Method and device for selecting inductance sensor core and coil for two-degree-of-freedom gyroscope

Abstract

The application relates to a method and device for matching an inductive sensor magnetic core and a coil for a two-degree-of-freedom gyroscope, which comprises the following steps: step 1, screening the sensor magnetic core; and step 2, screening the sensor coil. The application can solve the problem that mechanical zero and electrical zero do not coincide due to the inductance difference of the stator coil assembly of the gyroscope sensor.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inertial navigation and measurement and control, and relates to an inductive sensor magnetic core and coil matching method and device, in particular to an inductive sensor magnetic core and coil matching method and device for a two-degree-of-freedom gyroscope. BACKGROUND

[0002] In the technical field of inertial navigation and measurement and control, a gyroscope is a core component. The traditional gyroscope generally has components such as sensors, torque devices and motors arranged inside. The sensor inside the gyroscope is used to detect the rotation angle of the gyroscope rotor relative to the gyroscope shell and convert it into a corresponding voltage signal. The performance of the sensor directly affects the performance of the gyroscope.

[0003] The gyroscope sensor is equipped with a zero adjustment circuit. The degree of deviation of the reference potential of the zero adjustment circuit reflects the degree of coincidence of the mechanical zero position and the electrical zero position of the gyroscope to some extent. Ideally, the mechanical zero position and the electrical zero position of the gyroscope are coincident. The higher the coincidence degree, the better the overall performance of the gyroscope. However, in actual production, due to machining errors, assembly errors, process defects and the like, the mechanical zero position and the electrical zero position of the gyroscope are not coincident.

[0004] Through the statistics of the performance data of nearly one thousand gyroscopes, it is shown that the resistance difference of the reference potential in the zero adjustment circuit of many gyroscope sensors is large, for example Figure 2 When the resistance difference (R4-R3) / R3 of the reference potential resistors R3 and R4 exceeds 8%, the performance of the subsequent gyroscopes is poor. The large resistance difference of the reference potential in the zero adjustment circuit of the gyroscope sensor reflects the problem that the mechanical zero position and the electrical zero position of the gyroscope are not coincident.

[0005] The problem that the mechanical zero position and the electrical zero position are not coincident due to mechanical structure errors such as machining or assembly errors is relatively simple and can be solved by controlling the machining and assembly processes. However, the problem that the mechanical zero position and the electrical zero position are not coincident due to electrical errors is relatively complex. For example, the magnetic field of the electrical device cannot be seen, touched or measured.

[0006] Therefore, it is urgent for those skilled in the art to develop an inductive sensor magnetic core and coil matching method and device for a two-degree-of-freedom gyroscope to solve the problem that the mechanical zero position and the electrical zero position are not coincident due to the inductance difference on the stator coil assembly of the gyroscope sensor.

[0007] After searching, no existing technical patent literature similar to the present application has been found. SUMMARY

[0008] The purpose of the present application is to overcome the deficiencies of the prior art, and propose a method and device for selecting an inductive sensor magnetic core and coil for a two-degree-of-freedom gyroscope, which can solve the problem of mechanical zero and electrical zero not coinciding due to inductance differences on the stator coil assembly of the gyroscope sensor.

[0009] The present application solves its practical problems by adopting the following technical solutions:

[0010] A method for selecting an inductive sensor magnetic core and coil for a two-degree-of-freedom gyroscope, comprising the following steps:

[0011] Step 1: screening the sensor magnetic core;

[0012] Step 2: screening the sensor coil;

[0013] Moreover, the specific method of step 1 is:

[0014] The sensor magnetic core is trial-fitted to the gyroscope base in a state of not being fixed to the base, and the sensor magnetic core is screened using a selection device, with the screening basis being that the inductance value index measured by the selection device has a difference between any two magnetic cores of ≤0.2 mH.

[0015] Moreover, the specific method of step 2 is:

[0016] The screened magnetic core is fixed to the base, and the sensor coil trial-fitted to the magnetic core is screened, with the screening basis being the inductance value index of the gyroscope measured by the selection device and the resistance value index measured by the multimeter, and the screened coil is fixed to the magnetic core.

[0017] Moreover, the X-axis inductance value index of the gyroscope measured by the selection device and the resistance value index measured by the multimeter are:

[0018] |(L a +L b )-(L c +L d )|≤0.5 mH (1)

[0019] |(R a +R b )-(R c +R d )|≤1 Ω (2)

[0020] Similarly, the Y-axis inductance value index of the gyroscope measured by the selection device and the resistance value index measured by the multimeter are:

[0021] |(L e +L f )-(L g +L h)|≤ 0.5mH (3)

[0022] |(R e +R f )-(R g +R h )|≤ 1Ω (4)

[0023] Wherein:

[0024] a, b, c, d - four sensor magnetic cores on the X axis of the gyroscope;

[0025] L a , L b , L c , L d - the inductance of the four sensor magnetic cores on the X axis of the gyroscope after being sleeved with the coil;

[0026] R a , R b , R c , R d - the resistance of the four sensor magnetic cores on the X axis of the gyroscope after being sleeved with the coil;

[0027] e, f, g, h - four sensor magnetic cores on the Y axis of the gyroscope;

[0028] L e , L f , L g , L h - the inductance of the four sensor magnetic cores on the Y axis of the gyroscope after being sleeved with the coil;

[0029] R e , R f , R g , R h - the resistance of the four sensor magnetic cores on the Y axis of the gyroscope after being sleeved with the coil;

[0030] An inductance type sensor magnetic core and coil matching device for a two-degree-of-freedom gyroscope, comprising: a non-metal clamping tool and an inductance meter;

[0031] The non-metal clamping tool comprises two clamping arms for clamping the gyroscope sensor coil and fixing the inductance meter probes, and the two probes of the inductance meter are respectively tightly installed on the outer sides of the two clamping arms of the non-metal clamping tool; the inductance meter probes move together with the sensor coil.

[0032] Moreover, the two clamping arms of the non-metal clamping tool are clamped by a first clamping belt at the middle part near the sensor coil; the two clamping arms of the non-metal clamping tool are clamped by a second clamping belt and a third clamping belt respectively at the middle part of the non-metal clamping tool and the inductance watch pen, and the two inductance watch pens are clamped by a fourth clamping belt at the tail end of the two inductance watch pens.

[0033] Moreover, the non-metal clamping tool is a non-metal clamping tool without ferromagnetic substances.

[0034] Moreover, the inner side of the front end of the two clamping arms of the non-metal clamping tool is fixed with a heat shrink sleeve, and the middle part of the gyro sensor coil is clamped at the front end of the heat shrink sleeve.

[0035] Moreover, the two pen of the inductance watch are tin soldered to connect the two lead wires of the sensor coil.

[0036] Advantages and beneficial effects of the present application:

[0037] 1. The present application provides a two-degree-of-freedom gyro inductance sensor magnetic core and coil selection method, which needs to use the selection device provided by the present application to realize. The method uses the inductance value index measured by the selection device as the basis for selecting the magnetic core, and first selects the gyro sensor magnetic core; then uses the inductance value index measured by the selection device and the resistance value index measured by the multimeter as the basis for selecting the coil, and then selects the gyro sensor coil, so as to reduce the inductance difference of the gyro sensor coil, and reduce the non-coincidence of the mechanical zero and the electrical zero of the gyro.

[0038] 2. The present application can solve the problem of non-coincidence of mechanical zero and electrical zero caused by inductance difference of the gyro sensor stator coil assembly, especially significantly reduce the deviation caused by the electrical zero of the gyro, so as to reduce the interference torque generated by the gyro sensor, improve the precision and overall performance of the gyro. Therefore, the batch production survival rate of the two-degree-of-freedom gyro can be greatly improved.

[0039] 3. The selection method of the present application is simple and easy to implement, and the selection process is easy to solidify, especially suitable for mass production of gyroscopes. The selection device used in the selection method of the present application has low cost and does not contain metal devices that are easy to magnetize, has little interference to inductance measurement, and is easy to implement.

[0040] 4. The selection method of the present application can be used for inspection of the heat treatment process of the gyro sensor magnetic core. The sensor magnetic core is a soft magnetic alloy, in order to ensure that it obtains the best magnetic performance, it must be subjected to magnetic performance heat treatment according to the material requirements, and the inductance of the combination of the magnetic core and the coil after the heat treatment of the magnetic core can be measured by the selection device of the present application, so as to check whether the magnetic permeability after the heat treatment of the magnetic core meets the requirements. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a single inductance sensor schematic diagram;

[0042] Figure 2 is a traditional single-channel sensor zero adjustment circuit;

[0043] Figure 3 is a differential two-way inductance sensor schematic diagram;

[0044] Figure 4 is a two-way sensor zero adjustment circuit diagram;

[0045] Figure 5 is a cylindrical magnetic core and U-shaped magnetic core structure diagram;

[0046] Figure 6 is a schematic diagram of the cylindrical magnetic core arrangement of the present application;

[0047] Figure 7 is a schematic diagram of the magnetic core selection device structure of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application are further described in detail below with reference to the accompanying drawings:

[0049] A two-degree-of-freedom gyroscope inductance sensor magnetic core and coil selection method, comprising the following steps:

[0050] Taking a two-degree-of-freedom gyroscope with a precision of 0.05° / h as an example, the total error allocated to the sensor by the gyroscope is usually 0.01° / h.

[0051] Step 1, screening the sensor magnetic core;

[0052] The specific method of step 1 is:

[0053] The sensor magnetic core is tested and installed on the gyroscope base in a state not fixed to the base, and the selection device is used to screen the sensor magnetic core, and the screening basis is that the inductance value measured by the selection device is that the inductance difference of any two magnetic cores is ≤0.2mH;

[0054] Step 2, screening the sensor coil;

[0055] The specific method of step 2 is:

[0056] The screened magnetic core is fixed to the base, and the sensor coil tested and installed on the magnetic core is screened, and the screening basis is that the inductance value measured by the selection device and the resistance value measured by the multimeter, and the screened coil is fixed to the magnetic core.

[0057] The X-axis inductance value of the gyroscope measured by the optional device and the resistance value measured by the multimeter are as follows:

[0058] |(L a +L b )-(L c +L d )|≤0.5mH (1)

[0059] |(R a +R b )-(R c +R b )|≤1Ω (2)

[0060] Similarly, the Y-axis inductance value of the gyroscope measured by the optional device and the resistance value measured by the multimeter are as follows:

[0061] |(L e +L f )-(L g +L h )|≤0.5mH (3)

[0062] |(R e +R f )-(R g +R h )|≤1Ω (4)

[0063] in:

[0064] a, b, c, d — 4 sensor cores on the X-axis of the gyroscope;

[0065] L a L b L c L d —The inductance of the four sensor cores on the X-axis of the gyroscope after the coils are fitted;

[0066] R a R b R c R d —The resistance of the four sensor cores on the X-axis of the gyroscope after the coils are fitted;

[0067] e,f,g,h — 4 sensor cores on the Y-axis of the gyroscope;

[0068] L e L f L g L h —The inductance of the four sensor cores on the Y-axis of the gyroscope after the coils are fitted;

[0069] R e R f Rg , R h Resistance of 4 sensor magnetic core sleeves after coil is wound on Y-axis of gyroscope

[0070] In the embodiment, the selected parameters of the magnetic core and the coil are determined with reference to the allowed drift error of the gyroscope sensor allocated by the overall gyroscope.

[0071] In the embodiment, the screening of the sensor magnetic core is performed before the screening of the sensor coil. The selection of the magnetic core can be performed without sequence, and the selection of the coil needs to be performed by means of the ordering of the inductance value and the resistance value of the coil.

[0072] An inductive sensor magnetic core and coil selection device for a two-degree-of-freedom gyroscope comprises a non-metal clamping tool and an inductance meter. Figure 7 The non-metal clamping tool comprises two clamping arms for clamping the gyroscope sensor coil and fixing the inductance meter probes, and the two probes of the inductance meter are respectively tightly installed on the outer sides of the two clamping arms of the non-metal clamping tool.

[0073] The non-metal clamping tool comprises two clamping arms for clamping the gyroscope sensor coil and fixing the inductance meter probes, and the two probes of the inductance meter are respectively tightly installed on the outer sides of the two clamping arms of the non-metal clamping tool.

[0074] In the embodiment, the two clamping arms of the non-metal clamping tool are clamped by the first clamping belt at the middle part near the sensor coil, and the two clamping arms of the non-metal clamping tool and the corresponding inductance meter probes are clamped by the second clamping belt and the third clamping belt at the middle part of the non-metal clamping tool and the inductance meter probes, respectively.

[0075] In the embodiment, the non-metal clamping tool is a non-metal clamping tool without ferromagnetic substances.

[0076] In the embodiment, the inner side of the front end of the two clamping arms of the non-metal clamping tool is fixed with a heat shrink sleeve, and the middle part of the gyroscope sensor coil is clamped at the front end of the heat shrink sleeve.

[0077] In the embodiment, the two probes of the inductance meter are tin soldered to the two lead wires of the sensor coil.

[0078] The working principle of the inductive sensor magnetic core and coil selection device for a two-degree-of-freedom gyroscope is as follows:

[0079] The non-metal clamping tool is used for clamping the sensor coil and fixing the inductance meter probes, so that the inductance meter probes move with the sensor coil, the four non-metal clamping belts are used for clamping the entire magnetic core selection device, and the inductance meter is used for measuring the inductance value of the sensor coil tried on the magnetic core.

[0080] The working principle of this invention is as follows: Figures 1 to 6 As shown:

[0081] The principle of a common single inductive sensor is as follows: Figure 1 As shown:

[0082] It consists of an excitation coil, a magnetic core, and an armature. The inductance L of the coil is:

[0083]

[0084] In the formula, δ is the working air gap length, S is the air gap cross-sectional area, W is the number of coil turns, and μ0 is the vacuum permeability.

[0085] To convert changes in inductance into easily measurable electrical signals, a suitable bridge circuit is required as the measurement circuit. A single-channel differential inductive sensor consists of a pair of... Figure 1 The single inductive sensor shown is described in the image. Figure 3 The dual-channel inductive sensor shown can be configured as follows: For example, sensors A and B share a common armature to form a differential structure, constituting a single-channel differential inductive sensor. If the air gap of one sensor decreases by Δδ, the air gap of the other sensor increases by Δδ. This causes the inductance of one sensor to increase and the other to decrease, resulting in a total change in inductance ΔL between the two sensors.

[0086]

[0087] In the formula, δ0 is the working air gap length when the gyroscope rotor deflection angle α = 0, L0 is the inductance of the two coils when the gyroscope rotor deflection angle α = 0, and Δδ is the change in the working air gap.

[0088] Single-channel differential inductive sensor zero-point adjustment circuit as follows Figure 2 As shown in the diagram. X1 and X2 are the gyroscope sensor coils, and r1 and r2 are the coil internal resistances. If necessary, resistors R1 and R2 (indicated by dashed lines) are connected in parallel with X1 and X2 respectively. The sensor output voltage U0 is minimized by adjusting R1, R2, R3, and R4.

[0089] The dual-degree-of-freedom gyroscope uses a dual-channel differential inductive sensor, consisting of a pair of identical, orthogonal single-channel differential inductive sensors. Its principle is described in [link to technical documentation]. Figure 3 As shown. See also the sensor zeroing circuit for the dual-channel differential inductive sensor. Figure 4 As shown, this circuit can be a simple superposition of single-channel sensor zero-point adjustment circuits, consisting of... Figure 4 It can be seen that in order to minimize the output U0 of the gyroscope sensor, the impedances at both ends of the bridge circuit must be proportional.

[0090] According to formula (1), the change of air gap length δ can cause the change of coil inductance when other parameters are constant. The number of turns W of the coil is ensured by design and processing technology, and the difference of the number of turns of all coils can be controlled below 1%, which has relatively small effect on inductance L; the air gap cross-sectional area S is ensured by machining, which has negligible effect on inductance L. Assuming that the gyro has no mechanical zero deviation, in the closed loop working condition of the gyro, the gyro sensor works in the state of minimum zero voltage, and the torque modifier continuously corrects the position of the gyro rotor, so Figure 3 The air gaps between the A and B sensor stators and the armature should be equal when the gyro is in static working, i.e. δ1=δ2, and the air gaps between the C and D sensor stators and the armature should be equal when the gyro is in static working, i.e. δ3=δ4, so the corresponding Figure 4 The inductance values at each of X1, X2 and Y1, Y2 should be equal, i.e. L X1 =L X2 , L Y1 =L Y2 , and ideally Figure 4 The reference potential resistors in the circuit should have R1=R2 and R5=R6.

[0091] However, in the actual production process of the gyro, even if the gyro has no mechanical zero deviation, the resistance value difference between the reference potential resistors R1 and R2 or between R5 and R6 in the zero adjustment circuit of the gyro sensor is still relatively large, and the resistance value deviation (R2-R1) / R1 or (R6-R5) / R5 of some gyro sensors reaches more than 15%. This problem is mainly caused by the difference in vacuum permeability μ0 of the sensor magnetic core, which leads to the difference between L X1 and L X2 or between L Y1 and L Y2 , thereby causing the resistance value deviation of the reference potential resistors in the zero adjustment circuit of the gyro sensor. For example, in an extreme case, the inductance value of a certain type of two-degree-of-freedom gyro sensor magnetic core that has undergone normal heat treatment is measured to be 11.5 mH by means of a selection device, while the inductance value of a magnetic core that has not undergone heat treatment is measured to be only 9.0 mH. Assuming that the excitation frequency of the gyro sensor is 16 kHz, the coil impedance difference in the above case reaches 2π×16000×(11.5-9.0)=251200 Ω. Even if the above extreme case is excluded, μ0 varies with the material and heat treatment condition of the magnetic core, and there is a certain difference between different furnaces or different batches of magnetic cores, especially in the case of mixed use of multiple batches of magnetic cores, it is easy to cause a large difference in the magnetic permeability of the magnetic core, leading to a too large inductance difference between L X1 and L X2 or between L Y1 and L Y2 .

[0092] The influence mechanism of vacuum permeability μ0 on gyroscope performance includes two aspects: First, a large difference in μ0 leads to a large difference in the inductance of the gyroscope sensor coil, which is reflected in a large difference in the reference potential resistance on the gyroscope sensor zero-adjustment circuit. This directly reflects a misalignment between the mechanical zero point and the electrical zero point of the gyroscope. Gyroscope tests have verified that such gyroscopes have poor performance. Second, a large difference in μ0 leads to a large residual electromagnetic attraction torque in the gyroscope sensor. The principle of the electromagnetic attraction torque M is shown in Formula 5, which causes the two ends of one axis of the gyroscope to... Figure 3 If the difference in electromagnetic attraction torque between A and B or between C and D is too large, the residual electromagnetic attraction torque of the gyroscope sensor will seriously reduce the stability of the gyroscope output and the overall performance of the gyroscope, since the residual electromagnetic attraction torque of the gyroscope sensor is an interference torque.

[0093]

[0094] In the formula, I is the effective value of the alternating current passing through the sensor stator coil, W is the number of turns of the sensor stator coil, and r is the distance from a single sensor stator to the center of the base. (See [reference]). Figure 3 As shown, μ0 is the permeability of free space, a and b are the length and width of the magnetic core, δ1 is the minimum distance between the upper end face of the magnetic core and the magnetic plate, and δ2 is the maximum distance between the upper end face of the magnetic core and the magnetic plate.

[0095] The mechanism by which vacuum permeability μ0 affects gyroscope performance reveals that, assuming no mechanical zero-position deviation in the gyroscope, eliminating the difference in μ0 between the gyroscope sensor core and the zero-position deviation can largely eliminate the electrical zero-position deviation. The influence of vacuum permeability μ0 on gyroscope performance is easily overlooked by engineers.

[0096] In engineering practice, eliminating the difference in μ0 between gyroscope sensor cores requires the use of a dedicated gyroscope sensor core matching device. The complete matching device can be found here: Figure 7As shown, the selected gyro sensor coil, non-metallic clamping band, non-metallic clamping tool and inductance meter, etc. The production process of the selected device is as follows: select a coil with the same number of turns, wire diameter, coil inner and outer diameter and coil width parameters as the gyro sensor coil. If the volume of the coil is large, a wear-resistant coil skeleton needs to be built in; if the volume of the coil is small and cannot place the coil skeleton, the inner diameter cylindrical surface of the coil needs to be strongly wear-resistant protection, and the wear-resistant layer material is non-metallic and does not contain ferromagnetic impurities. The selected coil lead is drawn from the bottom of the coil, and the enamel wire paint is removed after leaving a suitable length of lead using paint remover. Select a clamping tool made of non-metallic material with appropriate size, and use a heat shrink sleeve to protect the front end of the clamping tool. Use the clamping tool to clamp the gyro sensor coil, and the heat shrink sleeve is tightly attached to the surface of the sensor coil. Use non-metallic clamping bands 1 to fix the clamping tool and the gyro sensor coil together, and pay attention to the clamping force of the clamping tool, which should not deform or crush the enamel wire paint of the gyro sensor coil. Use non-metallic clamping bands 2, 3 to fix the inductance meter pen to the two sides of the clamping tool, and use non-metallic clamping band 4 to fix the back end of the inductance meter pen.

[0097] Still taking a two-degree-of-freedom gyro with a gyro precision of 0.05° / h as an example, the total allowable error allocated to the sensor of the gyro is usually 0.01° / h. The selected standard for selecting and determining the gyro sensor magnetic core is that the difference between the sum of the inductances of the two coils on the adjacent magnetic core of the X or Y axis of the gyro sensor and the sum of the inductances of the other two coils is less than 0.5 mH, and the corresponding difference in coil resistance is less than 1 Ω. See Figure 6 As shown, taking the X axis of the gyro as an example, the selected gyro sensor magnetic core and coil meet the following requirements:

[0098] |(L a +L b )-(L c +L d )|≤0.5mH

[0099] |(R a +R b )-(R c +R d )|≤1Ω

[0100] Similarly, the selected gyro sensor magnetic core and coil for the Y axis of the gyro meet the following requirements:

[0101] |(L e +L f )-(L g +L h )|≤0.5mH

[0102] |(R e +R f )-(R g +R h)|≤1Ω

[0103] Gyroscope sensor core structures are generally divided into two categories, namely, Figure 5 The cylindrical magnetic core shown in a) and as shown in the figure Figure 5 The U-shaped magnetic core is shown in b). If cylindrical magnetic cores are used, a single gyroscope typically requires 8 cylindrical magnetic cores, with 4 cores forming the gyroscope X-channel sensor stator core and the other 4 cores forming the gyroscope Y-channel sensor stator core. If U-shaped magnetic cores are used, a single gyroscope typically requires 4 U-shaped magnetic cores, with 2 cores forming the gyroscope X-channel sensor stator core and the other 2 cores forming the gyroscope Y-channel sensor stator core.

[0104] Since the selection of the gyroscope sensor core is performed before the selection of the coil, the selection requirements for the core are more stringent than those in formulas (1) and (3). Taking a cylindrical core as an example, the selection process for the gyroscope X-axis core is as follows: arbitrarily select four cylindrical cores and test-fit them without taking any curing measures. Figure 6 For the four magnetic cores a, b, c, and d along the X-axis of the gyroscope shown, the coils of the matching device are successively fitted onto the four magnetic cores a, b, c, and d. The inductance meter readings are read and recorded. The accuracy of the inductance meter used is better than 0.1mH. When the inductance meter displays two or more decimal places, it is rounded up, that is, the effective reading of the inductance meter is retained to one decimal place. Assuming that the inductance of the matching device coils after being fitted onto the four magnetic cores a, b, c, and d is as shown in Table 1, then the magnetic core matching operation is performed according to the "Magnetic Core Matching Measures" in Table 1. During the matching process, the order of a, b, c, and d does not matter. The final magnetic core matching result is such that the inductance difference between any two magnetic cores a, b, c, and d is ≤0.2mH. The same steps are used for the magnetic core matching operation of the X-axis gyroscope sensor to perform the matching operation of the Y-axis gyroscope sensor magnetic core.

[0105] Table 1 Sensor Core Selection Process

[0106]

[0107] If the gyroscope sensor core structure is a U-shaped core, taking the core selection operation of the gyroscope X-axis as an example, a and b are the two ends of one core on the gyroscope X-axis, and c and d are the two ends of another core. In the core selection process, we will encounter more situations like the situation in row 3 of Table 1. In this case, refer to the "Take core selection measures" in row 3 of Table 1 for the selection operation.

[0108] After the magnetic core selection operation is completed, appropriate curing measures are taken to bond or weld the magnetic core to the gyroscope base before proceeding to the coil selection operation of the gyroscope sensor.

[0109] Still taking the cylindrical magnetic core as an example, the coil selection operation process for the gyro X-axis is as follows: arbitrarily select 4 gyro sensor coils, and try to install them on a, b, c, and d magnetic cores without taking any solidification measures. According to the connection rules of the gyro sensor stator coils, the coils installed on a and b are connected in series and shorted, and the coils installed on c and d are connected in series and shorted. As shown in FIG. 8, after the coils installed on a and b are connected in series and shorted, the total inductance L Figure 6 +L a +L b is indicated by L ab , and the total resistance is indicated by R ab . After the coils installed on c and d are connected in series and shorted, the total inductance L c +L d is indicated by L cd , and the total resistance is indicated by R cd . Perform the coil selection operation according to the "coil selection measures" in Table 2.

[0110] Table 2 sensor coil selection process table

[0111]

[0112] In the selection process, another magnetic core with the same physical properties as a, b, c, and d can be set as a sample magnetic core, and the four coils are respectively tried to be installed and the inductance values L1, L2, L3, and L4 are measured. The inductance values L1, L2, L3, and L4 are sorted according to size. Then, a multimeter with appropriate accuracy is used to measure the resistance values R1, R2, R3, and R4 of the four coils and sort them according to size. In principle, the inductance value L1, L2, L3, and L4 sorting is used to determine the assembly relationship between the four coils and the a, b, c, and d magnetic cores, and then the resistance value R1, R2, R3, and R4 sorting is used to determine the assembly relationship between the four coils and the a, b, c, and d magnetic cores. Assuming that the inductance value sorting result is L1

[0113] The matching result of the final coil makes the inductance value and resistance value measured by the matching device and the universal meter satisfy the requirements of formulas (1) and (2), i.e. ab -L cd |≤0.5mH, |R ab -R cd |≤1Ω. The same steps of the coil matching operation of the X-axis gyro sensor coil are used to match the Y-axis gyro sensor coil.

[0114] If the magnetic core structure is a U-shaped magnetic core, the coil is matched to the X-axis gyro, and the coil matching operation of the X-axis gyro is taken as an example. In addition to the coil on the a and b magnetic cores being replaced at the same time or the coil on the c and d magnetic cores being replaced at the same time, the above coil matching measures are still applicable.

[0115] After the coil matching is completed, the coil is fixed to the magnetic core by using a curing measure such as glue or paint, and the entire magnetic core and coil matching process is completed.

[0116] It should be emphasized that the embodiments described in the present application are illustrative rather than restrictive, and thus the present application includes but is not limited to the embodiments described in the specific embodiments. Any other embodiments derived by those skilled in the art according to the technical solutions of the present application also belong to the scope of protection of the present application.

Claims

1. A method for selecting and matching the magnetic core and coil of an inductive sensor for a two-degree-of-freedom gyroscope, characterized in that: Includes the following steps: Step 1: Screen the sensor magnetic cores; Step 2: Screen the sensor coils; The specific method for step 1 is as follows: The sensor core was test-mounted onto the gyroscope base without being fixed to the base. The sensor core was then screened using an optional device. The screening criteria were: the inductance difference between any two cores measured by the optional device was ≤0.2mH. The specific method for step 2 is as follows: After screening, the magnetic core is fixed to the base. Then, the sensor coils that are tested on the magnetic core are screened. The screening criteria are: the inductance value of the gyroscope measured by the selection device and the resistance value measured by the multimeter. The screened coils are then fixed to the magnetic core. The X-axis inductance value of the gyroscope measured by the optional device and the resistance value measured by the multimeter are as follows: |(L a +L b )-(L c +L d )|≤0.5mH (1) |(R a +R b )-(R c +R d )|≤1Ω (2) Similarly, the Y-axis inductance value of the gyroscope measured by the optional device and the resistance value measured by the multimeter are as follows: |(L e +L f )-(L g +L h )|≤0.5mH (3) |(R e +R f )-(R g +R h )|≤1Ω (4) in: a, b, c, d — 4 sensor cores on the X-axis of the gyroscope; L a L b L c L d —The inductance of the four sensor cores on the X-axis of the gyroscope after the coils are fitted; R a R b R c R d —The resistance of the four sensor cores on the X-axis of the gyroscope after the coils are fitted; e,f,g,h — 4 sensor cores on the Y-axis of the gyroscope; L e L f L g L h —The inductance of the four sensor cores on the Y-axis of the gyroscope after the coils are fitted; R e R f R g R h —The resistance of the four sensor cores on the Y-axis of the gyroscope after the coils are attached.

2. The apparatus for selecting and matching the magnetic core and coil of an inductive sensor for a dual-degree-of-freedom gyroscope according to claim 1, characterized in that: include: Non-metallic clamping tools and inductance meters; The non-metallic clamping tool includes two clamping arms for clamping the gyroscope sensor coil and fixing the inductance meter probes. The two probes of the inductance meter are respectively attached to the outside of the two clamping arms of the non-metallic clamping tool, so that the inductance meter probes move together with the sensor coil.

3. The magnetic core and coil selection device for an inductive sensor for a dual-degree-of-freedom gyroscope according to claim 2, characterized in that: The two clamping arms of the non-metallic clamping tool are clamped together by a first clamping band near the sensor coil in the middle of the two clamping arms; at the middle position between the non-metallic clamping tool and the inductance meter probe, the two clamping arms of the non-metallic clamping tool are clamped together with the inductance meter probe on the corresponding side by a second clamping band and a third clamping band respectively. The two inductor probes are clamped together at their ends using a fourth clamping band.

4. The magnetic core and coil selection device for an inductive sensor used in a dual-degree-of-freedom gyroscope according to claim 2, characterized in that: The non-metallic clamping tool is a non-metallic clamping tool that does not contain ferromagnetic materials.

5. The magnetic core and coil selection device for an inductive sensor for a dual-degree-of-freedom gyroscope according to claim 2, characterized in that: The non-metallic clamping tool has heat-shrink tubing fixed to the inner side of the front end of the two clamping arms, and the middle part of the gyroscope sensor coil is clamped at the front end of the heat-shrink tubing.

6. The magnetic core and coil selection device for an inductive sensor used in a dual-degree-of-freedom gyroscope according to claim 2, characterized in that: The two probes of the inductance meter are soldered to the two leads of the sensor coil.

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