A method and system for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly

Abstract

The present invention relates to a method for adjusting the center of mass of a rotor assembly, and more specifically to a method and system for adjusting the center of mass of a rotor assembly of a micro-dynamically tuned gyroscope. The method addresses the technical problem that, after the rotor assembly of a micro-dynamically tuned gyroscope is completed, mechanical errors during machining may cause its center of mass to be not in the plane where the support center is located. Due to spatial limitations of the micro-dynamically tuned gyroscope, the center of mass of the rotor assembly cannot be adjusted by adding adjustment parts, thereby causing drift errors in the micro-dynamically tuned gyroscope. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly utilizes the change in voltage signal output by a sensor to determine whether the center of mass of the rotor assembly is axially offset from the support center. The method then performs de-sizing on the end surface of the rotor upper end or the rotor lower end, ensuring that the center of mass of the rotor assembly is axially adjusted to the support center along the H-axis of the gyroscope.

Description

Technical Field

[0001] The present invention relates to a method for adjusting the mass center of a rotor assembly, and in particular to a method and system for adjusting the mass center of a rotor assembly of a micro-dynamically tuned gyroscope. Background Art

[0002] The rotor assembly is an important component of the high-speed rotating micro-dynamically tuned gyroscope, such as Figure 1 As shown, it generally consists of a flexible joint assembly 01, a rotor 8, a gimbal 03, a tuning screw 04, a magnetic ring 05, and a magnet 06. The rotor assembly uses a flexible support, with one end being the support shaft of the dynamically tuned gyroscope and the other end being a high-speed rotating component. The middle portion contains the gimbal 03 and the tuning screw 04, which is fixed to the gimbal 03. Changing the length of the tuning screw 04 and moving the center of mass of the tuning screw 04 relative to the support point can effectively change the equivalent moment of inertia of the gimbal 03, allowing the micro-dynamically tuned gyroscope to operate in a tuned state without any constraints, and accurately measuring the angular offset of the micro-dynamically tuned gyroscope relative to the carrier.

[0003] In the design of a micro-dynamically tuned gyroscope, the center of mass of the rotor assembly is located at its support center, which is guaranteed by design. After the rotor assembly is machined, mechanical errors in the rotor assembly during machining can cause its center of mass to not be in the plane where the support center is located. Due to the spatial limitations of the micro-dynamically tuned gyroscope, the center of mass of the rotor assembly cannot be adjusted by adding adjustment parts, which can cause drift errors in the micro-dynamically tuned gyroscope. Summary of the Invention

[0004] The purpose of the present invention is to address the technical problem that after the rotor assembly of an existing micro-powered tuned gyroscope is processed, the mechanical error of the rotor assembly during processing will cause its center of mass to be not in the plane where the support center is located. Due to the spatial limitation of the micro-powered tuned gyroscope, the center of mass of the rotor assembly cannot be adjusted by adding adjustment parts, which will cause the micro-powered tuned gyroscope to produce drift errors. A method and system for adjusting the center of mass of the rotor assembly of a micro-powered tuned gyroscope are provided to ensure that the center of mass of the rotor assembly is located at its support center, thereby eliminating the drift errors caused by the micro-powered tuned gyroscope.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A system for adjusting the center of mass of a rotor assembly of a micro-dynamically tuned gyroscope is disclosed. The micro-dynamically tuned gyroscope to be adjusted includes a gyro base with a sensor. The system is special in that:

[0007] Step 1: Install the rotor assembly of the micro-dynamically tuned gyroscope to be adjusted on the gyroscope base equipped with the sensor, screw the tuning screw into the gimbal, and place the micro-dynamically tuned gyroscope to be adjusted vertically upward along the H-axis. Apply an excitation signal to the sensor and amplify the voltage signal output by the sensor to obtain a first voltage signal U1.

[0008] Step 2: Rotate the micro-dynamically tuned gyroscope to be adjusted 90° in any direction, and amplify the voltage signal output by the sensor by the same multiple as in step 1 to obtain a second voltage signal U2;

[0009] Step 3: Obtain a voltage difference ΔU based on the first voltage signal U1 obtained in step 1 and the second voltage signal U2 obtained in step 2;

[0010] Step 4: Calculate the deflection angle Δα based on the voltage difference ΔU; adjust the upper end or the lower end of the rotor of the micro-dynamically tuned gyroscope to be adjusted using a mass block so that the deflection angle Δα is less than or equal to a deflection angle threshold, and record the mass of the mass block;

[0011] Alternatively, according to the voltage difference ΔU, the upper end or the lower end of the rotor of the micro-dynamically tuned gyroscope to be adjusted is adjusted through the mass block so that the voltage difference ΔU is less than or equal to the voltage difference threshold, and the mass of the mass block is recorded;

[0012] Step 5: Calculate the required adjustment size of the rotor upper end or rotor lower end based on the rotor density and size of the micro-dynamically tuned gyroscope to be adjusted and the mass of the mass block obtained in step 4;

[0013] Step 6: Remove the rotor assembly from the gyro base, and perform dimensioning on the upper or lower end of the rotor according to the dimensioning obtained in step 5 to complete the adjustment of the center of mass of the rotor assembly.

[0014] Furthermore, step 1 is specifically as follows:

[0015] The rotor assembly of the micro-dynamically tuned gyroscope to be adjusted is mounted on the gyroscope base equipped with a sensor, the tuning screw is screwed into the balance ring, and then the gyroscope base is mounted on the hexahedron tooling so that the gyroscope H-axis of the micro-dynamically tuned gyroscope to be adjusted is placed vertically upward along the H-axis. An excitation signal is applied to the sensor, and the voltage signal output by the sensor is amplified to obtain a first voltage signal U1.

[0016] Furthermore, step 2 is specifically as follows:

[0017] The hexahedron fixture is rotated 90° in any direction to rotate the H-axis of the micro-dynamically tuned gyroscope to be adjusted 90°. The voltage signal output by the sensor is amplified by the same multiple as in step 1 to obtain a second voltage signal U2.

[0018] Furthermore, the calculation of the deflection angle Δα in step 4 is specifically as follows:

[0019] The deflection angle Δα is calculated by the following formula

[0020] Δα=ΔU / δ

[0021] Where: δ is the scale factor of the sensor on the gyro base.

[0022] Furthermore, the deflection angle threshold is 1′;

[0023] The voltage difference threshold is 5mv.

[0024] Furthermore, the calculation of the required adjustment size of the upper end or the lower end of the rotor in step 5 is specifically as follows:

[0025] Calculate the required adjustment size H at the upper or lower end of the rotor by the following formula:

[0026]

[0027] Where: M is the weight of the mass block, ρ is the density of the rotor (8), and S is the area of ​​the rotor at the upper end or the lower end of the rotor.

[0028] Furthermore, in step 6, the upper end of the adjustment rotor or the lower end of the rotor is de-sized on the machine tool frame.

[0029] At the same time, the present invention further provides a system for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly. The micro-dynamically tuned gyroscope to be adjusted includes a gyroscope base with a sensor;

[0030] Its characteristics are:

[0031] It also includes a recording device, an amplifier circuit board connected to an external power supply, and an excitation signal generator connected to the input terminal of the amplifier circuit board;

[0032] The input end of the amplifier circuit board is used to receive an excitation signal, and the excitation signal is used to stimulate the sensor;

[0033] The sensor is connected to the excitation output terminal of the amplifier circuit board; the excitation output terminal of the amplifier circuit board is used to transmit the excitation signal to the input terminal of the sensor, and the output terminal of the sensor outputs a voltage signal to the voltage input terminal of the amplifier circuit board. The amplifier circuit board amplifies the voltage signal and outputs the voltage signal;

[0034] The voltage output terminal of the amplifying circuit board is connected to the recording device; the recording device is used to record the voltage signal.

[0035] Furthermore, it also includes hexahedral tooling;

[0036] The hexahedron tooling is used to install the gyro base.

[0037] Furthermore, the recording device is a digital meter.

[0038] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0039] (1) The method for adjusting the mass center of the rotor assembly of a micro-dynamically tuned gyroscope of the present invention is as follows: before assembling the micro-dynamically tuned gyroscope to be adjusted, the distance by which the mass center of the rotor assembly deviates axially from the support center is determined by using the change in the voltage signal output by the sensor on the gyroscope base; a mass block is bonded to the upper end or the lower end of the rotor, and the adjustment is repeated until the deflection angle Δα is less than or equal to the deflection angle threshold value according to the change in the voltage signal output by the sensor on the gyroscope base, and the mass of the mass block is recorded; or the voltage difference ΔU is less than or equal to the voltage difference threshold value, and the mass of the mass block is recorded; then, according to the rotor size and density, the mass block is converted into the required machined dimensions, and finally the corresponding end face of the upper end or the lower end of the rotor is machined to the dimensions required for the deflection, thereby ensuring that the mass center of the rotor assembly is adjusted to the support center along the H-axis of the gyroscope.

[0040] (2) The center of mass of the rotor assembly of the micro-power-tuned gyroscope to be adjusted of the present invention is ensured by design to be axially located at the support center. Before assembly, the center of mass of the rotor assembly of the micro-power-tuned gyroscope to be adjusted is first adjusted. After the rotor assembly is processed, the center of mass of the micro-power-tuned gyroscope to be adjusted can no longer be measured and adjusted. The method of the present invention avoids the problem that the center of mass of the rotor assembly is not located at the support center due to mechanical errors during actual processing, and solves the drift error problem caused by the constant interference torque acting on the micro-power-tuned gyroscope to be adjusted.

[0041] (3) The method of the present invention installs the rotor assembly on a gyro base with a sensor, and installs the gyro base on a hexahedron tooling, and rotates the hexahedron tooling 90° in any direction, so that the gyro H-axis of the micro-dynamically tuned gyroscope to be adjusted rotates 90°, which is more convenient to operate and makes it easier to adjust the center of mass of the rotor assembly of the micro-dynamically tuned gyroscope to be adjusted.

[0042] (4) The center-of-mass adjustment system of the micro-dynamically tuned gyroscope rotor assembly of the present invention is connected to the sensor on the gyroscope base through an amplifying circuit board and a recording device. The change in the voltage signal sensed by the sensor is used to quantitatively measure the distance by which the center-of-mass of the rotor assembly deviates from the support center in the axial direction, thereby reducing the influence of the machining error of the rotor assembly on its center of mass, thereby improving the performance of the micro-dynamically tuned gyroscope to be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1Schematic diagram of the structure of the rotor assembly of the micro dynamically tuned gyroscope.

[0044] Figure 2 Schematic diagram of the installation of the rotor assembly onto the gyro base equipped with a sensor and the hexahedron tooling in an embodiment of the present invention.

[0045] Figure 3 Schematic diagram of the structure of the micro-dynamically tuned gyroscope to be adjusted with its H-axis pointing vertically upward along the H-axis in an embodiment of the present invention.

[0046] Figure 4 1 is a structural diagram of a micro-dynamically tuned gyroscope to be adjusted with its H-axis horizontal after the H-axis rotates 90° in an embodiment of the present invention.

[0047] Figure 5 This is a structural schematic diagram of the rotor assembly undergoing machining to remove the upper end of the rotor in an embodiment of the present invention.

[0048] Figure 6 This is a structural schematic diagram of the rotor assembly undergoing machining to remove the amount of material from the rotor lower end in an embodiment of the present invention.

[0049] The accompanying drawings are:

[0050] 01-Flexible joint assembly, 1-Rotor assembly, 2-Sensor, 03-Balance ring, 04-Tuning screw, 05-Magnetic ring, 06-Magnetic steel, 7-Gyro base, 8-Rotor, 9-Gyro H-axis, 10-Hexahedral tooling, 11-Amplifier circuit board, 12-Excitation signal generator, 13-Recording device, 14-Upper end of rotor, 15-Lower end of rotor. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the technical solution of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] like Figure 2 As shown, the present invention provides a system for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly. The micro-dynamically tuned gyroscope to be adjusted includes a gyroscope base 7 with a sensor 2, an amplifier circuit board 11 connected to an external power supply, a recording device 13, an excitation signal generator 12, and a hexahedral tooling 10.

[0053] The input end of the amplifier circuit board 11 is connected to the excitation signal generator 12, which is used to receive the excitation signal. The excitation signal is used to excite the sensor 2 and excite the sensor 2 through the amplifier circuit board 11; the sensor 2 is connected to the excitation output end of the amplifier circuit board 11; the excitation output end of the amplifier circuit board 11 transmits the excitation signal to the input end of the sensor 2; the output end of the sensor 2 outputs a voltage signal to the voltage output end of the amplifier circuit board 11, and the amplifier circuit board 11 amplifies the voltage signal and outputs the voltage signal; the voltage output end of the amplifier circuit board 11 is connected to the recording device 13; the recording device 13 is used to record the voltage signal.

[0054] In this embodiment, the recording device is a digital meter. The gyro base 7 is mounted on a hexahedron fixture 10, which is used to flip the micro-dynamically tuned gyro to be adjusted.

[0055] At the same time, the present invention also provides a method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor, comprising the following steps:

[0056] Step 1: If Figure 3 As shown, before assembling the micro-dynamic tuned gyroscope to be adjusted, the rotor assembly 1 of the micro-dynamic tuned gyroscope to be adjusted is installed on the gyro base 7 equipped with the sensor 2, and the tuning screw 04 is screwed into the balance ring 03. Then, the gyro base 7 is installed on the hexahedron tooling 10. The hexahedron tooling 10 is used to flip the direction of the micro-dynamic tuned gyroscope to be adjusted so that the rotor assembly 1 of the micro-dynamic tuned gyroscope to be adjusted is placed vertically upward along the gyro H-axis 9. The voltage signal output by the amplifying circuit board 11 in this state is defined as U1; the high and low ends of the coil and the ground wire of the sensor 2 on the gyro base 7 are respectively introduced into the amplifying circuit board 11 to amplify the voltage signal output by the sensor 2, and the excitation signal generator 12 is used to apply the excitation signal to the sensor 2 through the amplifying circuit board 11. The amplified voltage signal output by the sensor 2 is connected to a digital meter, and the digital meter is used to record the first voltage signal U1 output by the amplifying circuit board 11.

[0057] Step 2: If Figure 4 As shown, the hexahedral fixture 10 (i.e., the gyro H-axis 9 of the micro-dynamically tuned gyroscope to be adjusted) is rotated 90° in any direction, thereby placing the gyro H-axis 9 horizontally. If the center of mass of the rotor assembly 1 is not in the plane of the support center (i.e., the plane of the intersection of the 04 narrow necks on the flexible joint of the rotor assembly 1), the rotor 8 will deflect with the support center as the fulcrum under the action of gravity. The sensor 2 on the gyro base 7 simultaneously senses the deflection angle Δα through a voltage signal. After the gyro H-axis 9 of the micro-dynamically tuned gyroscope to be adjusted is rotated 90°, the voltage signal output by the amplifier circuit board 11 in this state is defined as U2. A digital meter is used to record the second voltage signal U2 output by the amplifier circuit board 11.

[0058] Step 3: Obtain the voltage difference ΔU based on the first voltage signal U1 obtained in step 1 and the second voltage signal U2 obtained in step 2; calculate the deflection angle Δα using the following formula:

[0059] Δα=ΔU / δ

[0060] Where: δ is the scale factor of the sensor 2 on the gyro base 7.

[0061] Step 4: According to the voltage difference ΔU, the rotor upper end 14 or the rotor lower end 15 of the micro-dynamically tuned gyroscope to be adjusted is adjusted by using a mass block;

[0062] When the deflection angle is 0≤Δα≤1′, the mass of the mass block is recorded; when the deflection angle Δα>1′, the rotor upper end 14 or the rotor lower end 15 is continuously adjusted until the deflection angle is 0≤Δα≤1′, and the mass of the mass block is recorded;

[0063] In other embodiments, after the gyro H-axis 9 is leveled, according to the voltage difference ΔU, when the voltage signal output by the sensor 2 changes by more than 5 mV in the vertical direction relative to the gyro H-axis 9, a mass block may be added to the upper end 14 or the lower end 15 of the rotor, and adjustments may be made repeatedly until the change is ≤5 mV. This indicates that the center of mass of the rotor assembly 1 has been adjusted to the support center, and the mass of the mass block is recorded.

[0064] Step 5: Based on the density and size of the rotor 8 and the mass of the mass block obtained in step 4, calculate the required adjustment size of the rotor upper end 14 or the rotor lower end 15. The calculation formula is as follows:

[0065]

[0066]

[0067] Wherein: M is the weight of the mass block, ρ is the density of the rotor 8, H1 is the dimension of the rotor upper end 14 of the rotor 8, s1 is the area of ​​the rotor upper end 14, H2 is the dimension of the rotor lower end 15 of the rotor 8, and s2 is the area of ​​the rotor lower end 15.

[0068] Step 6: Figure 5 、 Figure 6 As shown, the rotor assembly 1 is removed from the gyro base 7, and the upper end 14 or the lower end 15 of the rotor is adjusted to be measured according to the measured dimensions obtained in step 5. The corresponding end surface is measured on a lathe according to the converted dimensions to complete the adjustment of the center of mass of the rotor assembly 1.

[0069] In the method of the present invention, the change in the voltage signal output by the sensor 2 is used to quantitatively measure the center of mass position of the rotor assembly 1 originally guaranteed by the design, and then the center of mass of the rotor assembly 1 is corrected by using a method of machining and desizing. This solves the center of mass offset of the rotor assembly 1 in the micro-dynamically tuned gyroscope to be adjusted due to mechanical errors, and ensures the performance of the micro-dynamically tuned gyroscope to be adjusted.

Claims

1. A method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly, characterized in that: The following steps are involved: Step 1: Mount the rotor assembly (1) of the micro-dynamically tuned gyroscope to be adjusted on the gyroscope base (7) equipped with the sensor (2), screw the tuning screw (04) into the balance ring (03), and place the micro-dynamically tuned gyroscope to be adjusted vertically upward along the H axis. Apply an excitation signal to the sensor (2), and amplify the voltage signal output by the sensor (2) to obtain a first voltage signal U1; Step 2: Rotate the micro-dynamically tuned gyroscope to be adjusted by 90° in any direction, and amplify the voltage signal output by the sensor (2) by the same multiple as in step 1 to obtain a second voltage signal U2; Step 3: Obtain a voltage difference ΔU based on the first voltage signal U1 obtained in step 1 and the second voltage signal U2 obtained in step 2; Step 4: Calculate the deflection angle Δα based on the voltage difference ΔU; adjust the rotor upper end (14) or the rotor lower end (15) of the micro-dynamically tuned gyroscope to be adjusted by using a mass block so that the deflection angle Δα is less than or equal to a deflection angle threshold, and record the mass of the mass block; Alternatively, according to the voltage difference ΔU, the rotor upper end (14) or the rotor lower end (15) of the micro-dynamically tuned gyroscope to be adjusted is adjusted by a mass block so that the voltage difference ΔU is less than or equal to a voltage difference threshold, and the mass of the mass block is recorded; Step 5: Calculate the required adjustment size of the rotor upper end (14) or the rotor lower end (15) based on the density and size of the rotor (8) of the micro-dynamically tuned gyroscope to be adjusted and the mass of the mass block obtained in step 4; Step 6: Remove the rotor assembly (1) from the gyro base (7), and perform dimensional processing on the upper end (14) or the lower end (15) of the adjustment rotor according to the dimensional measurement obtained in step 5, thereby completing the adjustment of the center of mass of the rotor assembly (1).

2. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 1, characterized in that: Step 1 is as follows: The rotor assembly (1) of the micro-dynamically tuned gyroscope to be adjusted is mounted on a gyroscope base (7) equipped with a sensor (2), a tuning screw (04) is screwed into a balance ring (03), and the gyroscope base (7) is then mounted on a hexahedral tooling (10), so that the gyroscope H-axis (9) of the micro-dynamically tuned gyroscope to be adjusted is placed vertically upward along the H-axis axis, an excitation signal is applied to the sensor (2), and a voltage signal output by the sensor (2) is amplified to obtain a first voltage signal U1.

3. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 2, characterized in that: Step 2 is as follows: The hexahedral fixture (10) is rotated 90° in any direction so that the gyro H-axis (9) of the micro-dynamically tuned gyroscope to be adjusted is rotated 90°, and the voltage signal output by the sensor (2) is amplified by the same multiple as in step 1 to obtain a second voltage signal U2.

4. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 3, characterized in that: The calculation of the deflection angle Δα in step 04 is specifically as follows: The deflection angle Δα is calculated by the following formula Δα=ΔU / δ Where: δ is the scale factor of the sensor (2) on the gyro base (7).

5. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 4, characterized in that: The deflection angle threshold is 1′; The voltage difference threshold is 5mv.

6. A method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to any one of claims 1 to 5, characterized in that: The specific amount of adjustment required for calculating the rotor upper end (14) or the rotor lower end (15) in step 5 is: The required adjustment size H of the rotor upper end (14) or the rotor lower end (15) is calculated by the following formula: Wherein: M is the weight of the mass block, ρ is the density of the rotor (8), and S is the area of ​​the rotor upper end (14) or the rotor lower end (15) of the rotor (8).

7. The method for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 6, characterized in that: In step 6, the upper end (14) or the lower end (15) of the adjustment rotor is subjected to de-measuring processing on the machine frame.

8. An adjustment system for implementing the method for adjusting the center of mass of a rotor assembly of a micro-dynamically tuned gyroscope according to any one of claims 1 to 7, wherein the micro-dynamically tuned gyroscope to be adjusted comprises a gyroscope base (7) with a sensor (2); Its characteristics are: It also includes a recording device (13), an amplifier circuit board (11) connected to an external power supply, and an excitation signal generator (12) connected to an input end of the amplifier circuit board (11); The input end of the amplifying circuit board (11) is used to receive an excitation signal, and the excitation signal is used to stimulate the sensor (2); The sensor (2) is connected to the excitation output end of the amplifier circuit board (11); the excitation output end of the amplifier circuit board (11) is used to transmit the excitation signal to the input end of the sensor (2); the output end of the sensor (2) outputs a voltage signal to the voltage input end of the amplifier circuit board (11); the amplifier circuit board (11) amplifies the voltage signal and outputs the voltage signal; The voltage output end of the amplifying circuit board (11) is connected to the recording device (13); the recording device (13) is used to record the voltage signal.

9. The system for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 8, characterized in that: Also included is a hexahedral tooling (10); The hexahedral tooling (10) is used for installing the gyro base (7).

10. The system for adjusting the center of mass of a micro-dynamically tuned gyroscope rotor assembly according to claim 9, characterized in that: The recording device (13) is a digital meter.

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