A two-degree-of-freedom gyroscope stiffness center adjusting device and method

Abstract

The application relates to a two-degree-of-freedom gyroscope stiffness center adjusting device and method, which comprises the following steps: placing a gyroscope above a two-axis turntable, placing a gyroscope stiffness center adjusting plate near the gyroscope and connecting the gyroscope stiffness center adjusting plate with a gyroscope zero adjustment circuit board; connecting a digital table with a gyroscope force feedback rebalancing control circuit board, connecting the gyroscope force feedback rebalancing control circuit board with the gyroscope zero adjustment circuit board; connecting a variable frequency gyroscope motor power supply with an insulator corresponding to a gyroscope motor lead; and adjusting the stiffness center of the gyroscope through the gyroscope stiffness center adjusting plate. The application can significantly reduce the horizontal level of multiple interference torques in the gyroscope, thereby realizing self-compensation of multiple errors in the gyroscope, improving the stability of a gyroscope scale factor and a drift coefficient. Meanwhile, the adaptability of the gyroscope to a harsh environment is significantly enhanced, especially the impedance ability to temperature, impact and vibration is significantly improved, so that the anti-interference ability of the gyroscope is significantly enhanced, the vibration center precision of the gyroscope is improved, and the adaptability to a higher level inertial navigation system is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial navigation and measurement and control, and particularly relates to a device and method for adjusting the stiffness center of a two-degree-of-freedom gyroscope. Background Art

[0002] In the technical field of inertial navigation and measurement and control, the poor environmental adaptability of gyroscopes has always been an important factor leading to poor navigation accuracy of inertial navigation systems. Especially in inertial navigation systems in harsh environments without temperature control and vibration reduction measures, the performance of the gyroscopes supporting the system deteriorates particularly seriously. In order to compensate for the defect of poor environmental adaptability of gyroscopes, some inertial navigation systems adopt the H angular momentum modulation technology.

[0003] The H angular momentum modulation technology is a monitoring technology for self-compensation of errors in inertial navigation systems. A navigation gyroscope and an H modulation monitoring gyroscope are installed on the inertial navigation system platform at the same time, and the value of the angular momentum H of the monitoring gyroscope is periodically changed, so as to modulate the interference torque on the gyro axis and make it compensated. The application of the H modulation technology makes parameters such as the scale factor and drift coefficient of the gyroscopes supporting the inertial navigation system more stable.

[0004] Currently, only inertial navigation systems composed of single-degree-of-freedom liquid-floating integrating gyroscopes with permanent magneto-gyro motors and dynamic pressure gas bearings are using the H angular momentum modulation technology. This technology belongs to the error compensation technology at the inertial navigation system level, and no similar technology has been reported for gyroscopes at the inertial element level, which is one level lower than the inertial navigation system. A large number of basic experiments have proved that various interference torques inside the gyroscope are the main factors leading to poor environmental adaptability of the gyroscope. Therefore, it is urgent for those skilled in the art to develop an error self-compensation technology for improving the environmental adaptability dedicated to gyroscopes. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a device and method for adjusting the stiffness center of a two-degree-of-freedom gyroscope, which can significantly reduce the level of multiple interference torques inside the gyroscope, thereby realizing the self-compensation of multiple errors inside the gyroscope and improving the stability of the gyroscope scale factor and drift coefficient.

[0006] The present invention solves its technical problems by adopting the following technical solutions:

[0007] A dual-degree-of-freedom gyroscope stiffness center adjustment device includes a dual-axis turntable, a variable-frequency gyroscope motor power supply, a digital multimeter, a gyroscope force feedback rebalancing control circuit board, and a gyroscope stiffness center adjustment board. The gyroscope is mounted on the dual-axis turntable. The variable-frequency gyroscope motor power supply is connected to the insulator corresponding to the gyroscope motor lead to supply power to the gyroscope motor. The gyroscope stiffness center adjustment board is placed near the gyroscope and connected to the gyroscope zero-adjustment circuit board to adjust the gyroscope's stiffness center. The digital multimeter is connected to the gyroscope force feedback rebalancing control circuit board for measuring data. The gyroscope force feedback rebalancing control circuit board is connected to the gyroscope zero-adjustment circuit board to output excitation voltage, force feedback current, and sensor zero-position voltage.

[0008] Furthermore, the gyroscope stiffness center adjustment plate includes four gyroscope sensor zero-adjustment resistors. These gyroscope sensor zero-adjustment resistors are carbon film adjustable resistors, which are used to avoid interference from inductors on the gyroscope stiffness center adjustment and the gyroscope preamplification and zero-adjustment resistor configuration process.

[0009] Furthermore, the dual-axis turntable has the functions of rotating the main axis and the pitch axis.

[0010] Furthermore, the gyroscope force feedback rebalancing control circuit board has a gyroscope force feedback closed-loop control function, which is used to enable the gyroscope to work in a force feedback closed-loop state.

[0011] A method for adjusting the stiffness center adjustment device of a two-degree-of-freedom gyroscope includes the following steps:

[0012] Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope;

[0013] Step 2: Connect the digital multimeter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyroscope motor power supply to the insulator corresponding to the gyroscope motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board.

[0014] Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

[0015] Furthermore, the specific implementation method of step 3 is as follows: the momentum axis of the gyroscope is placed statically in a position parallel to the Earth's polar axis, the gyroscope is in an open circuit state, and the AC zero-point voltage of the gyroscope sensor is adjusted sequentially through the zero-adjustment resistors Rx1, Rx2, Ry1, and Ry2. To minimize the frequency, close the force feedback loop of the gyroscope rebalancing control circuit, reducing the gyroscope motor frequency by a certain value. At this point, the gyroscope motor frequency is ω1. Record the value of the DC zero-point voltage output by the gyroscope speed. and Next, symmetrically increase the rotational frequency of the gyroscope motor by a certain value. At this point, the rotational frequency of the gyroscope motor is ω2. Record the value of the DC zero-position voltage output by the gyroscope speed. and Adjust the zero-adjustment resistor of the gyroscope sensor, first try to make it as close to zero as possible. or To the mean respectively Approaching and observing simultaneously and or and The convergence trend determines whether to continue adjusting from the state corresponding to frequency ω1 or ω2. By adjusting the zero-position resistance of the gyroscope sensor, the DC zero-position voltage value of the gyroscope rate output is made to approach the voltage value corresponding to the center point of the gyroscope stiffness. By repeatedly trying the above voltage value approximation adjustment steps, the DC zero-position voltage of the gyroscope rate output remains unchanged when the gyroscope motor frequency is set at any frequency within the range of ω1 to ω2.

[0016] Moreover, the stiffness center adjustment is performed simultaneously with the gyroscope preamplification and zero-adjustment resistor configuration process.

[0017] The advantages and positive effects of this invention are:

[0018] 1. This invention can significantly reduce the level of multiple disturbance torques inside the gyroscope, thereby achieving self-compensation for multiple errors inside the gyroscope and improving the stability of the gyroscope's scaling factor and drift coefficient.

[0019] 2. When the gyroscope motor speed ω is affected by temperature, shock, and vibration, causing undertuning or overtuning fluctuations in the gyroscope, the method of this invention can maintain a constant DC zero-point voltage at the gyroscope rate output. Therefore, the gyroscope adjusted using this invention exhibits significantly enhanced adaptability to harsh environments, particularly improved resistance to temperature, shock, and vibration. This significantly enhances the gyroscope's anti-interference capability and improves its accuracy in vibration environments, i.e., its mid-oscillation accuracy, while also improving its compatibility with the upstream inertial navigation system.

[0020] 3. Except for the gyroscope stiffness center adjustment plate, which needs to be specially manufactured, the present invention does not require customized expensive special equipment. The device of this patent can be realized by using the equipment used for gyroscope debugging.

[0021] 4. H-modulation at the inertial navigation system level generally requires the gyroscope's angular momentum to be increased to twice the angular momentum, or changed to -H angular momentum for modulation. However, the present invention, applied to the adjustment of the stiffness center of the gyroscope, only requires a change of about 4% of the reference angular momentum to complete the adjustment, which greatly reduces the frequency conversion requirements of the gyroscope motor power supply.

[0022] 5. Practical verification shows that after the gyroscope stiffness center is adjusted, the gyroscope rate output AC zero-position voltage output also reaches the minimum value. Therefore, this invention can also be used to assist in the adjustment of the gyroscope rate AC zero-position voltage output.

[0023] 6. This invention provides a reference for other types of mechanical gyroscopes to eliminate internal interference torque and improve the environmental adaptability of gyroscopes.

[0024] 7. The method of the present invention is simple and easy to implement, and the operation process is easy to solidify. It is especially suitable for mass production of gyroscopes and can greatly improve the batch production success rate of gyroscopes. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the torques acting on the gyroscope rotor assembly of the present invention;

[0026] Figure 2 This is a torque analysis diagram of the gyroscope rotor assembly of the present invention;

[0027] Figure 3 This is a schematic diagram of the initial adjustment of the stiffness center of the gyroscope in this invention;

[0028] Figure 4 This is a schematic diagram showing the readjustment of the gyroscope stiffness center after the adjustment direction has been changed according to the present invention.

[0029] Figure 5 This invention corresponds to respectively Figure 3 a) Figure 4 The subsequent adjustment process for d) and e);

[0030] Figure 6 This is a schematic diagram of the components of the gyroscope stiffness center adjustment device of the present invention;

[0031] Figure 7 This is a schematic diagram of the gyroscope rotor assembly of the present invention placed parallel to the Earth's polar axis;

[0032] Figure 8 A schematic diagram of the principle of the gyroscope stiffness center adjustment circuit of this invention. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the accompanying drawings.

[0034] A stiffness center adjustment device for a two-degree-of-freedom gyroscope, such as Figure 6As shown, the device includes a dual-axis turntable, a variable frequency gyroscope motor power supply, digital meters, a gyroscope force feedback rebalancing control circuit board, and a gyroscope stiffness center adjustment board. The multiple digital meters in the device display at least 7 channels of data, including 2 channels of gyroscope sensor AC zero-position voltage, 2 channels of gyroscope rate output DC zero-position voltage, 2 channels of gyroscope rate output AC zero-position voltage, and 1 channel of gyroscope motor frequency display output. The gyroscope is mounted on a dual-axis turntable. The variable frequency gyroscope motor power supply is connected to the insulator corresponding to the gyroscope motor lead to power the gyroscope motor. The gyroscope stiffness center adjustment plate is placed near the gyroscope and connected to the gyroscope zero-adjustment circuit board to adjust the gyroscope stiffness center. The digital multimeter is connected to the gyroscope force feedback rebalancing control circuit board to measure and collect the gyroscope rate output DC zero-position voltage and AC zero-position voltage, as well as the gyroscope sensor AC zero-position voltage and gyroscope motor rotation frequency data. The gyroscope force feedback rebalancing control circuit board is connected to the gyroscope zero-adjustment circuit board to output the excitation voltage for gyroscope sensor excitation, the force feedback current for applying torque to gyroscope torquer, and the sensor AC zero-position voltage.

[0035] The gyroscope stiffness center adjustment board includes four gyroscope sensor zero-adjustment resistors. These gyroscope sensor zero-adjustment resistors must be carbon film adjustable resistors. This type of resistor has no inductance, thus avoiding interference from inductance on the gyroscope stiffness center adjustment and the gyroscope preamplifier and zero-adjustment resistor configuration process.

[0036] The frequency variation range of the variable frequency gyroscope motor power supply must be at least 60Hz. The turntable of this device must be a dual-axis turntable, capable of rotating both the main axis and the pitch axis. The rebalancing control circuit board in this device has a gyroscope force feedback closed-loop control function, which can enable the gyroscope to operate in a force feedback closed-loop state.

[0037] A method for adjusting the stiffness center adjustment device of a two-degree-of-freedom gyroscope includes the following steps:

[0038] Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope;

[0039] Step 2: Connect the digital multimeter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyroscope motor power supply to the insulator corresponding to the gyroscope motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board.

[0040] Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

[0041] The torques acting on the gyroscope during operation are as follows: Figure 1 , Figure 2 As shown. The gyroscope rotor assembly is connected to the gyroscope motor shaft via a universal hinge, with the hinge center point at point O, as follows. Figure 1 As shown, assuming the gyroscope rotor assembly shaft deflects relative to the gyroscope motor drive shaft, the gyroscope rotor assembly's angular momentum... The direction of the gyroscope motor's rotation axis forms an angle α, passes through point O, and is perpendicular to the angular momentum. Direction establishment Figure 2 The coordinate system shown is OXYZ, and plane l coincides with the OXY plane.

[0042] During the high-speed rotation of the gyroscope rotor assembly, it is subjected to gas damping torque. Direction and angular momentum of the gyroscope rotor assembly The direction is opposite to the rotational speed of the gyroscope motor. Related.

[0043]

[0044] In equation (1), R is the radius of the gyroscope rotor assembly, μ represents the viscosity coefficient of the gas medium, ρ is the density of the gas medium, Δ is the shape coefficient of the gyroscope rotor, and ω is the rotational speed of the gyroscope rotor assembly.

[0045] The driving torque of the gyroscope motor acting on the gyroscope rotor is Its direction is along the axis of the gyroscope motor, and is related to the rotational speed of the gyroscope motor. Same direction. and The resultant torque is Located at point O and angular momentum In the vertical plane l, pointing towards the negative Y-axis, such as... Figure 1 , Figure 2 As shown.

[0046]

[0047] From equation (2), we can see that With gyroscope motor speed Related. When the gyroscope is in a state where only the gyroscope motor is turned on and there is no angular velocity input, This causes the flywheel assembly to precess, in the direction that aligns the gyroscope rotor assembly shaft with the gyroscope motor drive shaft. When the gyroscope rotor assembly shaft and the gyroscope motor drive shaft are completely aligned... The disappearance occurs when the gyroscope stiffness center is adjusted by actively pulling the gyroscope rotor assembly shaft relative to the gyroscope motor drive shaft. It appeared again.

[0048] During high-speed rotation, the gyroscope rotor assembly drives the surrounding gas to form a high-speed rotating airflow field. Due to the uneven gap between the gyroscope rotor assembly and the gyroscope shell, the gas pressure is high where the gap is small and low where the gap is large during high-speed flow, thus generating a dynamic pressure torque on the gyroscope rotor assembly. With gyroscope motor speed Relatedly, this torque lies within plane l, pointing in the positive X-axis direction, and its direction is as follows: Figure 1 , Figure 2 As shown.

[0049]

[0050] In equation (3), Δd represents the difference between the maximum and minimum gaps of the fluid, d0 is the average air gap of the fluid, ρ is the fluid density, and C p ω is the air gap structural coefficient, and ω is the rotational speed of the gyroscope rotor assembly. When the gyroscope is in an open-circuit state and there is no angular velocity input... This causes the flywheel assembly to precess, and the direction of precession is the direction that balances the dynamic pressure throughout the gyroscope.

[0051] Because gyroscopes use inductive sensors, when the gyroscope rotor assembly shaft deflects relative to the gyroscope motor drive shaft, a deviation will occur in the gap between the gyroscope sensor stator and armature on both sides, thus creating an electromagnetic attraction torque. This torque lies within plane l, pointing in the negative X-axis direction, and its direction is the same as the dynamic torque. The directions are opposite. Because the signals from the gyroscope sensor and the gyroscope motor are isolated from each other, therefore... With gyroscope motor speed Irrelevant.

[0052]

[0053] In equation (4), I is the effective value of the alternating current passing through the stator coil of the gyroscope sensor, W is the number of turns of the stator coil of the gyroscope sensor, r is the distance from the stator of a single gyroscope sensor to the center of the base, μ0 is the permeability of free space, a and b are the length and width of the magnetic core, δ1 is the minimum distance between the upper end face of the magnetic core and the armature, and δ2 is the maximum distance between the upper end face of the magnetic core and the armature. When the gyroscope is in an open circuit state and there is no angular velocity input, This causes the flywheel assembly to precess, and the direction of the precession is the direction that makes the deflection angle of the gyroscope rotor assembly increase.

[0054] Figure 2 middle The torque generated by the gyro torque generator lies in plane l and points in the positive Y-axis direction, its direction being parallel to... In the opposite direction, this torque is generated by the gyro torque converter. In the closed-circuit state of the gyro, it can straighten or deflect the gyro rotor assembly. Since the gyro torque converter is isolated from the gyro motor, this torque is related to the gyro motor speed. Irrelevant.

[0055] Figure 2 middle The torque generated by the unbalanced mass of the gyroscope rotor assembly passes through the origin O but does not lie in plane l. Once the gyroscope is calibrated, its orientation in the coordinate system is fixed and can point in any direction. In this example... The quadrants corresponding to the positive directions of the X, Y, and Z axes will be... Decompose into the Z-axis and XOY planes respectively. To decompose the torque into its component along the Z-axis, This is the component of the torque decomposed into the XOY plane. Because... With angular momentum Since the directions coincide, the gyroscope rotor assembly will not precess, and therefore the torque is not considered a disturbance torque and will not be taken into account in this invention. This can cause the gyroscope rotor assembly to precess, Decompose along the X and Y axes respectively, θ is The angle between the angle and the Y-axis, and the torque decomposed into the positive Y-axis direction, is The torque decomposed into the positive X-axis is because It is the torque generated by the unbalanced mass, and therefore this torque is related to the rotational speed of the gyroscope motor. Unrelated, therefore Both are related to the rotational speed of the gyroscope motor Irrelevant.

[0056] Assumption Figure 2 The torques or torque components on the X and Y axes are completely canceled out in plane l, as shown in equations (5) and (6):

[0057]

[0058] Taking the modulus of equation (5):

[0059]

[0060] Then we have:

[0061]

[0062] because and Both are related to the rotational speed of the gyroscope motor They are unrelated, therefore whether θ has a definite value depends on Regarding equation (3) Differentiation yields:

[0063]

[0064] Since ω∈[ω1, ω2], therefore Since θ is a monotonically increasing and bounded function, it converges and has a definite value. If the gyroscope is inside a vacuum, then... This does not affect the derivation similar to the one above, and at this time equation (5) becomes:

[0065]

[0066] from above and Both are related to the rotational speed of the gyroscope motor Since they are unrelated, θ also has a definite value at this time.

[0067] From formula (6), we can see that:

[0068]

[0069] And:

[0070]

[0071] In equation (7), K t Here, I is the scaling factor of the gyro torquer, and I is the current flowing through the gyro torquer coil. I passes through the sampling resistor of the component's rebalancing control circuit to generate the gyro speed output DC zero-point voltage. The magnitude of the value determines the magnitude of the DC zero-position voltage output by the gyroscope.

[0072] Regarding equation (2) Differentiation yields:

[0073]

[0074] because With gyroscope motor speed Unrelated, and since ω∈[ω1, ω2], therefore It is a monotonically increasing function and is bounded, therefore It converges and has a definite solution.

[0075] Based on the above derivations, we can always find a gyroscope working state that makes equations (5) and (6) true at the same time.

[0076] Because the two-axis outputs of a gyroscope are cross-coupled, and multiple torques interact and influence each other, the actual situation is very complex. During gyroscope stiffness center adjustment, if the adjustment direction (whether from the state corresponding to frequency ω1 or ω2) is incorrectly chosen, problems can easily arise. If the divergence is observed, further adjustments will only exacerbate the divergence; therefore, when it is discovered... In cases of divergence, the direction of adjustment must be changed immediately to ultimately achieve... convergence.

[0077] Figure 3 Central longitudinal axis U X(Y)Outputs DC zero-position voltage value for the X or Y axis gyroscope rate, with the horizontal axis corresponding to the number of adjustments. Figure 3 a) refers to the first time the zero-position resistance of the gyroscope sensor is adjusted from the state corresponding to ω2. Towards the median When / 2 is close, It also approaches the median, which is the ideal convergence case.

[0078] Figure 3 b) refers to the first time the zero-position resistance of the gyroscope sensor is adjusted from the state corresponding to ω2. Towards the median When approaching, Moving away from the median is the first undesirable divergence scenario. In this case, the adjustment direction should be changed, and the adjustment should be made again from the state side corresponding to ω1. Towards the median When approaching, It will inevitably occur Figure 4 The convergence case corresponding to e) in the middle.

[0079] Figure 3 c) refers to the first time the zero-position resistance of the gyroscope sensor is adjusted from the state corresponding to ω1. Towards the median When approaching, Moving away from the median is an undesirable second type of divergence. In this case, the adjustment direction should be changed, and the adjustment should be made again from the state side corresponding to ω2. Towards the median When approaching, It will inevitably occur Figure 4 The convergence case corresponding to d) in the middle.

[0080] From the above derivation, it can be seen that, due to Both exhibit monotonicity; therefore, when the initial adjustment diverges, the adjustment direction will be changed, and adjustments will be made again from the state corresponding to either ω1 or ω2 frequency. The initial and subsequent adjustments will not encounter [a specific problem / issue]. Figure 3 In cases where both b) and c) occur simultaneously, the first adjustment will only result in [the occurrence of such cases]. Figure 3 The case is either b) or c).

[0081] when Figure 3 a) Figure 4 After the convergence cases corresponding to d) and e) are basically determined, we can use the known convergence cases to... By repeatedly adjusting the state sides corresponding to ω1 or ω2 that produce the convergence effect, the voltage value can be adjusted. It is important to note the corresponding Figure 4 In the convergence cases d) and e), once it is determined that subsequent adjustments will be made from the state corresponding to ω1(ω2), adjustments can only be made from the state corresponding to ω1(ω2) at a time. Value, while on the other side The value is only used for observation and calculation, and the predetermined adjustment state cannot be changed midway; while the corresponding Figure 3 In case a) convergence, subsequent adjustments can arbitrarily change the adjustment state midway. Corresponding to Figure 3 a) Figure 4 The subsequent adjustment processes for scenarios d) and e) are as follows: Figure 5 As shown in f), g), and h). After adjusting the gyroscope stiffness center n times according to the above method, U X(Y)ω The value eventually converges to a single point on the image.

[0082] Based on the above-described dual-degree-of-freedom gyroscope stiffness center adjustment device and method, the effectiveness of the present invention is demonstrated by taking the gyroscope stiffness center adjustment process in engineering practice as an example.

[0083] After the gyroscope undergoes leak detection, vacuuming, sealing, marking, and connection to the preamplifier board in sequence, it enters the preamplifier resistor configuration stage and the gyroscope stiffness center adjustment process. For example... Figure 8 As shown, a variable frequency three-phase gyroscope motor power supply is used to power the gyroscope independently. In this example, the frequencies of the gyroscope motor power supply correspond to ω1 = 480Hz, ω2 = 520Hz, and ω = 500Hz, respectively.

[0084] Mount the gyroscope onto the adjustment fixture. At this point, the gyroscope's angular momentum should point upwards. Solder the lead wires of the gyroscope stiffness center adjustment fixture to the corresponding solder points on the gyroscope's front plate. Position the turntable spindle in its initial position. Figure 7 As shown, when the pitch axis of the turntable is rotated to a position parallel to the Earth's polar axis, the gyroscope's angular momentum axis is parallel to the Earth's polar axis, and the gyroscope is not affected by the Earth's rotation component ω. e The disturbance, namely the disturbance torque M generated by the Earth's rotation. e This can be excluded from the many interfering torques of the gyroscope.

[0085] Set the frequency of the variable frequency three-phase gyroscope motor power supply to the gyroscope tuning frequency of 500Hz. Turn the gyroscope torque converter switch on the wire sequence reversing fixture to the off position. Set the zero-adjustment resistors Rx1, Rx2, Ry1, and Ry2 of the gyroscope sensor on the gyroscope stiffness center adjustment plate to 0Ω. Start the control circuit board power supply. At this time, the gyroscope motor and excitation are connected, and the gyroscope is in an open circuit state. First, try closing the X-axis and Y-axis gyroscope torque converter switches in the forward sequence respectively to observe whether the gyroscope circuit is normal. If the gyroscope circuit is abnormal, try closing the X-axis or Y-axis gyroscope torque converter switches in reverse sequence. When closing the X-axis or Y-axis reverse sequence switch is required to achieve normal gyroscope circuit, swap the two reverse-sequence gyroscope leads at the lead ends on the front amplifier board. After swapping the wire sequence, the X and Y-axis gyroscope torque converter switches can be closed in the forward sequence to achieve normal gyroscope circuit.

[0086] By adjusting the zero-adjustment knobs on the four gyroscope sensors on the dedicated board to change the resistors Rx1, Rx2, Ry1, and Ry2 in the gyroscope sensor bridge circuit, the AC zero-position voltage output of the X and Y gyroscope sensors is minimized. The feedback loop is then closed, and the magnitudes of the DC and AC zero-position voltages at the gyroscope rate output are observed. Generally, the DC zero-position voltage at the gyroscope rate output should be ≤1mV, and the AC zero-position voltage at the gyroscope rate output should be ≤6mV. If these conditions are not met, the gyroscope is turned off, waits a few seconds, and then restarted; the above adjustment process is repeated.

[0087] Set the frequency of the variable frequency three-phase gyroscope motor power supply to 520Hz and record the DC zero-position voltage U of the gyroscope's two-channel speed output at this time. x520 and U y520 Next, set the frequency of the variable frequency three-phase gyroscope motor power supply to 480Hz and record the DC zero-position voltage U of the gyroscope's two-channel speed output at this time. x480 and U y480 Observe U x520 -U x480 And U y520 -U y480 If the value is ≤0.1mV, and the requirement is not met, then appropriately change any one of the four gyroscope sensor zero-adjustment resistors Rx1, Rx2, Ry1, and Ry2 on the gyroscope stiffness center adjustment plate. The principle for appropriately changing the above resistors is to make U... x520 or U x480 And U y520 or U y480 Numerically close to as well as The value is near the median of the DC zero-point voltage output by the gyroscope rate corresponding to the two frequencies. By continuously repeating the above operation of appropriately changing the resistors Rx1, Rx2, Ry1, and Ry2, U is eventually made... x520 -U x480 ≤0.1mV and Uy520 -U y480 Until the value is ≤0.1mV.

[0088] Set the frequency of the variable frequency three-phase gyroscope motor power supply to 500Hz. After turning off the gyroscope and waiting for the gyroscope motor to stop completely, or with the gyroscope in closed-circuit mode, slowly rotate the turntable's pitch axis to adjust the pitch axis to both azimuth and horizontal orientations. Start the gyroscope and observe the magnitudes of the gyroscope rate output DC zero-position voltage and AC zero-position voltage. Generally, the gyroscope rate output DC zero-position voltage should be ≤5mV, and the gyroscope rate output AC zero-position voltage should be ≤6mV. If the gyroscope rate output does not meet these conditions, repeat the entire debugging process until the final conditions are met. Record the configured resistor data, gyroscope sensor AC zero-position voltage, gyroscope rate output DC zero-position voltage, and gyroscope rate output AC zero-position voltage in the record table.

[0089] The following are respectively based on Figure 3 a) situation Figure 3 c) and Figure 4 d) Taking the case as an example, the gyroscope stiffness center is adjusted. The corresponding adjustment process is shown in Table 1 and Table 2. The gray background in the table represents the adjustment performed on the state side corresponding to the frequency, and the gyroscope rate output DC zero-point voltage value obtained after the adjustment operation; the gray background represents the observed value.

[0090] Table 1 corresponds to Figure 3 Example of gyroscope stiffness center adjustment process in case a)

[0091]

[0092] Table 2 corresponds to Figure 3 c) and Figure 4 Example of gyroscope stiffness center adjustment process in scenario d)

[0093]

[0094]

[0095] After using the above method for adjusting the stiffness center of the gyroscope, when the frequency ω of the gyroscope motor is within the range of [480, 520] Hz, the zero-position voltage of the gyroscope rate output remains approximately unchanged.

[0096] According to the recorded resistance values ​​of Rx1, Rx2, Ry1, and Ry2, take the corresponding surface-mount resistors and solder them tightly onto the gyroscope's front amplifier board. After soldering, clean the surface of the front amplifier board of solder flux and solder particles. Start the gyroscope and re-measure the magnitude of the gyroscope sensor AC zero-position voltage, gyroscope rate output DC zero-position voltage, and AC zero-position voltage under azimuth and horizontal attitudes. Generally, the gyroscope rate output DC zero-position voltage ≤ 5mV and the gyroscope rate output AC zero-position voltage ≤ 6mV. Record the data in the recording table to complete the entire gyroscope stiffness center adjustment process, and then transfer the gyroscope to the gyroscope testing stage.

[0097] It should be emphasized that the embodiments described in this invention are illustrative rather than limiting. Therefore, this invention includes, but is not limited to, the embodiments described in the specific implementation. Any other implementations derived by those skilled in the art based on the technical solutions of this invention are also within the scope of protection of this invention.

Claims

1. A stiffness center adjustment device for a two-degree-of-freedom gyroscope, characterized in that: The system includes a dual-axis turntable, a variable-frequency gyroscope motor power supply, a digital multimeter, a gyroscope force feedback rebalancing control circuit board, and a gyroscope stiffness center adjustment board. The gyroscope is mounted on the dual-axis turntable. The variable-frequency gyroscope motor power supply is connected to the insulator corresponding to the gyroscope motor lead to supply power to the gyroscope motor. The gyroscope stiffness center adjustment board is placed near the gyroscope and connected to the gyroscope zero-adjustment circuit board to adjust the stiffness center of the gyroscope. The digital multimeter is connected to the gyroscope force feedback rebalancing control circuit board to measure data. The gyroscope force feedback rebalancing control circuit board is connected to the gyroscope zero-adjustment circuit board to output excitation voltage, force feedback current, and sensor zero-position voltage. The gyroscope stiffness center adjustment plate includes four gyroscope sensor zero-adjustment resistors; The specific method for adjusting the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate is as follows: With the gyroscope's moment of momentum axis positioned statically parallel to the Earth's polar axis and the gyroscope in an open-circuit state, the AC zero-point voltage of the gyroscope sensor is adjusted sequentially using the zero-adjustment resistors Rx1, Rx2, Ry1, and Ry2. To minimize the frequency, close the force feedback loop of the gyroscope rebalancing control circuit, reducing the gyroscope motor's frequency to ω1. Record the value of the DC zero-point voltage output by the gyroscope speed. and Next, symmetrically increase the rotational frequency of the gyroscope motor. At this point, the rotational frequency of the gyroscope motor is ω2. Record the value of the DC zero-position voltage output by the gyroscope speed. and Adjust the zero-adjustment resistor of the gyroscope sensor to make or To the mean respectively Approaching and observing simultaneously and or and The convergence trend determines whether to continue adjusting from the state corresponding to frequency ω1 or ω2. By adjusting the zero-position resistance of the gyroscope sensor, the DC zero-position voltage value of the gyroscope rate output is made to approach the voltage value corresponding to the center point of the gyroscope stiffness. The above voltage value approximation adjustment steps are repeated repeatedly, so that the DC zero-position voltage of the gyroscope rate output remains unchanged when the gyroscope motor frequency is set at any frequency within the range of ω1 to ω2.

2. The stiffness center adjustment device for a two-degree-of-freedom gyroscope according to claim 1, characterized in that: The zero-adjustment resistor of the gyroscope sensor uses a carbon film adjustable resistor to avoid interference from the inductor on the adjustment of the gyroscope stiffness center and the configuration process of the gyroscope preamplifier and zero-adjustment resistor.

3. The stiffness center adjustment device for a two-degree-of-freedom gyroscope according to claim 1, characterized in that: The dual-axis turntable has the functions of rotating the main axis and the pitch axis.

4. The stiffness center adjustment device for a two-degree-of-freedom gyroscope according to claim 1, characterized in that: The gyroscope force feedback rebalancing control circuit board has a gyroscope force feedback closed-loop control function, which is used to enable the gyroscope to work in a force feedback closed-loop state.

5. A method for adjusting the stiffness center adjustment device of a two-degree-of-freedom gyroscope as described in any one of claims 1 to 4, characterized in that: Includes the following steps: Step 1: Place the gyroscope on top of the dual-axis turntable and place the gyroscope stiffness center adjustment plate near the gyroscope; Step 2: Connect the digital multimeter to the gyroscope force feedback rebalancing control circuit board, connect the gyroscope force feedback rebalancing control circuit board to the gyroscope zeroing circuit board, connect the variable frequency gyroscope motor power supply to the insulator corresponding to the gyroscope motor lead, and connect the gyroscope stiffness center adjustment plate to the gyroscope zeroing circuit board. Step 3: Adjust the stiffness center of the gyroscope using the gyroscope stiffness center adjustment plate.

6. The adjustment method of the stiffness center adjustment device for a two-degree-of-freedom gyroscope according to claim 5, characterized in that: The stiffness center adjustment and the gyroscope preamplification and zero-adjustment resistor configuration processes are carried out simultaneously.

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