Inertial angular displacement sensor

Abstract

The invention provides an inertial angular displacement sensor, and belongs to the technical field of testing, and the inertial angular displacement sensor comprises a main body part which is provided with a fluid cavity filled with fluid; the rotor mechanism comprises a swinging part which is arranged in the fluid and is rotationally connected with the main body part, and the swinging part is kept static based on inertia of the fluid under the condition that the main body part is disturbed by the outside to rotate; the detection part is arranged in the fluid cavity and connected with the main body part, and the detection part is constructed to detect the position change between the main body part and the swing part.

Description

Technical Field

[0001] The present invention relates to the technical field of angular displacement measurement, and particularly relates to an inertial angular displacement sensor. Background Art

[0002] Micro-angular vibration measurement is a core technology for spacecraft, airborne systems, and high-precision motion imaging equipment, directly affecting the line-of-sight stability of optoelectronic tracking systems, the pose solution accuracy of strapdown inertial navigation systems, and the clarity of remote sensing imaging. With the increasing demand for sub-micro-radian-level pointing accuracy, the accurate acquisition of micro-angular vibration signals has become a key bottleneck restricting the performance breakthrough of high-precision payloads. Specifically, micro-angular vibrations can cause problems such as difficult line-of-sight jitter stabilization, cumulative pose solution errors, and blurred imaging, and there is an urgent need for high-precision and wide-bandwidth measurement technology support.

[0003] Currently, micro-angular vibration measurement mainly relies on devices such as differential accelerometer groups, magneto-fluid angular rate sensors, fiber optic gyroscopes, and ring laser gyroscopes. However, differential accelerometer groups have the disadvantage of low accuracy, fiber optic gyroscopes and ring laser gyroscopes have the disadvantages of large volume and complex processing, and these devices all have the disadvantage of being unable to directly sense and output angular displacement signals. Summary of the Invention

[0004] In view of this, the present invention provides an inertial angular displacement sensor, including: a main body portion formed with a fluid cavity filled with fluid; a rotor mechanism including: a swinging member disposed in the fluid and rotatably connected to the main body portion, and when the main body portion rotates under external disturbance, the swinging member remains stationary based on the inertia of the fluid; a first rotor portion connected to the swinging member, and the first rotor portion drives the swinging member to rotate to a predetermined position based on electromagnetic force; a second rotor portion connected to the swinging member, and the second rotor portion applies a restoring force opposite to the movement direction of the swinging member to the swinging member based on elasticity; a detection portion disposed in the fluid cavity and connected to the main body portion, and the detection portion is configured to detect the position change between the main body portion and the swinging member.

[0005] Optionally, the first rotor portion includes: a magnet connected to the main body portion; a coil sleeved on the magnet, connected to the swinging member, and rotatably connected to the main body portion.

[0006] Optionally, the first rotor portion further includes: a first pivot shaft, one end of which is connected to the first end of the coil and the other end is rotatably connected to the main body portion; a second pivot shaft, one end of which is connected to the second end of the coil and the other end is rotatably connected to the main body portion; wherein, the swinging member is sleeved on the first pivot shaft.

[0007] Optionally, the second rotor part includes: a first elastic member sleeved on the first pivot, one end of the first elastic member is connected to the first end of the coil, and the other end of the first elastic member is rotatably connected to the main body part; a second elastic member sleeved on the second pivot, one end of the second elastic member is connected to the second end of the coil, and the other end of the second elastic member is rotatably connected to the main body part.

[0008] Optionally, the main body part further forms an expansion cavity, and the expansion cavity is communicated with the fluid cavity. When the temperature rises to cause the fluid to expand, the expansion cavity expands to maintain the pressure in the fluid cavity.

[0009] Optionally, the main body part includes: a housing; a support structure disposed inside the housing, the swing member extends in the radial direction of the support structure and penetrates through the support structure, and the support structure is formed with an opening allowing the swing member to rotate around the central axis of the support structure; wherein, the detection part is disposed on the outer wall of the support structure.

[0010] Optionally, the swing member includes: a beam connected to the first rotor part; two blades respectively disposed at both ends of the beam and extending out of the opening, and the blades are configured as sheet-like structures parallel to the central axis.

[0011] Optionally, the main body part further includes: a locking member connected to the housing; a flexible diaphragm forming an expansion cavity with the locking member, wherein the locking member is formed with a liquid passing hole allowing the fluid to pass through.

[0012] Optionally, the fluid includes an inert material.

[0013] According to an embodiment of the present invention, by disposing a swing member in the fluid cavity, the swing member is rotatably connected to the main body part, and the detection part is connected to the main body part. Due to the inertia of the fluid, when the main body part is driven by an external disturbance to drive the detection part to rotate, the swing member can remain stationary, so that the detection part can detect the position change between the main body part and the swing member, achieving the purpose of detecting the rotation angle of the main body part. Since the fluid has inertia, the inertial angular displacement sensor can respond to frequency changes in a timely manner, enabling the inertial angular displacement sensor to have a wider range of use, thereby improving the detection accuracy. Description of the Drawings

[0014] Figure 1 Shows a perspective view of an inertial angular displacement sensor according to an embodiment of the present invention;

[0015] Figure 2 Shows a top view of an inertial angular displacement sensor according to an embodiment of the present invention;

[0016] Figure 3 is Figure 2 a cross-sectional view taken along line A-A;

[0017] Figure 4 is Figure 2Cross-sectional view of the main body taken along line A-A;

[0018] Figure 5 Exploded view showing the rotor mechanism according to an embodiment of the present invention;

[0019] Figure 6 Schematic diagram showing the working principle of the inertial angular displacement sensor according to an embodiment of the present invention;

[0020] Figure 7 Control flowchart showing the inertial angular displacement sensor according to an embodiment of the present invention.

[0021] Reference numerals

[0022] 1. Main body; 11. Fluid chamber; 12. Expansion chamber; 13. Housing; 131. Upper cover; 132. Machine housing; 133. Base; 14. Support block; 141. Opening; 15. Locking member; 151. Liquid passage hole; 16. Flexible diaphragm; 17. Magnetic conduction cylinder; 171. Annular groove; 18. Flange mounting block; 19. Magnet base; 2. Rotor mechanism; 21. Oscillating member; 211. Beam; 212. Blade; 22. First rotor part; 221. Magnet; 225. Extension part; 222. Coil; 223. First pivot; 224. Second pivot; 23. Second rotor part; 231. First elastic member; 232. Second elastic member; 3. Detection part; 4. Mounting seat; 5. Through hole; 6. Connecting member; 7. Hairspring support; 8. Upper flange; 9. Lower flange; 10. Flange member; 101. Cross connecting plate; 102. First accommodation space; 103. Second accommodation space; 104. Circuit board; 105. Concave part; 106. Pressure plate; 107. Connector; 108. Bearing assembly. Detailed implementation manners

[0023] To make the purposes, technical solutions and advantages of the present disclosure clearer and more understandable, the following further describes the present disclosure in detail with reference to specific embodiments and the accompanying drawings.

[0024] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0025] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0026] In the case of using expressions such as "at least one of A, B, and C, etc.", generally, it should be interpreted according to the meaning that those skilled in the art usually understand this expression. For example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc. In the case of using expressions such as "at least one of A, B, or C, etc.", generally, it should be interpreted according to the meaning that those skilled in the art usually understand this expression. For example, "a system having at least one of A, B, or C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.

[0027] It should also be noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only references to the directions in the drawings and are not used to limit the protection scope of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. When it may cause confusion in the understanding of the present disclosure, the conventional structures or configurations will be omitted.

[0028] Figure 1 A perspective view of an inertial angular displacement sensor according to an embodiment of the present invention is shown. Figure 2 A top view of an inertial angular displacement sensor according to an embodiment of the present invention is shown. Figure 3 is Figure 2 A sectional view taken along line A-A. Figure 4 is Figure 2 A sectional view of the main body taken along line A-A. Figure 5 An exploded view of a rotor mechanism according to an embodiment of the present invention is shown.

[0029] As Figures 1-5 shown, an embodiment of the present invention provides an inertial angular displacement sensor. The inertial angular displacement sensor can be disposed in devices such as spacecraft, airborne systems, and high-precision motion imaging equipment, etc., for detecting the micro angular vibration of these devices during operation. The inertial angular displacement sensor can include a main body 1, a rotor mechanism 2, and a detection unit 3.

[0030] As Figures 3-5 shown, the main body 1 can be formed with a fluid chamber 11 filled with fluid. The fluid can be made of an inert material having characteristics such as not reacting with metals, having a small viscosity change with temperature, and being non-toxic. For example, the fluid can be silicone oil. The rotor mechanism 2 can include a swinging member 21. The swinging member 21 can be disposed in the fluid and rotatably connected to the main body 1. The detection unit 3 is disposed in the fluid chamber 11 and connected to the main body 1, that is, the detection unit 3 can be stationary with respect to the main body 1.

[0031] When the main body 1 rotates under external disturbances, the swinging member 21 can remain stationary based on the inertia of the fluid, that is, when the main body 1 rotates relative to the inertial space, the swinging member 21 remains stationary relative to the inertial space. The external disturbances can be characterized as the disturbances that cause micro angular vibrations of the inertial angular displacement sensor during the operation of equipment such as spacecraft, airborne systems, and high-precision motion imaging equipment. That is, the external disturbances will cause the main body 1 to generate micro angular vibrations. In other words, the rotation of the main body 1 is micro angular vibration. The detection unit 3 can be used to detect the position change between the main body 1 and the swinging member 21, so that the rotation angle of the main body 1 can be obtained based on the position change between the main body 1 and the swinging member 21. The detection unit 3 can be a high-precision sensor for detecting linear displacement. The detection unit 3 can detect the position change between the swinging member 21 and the main body 1, and then the rotation angle can be obtained based on the distance from the edge of the swinging member 21 to the center of the swinging member 21.

[0032] According to an embodiment of the present invention, by arranging the swinging member 21 in the fluid chamber 11, the swinging member 21 is rotatably connected to the main body 1, and the detection unit 3 is connected to the main body 1. Due to the inertia of the fluid, when the main body 1 drives the detection unit 3 to rotate under external disturbances, the swinging member 21 can remain stationary, so that the detection unit 3 can detect the position change between the main body 1 and the swinging member 21, achieving the purpose of detecting the rotation angle of the main body 1. Since the fluid has inertia, the inertial angular displacement sensor can respond to frequency changes in a timely manner, enabling the inertial angular displacement sensor to have a wide range of uses, thereby improving the detection accuracy. For example, the detection frequency of the inertial angular displacement sensor can be between 1 Hz and 1 kHz.

[0033] As Figures 1-4 shown, in some embodiments, the main body 1 may include a housing 13. The housing 13 may include an upper cover 131, a chassis 132, and a base 133. As Figure 3 shown, the upper cover 131 is located above the chassis 132, and the base 133 is located below the chassis 132. The edge of the housing 13 can be bonded with epoxy resin glue to ensure the sealing and stability of the inertial angular displacement sensor.

[0034] As Figures 3-5 shown, in some embodiments, the rotor mechanism 2 may further include a first rotor portion 22 and a second rotor portion 23. The first rotor portion 22 is connected to the swinging member 21. The second rotor portion 23 is connected to the swinging member 21. The second rotor portion 23 can be connected to the swinging member 21 through the first rotor portion 22, and the second rotor portion 23 can also be directly connected to the swinging member 21.

[0035] Further, before the inertial angular displacement sensor starts to work or measure, the first rotor part 22 and the swing part 21 can be driven to move by electromagnetic force. The second rotor part 23 can apply a restoring force opposite to the movement direction of the swing part 21 to the swing part 21 based on elasticity. The magnitudes of the electromagnetic force and the restoring force can be equal, so that the swing part 21 is kept in balance. This balanced position can be a predetermined position, and the corresponding drive current at this position can be a reference current, that is, driving the first rotor part 22 with the reference current can make the swing part 21 rotate to the predetermined position. The predetermined position can be characterized as the position of the swing part 21 in the main body part 1 when the main body part 1 is not disturbed and rotates, that is, when both the main body part 1 and the swing part 21 remain stationary relative to the inertial space. That is, the predetermined position can be expressed as the mechanical zero position of the inertial angular displacement sensor. Further, when the externally input angular displacement signal exceeds the predetermined measurement range, that is, when it is detected that the swing part 21 is about to collide with the main body part 1, the first rotor part 22 can also be used to make the swing part 21 rotate until the predetermined position to prepare for the next measurement, that is, there is an overload recovery time. Further, the swing part 21, the first rotor part 22, and the second rotor part 23 are all located in the fluid, that is, the swing part 21, the first rotor part 22, and the second rotor part 23 are all in a suspended state, which can reduce the friction between the rotor mechanism 2 and the main body part 1, thereby improving the sensitivity of the rotation of the rotor mechanism 2.

[0036] As Figures 3-5 shown, in some embodiments, the first rotor part 22 can include a magnet 221 and a coil 222. The magnet 221 can be connected to the main body part 1. The magnet 221 can remain stationary with the main body part 1. The magnet 221 can be a permanent magnet. The coil 222 can be configured as a rectangular coil. The number of turns of the rectangular coil can be greater than or equal to one hundred turns. The coil 222 can be sleeved on the magnet 221, connected to the swing part 21, and rotatably connected to the main body part 1, that is, when the coil 222 rotates based on electromagnetic force, the coil 222 can drive the swing part 21 to rotate.

[0037] As Figures 3-5 shown, in some embodiments, the first rotor part 22 can further include a first pivot 223 and a second pivot 224. One end of the first pivot 223 (such as Figure 3 the lower end of the first pivot 223 shown) can be connected to the first end of the coil 222 (such as Figure 3 the upper end of the coil 222 shown). The other end of the first pivot 223 (such as Figure 3 the upper end of the first pivot 223 shown) is rotatably connected to the main body part 1. One end of the second pivot 224 (such as Figure 3 the upper end of the second pivot 224 shown) is connected to the second end of the coil 222 (such as Figure 3 the lower end of the coil 222 shown). The other end of the second pivot 224 (such asFigure 3 The lower end of the second pivot 224 shown) is rotatably connected to the main body 1. The materials and structures of the first pivot 223 and the second pivot 224 may be the same. The ends of the first pivot 223 and / or the second pivot 224 that are rotatably connected to the main body 1 may be configured to be spherical to ensure that the first pivot 223 and / or the second pivot 224 have high positional accuracy relative to the main body 1.

[0038] Furthermore, the swing member 21 may be sleeved on the first pivot 223, that is, the swing member 21 may be connected to the second rotor part 23 and the first rotor part 22 based on the first pivot 223. When the coil 222 rotates, the coil 222 drives the swing member 21 to rotate by driving the first pivot 223 to rotate. Since the first pivot 223 and the second pivot 224 are rotatably connected to the main body 1, when the main body 1 rotates and the swing member 21 is stationary, the coil 222, the first pivot 223, and the second pivot 224 can remain stationary.

[0039] As Figures 3-5 shown, in some embodiments, the second rotor part 23 may include a first elastic member 231 and a second elastic member 232. The first elastic member 231 and the second elastic member 232 may be elastic devices with elasticity. For example, the hairspring in a disc spring. The first elastic member 231 may be sleeved on the first pivot 223. One end of the first elastic member 231 (for example, the inner side of the first elastic member 231) is connected to the first end of the coil 222 (such as Figure 3 the upper end of the coil 222 shown). The other end of the first elastic member 231 (for example, the outer side of the first elastic member 231) is rotatably connected to the main body 1. The second elastic member 232 may be sleeved on the second pivot 224. One end of the second elastic member 232 (for example, the inner side of the second elastic member 232) is connected to the second end of the coil 222 (such as Figure 3 the lower end of the coil 222 shown). The other end of the second elastic member 232 (for example, the outer side of the first elastic member 231) is rotatably connected to the main body 1. When the coil 222 is energized, the generated electromagnetic force causes the coil 222 to rotate, and the first elastic member 231 and the second elastic member 232 generate restoring forces in the opposite direction to the rotation direction of the coil 222 based on their elasticity. The energizing current of the coil 222 can be proportional to the torsion angles of the first elastic member 231 and the second elastic member 232, thereby ensuring stable deflection of the swing member 21.

[0040] As Figures 3-5As shown, in some embodiments, the first elastic member 231 and / or the second elastic member 232 may be connected to the main body portion 1 and the coil 222 through the hairspring holder 7. That is, the hairspring holders 7 may be provided on both sides of the first elastic member 231 and / or the second elastic member 232. The hairspring holder 7 may include an outer hairspring holder and an inner hairspring holder. The hairspring holder 7 provided on the side of the first elastic member 231 and / or the second elastic member 232 close to the coil 222 may be the inner hairspring holder, and the hairspring holder 7 provided on the other side of the first elastic member 231 and / or the second elastic member 232 may be the outer hairspring holder. The outer hairspring holder may be welded to the outer end points of the first elastic member 231 and / or the second elastic member 232. The inner hairspring holder may be welded to the inner end points of the first elastic member 231 and / or the second elastic member 232. The structures of the outer hairspring holder and the inner hairspring holder may be adaptively set according to the shapes of the first elastic member 231, the second elastic member 232, the coil 222, and the main body portion 1. As Figures 3-5 As shown, in some embodiments, a mounting seat 4 for mounting the first pivot 223 and / or the second pivot 224 may be provided at one end of the first pivot 223 and / or the second pivot 224 close to the coil 222. The mounting seat 4 may be mounted on the coil 222. For example, the mounting seat 4 may be mounted on the coil 222 by an adhesive method. The mounting seat 4 may be formed with a groove matching the shape of the end of the first pivot 223 and / or the second pivot 224. The other end of the first pivot 223 and / or the second pivot 224 may be connected to the main body portion 1 through a bearing assembly 108. The first pivot 223 and / or the second pivot 224 may be connected to the mounting seat 4 by the bearing assembly 108 passing through the hairspring holder 7.

[0041] As Figures 3-5 As shown, in some embodiments, the main body portion 1 may further include a magnetic conduction cylinder 17, a flange mounting block 18, and a magnet base 19. The magnetic conduction cylinder 17 may be disposed inside the machine housing 132. The flange mounting block 18 may be sleeved outside the magnetic conduction cylinder 17 and located between the magnetic conduction cylinder 17 and the machine housing 132. The magnetic conduction cylinder 17 may pass through the flange mounting block 18 and be connected to the inner wall of the bottom of the machine housing 132. The magnet 221 is located inside the magnetic conduction cylinder 17. The magnetic conduction cylinder 17 and the magnet 221 may be coaxially arranged. The magnetic conduction cylinder 17 and the magnet 221 are formed with a through hole 5 allowing the connecting member 6 to pass through. The through hole 5 extends along the radial direction of the magnetic conduction cylinder 17 and the magnet 221 and passes through the magnetic conduction cylinder 17 and the magnet 221. The connecting member 6 passes through the through hole 5 to mount the magnet 221 on the magnetic conduction cylinder 17. The magnet 221 may be formed with an extension portion 225 matching the magnetic conduction cylinder 17, and the magnetic conduction cylinder 17 may be formed with an annular groove 171 matching the extension portion 225. Further, screws or bolts may be used to extend downward from the upper end surface of the magnet 221 along the axial direction parallel to the magnetic conduction cylinder 17, pass through the extension portion 225 and the annular groove 171 to the connecting member 6, so that the magnet 221, the magnetic conduction cylinder 17, and the connecting member 6 remain stationary.

[0042] Further, as Figure 3 and Figure 5 shown, the magnet base 19 can be disposed within the magnetic conduction cylinder 17 and pass through the magnetic conduction cylinder 17 to be connected to the inner wall of the bottom of the machine housing 132. For example, the magnetic conduction cylinder 17 is connected to the inner wall of the bottom of the machine housing 132 by screws. The magnet base 19 can be provided with a hairspring outer support for connecting to the outer side of the second elastic member 232 and a bearing assembly 108 for mounting the lower end of the second pivot 224. The bearing assembly 108 can be a jewel bearing. The jewel bearing can include a jewel pad and a straight-hole jewel eye.

[0043] As Figures 3-5 shown, in some embodiments, the main body portion 1 can further include an upper flange 8, a lower flange 9, a flange member 10, and a support structure. The support block structure is disposed within the housing 13. The swing member 21 extends in the radial direction of the support structure and passes through the support structure. The support structure can include a support block 14 and a lower flange 9. The lower flange 9 can be located on the outer periphery of the support block 14. Both the support block 14 and the lower flange 9 are formed with openings 141 that allow the swing member 21 to rotate about the central axis of the support block 14. The openings 141 of the support block 14 and the lower flange 9 are aligned. When installing the swing member 21, it should be ensured as much as possible that the swing member 21 is located in the middle of the opening 141, that is, the predetermined position is in the middle of the opening 141.

[0044] Further, the lower flange 9 can be located within the machine housing 132 and sleeved on the magnetic conduction cylinder 17. The support block 14 can be located above the magnetic conduction cylinder 17. The flange member 10 can be located above the support block 14. The upper flange 8 can be sleeved on the flange member 10 and disposed opposite to the lower flange 9. The fluid can enter the inertial angular displacement sensor from the outside through the liquid inlet hole of the upper flange 8. The upper end of the flange member 10 can be flush with the upper end of the upper flange 8. The swing member 21 can extend through the openings 141 of the support block 14 and the lower flange 9 to the space between the upper flange 8 and the lower flange 9. The upper flange 8 and the lower flange 9 can form an annular channel, and the swing member 21 can extend into the annular channel. The non-overlapping portions between the inner surface of the magnetic conduction cylinder 17, the upper surface of the lower flange 9, the lower surfaces of the upper flange 8 and the flange member 10, the inner wall of the machine housing 132, and the support block 14 enclose a fluid chamber 11. When the swing member 21 is in the predetermined position, the extending direction of the opening 141 can be consistent with the extending direction of the swing member 21, that is, the opening 141 is parallel to the swing member 21, and the swing member 21 is spaced from the side wall of the opening 141. The opening 141 can be formed as a rectangular gap between the support block 14 and the lower flange 9.

[0045] Further, the protruding portion of the flange member 10 may extend into the support block 14. A bearing assembly 108 may be provided at a position of the flange member 10 near the first pivot 223. The first pivot 223 may pass through the upper support of the hairspring and be rotatably connected to the bearing assembly 108. A bridging plate 101 may be provided at the upper end of the flange member 10. The bridging plate 101 may be connected to the flange member 10 by screws or bolts.

[0046] Further, the detection unit 3 may be provided on the outer wall of the lower flange 9 and flush with the opening 141 in the radial direction of the lower flange 9 to detect the swinging member 21 more accurately. Further, two detection units 3 may be provided, symmetrically arranged on both sides of the opening 141 to respectively detect both ends of the swinging member 21, so that the two detection units 3 can form differential detection, which can improve the detection accuracy.

[0047] As Figure 3 and Figure 5 shown, in some embodiments, the swinging member 21 includes a beam 211 and two blades 212. The beam 211 is connected to the first rotor portion 22. The two blades 212 are respectively provided at both ends of the beam 211 and extend out of the opening 141. The blade 212 is configured as a sheet-like structure parallel to the central axis.

[0048] Further, the beam 211 may be configured as a bar-shaped structure, for example, a cuboid, a cylinder or other structures. The beam 211 is sleeved on the first pivot 223 and also sleeved on the mounting seat 4 connected to the first pivot 223. The blade 212 may be formed as a sheet-like fan-shaped structure to increase the contact area between the blade 212 and the fluid. Thus, when the main body portion 1 rotates, the swinging member 21 can remain stationary based on the inertia of the fluid. The blade 212 may be made of a conductive solid metal material. For example, aluminum, iron or magnesium, etc.

[0049] As Figure 3 shown, in some embodiments, the main body portion 1 further forms an expansion cavity 12. The expansion cavity 12 communicates with the fluid cavity 11. When the temperature rises and the fluid expands, the expansion cavity 12 expands to maintain the pressure in the fluid cavity 11, thereby reducing the interference of the external temperature on the inertial angular displacement sensor and improving the reliability of the structure of the inertial angular displacement sensor and the accuracy of detection.

[0050] As Figure 3 shown, in some embodiments, the main body portion 1 further includes a locking member 15 and a flexible diaphragm 16.

[0051] The locking member 15 is disposed inside the housing 13, above the upper flange 8, and is connected to the upper cover 131. The locking member 15 may be formed with a recessed portion 105. The flexible diaphragm 16 may cover the recessed portion 105 to form an expansion chamber 12 with the locking member 15. A first accommodation space 102 may be formed between the flexible diaphragm 16 and the upper cover 131. A second accommodation space 103 for accommodating fluid may be formed between the locking member 15, the upper flange 8, and the bridging plate 101.

[0052] Further, the locking member 15 is formed with a liquid passing hole 151 allowing fluid to pass through. The liquid passing hole 151 may be formed in the recessed portion 105. The fluid may flow into the fluid chamber 11 and the second accommodation space 103 through the liquid inlet hole of the upper flange 8, and then flow into the expansion chamber 12 through the liquid passing hole 151. When the temperature rises and the fluid expands, the flexible diaphragm 16 may protrude into the first accommodation space 102, and the space of the expansion chamber 12 becomes larger, so that the pressure in the fluid chamber 11 is kept stable, which can effectively avoid the influence of the thermal expansion effect caused by the temperature gradient change of the fluid on the detection, and can ensure the reliability of the inertial angular displacement sensor working in a wide temperature range.

[0053] Further, the upper cover 131 may be formed with a safety hole communicating with the outside, so as to ensure the pressure balance on both sides of the flexible diaphragm 16.

[0054] Further, the main body portion 1 may further include a pressing plate 106. The pressing plate 106 may partially cover the flexible diaphragm 16 to fix the flexible diaphragm 16. The pressing plate 106 may be disposed between the locking member 15 and the upper cover 131. It may be fixed by screws or bolts through the upper cover 131, the pressing plate 106, and the locking member 15.

[0055] Further, a circuit board 104 may be disposed in the first accommodation space 102. The circuit board 104 may be communicatively connected to the detection unit 3 and an external host computer. The voltage signal representing the position change detected by the detection unit 3 may be transmitted to the circuit board 104. The circuit board 104 may calculate the rotation angle of the main body portion 1 based on the voltage signal and transmit the rotation angle to the host computer. Further, the circuit board 104 may be communicatively connected to the external host computer through a connector 107. The connector 107 may extend from outside the housing 13 through the upper cover 131 to the first accommodation space 102.

[0056] In some embodiments, the upper cover 131, the housing 132, the base 133, the support block 14, the locking member 15, the flexible diaphragm 16, the magnetic tube 17, the flange mounting block 18, the magnet base 19, the magnet 221, the upper flange 8, the lower flange 9, the flange member 10, the jumper plate 101, and the pressure plate 106 can all be annular structures and coaxially arranged. The first pivot 223 and the second pivot 224, the first elastic member 231 and the second elastic member 232 can be symmetrically arranged relative to the connecting member 6. The two blades 212 can be symmetrically arranged relative to the central axis of the support block 14, so that the inertial angular displacement sensor has a higher symmetry, is insensitive to linear acceleration, and thus has a higher stability.

[0057] Figure 6 The working principle diagram of the inertial angular displacement sensor according to an embodiment of the present invention is shown. Figure 7 A control flow chart of an inertial angular displacement sensor according to an embodiment of the present invention is shown.

[0058] like Figure 6 and Figure 7 As shown, when an initial angular motion signal is given to the inertial angular displacement sensor from the outside After that, it can be regarded as an external inertial angular displacement sensor with a rotational inertia of the rotor mechanism 2 and the fluid. Corresponding inertia moment. After the inertia moment acts on the housing 13, the main body 1 will rotate, and the rotor mechanism 2 will remain stationary relative to the inertial space based on the inertia of the fluid. The actual rotation angle of the main body 1 can be represented by α(s). The proportional coefficient will be introduced during the detection process of the detection unit 3 The rotation angle detected by the detection unit 3 can be expressed as E0 (s). E0 (s) is amplified by the amplifier The target rotation angle is obtained after multiplying Target rotation angle The output terminal of the circuit board 104 can be output to an external host computer.

[0059] Furthermore, when the target rotation angle is detected When the measurement range is larger than the preset range, a correction network can be used. and the DC resistance associated with coil 222 , determine the driving current used to drive the coil 222 to rotate The predetermined measurement range can be determined based on the width of the opening 141 and the thickness of the blade 212. The coil 222 is driven by the current Under the action of , so that the swing member 21 returns to the predetermined position. The torque coefficient of the coil 222 can be expressed as .

[0060] According to an embodiment of the present invention, the transfer function between the actual rotation angle α(s) and the initial angular motion signal can be represented by the following expression (1).

[0061] (1).

[0062] Wherein, is the moment of inertia of the rotor mechanism 2 and the fluid; is the damping coefficient of the rotor mechanism 2 and the fluid; s is the complex frequency variable; is the stiffness coefficient of the first elastic member 231 and the first elastic member 231.

[0063] According to an embodiment of the present invention, the transfer function between the target rotation angle and the initial angular motion signal can be represented by the following expression (2).

[0064] (2).

[0065] Wherein, is the proportional coefficient of the detection unit 3; is the amplification factor of the amplifier; is the DC resistance related to the coil 222; is the torque coefficient of the coil 222; is the correction network.

[0066] The above describes the embodiments of the present disclosure. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should fall within the scope of the present disclosure.

Claims

1. An inertial angular displacement sensor, characterized in that, Comprising: A main body portion formed with a fluid chamber filled with fluid; A rotor mechanism including: A swinging member disposed in the fluid and rotatably connected to the main body portion. When the main body portion rotates due to external disturbance, the swinging member remains stationary based on the inertia of the fluid; A first rotor portion connected to the swinging member, and the first rotor portion drives the swinging member to rotate to a predetermined position based on electromagnetic force; A second rotor portion connected to the swinging member, and the second rotor portion applies a restoring force opposite to the movement direction of the swinging member to the swinging member based on elasticity; A detection portion disposed in the fluid chamber and connected to the main body portion, and the detection portion is configured to detect the position change between the main body portion and the swinging member.

2. The inertial angular displacement sensor according to claim 1, characterized in that, The first rotor portion includes: A magnet connected to the main body portion; A coil sleeved on the magnet, connected to the swinging member, and rotatably connected to the main body portion.

3. The inertial angular displacement sensor according to claim 2, wherein, The first rotor portion further includes: A first pivot shaft, one end of which is connected to the first end of the coil and the other end is rotatably connected to the main body portion; A second pivot shaft, one end of which is connected to the second end of the coil and the other end is rotatably connected to the main body portion; Wherein, the swinging member is sleeved on the first pivot shaft.

4. The inertial angular displacement sensor according to claim 3, characterized in that, The second rotor portion includes: A first elastic member sleeved on the first pivot shaft, one end of the first elastic member is connected to the first end of the coil, and the other end of the first elastic member is rotatably connected to the main body portion; A second elastic member sleeved on the second pivot shaft, one end of the second elastic member is connected to the second end of the coil, and the other end of the second elastic member is rotatably connected to the main body portion.

5. The inertial angular displacement sensor according to any one of claims 1-4, characterized in that The main body portion further forms an expansion chamber, and the expansion chamber is communicated with the fluid chamber. When the fluid expands due to temperature rise, the expansion chamber expands to maintain the pressure in the fluid chamber.

6. The inertial angular displacement sensor according to any one of claims 5, characterized in that The main body portion includes: A housing; A support structure disposed in the housing. The swinging member extends in the radial direction of the support structure and penetrates through the support structure, and the support structure forms an opening allowing the swinging member to rotate around the central axis of the support structure; Wherein, the detection portion is disposed on the outer wall of the support structure.

7. The inertial angular displacement sensor according to claim 6, wherein The swinging member includes: A beam connected to the first rotor portion; Two blades respectively disposed at both ends of the beam and extending out of the opening, and the blades are configured as sheet-like structures parallel to the central axis.

8. The inertial angular displacement sensor according to claim 6, wherein The main body portion further includes: A locking member connected to the housing; A flexible diaphragm forms the expansion chamber with the locking member, wherein, the locking member forms a liquid passing hole allowing the fluid to pass through.

9. The inertial angular displacement sensor according to claim 1, characterized in that, The fluid includes an inert material.

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