A pre-tightening force fine control curve fitting method for a micro gyroscope motor

Abstract

The application discloses a micro gyroscope motor pre-tightening force fine control curve fitting method, which adopts a dichotomy method to gradually and iteratively correct a curve expression, and obtains a determined expression of the micro gyroscope motor pre-tightening force fine control curve. Under the guidance of the fine control curve, accurate control of a target friction torque of the micro gyroscope motor can be realized, and problems of traditional control modes, such as inaccuracy, low efficiency and unreliability, are overcome. The micro gyroscope motor pre-tightening force fine control curve fitting method solves the problem of the micro gyroscope bearing pre-tightening force fine control, which is rarely studied at present. The same type of micro gyroscope motor bearing can directly be pre-tightened and studied on the basis of the curve, a basis is provided for the research on the friction torque of the micro gyroscope motor, the accuracy and control efficiency of the micro gyroscope motor pre-tightening force fine control are greatly improved, and the workload is reduced.

Description

Technical Field

[0001] This invention relates to the field of gyroscope motor preload control technology, specifically a method for fitting a curve to precisely control the preload of a miniature gyroscope motor. Technical Background

[0002] Gyroscope motors are typically small in size, and miniature gyroscope motors are mostly installed on critical components, their operation affecting the stability and lifespan of the entire device. Therefore, strict requirements are placed on the resistance torque and starting torque of gyroscope motors during operation. In the specific structure of a gyroscope motor, the preload force resulting from the tightening of the nuts at both ends of the central shaft directly affects the resistance torque. Due to the small size of the gyroscope motor itself, the control requirements for preload force are relatively high; even slight tightening or loosening of the nuts can cause significant changes in the gyroscope motor's preload force.

[0003] Precision control of gyroscope motor preload refers to adjusting the tightening angle of the nuts at both ends of the central shaft to further adjust the tightening force of the motor, thereby adjusting the friction torque of the gyroscope motor.

[0004] The traditional method for adjusting the preload of a miniature gyroscope motor involves workers manually adjusting the nut multiple times based on their experience. However, due to the extremely small size of the miniature gyroscope motor, manual control is insufficient for precise control. Therefore, this traditional method suffers from inaccuracies, requires a high level of operator skill, is inefficient, and struggles to meet required standards. Thus, achieving precise control of the gyroscope motor's preload is a pressing issue that needs to be addressed in this field. Summary of the Invention

[0005] The technical objective of this invention is to provide a method for fitting the preload precision control curve of a micro gyroscope motor. This method uses a bisection method to iteratively refine the curve expression, thereby obtaining a definite expression for the preload precision control curve of the micro gyroscope motor. Under the guidance of this precision control curve, the target friction torque of the micro gyroscope motor can be accurately controlled, thus overcoming the problems of inaccurate control, low efficiency, and unreliability of traditional control methods.

[0006] To solve the above-mentioned technical problems, the present invention provides a method for fitting a curve for precise control of the preload force of a miniature gyroscope motor, comprising the following steps:

[0007] Step 1: Based on the given range of the target frictional torque of the micro gyroscope motor to be controlled, obtain its simulation curve as the initial curve;

[0008] Step 2: Based on the initial curve's direction, define its expression as follows:

[0009] M(θ) = b0 + b1θ + b2θ 2+...+b m θ m

[0010] In the formula, b0, b1, b2…b m Let θ be the steady parameter to be solved, θ be the tightening angle of the nut at the end of the micro gyroscope motor, M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0011] Step 3: Select n (n≥2) fitting points on the initial curve, (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ... n M n Then, substituting the data from the n fitted points into the expression set in step two, we obtain the following system of linear equations:

[0012]

[0013] After calculating this system of linear equations, the definite expression for the initial curve is obtained:

[0014] M(θ)=b 0(0) +b 1(0) +b 2(0) θ 2 +…+b m(0) θ m

[0015] In the formula, b 0(0) b 1(0) b 2(0) …b m(0) Let θ be the initial value of the steady parameter, θ be the tightening angle of the nut at the end of the micro gyroscope motor, M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0016] Step 4: Tighten the end nut of the micro gyroscope motor to be controlled. Then, measure and calculate the starting torque of the micro gyroscope motor. If the calculated starting torque meets the range of the given target starting torque of the micro gyroscope motor [M], then... 启小 -M 启大 If the condition is not met, proceed to step five. If not, adjust the tightness of the nut at the end of the micro gyroscope motor until the measured and calculated starting torque is within the range of the given target starting torque [M]. 启小 -M 启大 ]Inside;

[0017] Step 5: Measure and calculate the starting torque to ensure that [M] is met. 启小 -M 启大 After the range is reached, the operating friction torque of the micro gyroscope motor;

[0018] Step Six: If the operating friction torque calculated in Step Five satisfies the range of the given target friction torque for the micro gyroscope motor [M] 运小 -M 运大 If the iteration ends, the expression for the initial curve obtained in step three is the precise curve expression for the preload control of the micro gyroscope motor. If it does not meet the requirements, proceed to step seven.

[0019] Step 7: Name the running friction torque calculated in Step 5 as M. n+1 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. n+1 The corresponding nut tightening angle is θ n+1 ;

[0020] Step 8: Based on the operating friction torque M n+1 Adjust the size of the nut at the end of the miniature gyroscope motor to make M n+1 To [M] 运小 -M 运大 [With the range close, measure and calculate the operating friction torque M of the miniature gyroscope motor at this time.] n+2 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. n+2 The corresponding nut tightening angle is θ n+2 ;

[0021] Step 9, Set [M] 运小 -M 运大 The median value of ] is M 范 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. 范 The corresponding nut tightening angle is θ 范 ;

[0022] Step 10: Determine M n+1 M n+2 and M 范 The size relationship among the three, if M 范 For [M] n+1 -M n+2 If the value is within the interval [ ], then proceed to step eleven; if M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and M n+2 If all are small, proceed to step twelve;

[0023] Step 11: Set θ n+3 =(θ n+1 +θ n+2 ) / 2, adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 'M' n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen.

[0024] Step 12: Discard θ n+1 and θ n+2 Mid-distance θ 范 For points that are farther away, then θ n+1 and θ n+2 The remaining points after discarding in θ 范 Take the center and name it θ. n+3 Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 'M' n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen.

[0025] Step 13, use (θ) n+3 'M' n+3 Replace the initial curve fitting points (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ) in step three. n M n ) in θ n+3 The point with the closest size is then used as the basis for the calculation. The resulting n new fitted points are then substituted into the expression defined in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained.

[0026] M(θ) = c0 + c1θ + c2θ 2 +...+c m θ m

[0027] In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0028] Step Fourteen: Calculate the operating friction torque M using the definite expression of the correction curve obtained in Step Thirteen. 范 The corresponding nut tightening angle is θ′ 范 When M 范 For [M] n+1 -Mn+2 When considering interval values ​​within θ, discard θ. n+1 and θ n+2 Mid-distance θ′ 范 For points that are farther away, then θ n+1 and θ n+2 The remaining points after discarding in θ n+3 Take the center and name it θ. n+4 When M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and M n+2 When all are small, discard θ n+3 and θ n+1 or θ n+2 Mid-distance θ′ 范 Find the more distant point, and take the midpoint between the remaining two points, naming it θ. n+4 ;

[0029] Step 15: Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+4 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+4 , will (θ n+4 M′ n+4 Substitute the value of the point into the definite expression of the correction curve obtained in step thirteen to see if it holds true. If the value of the point holds true on the definite expression of the correction curve, the iteration ends; otherwise, proceed to step sixteen.

[0030] Step 16, use (θ) n+4 M′ n+4 Replace the previously obtained corrected curve fitting points with θ n+4 The point with the closest size is then used. Next, the n newly fitted points generated after the replacement are substituted into the expression set in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained again.

[0031] M(θ) = c0 + c1θ + c2θ 2 +…+c m θ m

[0032] In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0033] Step 17: Repeat the least squares iteration operation from Step 14 to Step 16 using the newly obtained definite expression of the correction curve to refine the values ​​of c0, c1, c2, ... c in the definite expression of the correction curve.m Continue to perform official updates until... Where 'a' represents the iteration precision of the micro gyroscope motor, and 'j' is a positive integer, the iteration ends, yielding the final corrected values ​​c0, c1, c2, ... c. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

[0034] Furthermore, the calculation process of the linear equation system described in step three is as follows:

[0035] (1) Transform the system of linear equations into a matrix

[0036]

[0037] The normal equation system corresponding to this matrix is: B T Bb = B T M,

[0038] in,

[0039] (2) Transpose matrix B to obtain the unique optimal approximate solution to the contradictory system of equations, making Taking the minimum, the least squares fitting polynomial is obtained as follows:

[0040]

[0041] in,

[0042]

[0043]

[0044]

[0045]

[0046]

[0047] From the above formula, we can obtain

[0048] in:

[0049]

[0050]

[0051]

[0052] Calculated from the above formula and Then, we obtain b0, b1, b2...b m The corresponding definite value b 0(0) b 1(0) b 2(0) …b m(0) Then, the definite expression for the initial curve is obtained:

[0053] M(θ)=b 0(0) +b 1(0) +b 2(0) θ 2 +…+b m(0) θ m .

[0054] Furthermore, in step four, the method for tightening the end nut of the micro gyroscope motor to be controlled is as follows: tighten the positioning nut on one end of the central shaft of the micro gyroscope motor to the specified position, and then lightly tighten the adjusting nut on the other end of the central shaft to the position where it just contacts the end face of the gyroscope motor.

[0055] The method for adjusting the tightness of the end nut of the miniature gyroscope motor is as follows: adjust the tightening angle of the adjusting nut on the central shaft of the miniature gyroscope motor.

[0056] Furthermore, in step four, the method for measuring and calculating the starting torque of the micro gyroscope motor is as follows:

[0057] The miniature gyroscope motor was started, and power was cut off after it reached the specified speed and stabilized. During the process, the voltage and current of the miniature gyroscope motor during startup were measured, and the results were analyzed using formula M. 启 Calculate its starting torque using 9550UIη / N;

[0058] In the formula, M 起 U is the starting torque of the micro gyroscope motor, in Nm; U is the starting voltage of the micro gyroscope motor, in V; I is the starting current of the micro gyroscope motor, in A; η is the power factor of the micro gyroscope motor, which is a constant; N is the rated speed of the micro gyroscope motor, in r / min.

[0059] Furthermore, the method for measuring and calculating the frictional torque of the micro gyroscope motor in this step is as follows:

[0060] The miniature gyroscope motor is started, and after it reaches a specified speed and runs stably, the power is cut off. The decay acceleration of the miniature gyroscope motor during the free-stopping process after power-off is measured, and the formula M is used. 运 =Ja calculates its operating friction torque;

[0061] In the formula, M 运denoted as , where is the frictional torque during the operation of the micro gyroscope motor, in Nm; J is the moment of inertia of the bearing assembly system on the central shaft of the micro gyroscope motor, which is a constant; and a is the decaying acceleration of the micro gyroscope motor during its free-stopping process after power failure following stable operation.

[0062] Furthermore, in step eight, when the operating friction torque of the micro gyroscope motor is within the specified range [M]... 运小 -M 运大 After [number] hours, tighten the nut at the end of the miniature gyroscope motor. When the operating friction torque of the miniature gyroscope motor is within the specified range [M], 运小 -M 运大 When the temperature is high, loosen the nut at the end of the miniature gyroscope motor.

[0063] Furthermore, in step seventeen, M′ n+j The actual operating friction torque is measured and calculated for the micro gyroscope motor, and j≥4.

[0064] Furthermore, in step seventeen, the value of 'a' ranges from 0.1% to 0.01%.

[0065] The beneficial effects of this invention are:

[0066] 1. The present invention provides a method for fitting a curve to precisely control the preload of a micro gyroscope motor, which solves the problem of precise control of the preload of micro gyroscope bearings, a problem that has received little research. For the same type of micro gyroscope motor bearing, the preload can be directly adjusted and studied based on this curve, avoiding over-tightening or over-loosening during the preload adjustment process (over-tightening will lead to reduced bearing life and accelerated bearing wear; under-tightening will not achieve the desired effect). This provides a basis for the study of the friction torque of micro gyroscope motors, greatly improving the accuracy and efficiency of precise control of the preload of micro gyroscope motors, and reducing workload.

[0067] 2. The present invention provides a method for fitting a preload control curve for a miniature gyroscope motor. This method employs a bisection approach, iteratively refining the curve expression to obtain a definite expression for the preload control curve. The fitting process is rigorous, precise, and reliable. Guided by this control curve, the tightening angle of the nut at the end of the gyroscope motor can be quantitatively and accurately adjusted to achieve the preset preload, thus enabling precise control of the target friction torque. This overcomes the problems of inaccurate, inefficient, and unreliable control methods found in traditional methods. The curve-based control method is fast, efficient, and highly accurate, significantly improving the efficiency and precision of preload control for miniature gyroscope motors, and demonstrating good practical results. Attached Figure Description

[0068] Figure 1This is a schematic diagram of the structure of the initial curve in an embodiment of the present invention;

[0069] Figure 2 This is a schematic diagram of the fitting process in Example 1;

[0070] Figure 3 This is a schematic diagram of the fitting process in Example 2;

[0071] Figure 4 This is a schematic diagram of the fitting process in Example 3. Detailed Implementation

[0072] To make the advantages, objectives, and solutions of the present invention clearer, a more detailed description will be given below in conjunction with specific embodiments.

[0073] The present invention discloses a method for fitting the preload curve of a micro gyroscope motor. This method calculates the actual friction torque based on the formulas for the starting torque and the friction torque during operation of the micro gyroscope motor. It then compares this calculated torque with a given range of friction torques. Referring to simulation-derived curves of tightening angle and friction torque, the method iteratively refits the curve using a bisection method, thereby obtaining a curve that most closely approximates the actual operating conditions. This allows for precise adjustment of the friction torque through the tightening angle to ensure it falls within the required range.

[0074] A method for fitting the preload curve of a miniature gyroscope motor includes the following steps:

[0075] Step 1: Based on the given range of the target frictional torque of the micro gyroscope motor to be controlled, obtain its simulation curve as the initial curve;

[0076] Step 2: Based on the initial curve's direction, find the one closest to the polynomial and set its expression as follows:

[0077] M(θ) = b0 + b1θ + b2θ 2 +...+b m θ m

[0078] In the formula, b0, b1, b2…b m Let θ be the steady parameter to be solved, θ be the tightening angle of the nut at the end of the micro gyroscope motor, M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0079] Step 3: Select n (n≥2) fitting points on the initial curve, (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ... n M n Then, substituting the data from the n fitted points into the expression set in step two, we obtain the following system of linear equations:

[0080]

[0081] Let b = (b0, b1, ..., b m ) T M = (M1, M2, ..., M) n ) T The above system of n equations is transformed into matrix form for the following calculations:

[0082] (1) Transform the system of linear equations into a matrix

[0083]

[0084] That is, Bb = M

[0085] Then its corresponding normal system of equations is: B T Bb = B T M (multiply the left side of the equation by B) T This is to transform it into a matrix form for easier subsequent solving.

[0086] in,

[0087] (2) Transpose matrix B to obtain the unique optimal approximate solution to the contradictory system of equations. Take the minimum (where Q is the variance); That is, by minimizing the variance, the least squares fitting polynomial for the given data can be obtained:

[0088]

[0089] in,

[0090]

[0091]

[0092]

[0093]

[0094]

[0095] From the above formula, we can obtain

[0096] in:

[0097]

[0098]

[0099]

[0100] Calculated from the above formula and Then, substituting into the above formula, we can obtain B. T B and B T M, according to formula B T Bb = B T M can be solved to obtain a matrix related to vector b. Substituting b into M(θ) = b0 + b1θ + b2θ 2 +…+b m θ m In (m < n-1), we can obtain b0, b1, b2...b m The corresponding definite value b 0(0) b 1(0) b 2(0) …b m(0) Then, the definite expression for the initial curve is obtained:

[0101] M(θ)=b 0(0) +b 1(0) +b 2(0) θ 2 +…+b m(0) θ m

[0102] In the formula, b 0(0) b 1(0) b 2(0) …b m(0) Let θ be the initial value of the steady parameter, θ be the tightening angle of the nut at the end of the micro gyroscope motor, M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0103] The following example illustrates this process:

[0104] Assuming the initial curve is fitted from two points, (θ1, M1) and (θ2, M2), and the polynomial is assumed to be M(θ) = b0 + b1θ, substituting the two points into the system of equations yields:

[0105] b0+b1θ1=M1

[0106] b0+b1θ2=M2

[0107] According to B T Bb = B T M:

[0108] have to:

[0109] The final solution is:

[0110] The obtained polynomial is:

[0111]

[0112] Step 4: Tighten the end nut of the micro gyroscope motor to be controlled. Then, measure and calculate the starting torque of the micro gyroscope motor. If the calculated starting torque meets the range of the given target starting torque of the micro gyroscope motor [M], then... 启小 -M 启大 If the condition is not met, proceed to step five. If not, adjust the tightness of the nut at the end of the micro gyroscope motor until the measured and calculated starting torque is within the range of the given target starting torque [M]. 启小 -M 启大 ]Inside;

[0113] The method for measuring and calculating the starting torque of a miniature gyroscope motor is as follows:

[0114] Power is supplied to the miniature gyroscope motor to start it. Once it reaches the specified speed and stabilizes, the power is cut off. During this process, the voltage and current of the miniature gyroscope motor during startup are measured, and the formula M is used... 启 Calculate its starting torque using 9550UIη / N;

[0115] In the formula, M 起 The starting torque of the miniature gyroscope motor is expressed in Nm; U is the starting voltage of the miniature gyroscope motor, measured with a voltmeter, in V; I is the starting current of the miniature gyroscope motor, measured with an ammeter, in A; η is the power factor of the miniature gyroscope motor, a constant, generally between 0.9 and 0.95, with the specific value depending on the motor model; N is the rated speed of the miniature gyroscope motor, in r / min.

[0116] Step 5: Measure and calculate the starting torque to ensure that [M] is met. 启小 -M 启大 After the range is reached, the operating friction torque of the micro gyroscope motor;

[0117] Step Six: If the operating friction torque calculated in Step Five satisfies the range of the given target friction torque for the micro gyroscope motor [M] 运小 -M 运大 If the iteration ends, the expression for the initial curve obtained in step three is the precise curve expression for the preload control of the micro gyroscope motor. If it does not meet the requirements, proceed to step seven.

[0118] Step 7: Name the running friction torque calculated in Step 5 as M. n+1 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. n+1The corresponding nut tightening angle is θ n+1 ;

[0119] Step 8: Based on the operating friction torque M n+1 Adjust the size of the nut at the end of the miniature gyroscope motor to make M n+1 To [M] 运小 -M 运大 [With the range close, measure and calculate the operating friction torque M of the miniature gyroscope motor at this time.] n+2 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. n+2 The corresponding nut tightening angle is θ n+2 ;

[0120] Step 9, Set [M] 运小 -M 运大 The median value of ] is M 范 The running friction torque M is calculated by determining the expression based on the initial curve obtained in step three. 范 The corresponding nut tightening angle is θ 范 ;

[0121] Step 10: Determine M n+1 M n+2 and M 范 The size relationship among the three, if M 范 For [M] n+1 -M n+2 If the value is within the interval [ ], then proceed to step eleven; if M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and M n+2 If all are small, proceed to step twelve;

[0122] Step 11: Set θ n+3 =(θ n+1 +θ n+2 ) / 2, adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 M′ n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen.

[0123] Step 12: Discard θ n+1 and θ n+2 Mid-distance θ 范 For points that are farther away, then θ n+1and θ n+2 The remaining points after discarding in θ 范 Take the center and name it θ. n+3 Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 M′ n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen.

[0124] Step 13, use (θ) n+3 M′ n+3 Replace the initial curve fitting points (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ) in step three. n M n ) in θ n+3 The point with the closest size is then used as the basis for the calculation. The resulting n new fitted points are then substituted into the expression defined in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained.

[0125] M(θ) = c0 + c1θ + c2θ 2 +...+c m θ m

[0126] In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0127] Step Fourteen: Calculate the operating friction torque M using the definite expression of the correction curve obtained in Step Thirteen. 范 The corresponding nut tightening angle is θ′ 范 When M 范 For [M] n+1 -M n+2 When considering interval values ​​within θ, discard θ. n+1 and θ n+2 Mid-distance θ′ 范 For points that are farther away, then θ n+1 and θ n+2 The remaining points after discarding in θ n+3 Take the center and name it θ. n+4 When M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and Mn+2 When all are small, discard θ n+3 and θ n+1 or θ n+2 Mid-distance θ′ 范 Find the more distant point, and take the midpoint between the remaining two points, naming it θ. n+4 ;

[0128] Step 15: Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+4 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+4， (θ) n+4 M′ n+4 Substitute the value of the point into the definite expression of the correction curve obtained in step thirteen to see if it holds true. If the value of the point holds true on the definite expression of the correction curve, the iteration ends; otherwise, proceed to step sixteen.

[0129] Step 16, use (θ) n+4 M′ n+4 Replace the previously obtained corrected curve fitting points with θ n+4 The point with the closest size is then used. Next, the n newly fitted points generated after the replacement are substituted into the expression set in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained again.

[0130] M(θ) = c0 + c1θ + c2θ 2 +…+c m θ m

[0131] In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1;

[0132] Step 17: Repeat the least squares iteration operation from Step 14 to Step 16 using the newly obtained definite expression of the correction curve to refine the values ​​of c0, c1, c2, ... c in the definite expression of the correction curve. m Continue to perform official updates until... Where 'a' represents the iteration accuracy of the micro gyroscope motor, which needs to be selected according to the different accuracy requirements of the equipment, and is generally taken as 0.1%. - 0.01%, j is a positive integer greater than or equal to 4, M′ n+j Once the actual operating friction torque of the miniature gyroscope motor is measured and calculated, the iteration ends, and the final corrected values ​​of c0, c1, c2, ... c are obtained. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

[0133] Furthermore, in step four, the method for tightening the end nut of the micro gyroscope motor to be controlled is as follows: tighten the positioning nut on one end of the central shaft of the micro gyroscope motor to the specified position, and then lightly tighten the adjusting nut on the other end of the central shaft to the position where it just contacts the end face of the gyroscope motor;

[0134] The method for adjusting the tightness of the end nut of the miniature gyroscope motor is as follows: adjust the tightening angle of the adjusting nut on the central shaft of the miniature gyroscope motor.

[0135] Furthermore, the method for measuring and calculating the frictional torque of the micro gyroscope motor in this step is as follows:

[0136] The miniature gyroscope motor is started, and after it reaches a specified speed and runs stably, the power is cut off. The decay acceleration of the miniature gyroscope motor during the free-stopping process after power-off is measured, and the formula M is used. 运 =Ja calculates its operating friction torque;

[0137] In the formula, M 运 denoted as , where is the frictional torque during the operation of the miniature gyroscope motor, expressed in Nm; J is the moment of inertia of the bearing assembly system on the central shaft of the miniature gyroscope motor, which is a constant; and α is the angular acceleration, i.e., the decaying acceleration of the miniature gyroscope motor during its free-stopping process after power failure following stable operation. (This attenuation acceleration has already taken into account the effect of wind resistance, i.e., a = a) 风 +a M , where a 风 a is the attenuation acceleration caused by wind resistance. M (Δ is the decaying acceleration caused by frictional torque during operation) v The speed at which the miniature gyroscope motor passes through the light-shielding plate twice after reaching a stable speed and being powered off is Δ. t This represents the time difference between the two passes.

[0138] Furthermore, in step eight, when the operating friction torque of the micro gyroscope motor is within the specified range [M]... 运小 -M 运大 After [number] hours, tighten the nut at the end of the miniature gyroscope motor. When the operating friction torque of the miniature gyroscope motor is within the specified range [M], 运小 -M 运大 When the temperature is high, loosen the nut at the end of the miniature gyroscope motor.

[0139] The present invention provides a method for fitting a curve to precisely control the preload of a miniature gyroscope motor. Starting from step five above, based on the initial curve, a bisection method is used iteratively to gradually reduce the difference. The preload is precisely adjusted according to the relationship between the preload and the tightening angle of the miniature gyroscope motor to achieve the required range for the frictional torque. Given that the frictional torque during operation is [M]...运小 -M 运大 The given range of friction torque during the starting process is [M]. 启小 -M 启大 If the friction torque is within this range, it does not need to be considered; if the friction torque obtained by measurement and calculation is not within this range, it is necessary to tighten or loosen the nut to adjust the preload, and then adjust the friction torque to bring it into this range.

[0140] To ensure that both the starting torque and the running friction torque are within the specified range, the intermediate value M of the friction torque during operation is first taken and iterated, with its corresponding angle θ on the initial curve. 范 If the starting torque is in [M 启小 -M 启大 If the torque is within the specified range, the requirement is met. If it is outside the range, adjust the nut again to change the operating friction torque until the starting torque reaches the specified range (generally, the starting friction torque is within the specified range if the friction torque is taken as the median value during operation). The friction torque calculated above is M. n+1 Substituting the values ​​into the calculated polynomial, we obtain the corresponding tightening angle as θ. n+1 After determining whether to loosen or tighten based on the curve, the operator can gently tighten the screw by an angle of θ based on experience. n+2 At this time, the polynomial corresponds to the frictional torque M. n+2 Then, through step-by-step iterations, the curve is corrected to make it closer to the actual value, and finally the expression of the accurate curve is obtained.

[0141] This invention discloses a method for fitting a curve to precisely control the preload of a miniature gyroscope motor, taking into account the characteristics of miniature, precise, and reliable miniature gyroscope motors. By employing a bisection method to iteratively adjust the curve expression, a highly reliable precise control curve expression for the preload of a miniature gyroscope motor is obtained. This solves the problems of inaccurate or unreliable preload control in traditional technologies, the reliance on experienced operators with extensive equipment usage time, and the inherent limitations and uncertainties. Ultimately, it achieves precise control of the specified friction torque of the miniature gyroscope motor.

[0142] Example 1

[0143] The method steps in this embodiment are the same as those described above. For example... Figure 1 As shown, the initial curve is fitted using 5 points. Then, the curve is iteratively corrected. The specific iterative steps are as follows:

[0144] 1. After initially tightening the end adjusting nut, measure and calculate the frictional torque M. n+1 The corresponding tightening angle is θ n+1 ;

[0145] 2. Determine the calculated frictional torque M n+1 Is the specified operating friction torque [M] being met? 运小 -M 运大 If the value is within the specified range, the iteration ends.

[0146] 3. If the problem is not within the specified range, tighten the screws at angle θ based on experience. n+2 The frictional torque at this time is measured and calculated as M. n+2 ;

[0147] 4. Determine M n+1 M n+2 and M 范 Location, such as Figure 2 As shown, in this embodiment, M 范 Located in M n+1 and M n+2 Between, at this time, let θ n+3 =(θ n+1 +θ n+2 ) / 2, then remeasure M′ n+3 ;

[0148] 5. Determine (θ) n+3 M′ n+3 If the expression is on the initial curve, or if the expression holds true when substituted into the polynomial, then the iteration ends.

[0149] 6. If not true, use (θ) n+3 M′ n+3 Replace with θ n+3 Find the point (θ2, M2) with the closest magnitude, and refit the curve using the remaining simulated points. At this point, θ... 范 Transform into θ′ 范 Discard θ′ 范 The more distant point θ n+2 Take θ n+4 =(θ n+3 +θ n+1 ) / 2;

[0150] 7. Repeat the above iterative steps multiple times to determine c0, c1, c2, ... c in the expression for the correction curve. m Continue to perform official updates until... Where 'a' represents the iteration accuracy of the micro gyroscope motor, which needs to be selected according to the different accuracy requirements of the equipment, and is generally taken as 0.1%-0.01%. When j is a positive integer, the iteration ends, and the final corrected c0, c1, c2, ... c are obtained. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

[0151] Example 2

[0152] The method steps in this embodiment are the same as those described above. For example... Figure 1 As shown, the initial curve is fitted using 5 points. Then, the curve is iteratively corrected. The specific iterative steps are as follows:

[0153] 1. After initially tightening the end adjusting nut, measure and calculate the frictional torque M. n+1 The corresponding tightening angle is θ n+1 ;

[0154] 2. Determine the calculated frictional torque M n+1 Is the specified operating friction torque [M] being met? 运小 -M 运大 If the value is within the specified range, the iteration ends.

[0155] 3. If the problem is not within the specified range, tighten the screws at angle θ based on experience. n+2 The frictional torque at this time is measured and calculated as M. n+2 ;

[0156] 4. Determine M n+1 M n+2 and M 范 Location, such as Figure 3 As shown, in this embodiment, M 范 Compared to M n+1 and M n+2 Both are large; at this point, abandoning θ 范 The more distant point θ n+1 , in [θ n+2 -θ 范 Between ], take the midpoint θ n+3 =(θ 范 +θ n+2 ) / 2, the corresponding frictional torque on the curve is M n+3 The actual frictional torque was measured again as M′. n+3 ;

[0157] 5. Determine (θ) n+3 M′ n+3 If the expression is on the initial curve, or if the expression holds true when substituted into the polynomial, then the iteration ends.

[0158] 6. If not true, use (θ) n+3 M′ n+3 Replace with θ n+3 Find the point (θ3, M3) with the closest magnitude, and refit the curve using the remaining simulated points. At this point, θ... 范 Transform into θ′ 范 Discard θ′ 范 The more distant point θ n+2 Take θ n+4 =(θn+3 +θ 范 ) / 2;

[0159] 7. Repeat the above iterative steps multiple times to determine c0, c1, c2, ... c in the expression for the correction curve. m Continue to perform official updates until... Where 'a' represents the iteration accuracy of the micro gyroscope motor, which needs to be selected according to the different accuracy requirements of the equipment, and is generally taken as 0.1%-0.01%. When j is a positive integer, the iteration ends, and the final corrected c0, c1, c2, ... c are obtained. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

[0160] Example 3

[0161] The method steps in this embodiment are the same as those described above. For example... Figure 1 As shown, the initial curve is fitted using 5 points. Then, the curve is iteratively corrected. The specific iterative steps are as follows:

[0162] 1. After initially tightening the end adjusting nut, measure and calculate the frictional torque M. n+1 The corresponding tightening angle is θ n+1 ;

[0163] 2. Determine the calculated frictional torque M n+l Is the specified operating friction torque [M] being met? 运小 -M 运大 If the value is within the specified range, the iteration ends.

[0164] 3. If the problem is not within the specified range, tighten the screws at angle θ based on experience. n+2 The frictional torque at this time is measured and calculated as M. n+2 ;

[0165] 4. Determine M n+1 M n+2 and M 范 Location, such as Figure 4 As shown, in this embodiment, M 范 Compared to M n+1 and M n+2 Both are small; at this point, discard and leave θ. 范 The more distant point θ n+2 ; in [θ 范 -θ n+1 Between ], take the midpoint θ n+3 =(θ 范 +θ n+1 ) / 2, the corresponding frictional torque on the curve is M n+3 Measure the corresponding M′ again.n+3 ;

[0166] 5. Determine (θ) n+3 M′ n+3 If the expression is on the initial curve, or if the expression holds true when substituted into the polynomial, then the iteration ends.

[0167] 6. If not true, use (θ) n+3 M′ n+3 Replace with θ n+3 Find the point (θ3, M3) with the closest magnitude, and refit the curve using the remaining simulated points. At this point, θ... 范 Transform into θ′ 范 Discard θ′ 范 The more distant point θ n+1 Take θ n+4 =(θ n+3 +θ 范 ) / 2;

[0168] 7. Repeat the above iterative steps multiple times to determine c0, c1, c2, ... c in the expression for the correction curve. m Continue to perform official updates until... Where 'a' represents the iteration accuracy of the micro gyroscope motor, which needs to be selected according to the different accuracy requirements of the equipment, and is generally taken as 0.1%-0.01%. When j is a positive integer, the iteration ends, and the final corrected c0, c1, c2, ... c are obtained. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

[0169] In this invention, directional terms are used for the convenience of describing the invention and do not limit the device or element to have a specific orientation, or to be constructed and operated in a specific orientation. They should not be construed as limiting the specific scope of protection of this invention.

[0170] In this invention, unless otherwise explicitly specified and limited, the terms such as "set in," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, or a mechanical connection; they can refer to a direct connection, a connection through an intermediate medium, or an internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0171] In this invention, unless otherwise specified and limited, when the first feature is "above" or "below" the second feature, it can include the first feature and the second feature being in direct contact, or it can include the first feature and the second feature not being in direct contact but being in contact through another feature between them. Moreover, when the first feature is "above" the second feature, it includes the first feature being directly above or diagonally above the second feature; when the first feature is "below" the second feature, it includes the first feature being directly below or diagonally below the second feature.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications or equivalent substitutions made by those skilled in the art within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for fitting the preload curve of a miniature gyroscope motor, characterized in that, Includes the following steps: Step 1: Based on the given range of the target frictional torque of the micro gyroscope motor to be controlled, obtain its simulation curve as the initial curve; Step 2: Based on the initial curve's direction, define its expression as follows: M(θ)=b0+b1θ+b2θ 2 +...+b m i m In the formula, b0, b1, b2…b m Let θ be the steady parameter to be solved, θ be the tightening angle of the nut at the end of the micro gyroscope motor, M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1; Step 3: Select n (n≥2) fitting points on the initial curve, (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ... n M n Then, substituting the data from the n fitted points into the expression set in step two, we obtain the following system of linear equations: After calculating this system of linear equations, the definite expression for the initial curve is obtained: M(θ)=b 0(0) +b 1(0) +b 2(0) i 2 +…+b m(0) i m In the formula, b 0(0) b 1(0) b 2(0) …b m(0) Let θ be the initial value of the steady parameter, θ be the tightening angle of the nut at the end of the micro gyroscope motor, and M be the frictional torque during the operation of the micro gyroscope motor, and m < n-1; Step 4: Tighten the end nut of the micro gyroscope motor to be controlled. Then, measure and calculate the starting torque of the micro gyroscope motor. If the calculated starting torque meets the range of the given target starting torque of the micro gyroscope motor [M], then... 启小 -M 启大 If the condition is not met, proceed to step five. If not, adjust the tightness of the nut at the end of the micro gyroscope motor until the measured and calculated starting torque is within the range of the given target starting torque [M]. 启小 -M 启大 ]Inside; Step 5: Measure and calculate the starting torque to ensure that [M] is met. 启小 -M 启大 After the range is reached, the operating friction torque of the micro gyroscope motor; Step Six: If the operating friction torque calculated in Step Five satisfies the range of the given target friction torque for the micro gyroscope motor [M] 运小 -M 运大 If the iteration ends, the expression for the initial curve obtained in step three is the precise curve expression for the preload control of the micro gyroscope motor. If it does not meet the requirements, proceed to step seven. Step 7: Name the running friction torque calculated in Step 5 as M. n+1 The running friction torque M is calculated using the expression determined by the initial curve obtained in step three. n+1 The corresponding nut tightening angle is θ n+1 ; Step 8: Based on the operating friction torque M n+1 Adjust the size of the nut at the end of the miniature gyroscope motor to make M n+1 To [M] 运小 -M 运大 [With the range close, measure and calculate the operating friction torque M of the miniature gyroscope motor at this time.] n+2 The running friction torque M is calculated using the expression determined by the initial curve obtained in step three. n+2 The corresponding nut tightening angle is θ n+2 ; Step 9, Set [M] 运小 -M 运大 The median value of ] is M 范 The running friction torque M is calculated using the expression determined by the initial curve obtained in step three. 范 The corresponding nut tightening angle is θ 范 ; Step 10: Determine M n+1 M n+2 and M 范 The size relationship among the three, if M 范 For [M] n+1 -M n+2 If the value is within the interval [ ], then proceed to step eleven; if M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and M n+2 If all are small, proceed to step twelve; Step 11: Set θ n+3 =(θ n+1 +θ n+2 ) / 2, adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 M′ n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen. Step 12: Discard θ n+1 and θ n+2 Mid-distance θ 范 For points that are farther away, then θ n+1 and θ n+2 The remaining points after discarding in θ 范 Take the center and name it θ. n+3 Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+3 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+3 , will (θ n+3 M′ n+3 Substitute the value of the point into the initial curve determination expression obtained in step three to see if it holds true. If the value of the point holds true in the initial curve determination expression, the iteration ends. If it does not hold true, proceed to step thirteen. Step 13, use (θ) n+3 M′ n+3 Replace the initial curve fitting points (θ1, M1), (θ2, M2), (θ3, M3), ..., (θ) in step three. n M n ) in θ n+3 The point with the closest size is then used as the basis for the calculation. The resulting n new fitted points are then substituted into the expression defined in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained. M(θ)=c0+c1θ+c2θ 2 +…+c m i m In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1; Step Fourteen: Calculate the operating friction torque M using the definite expression of the correction curve obtained in Step Thirteen. 范 The corresponding nut tightening angle is θ′ 范 When M 范 For [M] n+1 -M n+2 When considering interval values ​​within θ, discard θ. n+1 and θ n+2 Mid-distance θ′ 范 For points that are farther away, then θ n+1 and θ n+2 The remaining points after discarding in θ n+3 Take the center and name it θ. n+4 When M 范 M n+1 and M n+2 Both are large, or M 范 M n+1 and M n+2 When all are small, discard θ n+3 and θ n+1 or θ n+2 Mid-distance θ′ 范 Find the more distant point, and take the midpoint between the remaining two points, naming it θ. n+4 ; Step 15: Adjust the tightening angle of the nut at the end of the miniature gyroscope motor to θ. n+4 Measure and calculate the actual operating frictional torque M′ of the micro gyroscope motor at this time. n+4 , will (θ n+4 M′ n+4 Substitute the value into the definite expression of the correction curve obtained in step thirteen to see if it holds true. If the value of the point holds true on the definite expression of the correction curve, the iteration ends; otherwise, proceed to step sixteen. Step 16: Use (θ) n+4 M′ n+4 Replace the previously obtained corrected curve fitting points with θ n+4 The point with the closest size is then used. Next, the n newly fitted points generated after the replacement are substituted into the expression set in step two. After calculation using a system of linear equations, the definitive expression for the corrected curve is obtained again. M(θ)=c0+c1θ+c2θ2+…+c m i m In the formula, c0, c1, c2, ... c m To correct the steady parameters, θ is the tightening angle of the nut at the end of the micro gyroscope motor, M is the frictional torque during the operation of the micro gyroscope motor, and m < n-1; Step 17: Repeat the least squares iteration operation from Step 14 to Step 16 using the newly obtained definite expression of the correction curve to refine the values ​​of c0, c1, c2, ... c in the definite expression of the correction curve. m Continue to perform official updates until... Where 'a' represents the iteration precision of the micro gyroscope motor, and 'j' is a positive integer, the iteration ends, yielding the final corrected values ​​c0, c1, c2, ... c. m This yields a precise curve expression that enables precise control of the preload of the micro gyroscope motor.

2. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that, The calculation process of the linear equation system described in step three is as follows: (1) Transform the system of linear equations into a matrix The normal equation system corresponding to this matrix is: B T Bb = B T M, in, (2) Transpose matrix B to obtain the unique optimal approximate solution to the contradictory system of equations, making Taking the minimum, the least squares fitting polynomial is obtained as follows: in, From the above formula, we can obtain in: n is calculated from the above formula. and Then, we obtain b0, b1, b2...b m The corresponding definite value b 0(0) b 1(0) b 2(0) …b m(0) Then, the definite expression for the initial curve is obtained: M(θ)=b 0(0) +b 1(0) +b 2(0) i 2 +…+b m(0) i m 。 3. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that, In step four, the method for tightening the end nut of the micro gyroscope motor to be controlled is as follows: tighten the positioning nut on one end of the central shaft of the micro gyroscope motor to the specified position, and then lightly tighten the adjusting nut on the other end of the central shaft to the position where it just contacts the end face of the gyroscope motor. The method for adjusting the tightness of the end nut of the miniature gyroscope motor is as follows: adjust the tightening angle of the adjusting nut on the central shaft of the miniature gyroscope motor.

4. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that, In step four, the method for measuring and calculating the starting torque of the micro gyroscope motor is as follows: The miniature gyroscope motor was started, and power was cut off after it reached the specified speed and stabilized. During the process, the voltage and current of the miniature gyroscope motor during startup were measured, and the results were analyzed using formula M. 启 Calculate its starting torque using 9550UIη / N; In the formula, M 起 U is the starting torque of the miniature gyroscope motor, in Nm; U is the starting voltage of the miniature gyroscope motor, in V; I is the starting current of the miniature gyroscope motor, in A. η is the power factor of the micro gyroscope motor, which is a constant; N is the rated speed of the micro gyroscope motor, in r / min.

5. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that, The method for measuring and calculating the frictional torque of the miniature gyroscope motor in the steps is as follows: The miniature gyroscope motor is started, and after it reaches a specified speed and runs stably, the power is cut off. The decay acceleration of the miniature gyroscope motor during the free-stopping process after power-off is measured, and the formula M is used. 运 =Ja calculates its operating friction torque; In the formula, M 运 denoted as , where is the frictional torque during the operation of the micro gyroscope motor, expressed in Nm; J is the moment of inertia of the bearing assembly system on the central shaft of the micro gyroscope motor, which is a constant; and a is the decaying acceleration of the micro gyroscope motor during its free-stopping process after power failure following stable operation.

6. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that, In step eight, when the operating friction torque of the micro gyroscope motor is within the specified range [M], 运小 -M 运大 After [number] hours, tighten the nut at the end of the miniature gyroscope motor. When the operating friction torque of the miniature gyroscope motor is within the specified range [M], 运小 -M 运大 When the temperature is high, loosen the nut at the end of the miniature gyroscope motor.

7. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that: In step seventeen, M′ n+j The actual operating friction torque is measured and calculated for the micro gyroscope motor, and j≥4.

8. The method for fitting the preload curve of a miniature gyroscope motor according to claim 1, characterized in that: In step seventeen, the value of 'a' ranges from 0.1% to 0.01%.

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