Low-rotating-speed swing table device for verifying gyroscopic effect of cold atom gyroscope

Abstract

The invention discloses a low-rotating-speed swing table device for verifying the gyroscopic effect of a cold atom gyroscope. The low-rotating-speed swing table device comprises a vibration isolation platform, a first voice coil motor, a second voice coil motor, a probe supporting piece, a first voice coil motor supporting piece, a second voice coil motor supporting piece, a voice coil motor driving system, an inclinometer and a control system, the probe supporting piece is in a flat plate shape, a cold atom gyroscope probe is arranged on the probe supporting piece, and the probe supporting piece is placed on the vibration isolation platform; the two ends of the probe supporting piece extend out of the vibration isolation platform, and a first voice coil motor and a second voice coil motor are symmetrically arranged at the two ends of the bottom face of the probe supporting piece. And the movement direction of the output shaft of the first voice coil motor is opposite to that of the output shaft of the second voice coil motor, so that the probe swings. The swing table device swings at a constant speed in a small range, has a vibration isolation effect, and provides a small and constant angular velocity for verifying a gyroscopic effect. The device can verify the gyroscopic effect of the cold atom gyroscope, and has the advantages of high stability, fast response, vibration isolation and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of verifying gyroscopic effect, and particularly relates to a low-rotation pendulum device for verifying gyroscopic effect of a cold atom gyroscope. BACKGROUND

[0002] The performance of a cold atom gyroscope can be directly embodied by gyroscopic effect. The specific performance of gyroscopic effect is that when a force or torque perpendicular to the rotation axis is applied to a rotating object, the object will generate a rotation torque perpendicular to the direction of the force or torque, so as to keep the original rotation direction and speed unchanged. In experiments, a pendulum device needs to be designed to apply a certain force to the cold atom vibration isolation platform gyroscope to verify the gyroscopic effect. However, the existing pendulum device has slow response speed, poor stability, no vibration isolation effect and high use cost. SUMMARY

[0003] In order to overcome the above problems, the present application provides a low-rotation pendulum device for verifying gyroscopic effect of a cold atom gyroscope.

[0004] The technical scheme adopted by the present application is as follows: the low-rotation pendulum device for verifying gyroscopic effect of a cold atom gyroscope comprises a vibration isolation platform, a first voice coil motor, a second voice coil motor, a probe support, a first voice coil motor support, a second voice coil motor support, a voice coil motor driving system, an inclinometer and a control system.

[0005] The probe support is in the form of a flat plate, and a cold atom gyroscope probe is arranged on the probe support. The probe support is placed on the vibration isolation platform. The two ends of the probe support protrude outside the vibration isolation platform, and the bottom surface of the probe support is symmetrically provided with the first voice coil motor and the second voice coil motor. The bottom surface of the first voice coil motor and the second voice coil motor is respectively supported by the first voice coil motor support and the second voice coil motor support. The output ends of the first voice coil motor and the second voice coil motor are connected to the bottom surface of the probe support, and the movement direction of the output shaft of the first voice coil motor is opposite to that of the output shaft of the second voice coil motor, so as to drive the probe support to swing, thereby realizing the swinging of the probe.

[0006] The voice coil motor driving system comprises a controller and a power amplifier. The controller is electrically connected to the first voice coil motor and the second voice coil motor through the power amplifier, and the voice coil motor driving system controls the action of the first voice coil motor and the second voice coil motor. The inclinometer is placed on the probe support, and the inclinometer records the swing information of the probe support.

[0007] The control system is electrically connected with the voice coil motor driving system and the inclinometer respectively, the signal receiving end of the control system is connected with the inclinometer, the inclinometer sends the swing information of the probe support to the control system, and the signal output end of the control system is connected with the voice coil motor driving system to control the output frequency and power of the first voice coil motor and the second voice coil motor, so that the probe support swings at a low rotating speed.

[0008] Further, the first voice coil motor support and the second voice coil motor support are telescopic rods, so as to adjust the driving positions of the first voice coil motor and the second voice coil motor.

[0009] The present application has the advantages of verifying the gyroscopic effect of a cold atom gyroscope, high stability, fast response, vibration isolation and the like. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is the overall structure diagram of the present application;

[0011] Figure 2 is the control loop design diagram of the present application.

[0012] Figure 3 is the principle diagram of the voice coil motor driving system.

[0013] Figure 4 is the principle diagram of the control system. DETAILED DESCRIPTION

[0014] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0015] In the description of the present application, it should be noted that the orientations or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" appear only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0016] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms such as "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0017] Referring to the drawings Figure 1 , a low-rotation pendulum device for verifying the gyroscopic effect of a cold atom gyroscope, for verifying the gyroscopic effect of a cold atom gyroscope, comprising a vibration isolation platform 1, a first voice coil motor 2, a second voice coil motor 3, a probe support 4, a first voice coil motor support 5, a second voice coil motor support 6, a voice coil motor driving system 7, an inclinometer 8 and a control system 9;

[0018] The probe support 4 is flat, and a probe is arranged on the probe support 4, and the probe support 4 is placed on the vibration isolation platform 1; the vibration isolation platform 1 is a device for reducing or eliminating the influence of external vibration and shock on precision instruments, equipment or experiments. The vibration isolation platform 1 is usually composed of a series of springs, air bags, shock-absorbing materials or piezoelectric crystals and other materials to absorb and isolate external vibration interference while maintaining the stability of the equipment. The principle of the vibration isolation platform 1 is to separate the equipment from the outside world through the elastic elements on the platform, and to suppress the interference of external vibration by using the natural frequency of the material. When external vibration acts on the vibration isolation platform 1, these elastic elements will absorb the vibration energy and eliminate the vibration by counteracting force, thereby maintaining the stability of the equipment. The probe part of the cold atom gyroscope is placed on the pendulum device, and at the same time, the low-rotation pendulum device for verifying the gyroscopic effect of the cold atom gyroscope is placed on the vibration isolation platform 1, ensuring the vibration isolation effect of the system.

[0019] The two ends of the probe support 4 protrude to the outside of the vibration isolation platform 1, and the bottom ends of the probe support 4 are symmetrically provided with a first voice coil motor 2 and a second voice coil motor 3, and the bottom ends of the first voice coil motor 2 and the second voice coil motor 3 are respectively supported by a first voice coil motor support 5 and a second voice coil motor support 6; the output ends of the first voice coil motor 2 and the second voice coil motor 3 are connected with the bottom end of the probe support 4, and the movement direction of the output shaft of the first voice coil motor 2 is opposite to that of the output shaft of the second voice coil motor 3, so as to drive the probe support 4 to swing, thereby realizing the swing of the probe; the voice coil motor is an electromagnetic mechanical converter, which is usually used in precise driving and positioning control applications. Two voice coil motors are used on the swing table device, one of which is connected in positive and the other is connected in negative, so that one side pushes the probe support plate and the other side pulls the support plate, thereby realizing the swing of the probe. The working principle of the voice coil motor is to use the principle of electromagnetic induction, and the magnetic field generated by current excitation acts on the coil, so that the coil generates force and movement. The coil is usually installed in a magnetic field, and when the coil is electrified, the coil will be affected by electromagnetic force and move towards the magnetic field. By controlling the current direction and size, precise position and speed control can be realized.

[0020] The probe is stably and firmly placed on the support, and will not move due to the swing of the swing table. The voice coil motor support 5 and the voice coil motor support 6 are used to place the voice coil motor and support the swing table, and are designed as telescopic structures, which are convenient for adjusting the driving position of the voice coil motor.

[0021] Referring to Figure 3 , the voice coil motor driving system 7 includes a controller and a power amplifier, the controller is electrically connected with the first voice coil motor 2 and the second voice coil motor 3 through the power amplifier, and the voice coil motor driving system 7 controls the actions of the first voice coil motor 2 and the second voice coil motor 3; specifically, the controller is the core part of the voice coil motor driving system 7, which is responsible for generating current and controlling the position and speed of the voice coil motor. The controller uses a digital signal processor to realize algorithm and motion control functions. The power amplifier is a device that converts the current signal generated by the controller into a high-voltage and high-current signal required by the voice coil motor. The voice coil motor is an electromechanical integrated device composed of a coil, a magnet and a support structure. The coil is fixed on the support structure, and the magnet is fixed on the static part. When electrified, the current in the coil will generate a magnetic field, which interacts with the magnet to generate electromagnetic force, so that the coil moves in the support structure.

[0022] The inclinometer 8 is placed on the probe support 4, and the inclinometer 8 records the swing information of the probe support 4; the principle of measuring the angular velocity of the inclinometer 8 is based on the motion law of the inclinometer 8 when it is subjected to rotation. When the inclinometer 8 is placed on a rotating object, due to the action of centrifugal force, the inclinometer 8 will tilt and form a circular liquid plumb line on the surface of the object. If the angular velocity of the object increases, the inclination of the liquid plumb line will increase, and if the angular velocity of the object decreases, the inclination of the liquid plumb line will decrease. Therefore, by measuring the inclination of the liquid plumb line, the angular velocity of the object can be indirectly measured.

[0023] With reference to Figure 2 And Figure 4 , the control system 9 includes two parts, 1. The control system 9 controls the driving system of the voice coil motor, which controls the output frequency and power of the voice coil motor 2 and the voice coil motor 3, so that the swing table swings uniformly at a low speed, and the swing table rotates uniformly in a small range. There must be acceleration and reverse on both sides, and a certain time is needed to maintain uniform speed in the middle. The control system (9) controls the voice coil motor 2 and the voice coil motor 3 of the positive and negative connection, which can realize the uniform rotation of the swing table in a small range. 2. Signal acquisition system, inclinometer 8 is placed on the swing table, records the swing data of the swing table. The control system 9 collects and collects the data of the inclinometer 8. Compared with the rotation data measured by the cold atom gyroscope, the gyro effect of the cold atom gyroscope is verified. The acquisition card used by the signal acquisition system is a 24-bit resolution domestic Altai NET8814-4. The acquisition card supports high-speed acquisition, multi-channel acquisition and high-precision acquisition, has high stability and is easy to use.

[0024] The cold atom gyroscope is placed on the probe support 4, and the probe support 4 is placed on the vibration isolation platform 1, which ensures the vibration isolation effect of the whole system. The probe support 4 is designed with a groove, so that the cold atom gyroscope probe is placed stably and firmly on the swing table. The support 5 and the support 6 of the voice coil motor are used to place the voice coil motor and support the swing table, and are designed as telescopic structure, which is convenient for adjusting the driving position of the voice coil motor 2 and the voice coil motor 3. The control system 9 controls the voice coil motor driving system 7, and after receiving the signal of the control system 9, the signal is amplified by a low-noise amplifier and transmitted to the voice coil motor, so that the voice coil motor 2 and the voice coil motor 3 rotate in opposite directions, thereby making the swing table swing up and down. At the same time, the control program needs to ensure the working state of the voice coil motor, that is, the swing table swings uniformly at a small angle. The inclinometer 8 is placed on the swing table, and records the swing data of the swing table. The control system 9 collects and collects the data of the inclinometer 8. Compared with the rotation data measured by the cold atom gyroscope, the gyro effect of the cold atom gyroscope is verified.

[0025] The embodiments of the present specification are merely a list of implementation forms of the inventive concept, and the protection scope of the present application should not be regarded as being limited to the specific forms stated in the embodiments, and the protection scope of the present application also encompasses equivalent technical means that can be thought of by those skilled in the art according to the inventive concept.

Claims

1. A low-rotation turntable apparatus for verifying the gyroscopic effect of a cold atom gyroscope, characterized by: The vibration isolation platform (1), the first voice coil motor (2), the second voice coil motor (3), the probe support (4), the first voice coil motor support (5), the second voice coil motor support (6), the voice coil motor driving system (7), the inclinometer (8) and the control system (9) are included. The probe support (4) is flat, and a cold atom gyroscope probe is arranged on the probe support (4). The probe support (4) is placed on the vibration isolation platform (1). The two ends of the probe support (4) protrude outside the vibration isolation platform (1), and the bottom surface of the probe support (4) is symmetrically provided with the first voice coil motor (2) and the second voice coil motor (3). The bottom surface of the first voice coil motor (2) and the second voice coil motor (3) is respectively supported by the first voice coil motor support (5) and the second voice coil motor support (6). The output ends of the first voice coil motor (2) and the second voice coil motor (3) are connected to the bottom surface of the probe support (4). The movement direction of the output shaft of the first voice coil motor (2) is opposite to the movement direction of the output shaft of the second voice coil motor (3), so as to drive the probe support (4) to swing, thereby realizing the swing of the probe. The voice coil motor driving system (7) includes a controller and a power amplifier. The controller is electrically connected to the first voice coil motor (2) and the second voice coil motor (3) through the power amplifier. The voice coil motor driving system (7) controls the actions of the first voice coil motor (2) and the second voice coil motor (3). The inclinometer (8) is placed on the probe support (4), and the inclinometer (8) records the swing information of the probe support (4). The control system (9) is electrically connected to the voice coil motor driving system (7) and the inclinometer (8). The signal receiving end of the control system (9) is connected to the inclinometer (8), and the inclinometer (8) sends the swing information of the probe support (4) to the control system (9). The signal output end of the control system (9) is connected to the voice coil motor driving system (7) to control the output frequency and power of the first voice coil motor (2) and the second voice coil motor (3), so that the probe support (4) swings at a low speed.

2. The low-rotation turntable apparatus for verifying the gyro effect of a cold atom gyroscope according to claim 1, characterized in that: The first voice coil motor support (5) and the second voice coil motor support (6) are telescopic rods, so as to adjust the driving positions of the first voice coil motor (2) and the second voice coil motor (3).

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