A dual-float gyro combination sensor integrated testing device and testing method

Abstract

The present application relates to a two-float gyroscope testing device and testing method, in particular to a two-float gyroscope combined sensor integrated testing device and testing method, which is used to solve the problem that the existing combined sensor testing needs to test the sensor parameters and the moment parameters separately on different testing tables, which is not only low in efficiency, but also introduces uncertain installation errors and differences from the actual working conditions. The two-float gyroscope combined sensor integrated testing device comprises a testing assembly, a power supply, a data acquisition and processing unit, and an upper computer; the present application can realize integrated testing of the sensor parameters and the moment parameters of the combined sensor, has high testing efficiency, and can calibrate the combined sensor zero position testing base point through the upper computer, which has better repeatability and higher precision compared with the stator and rotor lineation.

Description

Technical Field

[0001] This invention relates to a testing device and method for dual-float gyroscopes, specifically to an integrated testing device and method for dual-float gyroscope combined sensor. Background Technology

[0002] Due to its high precision, high reliability, and long lifespan, the dual-float gyroscope is widely used in space stations. Its structural diagram is shown below. Figure 1 As shown. By Figure 1 As can be seen, the dual-float gyroscope mainly consists of a float assembly 01, a combined sensor 02, and other gyroscope structural components. The dual-float gyroscope has two major advantages over other gyroscopes: first, the motor in the float assembly uses a dynamic pressure air bearing, which experiences almost no wear after the gyroscope is turned on, thus theoretically allowing for an infinitely long working life; second, the feedback element combines the sensor and torque converter into a single component, namely the combined sensor. The combined sensor structure includes a rotor 05, a stator 04, and an outer magnetic ring 03, arranged coaxially from the inside out. Figure 2 , Figure 3 As shown, the combined sensor functions as both an angle sensor to detect the angular position of the float relative to the shell and a torque generator to pull the off-center float back to the center of the gyroscope. Because the combined sensor integrates the sensor and torque generator structures, it can significantly save valuable space in the gyroscope and improve its reliability.

[0003] Since the main function of the dynamic pressure air-bearing motor in a dual-float gyroscope is to provide the required angular momentum for the gyroscope, the sensitivity and changes in the gyroscope's attitude are mainly achieved by the sensor and torque generator of the combined sensor in conjunction with the system circuit. The performance of the combined sensor directly determines the accuracy and stability of the dual-float gyroscope. Therefore, adjusting the parameters of the combined sensor is a key step in ensuring the accuracy of the gyroscope.

[0004] When the float moves erratically, it generates six degrees of freedom in three-dimensional space. Except for rotation around the output axis, all other degrees of freedom can be guaranteed by the gyroscope structure's limiting function. However, when the float rotates around the gyroscope's output axis, position correction can only be achieved using a torque converter. Since the initial state of the float is constantly changing, and the rotational state of the gyroscope around the output axis is also uncertain, the combined sensor test does not require testing a fixed force or torque value. Instead, it focuses on the sensor's sensitivity angle deviation—the sensor sensitivity—as the float rotates around the output axis, and the torque converter's maximum output torque per unit current—the torque converter's torque coefficient. Insufficient sensor sensitivity or an inadequate torque converter torque coefficient will not only affect the accuracy of the dual-float gyroscope but may even cause the entire inertial platform system to malfunction. Therefore, accurately testing the parameters of the dual-float gyroscope sensor and torque converter is essential for the gyroscope and even the inertial navigation unit.

[0005] Existing testing methods for the combined sensor 02 require separate testing of sensor and torque converter parameters on different test benches. When testing sensor parameters, AC power is supplied to the rotor coil 012 of the combined sensor 02 on a dedicated sensor test bench, and the output voltage of the stator coil 011 is acquired using a digital data acquisition meter. When testing torque converter parameters, DC power is supplied to the main support of the torque converter stator coil 08 of the combined sensor 02 on a dedicated torque converter test bench, and the torque value is output through the test bench. This method is not only inefficient, but also requires secondary installation of the product due to separate testing of sensor and torque converter parameters on different test benches, leading to uncertain installation errors in the test results. Since the sensor and torque converter operate simultaneously during combined sensor operation, the above method differs from actual working conditions. Therefore, it is necessary to simultaneously find test benchmarks for both the sensor and torque converter to theoretically avoid the impact of installation errors on the test. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing combined sensor testing, which requires separate testing of sensor parameters and torque converter parameters on different test benches. This is not only inefficient but also introduces uncertain installation errors and differs from actual working conditions. Therefore, this invention provides an integrated testing device and method for a dual-floating gyroscope combined sensor.

[0007] To address the shortcomings of the existing technology, the present invention provides the following technical solution:

[0008] A dual-float gyroscope combined sensor integrated testing device is characterized by including a testing component, a power supply, a data acquisition and processing unit, and a host computer.

[0009] The testing components include a test bench, and a test shaft, coupling, servo motor, motor controller, motor bracket, main bracket, secondary bracket, and sensor mounting bracket mounted on the test bench; the test shaft is mounted on the main bracket via bearings.

[0010] One end of the test shaft is used to connect to the rotor of the sensor combination under test. The stator is connected to the outer magnetic ring of the sensor combination under test through the sensor mounting bracket. One end of the outer magnetic ring is connected to the main support. The other end of the test shaft is connected to the motor shaft of the servo motor through a coupling. The motor controller is mounted on the servo motor. The servo motor is mounted on the test platform through the motor bracket. The auxiliary bracket is fixedly connected to the motor bracket. One end of the coupling is mounted on the main support, and the other end is mounted on the auxiliary bracket.

[0011] The connection between the power supply and the sensor combination under test is used to provide power.

[0012] The connection between the data acquisition and processing unit and the sensor combination under test is used to acquire and process the output data of the sensor combination under test, and output sensor parameters and torque converter parameters.

[0013] The host computer is connected to the motor controller and the data acquisition and processing unit.

[0014] Furthermore, the data acquisition and processing unit includes a data acquisition unit, a data storage unit, and a data processor. The data acquisition unit is used to acquire the output data of the combined sensor under test and save it to the data storage unit. The data processor is used to process the data stored in the data storage unit to obtain sensor parameters and torque converter parameters.

[0015] Furthermore, the data acquisition and processing unit also includes a filter for filtering the output data of the combined sensor under test and then outputting it to the data acquisition unit.

[0016] Furthermore, it also includes a motor speed measurement unit, which is used to test the actual speed of the servo motor and save it to the data storage unit to improve the accuracy of the torque output parameters of the data processor.

[0017] Meanwhile, this invention proposes an integrated testing method for a dual-float gyroscope combined sensor, which is characterized by the following steps:

[0018] Step 1: Install the combined sensor to be tested onto the above-mentioned integrated test device for dual-float gyroscope combined sensors;

[0019] Step 2: Calibrate the zero-point test base point of the combined sensor;

[0020] Turn on the power, set the minimum allowable voltage of the combined sensor in the host computer, and control the rotor to rotate through the host computer. When the output voltage of the combined sensor decreases, rotate in the same direction as the rotation direction. When the voltage increases, rotate in the opposite direction of the rotation direction until the output voltage of the combined sensor meets the minimum allowable voltage, then stop rotating. The rotor position recorded by the host computer at this time is the zero-position test base point of the combined sensor.

[0021] Step 3: Test the sensor parameters of the combined sensor;

[0022] The host computer controls the motor controller, which in turn controls the servo motor to operate at different positions. The data acquisition and processing unit collects and processes the output voltage of the combined sensors at different positions and outputs the sensor parameters at the corresponding positions.

[0023] Step 4: Test the torque parameters of the combined sensor;

[0024] The host computer controls the motor controller, which in turn controls the servo motor to rotate the rotor. The stator coil of the torque converter cuts the rotating magnetic field of the rotor, thereby generating an induced electromotive force; the data is collected by the data acquisition and processing unit. Maximum output voltage of the torque converter stator coil And the torque coefficient of the torque device is calculated.

[0025] Further, step 1 specifically includes:

[0026] The rotor of the sensor combination to be tested is mounted on one end of the test shaft, and the other side of the test shaft is connected to the motor shaft of the servo motor through a coupling. The outer magnetic ring is connected to the stator through the sensor mounting bracket, and one end of the outer magnetic ring is connected to the main bracket.

[0027] Connect rotor terminal I to the positive terminal of the power supply and rotor terminal II to the negative terminal of the power supply, respectively.

[0028] Connect stator terminal block III to one sensor acquisition interface of the data acquisition unit, and stator terminal block V to the other sensor acquisition interface of the data acquisition unit;

[0029] Connect torque generator stator coil terminal IV to one torque generator acquisition interface of the data acquisition unit, and connect torque generator stator coil terminal VI to another torque generator acquisition interface of the data acquisition unit.

[0030] Furthermore, step 3 specifically includes:

[0031] The data from multiple locations where sensor parameters need to be tested is uploaded to the host computer. The host computer then controls the motor controller, which in turn controls the servo motor to operate at different positions. The output voltage of the combined sensor at different positions is filtered by a filter, and then collected by a data acquisition unit and saved to the data storage unit. The data processor then calculates the sensor parameters based on the output voltage.

[0032] Furthermore, step 4 specifically includes:

[0033] The host computer controls the motor controller, which in turn controls the servo motor to rotate the rotor via a coupling. The stator coil of the torque converter cuts the rotating magnetic field of the rotor, thereby generating an induced electromotive force; the filter then... Maximum output voltage of the torque converter stator coil After filtering, the data is collected by the data acquisition unit and saved to the data storage unit; the torque coefficient of the torque converter is calculated by the data processor according to the following formula:

[0034] ;

[0035] In the formula This refers to the torque coefficient of the torque converter; This is the maximum output voltage of the torque converter stator coil; This refers to the servo motor speed.

[0036] Furthermore, in step 2, the minimum allowable voltage is on the order of 1 / 10 of the threshold, where the threshold is the combined sensor output voltage corresponding to the minimum displacement of the rotor rotation.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] (1) The present invention provides an integrated testing device for a dual-float gyroscope combined sensor, comprising a testing component, a power supply, a data acquisition and processing unit and a host computer; the present invention can realize the integrated testing of sensor parameters and torque parameters of the combined sensor, with high testing efficiency, and can calibrate the zero-position test base point of the combined sensor through the host computer, which has better repeatability and higher accuracy compared with scribing lines on the stator and rotor.

[0039] (2) The present invention provides an integrated testing method for a dual-floating gyroscope combined sensor. By changing the mating dimensions of the coupling and the stator of the combined sensor under test, torque devices of different sizes and ranges can be adjusted, thus avoiding the problem that the test shaft cannot levitate due to the excessive mass of the measuring device. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a dual-float gyroscope;

[0041] Figure 2 for Figure 1 A schematic diagram of the combined sensor structure;

[0042] Figure 3 for Figure 1 A cross-sectional view of the combined sensor structure.

[0043] Figures 1 to 3 The reference numerals in the attached figures are explained as follows: 01-Float assembly; 02-Combined sensor; 03-Outer magnetic ring; 04-Stator; 05-Rotor; 06-Rotor terminal I; 07-Rotor terminal II; 08-Torquer stator coil; 09-Stator terminal III; 010-Stator terminal V; 011-Sensor stator coil; 012-Sensor rotor coil; 013-Torquer stator coil terminal IV; 014-Torquer stator coil terminal VI.

[0044] Figure 4 This is a schematic diagram of an embodiment of the integrated testing device for a dual-float gyroscope combined sensor according to the present invention (the host computer is not shown).

[0045] Figure 4The reference numerals in the attached diagram are explained as follows: 1-Test bench; 2-Test axis; 3-Coupling; 4-Servo motor; 5-Motor controller; 6-Motor bracket; 7-Main bracket; 8-Secondary bracket; 9-Data acquisition and processing unit; 10-Power supply; 11-Locking screw; 12-Sensor mounting bracket. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and exemplary embodiments.

[0047] Reference Figure 4 An integrated testing device for a dual-float gyroscope combined sensor includes a testing component, a power supply 10, a data acquisition and processing unit 9, a host computer, and a motor speed measurement unit.

[0048] The test components include a test bench 1, and a test shaft 2, a coupling 3, a servo motor 4, a motor controller 5, a motor bracket 6, a main bracket 7, a secondary bracket 8, and a sensor mounting bracket 12, all mounted on the test bench 1.

[0049] Test shaft 2 is mounted on main support 7 via bearings. One end of test shaft 2 is connected to the rotor 05 of the sensor 02 under test. Stator 04 is connected to outer magnetic ring 03 via sensor mounting bracket 12. One end of outer magnetic ring 03 is connected to main support 7. The other end of test shaft 2 is connected to the motor shaft of servo motor 4 via coupling 3. Motor controller 5 is mounted on servo motor 4. Servo motor 4 is mounted on test bench 1 via motor bracket 6. Sub-bracket 8 is fixedly connected to motor bracket 6. One end of coupling 3 is mounted on main support 7, and the other end is mounted on sub-bracket 8. Motor bracket 6 and main support 7 are fixed to test bench 1 by locking screws 11.

[0050] The positive and negative terminals of power supply 10 are connected to rotor terminals I 06 and II 07 of the sensor 02 under test, respectively, to output AC voltage and frequency.

[0051] The data acquisition and processing unit 9 includes a filter, a data acquisition unit, a data storage unit, and a data processor. The filter is used to filter and process the output data of the combined sensor 02 under test before outputting it to the data acquisition unit. The two sensor acquisition interfaces of the data acquisition unit are respectively connected to the stator terminal block III 09 and stator terminal block V010 of the combined sensor 02 under test, and the two torque acquisition interfaces of the data acquisition unit are respectively connected to the torque stator coil terminal block IV 013 and torque stator coil terminal block VI 014 of the combined sensor 02 under test. These interfaces are used to acquire the output data of the combined sensor 02 under test and save it to the data storage unit. The data processor is used to process the data stored in the data storage unit to obtain the sensor parameters and torque parameters.

[0052] The host computer is connected to the motor controller 5 and the data acquisition and processing unit 9.

[0053] The motor speed measurement unit uses a photoelectric tester to test the actual speed of the servo motor 4 and save it to the data storage unit to improve the accuracy of the torque output parameters of the data processor.

[0054] A method for integrated testing of a dual-float gyroscope combined sensor, using the aforementioned integrated testing device for a dual-float gyroscope combined sensor, includes the following steps:

[0055] Step 1: Install the combined sensor 02 to be tested on the integrated test device for dual-float gyroscope combined sensors;

[0056] Specifically:

[0057] The rotor 05 of the combined sensor 02 to be tested is installed at one end of the test shaft 2, and the other side of the test shaft 2 is connected to the motor shaft of the servo motor 4 through the coupling 3. The outer magnetic ring 03 is connected to the stator 04 through the sensor fixing bracket 12, and one end of the outer magnetic ring 03 is connected to the main bracket 7.

[0058] Connect rotor terminal I 06 to the positive terminal of power supply 10 and rotor terminal II 07 to the negative terminal of power supply 10 respectively;

[0059] Connect stator terminal block III 09 to one sensor acquisition interface of the data acquisition unit, and connect stator terminal block V010 to another sensor acquisition interface of the data acquisition unit;

[0060] Connect the torque generator stator coil terminal IV 013 to one torque generator acquisition interface of the data acquisition unit, and the torque generator stator coil terminal VI 014 to the other torque generator acquisition interface of the data acquisition unit;

[0061] Step 2: Calibrate the zero-point test base point of the combined sensor 02;

[0062] Turn on the power supply 10, and the power supply 10 outputs AC voltage and frequency to the combined sensor 02 through rotor terminal I 06 and rotor terminal II 07;

[0063] After setting the minimum allowable voltage for the combined sensor 02 in the host computer, the host computer controls the rotation of the rotor 05. When the output voltage of the combined sensor 02 decreases, it rotates in the same direction as the rotation direction. When the voltage increases, it rotates in the opposite direction until the output voltage of the combined sensor 02 meets the minimum allowable voltage. Then, the rotation stops. The position of the rotor 05 at this time, recorded by the host computer, is the zero-position test base point of the combined sensor 02. The minimum allowable voltage is taken as 1 / 10 of the threshold value, which is the output voltage of the combined sensor 02 corresponding to the minimum displacement of the rotor 05.

[0064] Step 3: Test the sensor parameters of combined sensor 02;

[0065] The data from multiple locations where sensor parameters need to be tested is uploaded to the host computer. The host computer controls the motor controller 5, which in turn controls the servo motor 4 to operate at different positions. The output voltage of the combined sensor 02 at different positions is filtered and then collected by the data acquisition unit and saved to the data storage unit. The data processor calculates the sensor parameters based on the output voltage, as shown in Table 1.

[0066] Table 1

[0067]

[0068] Step 4: Test the torque parameters of combined sensor 02;

[0069] The host computer controls the motor controller 5, which in turn controls the servo motor 4 to rotate the rotor via the coupling 3. The torque converter stator coil 08 cuts the rotating magnetic field of the rotor, thereby generating an induced electromotive force; the filter then... The maximum output voltage of the stator coil 08 of the torque converter After filtering, the data is collected by the data acquisition unit and saved to the data storage unit; the torque coefficient of the torque converter is calculated by the data processor according to the following formula:

[0070] ;

[0071] In the formula This refers to the torque coefficient of the torque converter; The maximum output voltage for the stator coil 08 of the torque converter; The servo motor has a speed of 4.

[0072] The test results for this embodiment are shown in Table 2:

[0073] Table 2

[0074]

[0075] By comparing the data from existing devices, it can be seen that the data repeatability of this embodiment is better and the test accuracy is higher. When the host computer controls the test axis 2 to test the sensor parameters and torque device parameters according to the preset program, the data acquisition unit automatically rotates the sampling point according to the preset program, resulting in higher test efficiency.

Claims

1. An integrated testing device for a dual-float gyroscope combined sensor, characterized in that: It includes test components, power supply (10), data acquisition and processing unit (9), and host computer; The test components include a test bench (1), and a test shaft (2), a coupling (3), a servo motor (4), a motor controller (5), a motor bracket (6), a main bracket (7), a secondary bracket (8), and a sensor mounting bracket (12) set on the test bench (1); The test shaft (2) is mounted on the main support (7) via bearings. One end of the test shaft (2) is used to connect the rotor (05) of the combined sensor (02) to be tested. The stator (04) is connected to the outer magnetic ring (03) of the combined sensor (02) to be tested via the sensor mounting bracket (12). One end of the outer magnetic ring (03) is connected to the main support (7). The other end of the test shaft (2) is connected to the motor shaft of the servo motor (4) via a coupling (3). The motor controller (5) is mounted on the servo motor (4). The servo motor (4) is mounted on the test bench (1) via the motor support (6). The auxiliary support (8) is fixedly connected to the motor support (6). One end of the coupling (3) is mounted on the main support (7), and the other end is mounted on the auxiliary support (8). The connection between the power supply (10) and the sensor combination (02) under test is used to supply power; The connection between the data acquisition and processing unit (9) and the combined sensor under test (02) is used to acquire and process the output data of the combined sensor under test (02) and output sensor parameters and torque parameters. The host computer is connected to the motor controller (5) and the data acquisition and processing unit (9).

2. The integrated testing device for a dual-float gyroscope combined sensor according to claim 1, characterized in that: The data acquisition and processing unit (9) includes a data acquisition unit, a data storage unit, and a data processor. The data acquisition unit is used to acquire the output data of the combined sensor (02) to be tested and save it to the data storage unit. The data processor is used to process the data stored in the data storage unit to obtain sensor parameters and torque generator parameters.

3. The integrated testing device for a dual-float gyroscope combined sensor according to claim 2, characterized in that: The data acquisition and processing unit (9) further includes a filter for filtering the output data of the combined sensor (02) to be tested and then outputting it to the data acquisition unit.

4. The integrated testing device for a dual-float gyroscope combined sensor according to claim 2 or 3, characterized in that: It also includes a motor speed measurement unit, which is used to test the actual speed of the servo motor (4) and save it to the data storage unit to improve the accuracy of the torque output parameters of the data processor.

5. A method for integrated testing of a dual-float gyroscope combined sensor, characterized in that, Includes the following steps: Step 1: Install the combined sensor to be tested (02) on the integrated test device for the dual-floating gyroscope combined sensor as described in claim 1; Step 2: Calibrate the zero-point test base point of the combined sensor (02); Turn on the power (10), set the minimum allowable voltage of the combined sensor (02) in the host computer, and control the rotor (05) to rotate through the host computer. When the output voltage of the combined sensor (02) decreases, rotate in the same direction as the rotation direction. When the voltage increases, rotate in the opposite direction of the rotation direction until the output voltage of the combined sensor (02) meets the minimum allowable voltage, then stop rotating. The position of the rotor (05) recorded by the host computer at this time is the zero test base point of the combined sensor (02). Step 3: Test the sensor parameters of the combined sensor (02); The host computer controls the motor controller (5), which in turn controls the servo motor (4) to run to different positions. The data acquisition and processing unit (9) collects and processes the output voltage of the combined sensor (02) at different positions and outputs the sensor parameters at the corresponding positions. Step 4: Test the torque parameters of the combined sensor (02); The host computer controls the motor controller (5), which in turn controls the servo motor (4) to rotate the rotor (05). The torque generator stator coil (08) cuts the rotating magnetic field of the rotor (05) to generate an induced electromotive force. The data is collected by the data acquisition and processing unit (9). The maximum output voltage of the stator coil (08) of the torque converter And the torque coefficient of the torque device is calculated.

6. The integrated testing method for a dual-float gyroscope combined sensor according to claim 5, characterized in that, Step 1 specifically involves: The rotor (05) of the combined sensor (02) to be tested is installed at one end of the test shaft (2), and the other side of the test shaft (2) is connected to the motor shaft of the servo motor (4) through the coupling (3). The outer magnetic ring (03) is connected to the stator (04) through the sensor fixing bracket (12), and one end of the outer magnetic ring (03) is connected to the main bracket (7). Connect rotor terminal I (06) to the positive terminal of power supply (10) and rotor terminal II (07) to the negative terminal of power supply (10) respectively; Stator terminal block III (09) is connected to one sensor acquisition interface of the data acquisition unit, and stator terminal block V (010) is connected to another sensor acquisition interface of the data acquisition unit. The torque generator stator coil terminal IV (013) is connected to one torque generator acquisition interface of the data acquisition unit, and the torque generator stator coil terminal VI (014) is connected to the other torque generator acquisition interface of the data acquisition unit.

7. The integrated testing method for a dual-float gyroscope combined sensor according to claim 5, characterized in that, Step 3 specifically involves: The multiple locations of the sensor parameters to be tested are uploaded to the host computer. The host computer controls the motor controller (5) to control the servo motor (4) to run to different positions. The output voltage of the combined sensor (02) at different positions is filtered by the filter and then collected by the data acquisition unit and saved to the data storage unit. The sensor parameters are calculated by the data processor based on the output voltage.

8. The integrated testing method for a dual-float gyroscope combined sensor according to claim 5, characterized in that, Step 4 specifically involves: The host computer controls the motor controller (5), which in turn controls the servo motor (4) to rotate the rotor (05) via the coupling (3). The torque converter stator coil (08) cuts the rotating magnetic field of the rotor (05) to generate an induced electromotive force; the filter then... The maximum output voltage of the stator coil (08) of the torque converter After filtering, the data is collected by the data acquisition unit and saved to the data storage unit. The torque coefficient of the torque converter is calculated by the data processor according to the following formula: ； In the formula This refers to the torque coefficient of the torque converter; The maximum output voltage is provided for the stator coil (08) of the torque converter; This refers to the servo motor speed.

9. The integrated testing method for a dual-float gyroscope combined sensor according to claim 5, characterized in that, In step 2, the minimum allowable voltage is on the order of 1 / 10 of the threshold, and the threshold is the output voltage of the combined sensor (02) corresponding to the minimum displacement of the rotor (05).

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