A passive magnetic suspension eccentric magnetic interference torque compensation method for inertial instruments

Abstract

The present invention relates to a passive magnetic suspension eccentric magnetic interference torque compensation method for an inertial instrument, characterized by comprising the following steps: step 1, measuring the initial magnetic interference torque; step 2, cross-adjusting the capacitance of the X-axis and Y-axis branches to compensate for the magnetic interference torque of the magnetic suspension in step 1; step 3, measuring the magnetic interference torque Mms2 of the magnetic suspension in the adjusted gyroscope; if Mms2 is less than a specified value, the compensation process is completed; otherwise, returning to step 2 and continuing to cross-adjust the capacitance of the X-axis and Y-axis branches so that Mms2 continuously approaches the specified value until the requirement is met. The present invention can overcome the magnetic interference torque.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial instruments and relates to a method for compensating a passive magnetic suspension eccentric magnetic interference torque, in particular to a method for compensating a passive magnetic suspension eccentric magnetic interference torque for an inertial instrument. Background Art

[0002] In inertial instruments, especially high-precision triple-float gyroscopes, magnetic levitation serves as the centering device for the instrument's output shaft, completely eliminating mechanical contact friction on the output shaft. This fundamentally suppresses the friction torque on the instrument's output shaft, eliminating the primary interfering torque on the output shaft. This significantly optimizes the instrument's noise parameters and improves its accuracy by more than an order of magnitude. This has made high-precision triple-float gyroscopes a mainstream choice for aerospace applications.

[0003] Currently, there are two main modes of operation for magnetic levitation: active magnetic levitation and passive magnetic levitation. Both achieve the "mechanical friction-free instrument output shaft" function while possessing their own unique characteristics. Active magnetic levitation offers the advantages of fast pull-in, high pull-in stiffness, and low steady-state electromagnetic torque, but also suffers from the periodic disturbance noise inherent in closed-loop servo control. It is suitable for operating conditions requiring high maneuverability and low noise requirements. In contrast, passive magnetic levitation has a slower pull-in and lower pull-in stiffness, but a simpler structure (higher reliability) and, in principle, eliminates the disturbance noise issues associated with active closed-loop servo control. It is therefore more suitable for operating conditions requiring high reliability, low maneuverability, low noise, and high precision, making it the preferred choice for high-precision three-float gyroscopes used in aerospace applications.

[0004] In the engineering application of passive magnetic levitation, there is a certain deviation between the pulling center of the magnetic levitation and the output shaft of the instrument, which leads to the generation of eccentric magnetic interference torque around the output shaft, restricting the further improvement of the instrument accuracy.

[0005] Currently, the common approach is to reduce the deviation between the magnetic levitation center of force and the instrument output shaft by improving the consistency of magnetic circuit materials and enhancing the precision and symmetry of component processing and assembly. This has achieved some results, but it comes at the cost of extremely high material, processing, and assembly costs, and the potential for suppressing magnetic interference torque is limited. This situation no longer meets the needs of further development of high-precision three-float gyroscope technology and products for aerospace applications.

[0006] After searching, no published patent documents identical or similar to the present invention were found. Summary of the Invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and to propose a method for compensating the eccentric magnetic interference torque of a passive magnetic suspension, which can break through the technical difficulties of the magnetic interference torque.

[0008] The present invention solves the practical problem by adopting the following technical solutions:

[0009] A method for compensating eccentric magnetic interference torque of a passive magnetic suspension inertial instrument comprises the following steps:

[0010] Step 1: measuring the initial magnetic interference torque;

[0011] Step 2: Cross-adjust the capacitance of the X-axis and Y-axis branches to compensate for the magnetic interference torque of the magnetic levitation in step 1;

[0012] Step 3: Measure the magnetic interference torque Mms2 of the magnetic suspension in the adjusted gyroscope. If Mms2 < the specified value, the compensation work is completed; otherwise, return to step 2 and continue to cross-adjust the capacitance of the X and Y axis branches so that Mms2 continues to approach the specified value until the requirement is met.

[0013] Moreover, the specific steps of step 1 include:

[0014] (1) In the compensated instrument, the magnetic suspension is in operation. Measure the magnetic suspension operating current I1 and the total interference torque M1 on the instrument output shaft. At this time, M1 = Mms1 + M0, where M0 is the interference torque introduced by factors other than the magnetic suspension.

[0015] (2) Adjust the magnetic levitation operating voltage to reduce the operating current to half. At the same time, measure the interference torque M2 on the gyroscope. The magnetic interference torque introduced by the magnetic levitation is now one-quarter of the original value, while the interference torque introduced by other factors should remain unchanged. Therefore, M2 = 0.25Mms1 + M0. It can be calculated that the initial magnetic interference torque Mms1 = 0.75*(M1 - M2).

[0016] Moreover, the specific steps of step 2 include:

[0017] (1) When the capacitance of the two branches of the Y-axis increases by ΔCy1, the pull-in current of the Y-branch decreases by ΔIy1, and the pull-in force of the Y-axis decreases by ΔFy1. When the capacitance of the two branches of the X-axis decreases by ΔCx1, the pull-in current of the X-branch increases by ΔIx1, and the pull-in force of the X-axis increases by ΔFx1.

[0018] (2) Due to the non-ideal cylindricity of the air gap of the magnetic suspension assembly, the action of ΔFy1 and ΔFx1 will generate a torque ΔMms around the output axis of the gyroscope.

[0019] (3) By controlling the positive and negative values ​​of ΔCy1 and ΔCx1, ΔMms is controlled in the opposite direction to Mms1 to achieve compensation of the magnetic interference torque of the magnetic suspension.

[0020] Moreover, the specific steps of step 3 include:

[0021] (1) Measure the magnetic interference torque Mms2 of the magnetic suspension in the gyroscope after adjustment. If Mms2 < Mms1, repeat step 2 until Mms2 is better than the specified value;

[0022] (2) If Mms2 > Mms1, then adjust the positive and negative of ΔCy2 and ΔCx2 in the X and Y axis branches.

[0023] (3) Measure the magnetic interference torque Mms3 of the magnetic suspension in the gyroscope at this time. If Mms3 < Mms1, repeat step 2 until Mms3 is better than the specified value.

[0024] Advantages and beneficial effects of the present invention:

[0025] 1. The present invention proposes a passive magnetic suspension eccentric magnetic interference torque compensation method for inertial instruments, which uses the asymmetry of electrical parameters to compensate for the asymmetry of magnetic and structural parameters, and巧妙 solves the problem of magnetic suspension eccentric magnetic interference torque. The compensation effect is not restricted by engineering factors such as materials, machining and assembly accuracy, and can approach the theoretical value of 0.

[0026] 2. The cost of the present invention for solving the problem of magnetic suspension eccentric magnetic interference torque is extremely low, and it has an unparalleled cost advantage compared with the current method of "improving material consistency, improving machining and assembly accuracy and symmetry", and has excellent engineering usability. Brief description of the drawings

[0027] Figure 1 is the flow chart of the compensation method of the present invention;

[0028] Figure 2 is the schematic diagram of the adjustment of electrical parameters (capacitance of X and Y branches) of the present invention. Detailed implementation manners

[0029] The following further details the embodiments of the present invention with reference to the drawings:

[0030] A passive magnetic suspension eccentric magnetic interference torque compensation method for inertial instruments, as Figure 1 shown, includes the following steps:

[0031] Step 1: Measure the initial magnetic interference torque;

[0032] The specific steps of step 1 include:

[0033] (1) In the instrument to be compensated, the magnetic suspension is in the working state. Measure the magnetic suspension working current I1 at this time, and at the same time measure the total interference torque M1 on the output shaft of the instrument. At this time, M1 = Mms1 + M0, where M0 is the interference torque introduced by factors other than the magnetic suspension. [[ID=四十二]] [[ID=四十三]]

[0034] (2) Adjust the magnetic levitation working voltage to reduce the magnetic levitation working current to half of the original value. At the same time, measure the interference torque M2 on the gyroscope at this time. At this time, the magnetic interference torque value introduced by magnetic levitation is one-fourth of the original value, and the interference torques introduced by other factors should remain unchanged. Therefore, M2 = 0.25Mms1 + M0. It can be calculated that the initial magnetic interference torque Mms1 = 0.75 * (M1 - M2).

[0035] Step 2: Cross-adjust the capacitances of the two branches of the X and Y axes to compensate for the magnetic interference torque of the magnetic levitation in Step 1;

[0036] The specific steps of Step 2 include:

[0037] (1) After the capacitance of the two branches of the Y axis increases by ΔCy1, the pull-in current of the Y branch decreases by ΔIy1, and then the pull-in force of the Y axis decreases by ΔFy1; after the capacitance of the two branches of the X axis decreases by ΔCx1, the pull-in current of the X branch increases by ΔIx1, and then the pull-in force of the X axis increases by ΔFx1.

[0038] (2) Due to the non-ideal cylindricity of the air gap of the magnetic levitation component, a torque ΔMms around the output axis of the gyroscope will be generated under the action of ΔFy1 and ΔFx1.

[0039] (3) Control the positive and negative of ΔCy1 and ΔCx1 to make ΔMms opposite to the direction of Mms1, so as to achieve the compensation of the magnetic interference torque of magnetic levitation.

[0040] Step 3: Measure the magnetic interference torque Mms2 of the magnetic levitation in the gyroscope after adjustment. If Mms2 < the specified value, the compensation work ends; otherwise, return to Step 2 to continue cross-adjusting the capacitances of the two branches of the X and Y axes to make Mms2 continuously approach the specified value until the requirements are met.

[0041] The specific steps of Step 3 include:

[0042] (1) Measure the magnetic interference torque Mms2 of the magnetic levitation in the gyroscope after adjustment. If Mms2 < Mms1, repeat Step 2 until Mms2 is better than the specified value;

[0043] (2) If Mms2 > Mms1, then adjust the positive and negative of ΔCy2 and ΔCx2 of the two branches of the X and Y axes. <00​​​​​​​The present invention proposes a method for compensating eccentric magnetic interference torque for a passive magnetic levitation inertial instrument. The root cause of the eccentric magnetic interference torque of the passive magnetic levitation is that the consistency of the magnetic circuit material and the symmetry of the parts processing and assembly deviate from the theoretical value. For a certain finished inertial instrument, this deviation is a fixed value, and the corresponding magnetic interference torque is basically fixed.

[0047] To this end, the response idea of ​​the present invention is: to utilize the principle that the effects of two torques in opposite directions around the output shaft of the instrument on the instrument can offset each other, and to compensate for the eccentric magnetic interference torque of the magnetic levitation by adjusting the circuit parameters of the magnetic levitation to generate a torque in the opposite direction of the eccentric magnetic interference torque of the magnetic levitation.

[0048] The compensation method of the present invention is as shown in the attached Figure 1 As shown, first measure the magnetic interference torque Mms1 of the magnetic suspension in the instrument; then cross-adjust the capacitance of the X-axis and Y-axis branches to measure the corresponding magnetic interference torque Mms2 of the magnetic suspension; determine whether Mms2 is less than the specified value. If Mms2 is less than the specified value, the compensation work is completed; otherwise, return to the previous step and continue to cross-adjust the capacitance of the X-axis and Y-axis branches so that Mms2 continues to approach the specified value until the requirement is met.

[0049] The electrical parameter (X, Y branch capacitance) adjustment method of the present invention is as follows Figure 2 As shown, by adjusting the capacitance of the two branches of the Y-axis to increase ΔCy1 respectively, the pull-in current of the Y-branch is reduced by ΔIy1, and the pull-in force of the Y-axis is reduced by ΔFy1. At the same time, by adjusting the capacitance of the two branches of the X-axis to reduce ΔCx1 respectively, the pull-in force of the X-axis is increased by ΔFx1. The action of ΔFy1 and ΔFx1 will generate a torque ΔMms around the output axis of the gyroscope. By adjusting the positive and negative values ​​of ΔCy1 and ΔCx1, the direction of ΔMms is opposite to that of Mms1, thereby compensating for Mms1.

[0050] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0051] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

Claims

1. A passive magnetic suspension eccentric magnetic interference torque compensation method for inertial instruments, characterized by: The following steps are involved: Step 1: measuring the initial magnetic interference torque; Step 2: Cross-adjust the capacitance of the X-axis and Y-axis branches to compensate for the magnetic interference torque of the magnetic levitation in step 1; Step 3: Measure the magnetic interference torque Mms2 of the magnetic suspension in the adjusted gyroscope. If Mms2 is less than the specified value, the compensation process is complete. Otherwise, return to step 2 and continue to cross-adjust the capacitance of the X-axis and Y-axis branches so that Mms2 continues to approach the specified value until the requirement is met. The specific steps of step 1 include: (1) In the compensated instrument, the magnetic suspension is in the working state. The magnetic suspension working current I1 is measured at this time, and the total interference torque M1 on the instrument output shaft is measured at the same time. At this time, M1=Mms1+M0, where M0 is the interference torque introduced by factors other than magnetic suspension; (2) Adjust the working voltage of the magnetic levitation to reduce the working current of the magnetic levitation to half of the original one, and at the same time measure the interference torque M2 on the gyroscope. At this time, the magnetic interference torque introduced by the magnetic levitation is one-fourth of the original one, and the interference torque introduced by other factors should remain unchanged, so M2 = 0.25Mms1 + M0; it can be calculated that the initial magnetic interference torque Mms1 = 0.75*(M1-M2).

2. The method for compensating the passive magnetic suspension eccentric magnetic interference torque for an inertial instrument according to claim 1, characterized in that: The specific steps of step 2 include: (1) The capacitance of the two branches of the Y axis increases by ΔCy1, which causes the pull-in current of the Y branch to decrease by ΔIy1, and thus the pull-in force of the Y axis to decrease by ΔFy1; the capacitance of the two branches of the X axis decreases by ΔCx1, which causes the pull-in current of the X branch to increase by ΔIx1, and thus the pull-in force of the X axis to increase by ΔFx1; (2) Due to the non-ideal cylindricity of the air gap of the magnetic suspension assembly, the action of ΔFy1 and ΔFx1 will generate a torque ΔMms around the output axis of the gyroscope; (3) By controlling the positive and negative values ​​of ΔCy1 and ΔCx1, ΔMms is controlled in the opposite direction to Mms1, thereby compensating the magnetic interference torque of the magnetic suspension.

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