CN204679081U - Based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor - Google Patents

Abstract

The utility model discloses a high-precision and miniaturized optical fiber gyro north-finder transposition mechanism based on an ultrasonic motor, which comprises a base (1), an encoder mounting frame (2), an absolute photoelectric encoder (3), a hollow ultrasonic Motor (4), Ultrasonic Motor Controller (5), Coupling Spacer (6), Gyro Bracket (7), Embedded Controller (8) and Power Module (9). The utility model adopts precision driving technology to design the indexing mechanism of the fiber optic gyro north finder, and for the first time introduces an ultrasonic motor to design a new indexing mechanism to replace the traditional complicated mechanical indexing mechanism and locking mechanism, which can greatly simplify the structure of the indexing mechanism. The fiber optic gyro north finder composed of this indexing mechanism can greatly reduce the volume and weight of the north finder without reducing the north finding accuracy, filling the gap for the miniaturization and light weight of the current high precision north finder indexing mechanism Technology gap.

Description

High-precision and miniaturized fiber optic gyro north-finder indexing mechanism based on ultrasonic motor

technical field

The utility model relates to the field of inertial navigation technology and measuring equipment, in particular to a high-precision and miniaturized optical fiber gyro north-seeker transposition mechanism based on an ultrasonic motor.

Background technique

The gyro north finder is an inertial measurement system that uses a gyroscope to measure the projection direction of the earth's rotation angular rate on the local horizontal plane (ie, the true north position). Gyroscopic north finders are precision inertial measurement instruments widely used to provide orientation references for mobile weapon systems such as artillery, surface-to-surface missiles, and ground-based radars.

At present, the gyro north finder usually adopts the multi-position north finding method. During the implementation process, the gyro needs to be driven by moving parts to rotate to the specified position. After the indexing is completed, a locking mechanism is needed to ensure the angular accuracy of the gyroscope indexing. However, in the existing gyro north-seeking system, the gyro indexing mechanism is driven by an electromagnetic motor, and the north-seeking gyro is shifted through a series of precision mechanical transmissions. The locking mechanism is also mostly a mechanical mechanism, such as a pin-hole structure. Although this mechanical indexing gyro north-finder has high north-seeking accuracy, its structure is complicated, which not only requires high processing and assembly technology, but also makes the north-finder large in size and heavy in weight, which cannot be portable in the field. , The use requirements in the weight and volume sensitive environment greatly limit the application scope of the gyro north finder. In addition, due to the use of electromagnetic motor drive, the electromagnetic radiation generated by the motor will also affect the measurement accuracy of the gyro, which will objectively restrict the further improvement of the north-finding accuracy of the gyro north-finder.

Contents of the invention

The purpose of the utility model is to provide a high-precision and miniaturized optical fiber gyro north-finder indexing mechanism based on an ultrasonic motor for the deficiencies of the prior art.

The purpose of this utility model is achieved through the following technical solutions: a high-precision miniaturized optical fiber gyro north-finder indexing mechanism based on an ultrasonic motor, which is characterized in that it includes a base, an encoder mounting frame, an absolute photoelectric encoder device, hollow ultrasonic motor, ultrasonic motor controller, coupling gasket, gyro bracket, embedded controller and power module; wherein, the encoder mounting frame is installed on the base; the encoder mounting frame has a hollow cylindrical There is a through hole on the top of the cylindrical protrusion; the absolute photoelectric encoder is installed inside the cylindrical protrusion of the encoder mounting frame, and its rotating shaft passes through the through hole; the cylindrical protrusion of the encoder mounting frame is placed The cylindrical inner hole of the hollow ultrasonic motor is guaranteed to be coaxial; the shaft gasket connects the rotor of the hollow ultrasonic motor and the shaft of the absolute photoelectric encoder, so that the absolute photoelectric encoder can measure the rotation angle of the hollow ultrasonic motor; L-shaped The bottom surface of the gyro bracket is placed on the shaft gasket, and is fastened with the rotor of the hollow ultrasonic motor with screws, so that the hollow ultrasonic motor can drive the gyro bracket to rotate synchronously; the embedded controller is connected to the absolute photoelectric encoder through the RS485 communication cable, through The RS232 communication cable is connected to the ultrasonic motor controller, and the ultrasonic motor controller is connected to the hollow ultrasonic motor through the cable; the power module provides +5V, +12V, +5V, +12V, + 5V DC power supply.

Further, the absolute photoelectric encoder is a 16-bit absolute photoelectric encoder, which is small in size and can be placed in the inner hole of the hollow ultrasonic motor.

Further, the hollow ultrasonic motor has an inner hole, an absolute photoelectric encoder can be installed, it is self-locking when power is off, and there is no magnetic field radiation; the ultrasonic motor controller receives external instructions through the RS232 communication protocol, and then controls the hollow ultrasonic motor. Specific instructions include forward rotation instruction, reverse rotation instruction and stop instruction.

The beneficial effect of the utility model is that the utility model proposes a high-precision, simple-structure, small-volume, and light-weight optical fiber gyro north-finder indexing mechanism. The utility model innovatively proposes the use of precision drive technology to design the indexing mechanism of the fiber optic gyro north finder, and for the first time introduces an ultrasonic motor to design a new indexing mechanism to replace the traditional complicated mechanical indexing mechanism and locking mechanism, which can greatly simplify the indexing mechanism Structure. The fiber optic gyro north finder composed of this indexing mechanism can greatly reduce the volume and weight of the north finder without reducing the north finding accuracy, filling the gap for the miniaturization and light weight of the current high precision north finder indexing mechanism Technology gap.

Description of drawings

Fig. 1 The assembly diagram of the indexing mechanism of the fiber optic gyro north finder based on the ultrasonic motor;

Figure 2 Structural design diagram of the encoder mounting frame of the indexing mechanism;

Fig. 3 Effect diagram of the transposition mechanism of the fiber optic gyro north finder based on the ultrasonic motor;

Figure 4 is a system block diagram of the indexing mechanism of the fiber optic gyro north finder based on the ultrasonic motor;

Fig. 5 is a flow chart of the control of the translocation of the transposition mechanism of the fiber optic gyro north finder based on the ultrasonic motor;

In the figure: base 1, encoder mounting frame 2, absolute photoelectric encoder 3, hollow ultrasonic motor 4, ultrasonic motor controller 5, shaft gasket 6, gyro bracket 7, embedded controller 8, power module 9 .

Detailed ways

One of the key technologies of multi-position method fiber optic gyroscope north-seeking is the design of the north-finder indexing mechanism. Taking the four-position north-seeking method as an example, the indexing mechanism must be able to rotate and stop (lock) precisely, and realize switching between four positions at 90° to each other. To achieve precision indexing, in addition to the indexing and locking mechanisms of precision machinery, precision drive technology can also be used to achieve. Ultrasonic motor, as a typical representative of precision drive technology, uses the inverse piezoelectric effect of piezoelectric ceramics and ultrasonic vibration to obtain its motion and torque, and converts the microscopic deformation of the material into the rotation of the rotor through mechanical resonance amplification and friction coupling. Ultrasonic motors have the characteristics of simple structure, small size and light weight, fast response speed, large torque, self-locking when power off, no magnetic field interference, and accurate movement, which can well meet the needs of the use of the fiber optic gyro north finder indexing mechanism.

The utility model is based on the ultrasonic motor-based high-precision miniaturized optical fiber gyro north-finder transposition mechanism, adopts the ultrasonic motor as the driving device, and designs a new transposition mechanism with high transposition precision and simple structure. The application of the transposition mechanism is beneficial Miniaturization and light weight of fiber optic gyroscope north finder. The indexing mechanism of the present utility model will be further described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the utility model is a high-precision miniaturized optical fiber gyro north-finder indexing mechanism based on an ultrasonic motor, including a base 1, an encoder mounting frame 2, an absolute photoelectric encoder 3, and a hollow ultrasonic motor 4 , Ultrasonic motor controller 5, coupling gasket 6, gyro bracket 7, embedded controller 8 and power module 9. The specific assembly relationship is as follows: the encoder mounting frame 2 is installed on the base 1; the encoder mounting frame 2 has a hollow cylindrical protrusion, and a through hole is opened on the top of the cylindrical protrusion; the absolute photoelectric encoder 3 is installed Inside the cylindrical protrusion of the encoder mounting frame 2, the rotating shaft passes through the through hole; the cylindrical protrusion of the encoder mounting frame 2 is placed in the cylindrical inner hole of the hollow ultrasonic motor 4 and is guaranteed to be coaxial; the shaft gasket 6 Connect the rotor of the hollow ultrasonic motor 4 and the rotating shaft of the absolute photoelectric encoder 3, so that the absolute photoelectric encoder 3 can measure the rotation angle of the hollow ultrasonic motor 4; The inclination sensor can quickly and conveniently build a fiber optic gyro north-finder; the bottom surface of the gyro bracket 7 is placed on the shaft gasket 6, and is fastened to the rotor of the hollow ultrasonic motor 4 with screws, so that the hollow ultrasonic motor 4 can drive the gyro bracket 7 Synchronous rotation; the embedded controller 8 is connected to the absolute photoelectric encoder 3 through the RS485 communication cable, connected to the ultrasonic motor controller 5 through the RS232 communication cable, and the ultrasonic motor controller 5 is connected to the hollow ultrasonic motor 4 through the cable to form a closed loop of the indexing mechanism Control System. The power supply module 9 provides +5V, +12V, +5V DC power to the absolute photoelectric encoder 3, the ultrasonic motor controller 5 and the embedded controller 8 through cables respectively.

During specific implementation, the absolute photoelectric encoder 3 adopts a 16-bit absolute encoder with a resolution of 0.005°, which guarantees the indexing accuracy of the indexing mechanism. The data refresh rate of the encoder is up to 400Hz, which can ensure the real-time performance of the transposition control, and the way of outputting data through the RS485 protocol can improve the integration and expansibility of the transposition mechanism. Hollow ultrasonic motor 4 and ultrasonic motor controller 5 adopt TRUN-7036 series and matching drivers. The rotary ultrasonic motor has a 70mm inner hole and can be used to install an absolute photoelectric encoder 3 . The hollow ultrasonic motor 4 rotates finely, combined with the high-precision absolute photoelectric encoder 3, it can ensure the system indexing accuracy reaches 0.005°. The special working principle of the hollow ultrasonic motor 4 determines that it has the characteristics of self-locking when it stops, and it can achieve the locking purpose without an additional locking mechanism when it stops. The ultrasonic motor controller 5 can receive external commands through the RS232 communication protocol, and then control the movement of the hollow ultrasonic motor 4 . The specific instructions include forward rotation instruction, reverse rotation instruction and stop instruction. The structural design of the encoder mounting frame 2 is specially optimized in combination with the physical dimensions of the absolute photoelectric encoder 3 and the hollow ultrasonic motor 4 and the installation requirements of the two, as shown in FIG. 2 . The inside of the cylindrical protrusion in the middle of the encoder mounting frame 2 is used to install the absolute photoelectric encoder 3, and the outside is placed in the inner hole of the hollow ultrasonic motor 4, so that the rotating shaft of the absolute photoelectric encoder 3 is coaxial with the rotation center of the ultrasonic motor 4. The rotating shaft of the absolute photoelectric encoder 3 is connected to the rotor of the hollow ultrasonic motor 4 through the coupling gasket 6 , so as to monitor the rotational position of the hollow ultrasonic motor 4 . The installation effect of the entire indexing structure is shown in Figure 3.

The gyro bracket 7 adopts an L-shaped design and is processed from an alloy material. The entire gyro bracket 7 is placed on the coupling gasket 6, and is fastened and installed with the hollow ultrasonic motor 4 by screws. When the hollow ultrasonic motor 4 is shifted, the side orientation of the gyro bracket 7 can be switched, and the rotation axis is perpendicular to the horizontal plane. The sides of the gyro bracket 7 are perpendicular to the bottom surface, the bottom surface is used to install the inclination sensor, and the side is used to install the fiber optic gyro, which can easily form a fiber optic gyro north finder system.

As shown in Figure 4, the embedded controller 8 takes DSP as the core and has RS485 and RS232 communication interfaces to communicate with the absolute photoelectric encoder 3 and the ultrasonic motor controller 5 respectively. Under the closed-loop control of the embedded controller 8, the indexing mechanism can realize the indexing of the specified angular position. Angle indexing control subroutine flow chart shown in Figure 5 .

The transposition experiment of the transposition mechanism is aimed at the experimental transposition mechanism described in the utility model, using the four positions of 0 °-90 °-180 °-270 °-0 ° used by the four-position north-seeking method of the fiber optic gyro north-finder. Continuous indexing test, get 5 sets of error data as follows.

    Continuous indexing error of indexing mechanism Unit: degree

group 1 2 3 4 5 0°→90° -0.005 -0.005 -0.005 -0.005 -0.005 90°→180° 0.005 -0.005 -0.005 0.000 0.000 180°→270° 0.000 -0.005 0.000 -0.005 0.000 270°→360° 0.000 -0.005 0.000 -0.005 0.000 360°→270° 0.000 0.000 0.000 0.005 0.000 270°→180° 0.000 0.000 0.000 0.005 0.005 180°→90° 0.000 -0.005 -0.005 -0.005 -0.005 90°→0° 0.000 0.000 0.005 0.000 0.005

It can be seen from the experimental data in the above table that the indexing mechanism described in the utility model has good angular resolution, high indexing accuracy and high stability, and can meet the indexing accuracy requirements of a high-precision fiber optic gyro north finder. In addition, six groups of data are randomly measured for the transposition at any angle, and the transposition accuracy at any angle of the transposition mechanism of the utility model can reach 0.005°. In the multi-position fiber optic gyro north-finding system, the use of this indexing mechanism can not only ensure the indexing accuracy, but also greatly reduce the volume and weight of the optical gyro north-finder.

Claims (2)

1. the high precision small fiber gyro north seeker indexing mechanism based on supersonic motor, it is characterized in that, comprise pedestal (1), encoder mounting rack (2), absolute optical encoder (3), hollow ultrasound electric machine (4), ultrasound electric machine controller (5), connecting shaft pad (6), gimbal (7), embedded controller (8) and power module (9); Wherein, described encoder mounting rack (2) is installed on pedestal (1); Encoder mounting rack (2) has hollow cylindrical protrusions, has through hole at cylindrical protrusions top; The cylindrical protrusions that absolute optical encoder (3) is installed on encoder mounting rack (2) is inner, and its rotating shaft passes through hole; The cylindrical protrusions of encoder mounting rack (2) is placed in the cylindrical bore of hollow ultrasound electric machine (4) and ensures coaxial; Connecting shaft pad (6) connects the rotor of hollow ultrasound electric machine (4) and the rotating shaft of absolute optical encoder (3), makes absolute optical encoder (3) can measure the rotational angle of hollow ultrasound electric machine (4); L shape gimbal (7) bottom surface is placed on connecting shaft pad (6), and with the fastening installation of rotor of screw and hollow ultrasound electric machine (4), makes hollow ultrasound electric machine (4) can drive gimbal (7) synchronous axial system; Embedded controller (8) connects absolute optical encoder (3) by RS485 telecommunication cable, and connect ultrasound electric machine controller (5) by RS232 telecommunication cable, ultrasound electric machine controller (5) is connected with hollow ultrasound electric machine (4) by cable; Power module (9) provides+5V ,+12V ,+5V direct supply respectively by cable to absolute optical encoder (3), ultrasound electric machine controller (5) and embedded controller (8).

2. according to claim 1 based on the high precision small fiber gyro north seeker indexing mechanism of supersonic motor, it is characterized in that, described absolute optical encoder (3) is 16 absolute optical encoders.