that needs to be adjusted and the adjustment method, which improves the judgment speed and accuracy;

3. Using image processing technology, automatic positioning is realized, and the positioning speed and accuracy are improved;

4. Utilize the influence law of laser on trimming quality and trimming quality on natural frequency, automatically plan trimming process parameters, and improve trimming efficiency.

5. Combining motion control and laser parameter control, automatic processing is realized, and the adjustment accuracy and efficiency are improved;

Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description.

Description of drawings

The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present invention, but do not constitute limitations to the embodiments of the present invention. In the attached picture:

Fig. 1 is the flow chart of vibrating gyroscope automatic adjustment method of the present invention;

Fig. 2 is a schematic structural view of a vibrating gyro automatic adjustment device in the present invention;

Fig. 3 is a schematic diagram of vibrating gyro piezoelectric sheet arrangement;

Fig. 4 is a schematic diagram of a vibrating gyroscope tip punching and adjusting method in the present invention;

Fig. 5 is a schematic diagram of a vibrating gyroscope side wall groove modification method in the present invention;

Fig. 6 (a) is a schematic diagram of shooting by the first camera;

Fig. 6 (b) is a schematic diagram of shooting by the second camera;

Figure 6(c) is a schematic diagram of shooting by the third camera;

Figure 6(d) is a schematic diagram of the positioning principle;

Fig. 7 is the processing image of a kind of vibrating gyro positioning trimming modal azimuth angle in the present invention;

Fig. 8 is a processing image of a vibrating gyroscope positioning position coordinates of a point to be processed in the present invention;

Fig. 9 is a processed image for positioning the spatial coordinates of the laser focus point in the present invention.

illustration:

1: Y-axis motion platform; 2: First camera; 3: X-axis motion platform; 4: Second camera; 5: Shooting station; 6: Third camera; 7: Rotary platform; 8: Laser; 9: Gyro Resonator; 91 and 95: driving mode excitation piezoelectric film; 92 and 96: detecting mode detecting piezoelectric film; 93 and 97: driving mode detecting piezoelectric film; 94 and 98: detecting mode compensating piezoelectric film ;10: Z-axis motion platform.

Detailed ways

The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

In one embodiment of the present invention, the position and quality to be adjusted are automatically determined by measuring the frequency, and the automatic positioning technology moves the position to be adjusted to the laser focus point, and the laser parameter control and motion control realize automatic adjustment. Automatic process design provides a trimming process for automatic trimming. Specifically, the vibrating gyroscope is a cylindrical shell vibrating gyroscope, and the adjustment device is a laser device.

As shown in Figure 1, the specific implementation generally follows the following sequence:

1. Automatic measurement of natural frequency

Before trimming, it is necessary to measure the natural frequency of the gyroscope and calculate the frequency split value to guide the subsequent trimming work. As shown in Figure 3, eight pieces (four pairs) of piezoelectric sheets of a vibrating gyroscope are evenly arranged at the bottom of the resonator, and one side of the piezoelectric sheet is bonded to the bottom of the resonator cup by conductive glue through the ground wire in the figure Common ground, the other side leads the wire to the corresponding electrode for input or output signal. The excitation piezoelectric sheet in the driving mode is used to excite the gyroscope to vibrate in the driving mode, and the vibration frequency in this mode is measured by the driving mode detection piezoelectric sheet. When the detection mode detection piezoelectric film is used for the gyroscope, under the condition of angular velocity input, the vibration frequency and amplitude of the mode are measured. The detection mode compensation piezoelectric film is used to compensate the measurement signal of the detection mode detection piezoelectric film. The measurement of the natural frequency is started by issuing instructions from the computer. First, the excitation voltage is input from the excitation piezoelectric sheet in the driving mode to excite the gyro resonator to the resonance state, and the measured natural frequency is 5006.874Hz. The electromagnetic relay is used to complete the switching of the circuit, and the compensation piezoelectric sheet of the detection mode is connected to the excitation voltage as the excitation piezoelectric sheet. The natural frequency measured from the detection piezoelectric sheet of the detection mode is 5008.014Hz, and then the frequency cracking value is calculated as 1.140 Hz. At this time, it can be judged whether the condition is satisfied according to the precision requirements for frequency cracking. If the requirements are met, no adjustment is required; if the requirements are not met, further adjustments are required. In this example, the set accuracy requirement is 0.2Hz.

2. Automatically judge the adjustment mode and adjustment method

By comparing the natural frequencies of the driving and detection modes, it is found that the natural frequency of the detection mode is 1.140Hz higher than that of the driving mode. As shown in Figure 4 and Figure 5, since the slit trimming will greatly reduce the stiffness of the gyro resonator, it is more suitable for large frequency cracking values. Therefore, in this example, the system automatically determines the use of punching trimming. Punching trimming will slowly increase the natural frequency of the mode where the trimming position is located, so the system automatically selects the driving mode (mode with low natural frequency) as the mode to be trimmed.

3. Automatic positioning

The installation angle of the positioning mark is obtained by processing the gyroscope image captured by the third camera 6 and located at the shooting station 5 to identify the modal positioning mark (the straight line in FIG. 7 ). Because the positioning mark is installed on the azimuth angle of the driving mode, the corresponding angle is the position of the driving mode. Since the processing position is set at 90 degrees, it is necessary to rotate the positioning mark to 90 degrees so that the driving mode is at the processing position. For example, if the inclination angle of the positioning mark is 85 degrees obtained through image processing, it can be judged that the resonant oscillator and the positioning mark should be rotated counterclockwise by 5 degrees. Then the computer sends instructions to the rotating platform 7 to control it to rotate 5 degrees. After the rotation is over, the image will be processed again to determine whether it reaches 90 degrees (with an error of 0.1 degrees allowed), and if not, continue to move to achieve high-precision positioning.

After moving the corresponding mode to the processing orientation, it is also necessary to move the position to be adjusted to coincide with the laser focus point. In order to realize positioning, as shown in Figure 2, it is first necessary to obtain the coordinates of the point to be processed by the harmonic oscillator 9 and the focal point of the laser 8, and the position information of the point to be processed by the harmonic oscillator includes the sideline abscissa of the harmonic oscillator (taken by the first camera 2) As the X coordinate, the axis abscissa (photographed by the second camera 4) as the Y coordinate, and the vertical coordinate of the top line (photographed by the first camera 2 or the second camera 4) as the Z coordinate. The processed image is shown in Figure 8. The large black area in the figure is the processed image of the harmonic oscillator. Since the harmonic oscillator is a rotationally symmetrical structure, the images taken by the first camera 2 and the second camera 4 are all shown in Figure 8. shape shown. The two vertical lines are the processed harmonic oscillator sidelines, the abscissa of the right vertical line in the first camera 2 is taken as the X value of the point to be processed, and the midline abscissa of the two vertical lines in the second camera 4 is taken as the to-be-processed point The Y value of the point. The ordinate of the first horizontal line near the top in the image is taken as the Z value of the point to be processed, so that the position coordinate of the point to be processed is automatically determined.

The position coordinates of the laser focus point are also obtained from the images taken by the first camera 2 and the second camera 4. The images taken are shown in Figure 9, in which there is only a white point in the middle of the figure, which is the laser gathering point. The contents of the pictures taken by the first camera 2 and the second camera 4 are basically the same, but the abscissa of the white point in the first camera 2 is used as the X value of the focus point, and the abscissa of the white point in the second camera 4 is used as the X value of the focus point. Y value, and the Z value of the focus point can be the ordinate of the white point in the first camera 2 or the ordinate of the second camera 4, but it should be taken from the same camera as the Z value of the point to be processed. picture. Therefore, by processing the images of the first camera 2 and the second camera 4, the coordinate value of the focus point is also automatically obtained.

Finally, by calculating the distance between the point to be processed and the focus point, the three-dimensional motion platform is controlled for positioning. Specifically, the coordinates of the point to be processed are (2439, 1306, 600) obtained through image processing (note: the coordinate unit is pixel), and the coordinates of the laser focus point are (2461, 1295, 507). Subtract the coordinates of the laser focus point from the coordinates of the point to be processed to get (22, -11, -93), then the computer uses the difference data to control the motion platform to move, so that the X-axis motion platform 3 moves 22 pixels in the forward direction The actual distance corresponding to the value, the actual distance corresponding to the Y-axis motion platform 1 moving 11 pixels in the negative direction, and the actual distance corresponding to the Z-axis motion platform 10 moving 93 pixels in the negative direction. After the movement is completed, it will judge again whether the position coordinate difference between the point to be processed and the laser focus point meets the accuracy requirements (positioning accuracy is less than 50 microns). After the positioning is automatically completed and the corresponding positioning accuracy is achieved, automatic processing can be performed.

4. Automatic processing

When the laser focus point coincides with the point to be processed, the laser shutter can be opened to realize processing. However, for different frequency cracking values, different trimming parameters need to be implemented. The three main factors affecting trimming are trimming position, trimming shape and material removal amount. The modified position is guaranteed by automatic precise positioning, the modified shape is determined by the processing trajectory, and the amount of material removal is related to parameters such as laser energy, repetition frequency, and pulse number. In order to realize the above-mentioned automatic processing, the system can automatically plan the trajectory according to the modified shape, determine the laser parameters according to the amount of material removal, and control the hardware to perform the modification task. As mentioned above, if a hole needs to be drilled in the drive mode of the resonator, it is necessary to plan the diameter of the hole and determine whether radial feed is required. And it is necessary to plan out the walking trajectory of the adjusted distance between the four holes, and then control the three-dimensional motion platforms 1, 3 and 10 to realize corresponding trajectory processing. The laser parameters need to be calculated by studying the interaction between the laser and the resonator material, and then the energy is changed by controlling the attenuator, the laser is controlled to change the repetition frequency of its output pulse laser, and the optical gate is controlled to change the number of pulses to complete automatic processing.

5. Cycle adjustment

After completing a trimming, continue to measure the natural frequencies of the two working modes. The natural frequency of the driving mode becomes 5006.963 Hz, the natural frequency of the detection mode becomes 5007.720 Hz, and the cracking value is 0.757 Hz. The frequency cracking value still does not meet the accuracy requirement (0.2Hz), so it needs to be further adjusted. The trimming system automatically repeats the above steps, and the frequency cracking value can be reduced to below 0.2Hz after several cycles. The specific process is shown in the table below.

The optional implementations of the embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the embodiments of the present invention, the embodiments of the present invention can be Various simple modifications are made to the technical solution, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

In addition, various implementations of the embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the embodiments of the present invention, they should also be regarded as the content disclosed in the embodiments of the present invention.

Claims (10)

1. a kind of oscillation gyro automates method for repairing and regulating, which is characterized in that include the following steps：

(1) intrinsic frequency of the harmonic oscillator of automatic measurement oscillation gyro under two kinds of operation modes, and according to the intrinsic frequency Calculate frequency cracking value；

(2) if the frequency cracking value is unsatisfactory for preset required precision, by comparing the big of two intrinsic frequencies It is small to trim mode and corresponding correction method to automatically determine；

(3) by being automatically positioned the associated physical location of the gyro and the physical location of process equipment correction of the flank shape mechanism to control Gyration is stated to expected Working position；

(4) processing technology is cooked up automatically according to the relationship between the quality and working process parameter of required removal, and according to institute The processing technology planned carries out automation to the gyro and trims, and completion trims rear return to step (1).

2. oscillation gyro according to claim 1 automates method for repairing and regulating, which is characterized in that in the step (1), pass through Mode-switch circuit realizes the automatic switchover of two kinds of operation modes, uninterruptedly quickly to measure under two kinds of operation modes Intrinsic frequency.

3. oscillation gyro according to claim 1 automates method for repairing and regulating, which is characterized in that in the step (2), correction of the flank shape Method refers to being trimmed using the correction method of harmonic oscillator wall of cup top punching in the low mode of intrinsic frequency, or intrinsic It is trimmed using the correction method of side wall paddle-tumble in the high mode of frequency.

4. oscillation gyro according to claim 1 automates method for repairing and regulating, which is characterized in that in the step (3), gyro Associated physical location include to be processed physical location of harmonic oscillator and harmonic oscillator operation mode physical location.

5. oscillation gyro according to claim 4 automates method for repairing and regulating, which is characterized in that the harmonic oscillator point to be processed Physical location is to be processed position coordinates of harmonic oscillator；The physical location of the harmonic oscillator operation mode is harmonic oscillator Working mould State azimuth；

It is sat by the image of the sideline of the acquisition harmonic oscillator, axis and top line to obtain to be processed position of the harmonic oscillator Mark；

Harmonic oscillator operation mode azimuth is obtained by acquiring the image of mode positioning mark.

6. oscillation gyro according to claim 5 automates method for repairing and regulating, which is characterized in that in the step (3), processing Equipment is laser or ion beam apparatus, and the corresponding correction of the flank shape mechanism is laser or ion beam focusing point.

7. oscillation gyro according to claim 6 automates method for repairing and regulating, which is characterized in that process equipment correction of the flank shape mechanism Physical location refers to space coordinate and the energy field distribution of laser or ion beam focusing point, is obtained by acquiring the image of focus point Take space coordinate and the energy field distribution of the focus point.

8. oscillation gyro according to claim 7 automates method for repairing and regulating, which is characterized in that in the step (3), gyro It is driven jointly to expected Working position by a rotating platform and a Three-degree-of-freedom motion platform；

The wherein described rotating platform drives the gyro rotation, and the mode on the gyro is made to position mark rotation to expection Working position；

The Three-degree-of-freedom motion platform drives the gyro in X axis, Y-axis and Z-motion, makes waiting for for the harmonic oscillator Processing stand position coordinates are overlapped with the laser focus point space coordinate.

9. automating method for repairing and regulating according to claim 6-8 any one of them gyros, which is characterized in that described in step (4) Working process parameter includes but not limited to laser energy, repetition rate, polarization direction and the umber of pulse of the laser equipment, and Movement locus when the Three-degree-of-freedom motion platform processing.

10. gyro according to claim 9 automates method for repairing and regulating, which is characterized in that according to the quality meter of required removal Laser energy, repetition rate, polarization direction and umber of pulse are calculated, and cooks up machining locus；

By control attenuator, laser, polarizing film and optical gate in the laser equipment light path regulate and control the laser energy, Repetition rate, polarization direction and umber of pulse coordinate the control of the Three-degree-of-freedom motion platform, realize that laser parameter and movement are flat The coordination of platform reaches trims effect automatically.