Inertial device testing system and method

Abstract

The present invention discloses an inertial device testing system and method, the system includes an optical indexing head, a DC power supply board, an AC power supply board, a force feedback drift control board, a temperature control board, a signal acquisition unit and a host computer; the force feedback drift control board and the temperature control board are electrically connected to the inertial device respectively, the optical indexing head is used to adjust the azimuth of the inertial device, the temperature control board is suitable for maintaining the temperature of the inertial device at a preset temperature, the force feedback drift control board is used to measure the torquer current value corresponding to the drift rate, and the signal acquisition unit is suitable for collecting the torquer current in a preset period within a preset time period under the control of the host computer; the host computer is suitable for calculating the angle drift value through the torquer current of the inertial device at different azimuths, and judging whether the inertial device is qualified according to the comparison result of the angle drift value and the angle drift threshold. The present invention can realize the automatic detection of the drift of the inertial device, improve the production efficiency of the inertial device, and accurately screen out high-performance inertial devices.

Description

Technical Field

[0001] The invention relates to an inertial device testing system and method, belonging to the field of ship navigation equipment. Background Art

[0002] In the field of navigation, a compass is a navigation device that ensures the navigation of ships. A compass is generally based on an inertial device. Inertial devices, such as a liquid-floating gyroscope, include many precise parts. After assembly, performance tests must be conducted to evaluate the performance and only after passing the test can the compass be used.

[0003] At present, the performance test of inertial devices is manually performed by the debugging personnel to record and calculate the data, and then make subjective evaluations based on the data. In addition, the test is cumbersome and time-consuming. There are many human uncertainties in the whole test process, such as errors in operation, observation, and reading, which are not conducive to making a correct evaluation of the performance of inertial devices. At the same time, the low degree of automation of the test system makes the production efficiency of inertial devices low, the labor intensity is high, and the labor cost is high. Summary of the invention

[0004] The purpose of the present invention is to solve the defects mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present invention provides an inertial device testing system, comprising an optical dividing head, a DC power supply board, an AC power supply board, a force feedback drift measurement control board, a temperature control board, a signal acquisition unit and a host computer; the force feedback drift measurement control board and the temperature control board are electrically connected to the inertial device respectively, the optical dividing head is used to adjust the azimuth angle of the inertial device, the temperature control board is suitable for maintaining the temperature of the inertial device at a preset temperature, the force feedback drift measurement control board is used to measure the torquer current value corresponding to the drift rate, and the signal acquisition unit is suitable for collecting the torquer current at a preset period within a preset time period under the control of the host computer; the host computer is suitable for calculating the angle drift value through the torquer current of the inertial device at different azimuth angles, and judging whether the inertial device is qualified according to the comparison result between the angle drift value and the angle drift threshold.

[0006] Furthermore, the inertial device is a liquid-floating gyroscope.

[0007] Furthermore, the inertial device is installed in an orthogonal hexahedron frame so that the main axis of the inertial device is located in the meridian plane.

[0008] Furthermore, the angle drift value includes an azimuth drift value and an elevation drift value.

[0009] Furthermore, a constant drift current and a random drift current are automatically obtained based on the torquer current. Accordingly, according to the constant drift current and the random drift current, an azimuth constant drift and an azimuth random drift, and an elevation constant drift and an elevation random drift are automatically obtained respectively.

[0010] Furthermore, among the angle drift thresholds, the azimuth angle constant drift threshold is 3° / h, the azimuth angle random drift threshold is 0.05° / h, the elevation angle constant drift threshold is 0.5° / h, and the elevation angle random drift threshold is 0.01° / h.

[0011] Furthermore, in the DC power supply board, the first DC / DC conversion module converts 28V into 5V power supply, the second DC / DC conversion module converts 28V into 15V power supply, the third DC / DC conversion module converts 28V into -15V power supply, and the fourth DC / DC conversion module converts 28V into 24V power supply; wherein the force feedback drift control board uses 5V, 15V, and -15V, the temperature control board uses 5V, 15V, -15V, and 24V, and the AC power supply board uses 5V, 15V, and -15V.

[0012] Furthermore, the AC power board outputs a 15V6KHz AC power supply and a three-phase 36V400Hz AC power supply; the 15V6KHz AC power supply respectively powers the excitation of the liquid-floating gyroscope and the force feedback drift control board, and the three-phase 36V400Hz AC power supply powers the motor inside the liquid-floating gyroscope.

[0013] In a second aspect, the present invention provides an inertial device testing method, wherein the inertial device is a liquid-floating gyroscope, comprising the following steps: (1) maintaining the temperature of the inertial device within a preset range; (2) powering the inertial device to operate for a preset period of time; (3) testing the torquer current at different azimuth angles, and obtaining the azimuth precession coefficient Kα and the pitch precession coefficient Kα accordingly. β ; (4) Test the azimuth torquer current and the pitch torquer current at an azimuth angle of 0° respectively, and obtain the azimuth constant drift current, azimuth random drift current, pitch constant drift current, and pitch random drift current accordingly; (5) Calculate the azimuth constant drift and azimuth random drift, the pitch constant drift, and the pitch random drift according to the data in steps (3) and (4); (6) Compare the result obtained in step (5) with the azimuth constant drift threshold, the azimuth random drift threshold, the pitch constant drift threshold, and the pitch random drift threshold respectively. If the azimuth constant drift ≤ azimuth constant drift threshold, the azimuth random drift ≤ azimuth random drift threshold, the pitch constant drift ≤ the pitch constant drift threshold, and the pitch random drift ≤ the pitch random drift threshold are satisfied at the same time, then the inertial device is judged to be qualified, otherwise it is unqualified.

[0014] Furthermore, in step (1), the temperature is maintained at 70°C; in step (2), the power is turned on for 4 hours; in step (3), the torque device current signals I0 and I180 of the inertial device are collected every 5 minutes within 1 hour at azimuths of 0° and 180°, respectively, and the corresponding average values ​​are By formula Calculate the azimuth precession coefficient of the inertial device; collect the torque device current signals I90 and I270 of the inertial device every 5 minutes within 1 hour at 90° and 270° azimuths, and the corresponding average values ​​are By formula Calculate the pitch precession coefficient of the inertial device, where We is the earth's rotation angular velocity, Ф is the local latitude, and WeCOSФ is the horizontal component of the earth's rotation angular velocity; in step (4), the azimuth torque device current signal I1 and the pitch torque device current signal I2 of the inertial device are automatically collected once every 15 minutes within 8 hours at an azimuth angle of 0°, and their average values ​​are azimuth constant drift current and pitch constant drift current The RMS values ​​are respectively the azimuth random drift current I 1δ and pitch random drift current I 2δ ; In step (5), Azimuth random drift = I 1δ ×Kα, Pitch angle random drift = I 2δ ×K β ; Where WeSINФ is the vertical component of the Earth's rotation angular velocity.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. It has the functions of automatic detection, recording, calculation, and qualification judgment of inertial device drift, which saves labor costs and improves the production efficiency and capacity of inertial devices; at the same time, it can accurately screen out high-performance inertial devices and is suitable for occasions of mass production of inertial devices.

[0017] 2. It has the advantages of easy operation, simple maintenance, low failure rate and low cost, and has promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a principle block diagram of an embodiment of the system of the present invention;

[0019] Figure 2 is a principle block diagram of a DC power supply board in one embodiment of the system of the present invention;

[0020] Figure 3is a principle block diagram of an AC power board in one embodiment of the system of the present invention;

[0021] Figure 4 It is a principle block diagram of a force feedback drift measurement control board in one embodiment of the system of the present invention;

[0022] Figure 5 is a principle block diagram of a temperature control board in one embodiment of the system of the present invention;

[0023] Figure 6 It is a flow chart of an embodiment of the method of the present invention. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] like Figure 1 As shown, an embodiment of the inertial device test system of the present invention includes an optical dividing head, the optical dividing head is used to place the test assembly, the test assembly includes a hexahedral frame and an inertial device, the inertial device is installed in the hexahedral frame, the inertial device is electrically connected to the AC power supply board, the force feedback drift control board, and the temperature control board, the DC power supply board is electrically connected to the AC power supply board, the force feedback drift control board, and the temperature control board, the force feedback drift control board, the temperature control board are electrically connected to the signal acquisition unit, and the signal acquisition unit is connected to the GPIB interface of the host computer through a GPIB line. In this embodiment, the inertial device is a liquid floating gyroscope, which has a floating liquid inside, which is viscous in the cold state and has a large specific gravity. After heating, the specific gravity of the liquid will decrease. When heated to a set temperature of 70°C and maintained, the motor inside the gyroscope is just completely floated in the liquid, so that the center of buoyancy, the center of support, and the center of gravity coincide. The temperature control board is used to control and maintain the heating temperature. The hexahedron frame is a cube bracket or frame for installing the gyroscope. During the test, the gyroscope to be tested is orthogonally installed in the hexahedron frame. When the hexahedron frame is aligned and fastened with the reference bar installed on the optical dividing head, it can ensure that the main axis of the gyroscope is located in the meridian plane. The hexahedron frame is made of boring machine film. The six faces of the frame part are like mirrors, with high flatness accuracy, and the faces are orthogonal to each other.

[0026] like Figure 2As shown, in one embodiment of the inertial device test system of the present invention, the DC power supply board includes an AC / DC conversion module, an EMI filtering module, a first DC / DC conversion module, a second DC / DC conversion module, a third DC / DC conversion module, and a fourth DC / DC conversion module; the AC / DC conversion module inputs an AC 220V 50Hz power supply and outputs a DC 28V power supply; the AC / DC conversion module outputs a 28V power supply to the input end of the EMI filtering module, the first DC / DC conversion module converts 28V into a 5V power supply, the second DC / DC conversion module converts 28V into a 15V power supply, the third DC / DC conversion module converts 28V into a -15V power supply, and the fourth DC / DC conversion module converts 28V into a 24V power supply. The DC power supply board mainly supplies power to the force feedback drift control board, temperature control board and AC power supply board. The force feedback drift control board uses 5V, 15V, and -15V DC power supplies, the temperature control board uses 5V, 15V, -15V, and 24V DC power supplies, and the AC power supply board uses 5V, 15V, and -15V DC power supplies.

[0027] like Figure 3 As shown, in one embodiment of the inertial device test system of the present invention, the AC power supply board includes a signal generator circuit, a first regulating circuit, a first power amplifier circuit, a second regulating circuit, a second power amplifier circuit, a third regulating circuit, a third power amplifier circuit, a fourth regulating circuit, and a fourth power amplifier circuit, which are electrically connected in sequence; the signal generator circuit is externally supplied with a 5V DC power supply, and can output one 2V6KHz AC signal and three 2V400Hz AC signals; the first 2V6KHz AC signal is output as a 15V6KHz AC signal through the first regulating circuit and the first power amplifier circuit; the second 2V400Hz AC signal The first signal passes through the second regulating circuit and the second power amplifier circuit to output a 36V400Hz AC signal; the third 2V400Hz AC signal passes through the third regulating circuit and the third power amplifier circuit to output a 36V400Hz AC signal; the fourth 2V400Hz AC signal passes through the fourth regulating circuit and the fourth power amplifier circuit to output a 36V400Hz AC signal, the second and third signals have a phase difference of 120°, the second and fourth signals have a phase difference of 120°, and the third and fourth signals have a phase difference of 120°, that is, the second, third and fourth signals are three-phase AC power, which supplies power to the motor inside the liquid floating gyroscope.

[0028] like Figure 4As shown, in one embodiment of the inertial device test system of the present invention, the force feedback drift measurement control board is mainly used to detect the torque device current when the torque generated by the inertial device torque device is equal to the external torque along the output axis direction of the inertial device, that is, the current value corresponding to the drift rate of the inertial device. The force feedback drift measurement control board includes a pre-AC amplifier circuit, a bandpass filter amplifier circuit, an AC amplifier circuit, a common-phase follower circuit, an anti-phase follower circuit, a full-wave demodulation circuit, a filter circuit, a PID correction circuit, a DC amplifier circuit, an RC sampling circuit, a phase shift circuit, and a comparator circuit. The input end of the pre-AC amplifier circuit is connected to the inertial device signal device, and the output end is connected to one input end of the band-pass filter amplifier circuit. The input end of the phase shift circuit is connected to the 15V6KHz AC signal output by the first power amplifier circuit. The output end of the phase shift circuit is connected to the input end of the comparator, and the output end of the comparator is connected to the other input end of the band-pass filter amplifier circuit. The output end of the band-pass filter amplifier circuit is connected to the input end of the AC amplifier circuit. The output end of the AC amplifier circuit is simultaneously connected to the input end of the in-phase follower circuit and the input end of the inverting follower circuit. The output end of the in-phase follower circuit and the output end of the inverting follower circuit are respectively connected to the two input ends of the full-wave demodulation circuit. The output end of the full-wave demodulation circuit is connected to the input end of the filter circuit, and the output end of the filter circuit is connected to the input end of the PID correction circuit. The output end of the PID correction circuit is connected to the input end of the DC amplifier circuit, and the output end of the DC amplifier circuit is connected to the input end of the RC sampling circuit. The output end of the RC sampling circuit is connected to the inertial device torquer.

[0029] The pre-AC amplifier circuit is used to amplify the weak signal output by the inertial device signal device to improve the signal-to-noise ratio; the bandpass filter amplifier circuit, including a bandpass filter and an amplifier circuit, is used to filter out and suppress low-frequency and high-frequency interference noise other than the signal device frequency, and amplify the extracted useful AC signal; the center frequency of the bandpass filter is 6KHz, the quality factor Q value is 45, and the waveform distortion is ≤0.1%; the AC amplifier circuit is used to further amplify the AC signal, reduce the output impedance, and improve the load capacity.

[0030] The in-phase follower circuit is used to buffer the previous stage signal, keep the voltage amplitude unchanged with the previous stage, and keep the phase the same as the previous stage; the inverting follower circuit is used to buffer the previous stage signal, keep the voltage amplitude unchanged with the previous stage, and keep the phase 180° different from the previous stage;

[0031] The full-wave demodulation circuit is used to demodulate the two AC signals of the previous stage with the same amplitude and a phase difference of 180° into a DC signal; the filtering circuit is used to filter out the high-frequency interference signal of the previous AC; the PID correction circuit is used to improve the dynamic following ability and symmetry of the inertial device signal in the feedback drift control board circuit; the DC amplifier circuit is used to DC amplify the signal processed by the PID correction circuit; the RC sampling circuit is used for V / I signal conversion; the phase shift circuit is used for waveform phase adjustment of the inertial device excitation signal; the comparator circuit is used to convert the sine wave signal into a square wave signal.

[0032] Figure 1 The signal acquisition unit includes a voltage acquisition module, a current acquisition module, and a resistance acquisition module which are electrically connected.

[0033] Figure 1 The host computer includes an electrically connected GPIB signal control module, a human-computer interaction display unit, a main processing module, a storage module, and an alarm module. The GPIB signal control module is connected to the signal acquisition unit through a GIPB cable to control the signal acquisition unit to collect signals of voltage, current, and resistance.

[0034] like Figure 5 As shown, in one embodiment of the inertial device testing system of the present invention, the temperature control board is mainly used to calibrate the temperature inside the inertial device to meet the set temperature requirements; the electrically connected temperature control board includes a precision bridge, a comparator circuit, a PID correction circuit, a power amplifier circuit, and a feedback circuit.

[0035] The precision bridge is used to convert the temperature thermistor sensor signal in the inertial device into an electrical signal; the comparator circuit is used to convert the previous stage electrical signal into a square wave signal; the PID correction circuit is used to control and adjust the dynamic response capability of the internal temperature of the inertial device to improve the temperature control accuracy; the power amplifier circuit is used to amplify the previous stage signal and increase the driving capability; the feedback circuit is used to improve the temperature control stability of the temperature control board and suppress noise interference.

[0036] like Figure 6 As shown, an embodiment of the inertial device testing method of the present invention comprises the following steps:

[0037] Connect the 220V power supply of the inertial device test system to the DC power board, AC power board, force feedback drift control board, and temperature control board. Under the control of the temperature control board, heat the inertial device for 1 hour to stabilize its temperature at a preset temperature, such as 70°C.

[0038] Connect a 36V, 400Hz three-phase AC power supply and allow the inertial device to work continuously and stably for 4 hours in advance;

[0039] Turn the optical dividing head to 0°, operate the host computer to control the signal acquisition unit through the GPIB interface, and collect the DC current signal of the azimuth torque device of the inertial device every 5 minutes within 1 hour, record it as I0, and record the average value as Turn the optical dividing head to 180° and collect the DC current signal of the azimuth torque device of the inertial device every 5 minutes in 1 hour, denoted as I 180 , the average value is recorded as

[0040] By formula Calculate the azimuth precession coefficient of the inertial device, where We is the angular velocity of the earth's rotation, Ф is the local latitude, and WeCOSФ is the horizontal component of the angular velocity of the earth's rotation;

[0041] Turn the optical dividing head to 90°, operate the host computer to control the signal acquisition unit through the GPIB interface, and collect the DC current signal of the pitch torque device of the inertial device every 5 minutes within 1 hour, which is recorded as I 90 , the average value is recorded as Turn the optical dividing head to 270° and collect the DC current signal of the pitch torque device of the inertial device every 5 minutes within 1 hour, which is recorded as I 270 , the average value is recorded as

[0042] By formula Calculate the pitch precession coefficient of the inertial device, where We is the angular velocity of the earth's rotation, Ф is the local latitude, and WeCOSФ is the horizontal component of the angular velocity of the earth's rotation;

[0043] Turn the optical dividing head to 0°, operate the host computer to control the signal acquisition unit through the GPIB interface, and automatically collect the azimuth torque device current signal I1 and the pitch torque device current signal I2 of the inertial device every 15 minutes within 8 hours. The average values ​​are azimuth constant drift current and pitch constant drift current The RMS values ​​are respectively the azimuth random drift current I 1δ and pitch random drift current I 2δ ; Azimuth random drift = I 1δ ×Kα, Pitch angle random drift = I 2δ ×K β ; Where WeSINФ is the vertical component of the Earth's rotational angular velocity;

[0044] The azimuth constant drift is compared with the azimuth constant drift threshold, the azimuth random drift is compared with the azimuth random drift threshold, the pitch angle constant drift is compared with the pitch angle constant drift threshold, and the pitch angle random drift is compared with the pitch angle random drift threshold. If the azimuth constant drift is ≤ the azimuth constant drift threshold, the azimuth random drift is ≤ the azimuth random drift threshold, the pitch angle constant drift is ≤ the pitch angle constant drift threshold, and the pitch angle random drift is ≤ the pitch angle random drift threshold, then the inertial device is determined to be qualified; otherwise, it is unqualified.

[0045] For ease of understanding, the following is a specific example for demonstration, where Ф is 31.52° north latitude:

[0046] Determining the precession coefficient

[0047] When the optical dividing head turns to 0°,

[0048] When the optical dividing head turns to 180°,

[0049]

[0050] When the optical dividing head turns to 270°,

[0051] When the optical dividing head turns to 90°,

[0052]

[0053] The optical dividing head is turned to 0°, and the azimuth torque device current signal I1 and the pitch torque device current signal I2 of the inertial device are automatically collected every 15 minutes within 8 hours. The average values ​​are azimuth constant drift current and pitch constant drift current The RMS values ​​are respectively the azimuth random drift current I 1δ and pitch random drift current I 2δ , the specific results are shown in the following table:

[0054]

[0055] Azimuth random drift = I 1δ ×Kα, Pitch angle random drift = I 2δ ×K β ; Where WeSINФ is the vertical component of the Earth's rotational angular velocity. The specific calculation results are as follows:

[0056]

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for testing an inertial device, characterized in that: The inertial device is a liquid-floating gyroscope, and is tested by an inertial device testing system, which includes an optical dividing head, a DC power supply board, an AC power supply board, a force feedback drift control board, a temperature control board, a signal acquisition unit, and a host computer; the force feedback drift control board and the temperature control board are electrically connected to the inertial device, respectively, the optical dividing head is used to adjust the azimuth angle of the inertial device, the temperature control board is suitable for maintaining the temperature of the inertial device at a preset temperature, the force feedback drift control board is used to measure the torquer current corresponding to the drift rate, and the signal acquisition unit is suitable for collecting the torquer current at a preset period within a preset time period under the control of the host computer; The host computer is suitable for calculating the angle drift value through the torquer current of the inertial device at different azimuth angles, and judging whether the inertial device is qualified according to the comparison result between the angle drift value and the angle drift threshold; The test method comprises the following steps: (1) Maintain the temperature of the inertial device at 70°C; (2) Power on the inertial device for 4 hours; (3) Test the torquer current at different azimuth angles and obtain the azimuth precession coefficient Kα and pitch precession coefficient K accordingly β , respectively, collect the torque device current signals I0 and I1 of the inertial device every 5 minutes within 1 hour at 0° and 180° azimuths. 180 The corresponding average values ​​are By formula Calculate the azimuth precession coefficient of the inertial device; collect the torque device current signal I of the inertial device every 5 minutes within 1 hour at 90° and 270° azimuth angles respectively 90 ,I 270 The corresponding average values ​​are By formula Calculate the pitch precession coefficient of the inertial device, where We is the angular velocity of the earth's rotation, Ф is the local latitude, and WeCOSФ is the horizontal component of the angular velocity of the earth's rotation; (4) The azimuth torquer current and the pitch torquer current are tested at an azimuth angle of 0°, and the azimuth constant drift current, azimuth random drift current, pitch constant drift current, and pitch random drift current are obtained accordingly. The azimuth torquer current signal I1 and the pitch torquer current signal I2 of the inertial device are automatically collected once every 15 minutes within 8 hours at an azimuth angle of 0°. The average values ​​of the azimuth constant drift current and the pitch constant drift current are respectively and pitch constant drift current The RMS values ​​are respectively the azimuth random drift current I 1δ and pitch random drift current I 2δ ; (5) Calculate the azimuth constant drift and azimuth random drift, the elevation constant drift and elevation random drift according to the data in step (3) and step (4), Azimuth random drift = I 1δ ×Kα, Pitch angle random drift = I 2δ ×K β ; Where WeSINФ is the vertical component of the Earth's rotational angular velocity; (6) Compare the result obtained in step (5) with the azimuth constant drift threshold, the azimuth random drift threshold, the pitch angle constant drift threshold, and the pitch angle random drift threshold respectively. If the following conditions are satisfied at the same time: azimuth constant drift ≤ azimuth constant drift threshold, azimuth random drift ≤ azimuth random drift threshold, pitch angle constant drift ≤ pitch angle constant drift threshold, and pitch angle random drift ≤ pitch angle random drift threshold, then the inertial device is determined to be qualified; otherwise, it is determined to be unqualified.

2. The inertial device testing method according to claim 1, characterized in that: The inertial device is mounted in an orthogonal hexahedron frame so that the major axis of the inertial device is located in a meridian plane.

3. The inertial device testing method according to claim 1, characterized in that: The angle drift value includes an azimuth angle drift value and an elevation angle drift value.

4. The inertial device testing method according to claim 3, characterized in that: Based on the torquer current, a constant drift current and a random drift current are automatically obtained. Accordingly, according to the constant drift current and the random drift current, an azimuth constant drift and an azimuth random drift, and an elevation constant drift and an elevation random drift are automatically obtained respectively.

5. The inertial device testing method according to claim 4, characterized in that: Among the angle drift thresholds, the azimuth constant drift threshold is 3° / h, the azimuth random drift threshold is 0.05° / h, the elevation constant drift threshold is 0.5° / h, and the elevation random drift threshold is 0.01° / h.

6. The inertial device testing method according to claim 1, characterized in that: In the DC power supply board, the first DC / DC conversion module converts 28V into 5V power supply, the second DC / DC conversion module converts 28V into 15V power supply, the third DC / DC conversion module converts 28V into -15V power supply, and the fourth DC / DC conversion module converts 28V into 24V power supply; wherein the force feedback drift control board uses 5V, 15V, and -15V, the temperature control board uses 5V, 15V, -15V, and 24V, and the AC power supply board uses 5V, 15V, and -15V.

7. The inertial device testing method according to claim 1, characterized in that: The AC power board outputs a 15V6KHz AC power supply and a three-phase 36V400Hz AC power supply; the 15V6KHz AC power supply supplies power to the excitation of the liquid-floating gyroscope and the force feedback drift control board respectively, and the three-phase 36V400Hz AC power supply supplies power to the motor inside the liquid-floating gyroscope.

Images