Hemispherical resonant gyroscope self-compensation control system

Abstract

The invention discloses a hemispherical resonant gyroscope self-compensation control system, which relates to the technical field of gyroscopes. The control system comprises an excitation cover and a protective shell, wherein the protective shell is fixedly mounted on the outside of the excitation cover, the inside of the protective shell is communicated with the inner surface of the excitation cover, a wireless transmission telecommunication pole is penetrated and slidably mounted on the protective shell, a laser vibrometer is fixedly mounted on the bottom of the wireless transmission telecommunication pole, a transverse plate is fixedly mounted on the outside of the wireless transmission telecommunication pole, a buffer spring is fixedly mounted on the transverse plate, the top of the buffer spring is fixedly mounted on the inner side wall of the top of the protective shell, and the buffer spring and the disc are provided, so that the wireless transmission telecommunication pole is simultaneously subjected to the primary buffering effect of the buffer spring and the secondary buffering effect of the disc, thereby improving the buffering efficiency, thereby effectively slowing down the vibration effect of the laser vibrometer, and ensuring the normal working efficiency of the laser vibrometer.

Description

Technical Field

[0001] The invention relates to the technical field of gyroscopes, and in particular to a hemispherical resonant gyroscope self-compensation control system. Background Art

[0002] The hemispherical resonator self-compensation system is a technology for improving the accuracy of a hemispherical resonator gyroscope, and mainly includes the following processes: turning off the gyroscope, calibrating the angle nonlinear drift error parameters of the initial state of the resonator, and using the angle nonlinear drift error parameters of the initial state of the resonator as parameter preset values ​​of the angle tracking unit; turning on the gyroscope, detecting the vibration signal of the resonator through the vibration detection unit, and extracting the standing wave angular velocity signal of the resonator according to the vibration signal through the signal demodulation unit; tracking the standing wave angular velocity signal through the angle tracking unit according to the recursive least squares algorithm, and calculating and obtaining the angle nonlinear drift error parameters of the resonator in combination with the parameter preset values ​​in the first step; receiving the vibration signal through the gyroscope control unit, and calculating and modulating the vibration signal to obtain the control signal; calculating and generating the force compensation signal through the force compensation unit according to the angle nonlinear drift error parameters; receiving the control signal obtained in the fourth step and the force compensation signal obtained in the fifth step through the gyroscope excitation unit, and calculating and modulating the control signal and the force compensation signal to obtain the compensation control signal, and transmitting the compensation control signal to the resonator to complete the self-compensation of the gyroscope.

[0003] In the prior art, during the operation of the gyroscope, the vibration signal of the resonator is acquired and detected through a vibration detection unit. However, if the vibration detection instrument itself is affected by external factors and vibrates, it is easy to cause errors in the monitoring result signal, which will affect the data collection and data judgment of the subsequent system, and further affect the normal operation of the gyroscope, so that the error is likely to reduce the working efficiency of the gyroscope. Summary of the invention

[0004] The present invention aims to provide a hemispherical resonant gyroscope self-compensation control system to solve the problem that the above-mentioned vibration may cause errors in vibration detection.

[0005] The present invention is achieved through the following technical solutions:

[0006] A hemispherical resonant gyroscope self-compensation control system includes an excitation cover and further includes:

[0007] A protective shell, wherein the protective shell is fixedly mounted on the outside of the excitation cover, the inside of the protective shell is communicated with the inner surface of the excitation cover, a wireless transmission telecommunication pole is penetrated and slidably mounted on the protective shell, a laser vibrometer is fixedly mounted on the bottom of the wireless transmission telecommunication pole, a cross plate is fixedly mounted on the outside of the wireless transmission telecommunication pole, a buffer spring is fixedly mounted on the cross plate, the top of the buffer spring is fixedly mounted on the inner side wall of the top of the protective shell, and the displacement of the laser vibrometer will be buffered by the buffer spring.

[0008] Furthermore, a disc is fixedly mounted on the top of the wireless transmission telecommunication pole, and the disc is slidably mounted on the inner wall of the sealing box to ensure that the movement of the disc is in a sealed environment.

[0009] Furthermore, a circular hole is provided on the circular disk, and the circular hole is driven by the circular disk to move, thereby generating a damping force, so that the movement of the circular disk affects the movement of the wireless transmission telecommunication pole, thereby achieving the purpose of secondary buffering.

[0010] Furthermore, a heat dissipation port is provided on the outer wall of the protective shell to provide a heat dissipation effect for the protective shell.

[0011] Furthermore, the wireless transmission telecommunication pole is also provided with an auxiliary mechanism, which includes a swing plate, which is rotatably mounted on the outside of the wireless transmission telecommunication pole, and an airbag is fixedly mounted on the outside of the swing plate, which can generate airflow to achieve a cleaning effect.

[0012] Furthermore, there are two swing plates, and the two swing plates clamp the airbag between the two swing plates. The two swing plates deform to compress and squeeze the airbag to generate airflow.

[0013] Furthermore, one end of the swing plate away from the wireless transmission telecommunication pole is rotatably mounted on the outside of the connecting circular plate, and the output end of the airbag is fixed on the connecting circular plate to provide a connection and ensure the transmission of the airflow.

[0014] Furthermore, a plastic hose is fixedly installed on the outside of the connecting circular plate, and three nozzles are fixedly installed on the output end of the plastic hose. The airflow passes through the three nozzles to clean the heat dissipation port to ensure the ventilation smoothness.

[0015] Furthermore, the three-mouth nozzle is arranged near the outside of the heat dissipation port, and the airbag is in a connected state with the connecting circular plate, the plastic hose and the three-mouth nozzle.

[0016] Furthermore, a transverse slide groove is provided on the inner side wall of the protective shell, a limit rod is slidably installed on the transverse slide groove, and the limit rod is fixedly installed on the outside of the side of the connecting circular plate to ensure that the initial position of the airflow output is always on the central horizontal line of the heat dissipation port.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] 1. The present invention provides a buffer spring and a disc, so that the wireless transmission telecommunication pole can be simultaneously affected by the primary buffering effect of the buffer spring and the secondary buffering effect of the disc, thereby achieving a double buffering effect, improving the buffering efficiency, and effectively slowing down the vibration effect of the laser vibrometer, thereby ensuring the normal working efficiency of the laser vibrometer, reducing the error of the self-compensation system of the overall gyroscope, and improving the working efficiency;

[0019] 2. The present invention is provided with an auxiliary mechanism, and the airbag is compressed by the rotation of the two swing plates to generate airflow, and the airflow is transmitted to the plastic hose through the connecting circular plate, and the plastic hose transmits the airflow to the three-mouth nozzle, and the three-mouth nozzle guides the airflow in three directions: upward, middle and downward, so that the airflow can clean the outside of the heat dissipation port from three directions, and dust and other impurities attached to the heat dissipation port can be cleaned to improve the ventilation flow rate of the heat dissipation port, and then the heat dissipation effect of the heat dissipation port can be improved, so as to improve the overall work efficiency;

[0020] 3. In the present invention, the rotation of the two swing plates will pull the connecting circular plate toward the direction of the wireless transmission telecommunication pole, so that the rotation of the swing plates will pull the connecting circular plate to move together, and the connecting circular plate will drive the limit rod to follow the movement. Since the limit rod is limited to slide horizontally on the transverse slide groove, the connecting circular plate can only slide horizontally along the transverse slide groove, thereby ensuring that the plastic hose and the three-mouth nozzle are always at the central horizontal line position of the heat dissipation port 8, so that the airflow cleaning effect is uniform and no unbalanced weight occurs;

[0021] 4. The present invention provides an inner concave plate in the plastic hose. When the airflow passes through the plastic hose, it will pass through the inner concave plate, and the airflow will push the inner concave plate to move. The inner concave plate will drive the plastic hose to stretch, and the plastic hose will drive the three-mouth nozzle to move with it. When the amplitude of the wireless transmission telecommunication pole becomes smaller, the airbag will not generate airflow due to the recovery rotation of the swing plate, so that the plastic hose will return to its initial position due to its own elastic limit. In the process of the plastic hose stretching to recovery, the three-mouth nozzle will generate displacement vibration, thereby removing dust and other impurities attached to the plastic hose, thereby improving the air outlet smoothness rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0023] Figure 1 It is a schematic diagram of the overall external front view structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the overall external bottom view structure;

[0025] Figure 3 It is a schematic diagram of the local structure of the outer part of the disk;

[0026] Figure 4 A schematic diagram of the partial structure of the interior is shown overlooking the outer shell to protect it;

[0027] Figure 5 It is a schematic diagram of the external local structure of the wireless transmission telecommunication pole;

[0028] Figure 6 It is a schematic diagram of the external local structure of the swing plate;

[0029] Figure 7 This is a schematic diagram of the partial internal structure of a plastic hose;

[0030] Figure 8 This is a schematic diagram of the partial internal structure of a plastic hose from the left view.

[0031] The reference numerals represent: 1-excitation cover, 2-protective shell, 3-wireless transmission telecommunication pole, 4-laser vibrometer, 5-disc, 6-round hole, 7-sealed box, 8-heat dissipation port, 9-buffer spring, 10-horizontal plate, 11-swinging plate, 12-airbag, 13-connecting circular plate, 14-plastic hose, 15-three-mouth nozzle, 16-horizontal slide groove, 17-limit rod, 18-inner concave plate. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation modes and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the present invention is already in the actual development and use stage.

[0033] like Figures 1 to 8 As shown, this embodiment includes an excitation cover 1, and also includes:

[0034] A protective shell 2 is fixedly mounted on the outside of the excitation cover 1, the inside of the protective shell 2 is communicated with the inner surface of the excitation cover 1, a wireless transmission telecommunication pole 3 is penetrated and slidably mounted on the protective shell 2, a laser vibrometer 4 is fixedly mounted on the bottom of the wireless transmission telecommunication pole 3, a horizontal plate 10 is fixedly mounted on the outside of the wireless transmission telecommunication pole 3, a buffer spring 9 is fixedly mounted on the horizontal plate 10, the top of the buffer spring 9 is fixedly mounted on the inner side wall of the top of the protective shell 2, a disc 5 is fixedly mounted on the top of the wireless transmission telecommunication pole 3, the disc 5 is slidably mounted on the inner side wall of the sealing box 7, a circular hole 6 is opened on the disc 5, and a heat dissipation port 8 is opened on the outer side wall of the protective shell 2.

[0035] In the above technical solution, the gyroscope obtains vibration signals through vibration detection during operation, and transmits the vibration signals to the terminal to determine whether to perform control compensation. In the process of vibration detection, if the vibration detection instrument itself is vibrated by external factors, it is easy to cause errors in the detection result signal. Therefore, by arranging a protective shell 2 on the excitation cover 1, when the laser vibrometer 4 is vibrated by external interference vibration and itself vibrates, the laser vibrometer 4 will drive the wireless transmission telecommunication pole 3 to follow the movement, and the wireless transmission telecommunication pole 3 will drive the cross plate 10 to move together, and the cross plate 10 will compress the buffer spring 9, so that the buffer spring 9 can provide a buffer force to the cross plate 10 to slow down the movement, and then the cross plate 10 can be transmitted to the wireless transmission telecommunication pole 3 to slow down the movement, so that the displacement of the laser vibrometer 4 will be buffered by the buffer spring 9. At the same time, the wireless transmission telecommunication pole 3 The movement of the rod 3 will also drive the disc 5 to move along, and the disc 5 will slide in the sealed box 7, and the disc 5 will drive the circular hole 6 to move along, and when the circular hole 6 moves in the sealed box 7, the air in the sealed box 7 will pass through the circular hole 6 to produce a damping effect, thereby generating a damping force to slow down the movement of the circular hole 6, and then slow down the movement of the disc 5. The movement of the disc 5 will affect the movement of the wireless transmission telecommunication pole 3, thereby achieving the purpose of secondary buffering, and achieving the laser vibrometer 4 in the process of vibration. By providing the buffer spring 9 and the disc 5, the wireless transmission telecommunication pole 3 will be simultaneously affected by the primary buffering effect of the buffer spring 9 and the secondary buffering effect of the disc 5, thereby achieving a double buffering effect, improving the buffering efficiency, and then effectively slowing down the vibration effect of the laser vibrometer 4, to ensure the normal working efficiency of the laser vibrometer 4, reduce the error of the self-compensation system of the overall gyroscope, and improve the working efficiency.

[0036] like Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, in the present invention, an auxiliary mechanism is also provided on the wireless transmission telecommunication pole 3, and the auxiliary mechanism includes a swing plate 11, and the swing plate 11 is rotatably installed on the outside of the wireless transmission telecommunication pole 3, and an air bag 12 is fixedly installed on the outside of the swing plate 11. There are two swing plates 11, and the two swing plates 11 clamp the air bag 12 between the two swing plates 11, so that when the two swing plates 11 rotate, the deformation can be used to compress the air bag 12, and the end of the swing plate 11 away from the wireless transmission telecommunication pole 3 is rotatably installed on the outside of the connecting circular plate 13, and the output end of the air bag 12 is fixed on the connecting circular plate 13, and a plastic hose 14 is fixedly installed on the outside of the connecting circular plate 13, and a three-mouth nozzle 15 is fixedly installed on the output end of the plastic hose 14, and the three-mouth nozzle 15 is arranged outside the heat dissipation port 8. However, there is a gap between the three-mouth nozzle 15 and the heat dissipation port 8, and they are not fitted together. The airbag 12 is connected to the connecting circular plate 13, the plastic hose 14 and the three-mouth nozzle 15. A transverse slide groove 16 is provided on the inner side wall of the protective shell 2, and a limit rod 17 is slidably installed on the transverse slide groove 16. The limit rod 17 is fixedly installed on the outside of the side of the connecting circular plate 13. An inner concave plate 18 is fixedly installed on the inner side wall of the plastic hose 14. The inner concave plate 18 is located at a position where the plastic hose 14 is close to the outlet, which is convenient for the plastic hose 14 to stretch. Since the blowing force of the airbag 12 is not very large and the plastic hose 14 is not long, the stretching of the plastic hose 14 caused by the blowing force of the airbag 12 will not exceed the elastic limit of the plastic hose 14, so that the plastic hose 14 can naturally return to its initial position.

[0037] In the above technical solution, when the laser vibrometer 4 vibrates and drives the wireless transmission telecommunication pole 3 to move, the wireless transmission telecommunication pole 3 will drive the swing plate 11 to follow the movement, and the following movement of the swing plate 11 will produce a rotational displacement. The two swing plates 11 will rotate in the same direction together to deform, and the two swing plates 11 will compress and shrink the sandwiched middle space, so the airbag 12 will be compressed by the rotation of the two swing plates 11 to generate airflow, and the airflow will be transmitted to the plastic hose 14 through the connecting circular plate 13, and the plastic hose 14 will transmit the airflow to the three-mouth nozzle 15, and the three-mouth nozzle 15 will guide the airflow in three directions of upward, middle and downward, so that the airflow can be cleaned to the outside of the heat dissipation port 8 through three directions. The dust and other impurities attached to the heat dissipation port 8 can be cleaned to improve the ventilation flow rate of the heat dissipation port 8, thereby improving the heat dissipation effect of the heat dissipation port 8, so as to improve the overall work efficiency. At the same time, by arranging a limit rod 17 on the outside of the connecting circular plate 13, during the rotation of the swing plate 11, the two swing plates 11 will first produce rotational deformation to clamp and reduce the space between the two swing plates 11. At the same time, the rotation of the two swing plates 11 will pull the connecting circular plate 13 toward the direction of the wireless transmission telecommunication pole 3, so that the rotation of the swing plate 11 will pull the connecting circular plate 13 to move together, and the connecting circular plate 13 will drive the limit rod 17 to follow the movement, and because the limit rod 17 is limited to only be able to move on the horizontal slide groove 16 The flat sliding makes the connecting circular plate 13 only slide horizontally along the horizontal slide groove 16, thereby ensuring that the plastic hose 14 and the three-mouth nozzle 15 are always at the central horizontal line position of the heat dissipation port 8, so that the airflow cleaning effect is uniform, and no eccentricity occurs. When the airbag 12 generates airflow, the airflow passes through the plastic hose 14 and passes through the inner concave plate 18, and thrust is generated through the inner concave surface of the inner concave plate 18. The airflow pushes the inner concave plate 18 to move, and the inner concave plate 18 drives the plastic hose 14 to stretch, and the plastic hose 14 drives the three-mouth nozzle 15 to move with it. When the amplitude of the wireless transmission telecommunication pole 3 becomes smaller, the airbag 12 will not generate airflow due to the recovery rotation of the swing plate 11, so that the plastic The plastic hose 14 will return to its initial position due to its own elastic limit. In the process of the plastic hose 14 being stretched to recovery, the three-mouth nozzle 15 will generate displacement vibration, thereby removing dust and other impurities attached to itself and improving the air flow rate. The stretching degree of the plastic hose 14 is related to the vibration amplitude of the wireless transmission telecommunication pole 3. Therefore, the vibration intensity of the three-mouth nozzle 15 is also related to the vibration amplitude of the wireless transmission telecommunication pole 3. Each time the vibration is generated, the vibration will always change from strong to weak due to the buffering effect, thereby avoiding the three-mouth nozzle 15 from being in a large vibration for a long time and being damaged. Finally, by providing the swing plate 11 and the airbag 12, the swing plate 11 will compress and squeeze the airbag 12 during the movement of the wireless transmission telecommunication pole 3.The airbag 12 generates airflow which is output through the connecting circular plate 13, the plastic hose 14 and the three-mouth nozzle 15, and the airflow can clean the outside of the heat dissipation port 8. At the same time, the limiting rod 17 and the horizontal slide 16 ensure that the initial position of the airflow output is always on the central horizontal line of the heat dissipation port 8, ensuring uniform output and improving the overall work efficiency and cleaning effect.

[0038] In summary, by providing the buffer spring 9 and the disk 5, the wireless transmission telecommunication pole 3 will be simultaneously affected by the primary buffering effect of the buffer spring 9 and the secondary buffering effect of the disk 5, thereby achieving a double buffering effect, improving the buffering efficiency, and effectively slowing down the vibration effect of the laser vibrometer 4, to ensure the normal working efficiency of the laser vibrometer 4, reduce the error of the self-compensation system of the overall gyroscope, improve the working efficiency, and at the same time, the auxiliary mechanism is used to effectively clean the heat dissipation port 8 to improve the heat dissipation effect.

[0039] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hemispherical resonant gyroscope self-compensation control system, comprising an excitation cover (1), characterized in that: Also includes: A protective shell (2), the protective shell (2) being fixedly mounted on the outside of the excitation cover (1), the interior of the protective shell (2) being connected to the inner surface of the excitation cover (1), a wireless transmission telecommunication pole (3) penetrating and slidably mounted on the protective shell (2), a laser vibrometer (4) being fixedly mounted on the bottom of the wireless transmission telecommunication pole (3), a horizontal plate (10) being fixedly mounted on the outside of the wireless transmission telecommunication pole (3), a buffer spring (9) being fixedly mounted on the horizontal plate (10), and the top of the buffer spring (9) being fixedly mounted on the inner side wall of the top of the protective shell (2); A disc (5) is fixedly mounted on the top of the wireless transmission telecommunication pole (3), and the disc (5) is slidably mounted on the inner wall of the sealing box (7); The disc (5) is provided with a circular hole (6); When the laser vibrometer (4) is vibrated by external interference and generates vibrations itself, the movement of the wireless transmission telecommunication pole (3) drives the disc (5) to move along with it. The disc (5) slides in the sealed box (7), and the disc (5) drives the circular hole (6) to move along with it. When the circular hole (6) moves in the sealed box (7), the air in the sealed box (7) passes through the circular hole (6) and generates a damping effect, generating a damping force to slow down the movement of the circular hole (6), thereby slowing down the movement of the disc (5). The movement of the disc (5) affects the movement of the wireless transmission telecommunication pole (3); The sealing box (7) is located on the protective shell (2).

2. The hemispherical resonator gyroscope self-compensation control system according to claim 1, characterized in that: A heat dissipation opening (8) is provided on the outer side wall of the protective shell (2).

3. The hemispherical resonator gyroscope self-compensation control system according to claim 2, characterized in that: The wireless transmission telecommunication pole (3) is also provided with an auxiliary mechanism, which comprises a swing plate (11), the swing plate (11) being rotatably mounted on the outside of the wireless transmission telecommunication pole (3), and an air bag (12) being fixedly mounted on the outside of the swing plate (11).

4. The hemispherical resonator gyroscope self-compensation control system according to claim 3, characterized in that: There are two swing plates (11), and the two swing plates (11) clamp the airbag (12) between the two swing plates (11).

5. The hemispherical resonator gyroscope self-compensation control system according to claim 4, characterized in that: One end of the swing plate (11) away from the wireless transmission telecommunication pole (3) is rotatably mounted on the outside of the connecting circular plate (13), and the output end of the airbag (12) is fixed on the connecting circular plate (13).

6. The hemispherical resonator gyroscope self-compensation control system according to claim 5, characterized in that: A plastic hose (14) is fixedly mounted on the outside of the connecting circular plate (13), and a three-mouth nozzle (15) is fixedly mounted on the output end of the plastic hose (14).

7. The hemispherical resonator gyroscope self-compensation control system according to claim 6, characterized in that: The three-port nozzle (15) is arranged near the outside of the heat dissipation port (8), and the air bag (12) is in a connected state with the connecting circular plate (13), the plastic hose (14) and the three-port nozzle (15).

8. The hemispherical resonator gyroscope self-compensation control system according to claim 7, characterized in that: A transverse sliding groove (16) is provided on the inner side wall of the protective shell (2), a limit rod (17) is slidably mounted on the transverse sliding groove (16), and the limit rod (17) is externally fixedly mounted on the outside of the side surface of the connecting circular plate (13).

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