Inertial angular displacement sensor

Abstract

The present invention provides an inertial angular displacement sensor, belonging to the field of testing technology. The inertial angular displacement sensor includes: a main body, forming a fluid cavity filled with fluid; a rotor mechanism, including: a swinging member, arranged in the fluid and rotatably connected to the main body, and when the main body is rotated by external disturbance, the swinging member remains stationary due to the inertia of the fluid; and a detection part, arranged in the fluid cavity and connected to the main body, and the detection part is configured to detect position changes between the main body and the swinging member.

Description

Technical Field

[0001] The present invention relates to the technical field of angular displacement measurement, and in particular 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. It directly impacts the boresight stability of electro-optical tracking and aiming systems, the accuracy of strapdown inertial navigation systems' pose calculations, and the clarity of remote sensing images. With the increasing demand for sub-microradian pointing accuracy, the precise acquisition of tiny angular vibration signals has become a key bottleneck restricting breakthroughs in high-precision payload performance. Specifically, micro-angular vibration can lead to problems such as difficulty stabilizing boresight jitter, accumulated pose calculation errors, and blurred imaging, necessitating the support of high-precision, broadband measurement technologies.

[0003] Currently, micro-angular vibration measurement relies primarily on devices such as differential accelerometers, magnetic fluid angular rate sensors, fiber optic gyroscopes, and laser gyroscopes. However, differential accelerometers suffer from low precision, while fiber optic gyroscopes and laser gyroscopes are bulky and complex to manufacture. Furthermore, these devices lack the ability 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, comprising: a main body forming a fluid cavity filled with fluid; a rotor mechanism comprising: a swinging member disposed in the fluid and rotatably connected to the main body, wherein when the main body is rotated by external disturbance, the swinging member remains stationary due to the inertia of the fluid; a first rotor portion connected to the swinging member, wherein 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, wherein the second rotor portion applies a restoring force on the swinging member opposite to the direction of movement of the swinging member based on elasticity; and a detection portion disposed in the fluid cavity and connected to the main body, wherein the detection portion is configured to detect a position change between the main body and the swinging member.

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

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

[0007] Optionally, the second rotor part includes: a first elastic member, which is 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; a second elastic member, which is 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.

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

[0009] Optionally, the main body includes: a shell; a supporting structure, which is arranged in the shell, and the swinging member extends in the radial direction of the supporting structure and penetrates the supporting structure, and the supporting structure is formed with an opening that allows the swinging member to rotate around the central axis of the supporting structure; wherein the detection part is arranged on the outer wall of the supporting structure.

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

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

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

[0013] According to an embodiment of the present invention, an oscillating member is disposed within the fluid chamber, the oscillating member being rotatably connected to the main body, and the detection unit being connected to the main body. Due to the inertia of the fluid, when the main body is subjected to external disturbances, causing the detection unit to rotate, the oscillating member can remain stationary, thereby enabling the detection unit to detect position changes between the main body and the oscillating member, thereby achieving the purpose of detecting the rotation angle of the main body. Due to the inertia of the fluid, the inertial angular displacement sensor can respond promptly to frequency changes, giving the inertial angular displacement sensor a wider range of applications, thereby improving detection accuracy. BRIEF 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 for Figure 2 a cross-sectional view taken along line AA;

[0017] Figure 4 for Figure 2a cross-sectional view of the main body portion taken along line AA;

[0018] Figure 5 shows an exploded view of a rotor mechanism according to an embodiment of the present invention;

[0019] Figure 6 FIG2 shows a working principle diagram of an inertial angular displacement sensor according to an embodiment of the present invention;

[0020] Figure 7 A control flow chart of an inertial angular displacement sensor according to an embodiment of the present invention is shown.

[0021] Reference numerals

[0022] 1. Main body; 11. Fluid chamber; 12. Expansion chamber; 13. Housing; 131. Upper cover; 132. Casing; 133. Base; 14. Support block; 141. Opening; 15. Locking member; 151. Liquid passage hole; 16. Flexible diaphragm; 17. Magnetic cylinder; 171. Annular groove; 18. Flange mounting block; 19. Magnet base; 2. Rotor mechanism; 21. Swinging member; 211. Beam; 212. Blade; 22. First rotor section; 221. Magnet; 225. Extension; 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, jumper plate; 102, first accommodating space; 103, second accommodating space; 104, circuit board; 105, recessed portion; 106, pressure plate; 107, connector; 108, bearing assembly. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0024] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the 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] When expressions such as “at least one of A, B, and C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, and C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc. When expressions such as “at least one of A, B, or C, etc.” are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art. For example, “a system having at least one of A, B, or C” should include but is not limited to systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, and C, etc.

[0027] It should also be noted that directional terms such as "upper," "lower," "front," "back," "left," and "right" mentioned in the embodiments are merely references to the directions in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, identical elements are represented by identical or similar reference numerals. Conventional structures or configurations will be omitted where they may cause confusion in understanding this disclosure.

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

[0029] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides an inertial angular displacement sensor. This sensor can be installed in equipment such as spacecraft, airborne systems, and high-precision motion imaging equipment to detect micro-angular vibrations during operation. The sensor can include a main body 1, a rotor mechanism 2, and a detection unit 3.

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

[0031] When the main body 1 rotates due to external disturbances, the swing 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 swing member 21 remains stationary relative to the inertial space. External disturbances can be characterized as 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, external disturbances will cause the main body 1 to produce micro-angular vibrations. In other words, the rotation of the main body 1 is a micro-angular vibration. The detection part 3 can be used to detect the position change between the main body 1 and the swing 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 swing member 21. The detection part 3 can be a high-precision sensor for detecting linear displacement. The detection part 3 can detect the position change between the swing member 21 and the main body 1, and then the rotation angle can be obtained based on the distance from the edge of the swing member 21 to the center of the swing member 21.

[0032] According to an embodiment of the present invention, a swinging member 21 is provided in the fluid chamber 11, the swinging member 21 is rotatably connected to the main body 1, and the detection portion 3 is connected to the main body 1. Due to the inertia of the fluid, when the main body 1 is disturbed by the outside world and the detection portion 3 is driven to rotate, the swinging member 21 can remain stationary, so that the detection portion 3 can detect the position change between the main body 1 and the swinging member 21, thereby 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, so that the inertial angular displacement sensor has a wider range of use, thereby improving the detection accuracy. For example, the detection frequency of the inertial angular displacement sensor can be between 1Hz and 1kHz.

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

[0034] like Figure 3-Figure 5 As 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 swing member 21. The second rotor portion 23 is connected to the swing member 21. The second rotor portion 23 may be connected to the swing member 21 via the first rotor portion 22, or directly to the swing member 21.

[0035] Furthermore, before the inertial angular displacement sensor begins operation or measurement, electromagnetic force can be used to drive the first rotor portion 22 and the swinging member 21 to move. The second rotor portion 23, based on its elasticity, can apply a restoring force to the swinging member 21 in the opposite direction of its motion. The electromagnetic force and the restoring force can be equal in magnitude, thereby maintaining equilibrium for the swinging member 21. This equilibrium position can be a predetermined position, and the corresponding driving current can be a reference current. Specifically, using the reference current to drive the first rotor portion 22 can cause the swinging member 21 to rotate to a predetermined position. The predetermined position can be characterized as the position of the swinging member 21 within the main body 1 when the main body 1 rotates without being disturbed, i.e., when both the main body 1 and the swinging member 21 remain stationary relative to the inertial space. In other words, the predetermined position can be represented as the mechanical zero position of the inertial angular displacement sensor. Furthermore, when an externally input angular displacement signal exceeds a predetermined measurement range, i.e., when it is detected that the swinging member 21 is about to collide with the main body 1, the first rotor portion 22 can be used to rotate the swinging member 21 to the predetermined position in preparation for the next measurement, i.e., there is an overload recovery time. Furthermore, the swing member 21, the first rotor part 22 and the second rotor part 23 are all located in the fluid, that is, the swing member 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 rotation sensitivity of the rotor mechanism 2.

[0036] like Figure 3-Figure 5 As shown, in some embodiments, the first rotor portion 22 may include a magnet 221 and a coil 222. The magnet 221 may be connected to the main body 1. The magnet 221 may remain stationary relative to the main body 1. The magnet 221 may be a permanent magnet. The coil 222 may be configured as a rectangular coil. The number of turns of the rectangular coil may be greater than or equal to one hundred turns. The coil 222 may be sleeved around the magnet 221, connected to the swing member 21, and rotatably connected to the main body 1. That is, when the coil 222 rotates due to electromagnetic force, the coil 222 may drive the swing member 21 to rotate.

[0037] like Figure 3-Figure 5 As shown, in some embodiments, the first rotor portion 22 may further include a first pivot 223 and a second pivot 224. One end of the first pivot 223 (eg, Figure 3 The lower end of the first pivot 223 shown in FIG. 22 may be aligned with the first end of the coil 222 (as shown in FIG. Figure 3 The other end of the first pivot 223 (as shown in FIG. Figure 3 The upper end of the first pivot 223 shown in FIG. 2 is rotatably connected to the main body 1. One end of the second pivot 224 (as shown in FIG. Figure 3 The upper end of the second pivot 224 shown in FIG) and the second end of the coil 222 (as shown Figure 3 The other end of the second pivot 224 (as shown in FIG. Figure 3 The lower end of the second pivot 224 shown is rotatably connected to the main body 1. The first pivot 223 and the second pivot 224 can be made of the same material and structure. The ends of the first pivot 223 and / or the second pivot 224 rotatably connected to the main body 1 can be spherical to ensure high positional accuracy of the first pivot 223 and / or the second pivot 224 relative to the main body 1.

[0038] Furthermore, the swinging member 21 can be mounted on the first pivot 223, that is, the swinging member 21 can be connected to the second rotor portion 23 and the first rotor portion 22 via the first pivot 223. When the coil 222 rotates, the coil 222 drives the first pivot 223 to rotate, thereby driving the swinging member 21 to rotate. Because the first pivot 223 and the second pivot 224 are rotatably connected relative to the main body 1, when the main body 1 rotates and the swinging member 21 is stationary, the coil 222, the first pivot 223, and the second pivot 224 can remain stationary.

[0039] like Figure 3-Figure 5 As shown, in some embodiments, the second rotor portion 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 having elasticity, for example, a hairspring in a coil 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 aligned with the first end of the coil 222 (for example, the inner side of the first elastic member 231). Figure 3 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 can 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 (for example, the inner side of the second elastic member 232). Figure 3 The second elastic member 232 is connected to the main body 1 at the lower end of the coil 222 shown in FIG. The other end of the second elastic member 232 (e.g., 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. Due to their elasticity, the first and second elastic members 231, 232 generate a restoring force opposite to the direction of the coil 222's rotation. The current flowing through the coil 222 can be proportional to the torsion angle of the first and second elastic members 231, 232, thereby ensuring stable deflection of the swing member 21.

[0040] like Figure 3-Figure 5As shown, in some embodiments, the first elastic member 231 and / or the second elastic member 232 can be connected to the main body 1 and the coil 222 through a hairspring support 7. That is, hairspring supports 7 can be provided on both sides of the first elastic member 231 and / or the second elastic member 232. The hairspring support 7 can include an outer hairspring support and an inner hairspring support. The hairspring support 7 provided on the side of the first elastic member 231 and / or the second elastic member 232 close to the coil 222 can be an inner hairspring support, and the hairspring support 7 provided on the other side of the first elastic member 231 and / or the second elastic member 232 can be an outer hairspring support. The outer hairspring support can be welded to the outer end point of the first elastic member 231 and / or the second elastic member 232. The inner hairspring support can be welded to the inner end point of the first elastic member 231 and / or the second elastic member 232. The structure of the outer hairspring support and the inner hairspring support can be adaptively set according to the shape of the first elastic member 231, the second elastic member 232, the coil 222 and the main body 1. As shown Figure 3-Figure 5 As shown, in some embodiments, one end of the first pivot 223 and / or the second pivot 224 close to the coil 222 may be provided with a mounting seat 4 for mounting the first pivot 223 and / or the second pivot 224. The mounting seat 4 can be mounted on the coil 222. For example, the mounting seat 4 can be mounted on the coil 222 by bonding. The mounting seat 4 can be formed with a groove that matches 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 can be connected to the main body 1 through the bearing assembly 108. The first pivot 223 and / or the second pivot 224 can be connected to the mounting seat 4 by the bearing assembly 108 through the hairspring support 7.

[0041] like Figure 3-Figure 5 As shown, in some embodiments, the main body 1 may further include a magnetic cylinder 17, a flange mounting block 18 and a magnet base 19. The magnetic cylinder 17 may be disposed inside the housing 132. The flange mounting block 18 may be sleeved outside the magnetic cylinder 17 and located between the magnetic cylinder 17 and the housing 132. The magnetic cylinder 17 may be connected to the bottom inner wall of the housing 132 through the flange mounting block 18. The magnet 221 is located inside the magnetic cylinder 17. The magnetic cylinder 17 and the magnet 221 may be coaxially arranged. The magnetic cylinder 17 and the magnet 221 are formed with a through hole 5 that allows the connector 6 to pass through. The through hole 5 extends radially of the magnetic cylinder 17 and the magnet 221 and passes through the magnetic cylinder 17 and the magnet 221. The connector 6 passes through the through hole 5 to mount the magnet 221 on the magnetic cylinder 17. The magnet 221 may be formed with an extension portion 225 that matches the magnetic conductive cylinder 17, and the magnetic conductive cylinder 17 may be formed with an annular groove 171 that matches the extension portion 225. Furthermore, a screw or bolt may be used to extend downward from the upper end surface of the magnet 221 in a direction parallel to the axial direction of the magnetic conductive cylinder 17, passing through the extension portion 225 and the annular groove 171 to the connector 6, so as to maintain the magnet 221, the magnetic conductive cylinder 17, and the connector 6 in a stationary state.

[0042] Furthermore, if Figure 3 and Figure 5 As shown, the magnet base 19 can be disposed within the magnetic cylinder 17 and connected to the bottom inner wall of the housing 132 through the magnetic cylinder 17. For example, the magnetic cylinder 17 can be connected to the bottom inner wall of the housing 132 using screws. The magnet base 19 can be provided with a hairspring 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 washer and a straight jewel eye.

[0043] like Figure 3-Figure 5 As shown, in some embodiments, the main body 1 may further include an upper flange 8, a lower flange 9, a flange member 10 and a support structure. The support block structure is arranged in the shell 13. The swing member 21 extends in the radial direction of the support structure and penetrates the support structure. The support structure may include a support block 14 and a lower flange 9. The lower flange 9 may be located on the outer periphery of the support block 14. The support block 14 and the lower flange 9 are both formed with an opening 141 that allows the swing member 21 to rotate around 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 located in the middle of the opening 141.

[0044] Furthermore, the lower flange 9 can be located within the housing 132 and sleeved onto the magnetic cylinder 17. The support block 14 can be located above the magnetic cylinder 17. The flange member 10 can be located above the support block 14. The upper flange 8 can be sleeved onto the flange member 10 and arranged opposite the lower flange 9. Fluid can enter the inertial angular displacement sensor from the outside through the liquid inlet 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 swinging member 21 can extend between the upper flange 8 and the lower flange 9 through the opening 141 between the support block 14 and the lower flange 9. The upper flange 8 and the lower flange 9 can form an annular channel, and the swinging member 21 can extend into the annular channel. The inner surface of the magnetic 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 housing 132, and the uncovered portion between the support block 14 form a fluid chamber 11. When the swing member 21 is in a predetermined position, the extension direction of the opening 141 can be consistent with the extension 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 apart 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] Furthermore, the protruding portion of the flange member 10 may extend into the support block 14. A bearing assembly 108 may be provided near the first pivot 223 of the flange member 10. The first pivot 223 may pass through the hairspring support and be rotatably connected to the bearing assembly 108. A bridge plate 101 may be provided at the upper end of the flange member 10. The bridge plate 101 may be connected to the flange member 10 using screws or bolts.

[0046] Furthermore, the detection portion 3 can 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 more accurately detect the swinging member 21. Furthermore, two detection portions 3 can be provided, symmetrically arranged on both sides of the opening 141, to respectively detect the two ends of the swinging member 21, so that the two detection portions 3 can form differential detection, which can improve detection accuracy.

[0047] like Figure 3 and Figure 5 As shown, in some embodiments, the swing 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 blades 212 are configured as sheet-like structures parallel to the central axis.

[0048] Furthermore, the beam 211 can be configured as a strip-shaped structure, such as a rectangular parallelepiped, a column, or the like. The beam 211 is sleeved on the first pivot 223 and sleeved on the mounting base 4 connected to the first pivot 223. The blades 212 can be formed into a sheet-like fan-shaped structure to increase the contact area between the blades 212 and the fluid, so that when the main body 1 rotates, the swing member 21 can remain stationary due to the inertia of the fluid. The blades 212 can be made of a conductive solid metal material, such as aluminum, iron, or magnesium.

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

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

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

[0052] Furthermore, the locking member 15 is formed with a fluid passage hole 151 that allows fluid to pass through. The fluid passage hole 151 can be formed in the recessed portion 105. The fluid can 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 fluid passage hole 151. When the temperature rises and the fluid expands, the flexible diaphragm 16 can bulge toward the first accommodation space 102, increasing the space of the expansion chamber 12 and maintaining the pressure in the fluid chamber 11 stable. This can effectively prevent the thermal expansion effect of the fluid caused by temperature gradient changes from affecting the detection, and ensure the reliability of the inertial angular displacement sensor in a wide temperature range.

[0053] Furthermore, the upper cover 131 may be formed with a safety hole communicating with the outside, thereby ensuring pressure balance on both sides of the flexible diaphragm 16 .

[0054] Furthermore, the main body 1 may further include a pressing plate 106. The pressing plate 106 may partially cover the flexible diaphragm 16 to secure the flexible diaphragm 16. The pressing plate 106 may be disposed between the locking member 15 and the upper cover 131. Screws or bolts may be used to secure the upper cover 131, the pressing plate 106, and the locking member 15.

[0055] Furthermore, a circuit board 104 may be provided 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 1 based on the voltage signal and transmit the rotation angle to the host computer. Furthermore, the circuit board 104 may be communicatively connected to the external host computer via a connector 107. The connector 107 may extend from the outside of the housing 13 through the upper cover 131 to the first accommodation space 102.

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

[0057] Figure 6 FIG. 4 shows a working principle diagram of an inertial angular displacement sensor according to an embodiment of the present invention. 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 the inertial angular displacement sensor is given an initial angular motion signal from the outside After that, it can be regarded as giving the inertial angular displacement sensor a moment of inertia that is consistent with the rotor mechanism 2 and the fluid. Corresponding inertia moment. After the inertia moment acts on the shell 13, the main body 1 will rotate, and the rotor mechanism 2 remains 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 as 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 obtained after multiplication 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 greater than the predetermined range, the 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. 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 actual rotation angle α(s) and the initial angular motion signal The transfer function between can be expressed by the following expression (1).

[0061] (1).

[0062] in, 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 first elastic member 231 and the stiffness coefficient of the first elastic member 231.

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

[0064] (2).

[0065] in, is the proportional coefficient of the detection unit 3; is the amplification factor of the amplifier; is the DC resistance associated with coil 222; is the torque coefficient of coil 222; To calibrate the network.

[0066] The embodiments of the present disclosure are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be used in combination to advantage. 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 may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An inertial angular displacement sensor, characterized in that: include: The main body is formed with a fluid cavity filled with a fluid; The rotor mechanism comprises: an oscillating member disposed in the fluid and rotatably connected to the main body, wherein when the main body rotates due to external disturbance, the oscillating member remains stationary due to the inertia of the fluid; a first rotor portion connected to the swing member, the first rotor portion driving the swing member to rotate to a predetermined position based on electromagnetic force; a second rotor portion connected to the swing member, wherein the second rotor portion applies a restoring force on the swing member opposite to a movement direction of the swing member based on elasticity; The detection part is provided in the fluid cavity and connected to the main body, and is configured to detect a position change between the main body and the swinging member.

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

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

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

5. The inertial angular displacement sensor according to any one of claims 1 to 4, characterized in that: The main body is further formed with an expansion cavity, which is in communication with the fluid cavity. When the temperature rises and the fluid expands, the expansion cavity expands to maintain the pressure in the fluid cavity.

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

7. The inertial angular displacement sensor according to claim 6, characterized in that: The swinging member comprises: a beam connected to the first rotor portion; Two blades are respectively arranged at two ends of the beam and extend out of the opening. The blades are constructed into a sheet-like structure parallel to the central axis.

8. The inertial angular displacement sensor according to claim 6, characterized in that: The main body also includes: a locking member connected to the housing; A flexible diaphragm forms the expansion chamber with the locking member, wherein the locking member is formed with a liquid 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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