Hemisphere gyroscope assembly clearance error identification and adjustment device
By employing magnetron sputtering and laser etching techniques to process discrete electrodes on the surfaces of the resonator and electrode holder in a hemispherical resonator gyroscope, and combining this with a capacitance testing device to measure capacitance values in real time, the problem of assembly gap uniformity was solved, thereby improving assembly accuracy and gyroscope performance.
Patent Information
- Application Number
- CN202511459140.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-13
- Publication Date
- 2025-12-30
AI Technical Summary
Existing technology cannot accurately reflect the uniformity of the assembly gap between the resonator and the electrode holder of a hemispherical resonator gyroscope, resulting in large assembly errors and affecting the accuracy of the gyroscope.
Metallization was performed on the surfaces of the resonator and electrode holder using magnetron sputtering, and discrete electrodes were etched on the electrode holder. Combined with capacitance test cables and a capacitance tester, the capacitance values between the discrete electrodes were measured in real time. By adjusting the relative positions of the resonator and the electrode holder, the assembly position with the optimal capacitance uniformity was selected.
It achieves high-precision online measurement and adjustment of gap error, reduces assembly error, and improves the accuracy of hemispherical resonant gyroscope.
Smart Images
Figure CN121230701A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of assembly and positioning technology of core components of hemispherical resonant gyroscopes, and particularly relates to a device for identifying and adjusting assembly gap errors of hemispherical gyroscopes. Background Technology
[0002] The hemispherical resonant gyroscope is a new type of solid-state gyroscope based on the Coriolis effect to measure the rotation angle / angular velocity of a carrier. It features high precision, small size, simple structure (only 2-3 core components), no easily worn parts, long life, high reliability, and strong overload resistance.
[0003] A hemispherical resonant gyroscope has a simple structure, mainly composed of a resonator and an electrode base. The resonator, as the carrier of vibration and the Coriolis effect, is the core component of the resonant gyroscope. Hemispherical resonant gyroscopes have extremely strict requirements for assembly precision (the error requirement is generally at the micrometer level). Even a small positional error on the assembly surface increases the frequency difference of the resonator during vibration, and also causes different damping ratios distributed around the circumference of the resonator. Ultimately, this results in the standing waves on the resonator attenuating at different rates, causing drift. Therefore, it is necessary to find a quantitative relationship between the assembly precision of the resonator and the electrode base, thereby enabling the prediction and control of assembly precision.
[0004] Currently, an LCR tester is used to detect the capacitance value after the two are assembled, and to provide feedback on the uniformity of the assembly gap. However, due to the parasitic capacitance of the LCR tester's own cable and the instability of the testing process, the capacitance test consistency is poor and it cannot correctly provide feedback on the uniformity of the resonator-electrode holder assembly gap. Summary of the Invention
[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a device for identifying and adjusting the assembly gap error of a hemispherical gyroscope, so as to realize the online measurement and adjustment of the gap error with high precision, reduce the assembly error of the gyroscope, and provide strong technical support for improving the accuracy of hemispherical resonant gyroscopes.
[0006] The objective of this invention is achieved through the following technical solution: a device for identifying and adjusting assembly gap error of a hemispherical gyroscope, comprising: a base, a capacitance test cable, a capacitance tester, a resonator, and an electrode holder; wherein, the electrode holder is placed on the base; one end of the capacitance test cable is connected to the electrode holder, and the other end of the capacitance test cable is connected to the capacitance tester; the resonator is inserted into the central hole of the electrode holder; the resonator is connected to the capacitance tester cable.
[0007] In the above-mentioned hemispherical gyroscope assembly gap error identification and adjustment device, the inner spherical surface of the resonator and the surface of the electrode holder are both metallized by magnetron sputtering coating; after coating, the surface of the electrode holder is laser-etched to form multiple discrete electrodes of the same area.
[0008] In the above-mentioned hemispherical gyroscope assembly gap error identification and adjustment device, the number of capacitance test cables is equal to the number of discrete electrodes, and one end of each capacitance test cable is connected to the discrete electrode corresponding to each capacitance test cable.
[0009] In the aforementioned hemispherical gyroscope assembly gap error identification and adjustment device, the capacitance tester acquires the capacitance value between the resonator and each discrete electrode of the electrode holder in real time during the assembly process. The capacitance uniformity of multiple capacitance values at the assembly position is obtained through the capacitance value between the resonator and each discrete electrode of the electrode holder.
[0010] In the above-mentioned hemispherical gyroscope assembly gap error identification and adjustment device, by changing the relative assembly relationship between the resonator and the electrode holder, the capacitance tester can obtain capacitance uniformity values at different positions. The position with the optimal capacitance uniformity value is the position where the assembly gap between the resonator and the electrode holder is most uniform.
[0011] In the aforementioned hemispherical gyroscope assembly gap error identification and adjustment device, the capacitance tester includes a multiplexer module, a reference voltage module, a voltage integration module, a comparator module, a feedback switching module, a processor module, an isolation communication module, and a host computer. The input of the multiplexer module is connected to the other end of each capacitance test cable; one output of the multiplexer module is connected to the output of the voltage integration module; and the other output of the multiplexer module is grounded. One end of each discrete electrode is connected to one end of the capacitance test cable corresponding to that discrete electrode, and the resonator is connected to the voltage integration module. The reference voltage module is connected to both the input of the voltage integration module and the inverting input of the comparator module. The output of the voltage integration module is connected to the non-inverting input of the comparator module. The feedback switching module is connected to both the output of the reference voltage module and the comparator module. The processor module is connected to both the multiplexer module and the isolation communication module. The isolation communication module is connected to the host computer.
[0012] In the aforementioned hemispherical gyroscope assembly gap error identification and adjustment device, the multi-way switch module includes multiple single-pole double-throw switches; wherein, the input terminal of each single-pole double-throw switch is connected to the other end of the corresponding capacitance test cable of each single-pole double-throw switch, the first output terminal of each single-pole double-throw switch is connected to the output terminal of the voltage integration module, and the second output terminal of each single-pole double-throw switch is grounded; the multi-way switch module receives the switching signal transmitted by the processor module, and connects the first output terminal of the preset single-pole double-throw switch and the second output terminal of the remaining single-pole double-throw switches according to the switching signal.
[0013] In the aforementioned hemispherical gyroscope assembly gap error identification and adjustment device, the reference voltage module: provides a reference voltage to the voltage integration module and the comparator module; receives the output switching signal from the feedback switching module, and adjusts the output reference voltage according to the output switching signal; the voltage integration module: receives the reference voltage, processes the reference voltage, precision resistor R1, and feedback capacitor Cf to output a triangular wave signal, and transmits the triangular wave signal to the comparator module; the comparator module: receives the reference voltage and the triangular wave signal, processes the reference voltage and the triangular wave signal to obtain a square wave signal, and transmits the square wave signal to the processor module and the feedback switching module respectively; the feedback switching module: receives the square wave signal, and when the comparator module switches between high and low levels, outputs a switching signal to the reference voltage module. The processor module receives a square wave signal and obtains the capacitance value between the resonator connected by the single-pole double-throw switch and the discrete electrode based on the square wave signal; it transmits the switching signal to the multiplexer module; it transmits the capacitance value between the resonator and each discrete electrode of the electrode holder to the isolation communication module; the isolation communication module receives the capacitance value between the resonator and each discrete electrode of the electrode holder, performs level conversion on the capacitance value between the resonator and each discrete electrode of the electrode holder, and sends it to the host computer; the host computer obtains the capacitance uniformity of multiple capacitance values at the assembly position through the capacitance value between each discrete electrode of the resonator and the electrode holder; it changes the relative assembly relationship between the resonator and the electrode holder to obtain capacitance uniformity values at different positions, and selects the position with the optimal capacitance uniformity value as the position where the assembly gap between the resonator and the electrode holder is most uniform.
[0014] In the aforementioned hemispherical gyroscope assembly gap error identification and adjustment device, the voltage integration module includes a resistor R1, a capacitor Cf, and an operational amplifier; wherein, one end of the resistor R1 is connected to the reference voltage module, and the other end of the resistor R1 is connected to the inverting input terminal of the operational amplifier and one end of the capacitor Cf; the resonator is connected to one end of the capacitor Cf, and the other end of the capacitor Cf is connected to the output terminal of the operational amplifier and the first output terminal of each single-pole double-throw switch; the non-inverting input terminal of the operational amplifier is grounded.
[0015] A method for assembling a hemispherical gyroscope based on a hemispherical gyroscope assembly gap error identification and adjustment device includes: inserting a resonator into the center hole of an electrode holder; obtaining the capacitance value between each electrode and the resonator and the capacitance uniformity at the corresponding position using a capacitance tester; recording the current position and the capacitance uniformity at the current position; removing the resonator, changing the preset angle, and re-inserting it into the center hole of the electrode holder; recalculating the capacitance uniformity between each electrode and the resonator; marking the relative position of the resonator and the electrode holder; repeating the assembly at preset angles to obtain the capacitance uniformity at each assembly position; selecting the position with the best capacitance uniformity as the position with the smallest hemispherical resonant gyroscope assembly gap error; and completing the assembly of the resonator and the electrode holder at this position.
[0016] Compared with the prior art, the present invention has the following advantages:
[0017] This invention enables online measurement and adjustment of high-precision gap error, reduces gyroscope assembly error, and provides strong technical support for improving the accuracy of hemispherical resonant gyroscopes. Attached Figure Description
[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0019] Figure 1 This is a schematic diagram of the structure of the hemispherical gyroscope assembly gap error identification and adjustment device provided in an embodiment of the present invention;
[0020] Figure 2 This is a schematic diagram of the capacitance tester provided in an embodiment of the present invention. Detailed Implementation
[0021] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0022] Figure 1 This is a schematic diagram of the structure of the hemispherical gyroscope assembly gap error identification and adjustment device provided in an embodiment of the present invention. Figure 1As shown, the hemispherical gyroscope assembly gap error identification and adjustment device includes: a base 1, a capacitance test cable 2, a capacitance tester 3, a resonator 4, and an electrode holder 5; wherein, the electrode holder 5 is placed on the base 1; one end of the capacitance test cable 2 is connected to the electrode holder 5, and the other end of the capacitance test cable 2 is connected to the capacitance tester 3; the resonator 4 is inserted into the center hole of the electrode holder; the end face of the inner post of the resonator is wired to the cable of the capacitance tester 3. The resonator 4 is connected to the cable of the capacitance tester 3.
[0023] The inner spherical surface of the resonator and the surface of the electrode holder are both metallized by magnetron sputtering. After the coating, the surface of the electrode holder is etched with multiple discrete electrodes of the same area using laser etching.
[0024] The number of capacitance test cables 2 is equal to the number of discrete electrodes, and one end of each capacitance test cable 2 is connected to the corresponding discrete electrode.
[0025] The capacitance tester 3 acquires the capacitance value between each discrete electrode of the resonator and the electrode holder in real time during the assembly process. By measuring the capacitance value between each discrete electrode of the resonator and the electrode holder, the capacitance uniformity of multiple capacitance values at that assembly position can be obtained. By changing the relative assembly relationship between the resonator and the electrode holder, the capacitance tester 3 can obtain capacitance uniformity values at different positions. The position with the optimal capacitance uniformity value is the position where the assembly gap between the resonator and the electrode holder is most uniform.
[0026] Metallization is performed on the inner spherical surface of the hemispherical resonator and the surface of the electrode holder. Eight discrete electrodes of equal area are then laser-etched onto the electrode holder. The electrode holder is placed on a base. After the resonator and electrode holder are assembled, the inner spherical surface of the coated resonator and the eight coated discrete areas on the electrode holder form a spherical capacitance. The electrical signals from the resonator and electrodes are connected to a capacitance tester via leads from the terminals on the base.
[0027] A capacitance tester can be used to acquire the capacitance values between the hemispherical resonator and the eight discrete electrodes in the electrode holder during the assembly process in real time, thus obtaining the capacitance uniformity of the eight capacitance values at that assembly position. By changing the relative assembly relationship between the resonator and the electrode holder, capacitance uniformity values at different positions can be obtained. The position with the optimal capacitance uniformity is selected as the position with the most uniform assembly gap between the two.
[0028] Both the inner spherical surface of the resonator and the spherical surface of the electrode holder were metallized using magnetron sputtering. After metallization, the electrode holder was laser-etched to create eight discrete electrodes of equal area.
[0029] The base 1 is used to connect the spherical electrode 5 to the capacitance test cable 2 as a whole. One end of the capacitance test cable 2 is soldered to the eight electrode terminals of the spherical electrode and the resonator terminal according to the numbering, and the other end is connected to the capacitance tester 3. Each wire is of equal length and is wrapped with an insulated wire, and the insulated wire is grounded.
[0030] like Figure 2 As shown, the capacitance tester 3 includes a multiplexer module, a reference voltage module, a voltage integrator module, a comparator module, a feedback switching module, a processor module, an isolation communication module, and a host computer. One input terminal of the multiplexer module is connected to the other end of each capacitance test cable 2, one output terminal of the multiplexer module is connected to the output terminal of the voltage integrator module, and the other output terminal of the multiplexer module is grounded. One end of each discrete electrode is connected to one end of the corresponding capacitance test cable 2, and the resonator is connected to the voltage integrator module. The reference voltage module is connected to both the input terminal of the voltage integrator module and the inverting input terminal of the comparator module. The output terminal of the voltage integrator module is connected to the non-inverting input terminal of the comparator module. The feedback switching module is connected to the output terminals of both the reference voltage module and the comparator module. The processor module is connected to both the multiplexer module and the isolation communication module. The isolation communication module is connected to the host computer. By combining these modules and employing the oscillation frequency method, precise testing of the capacitance under test can be achieved.
[0031] The multiplexer module includes multiple single-pole double-throw (SPD) switches; the number of SPD switches is equal to the number of discrete electrodes. One input terminal of each SPD switch is connected to the other end of the corresponding capacitance test cable 2. The first output terminal of each SPD switch is connected to the output terminal of the voltage integration module, and the second output terminal of each SPD switch is grounded. The multiplexer module receives switching signals transmitted from the processor module and, based on the switching signals, connects the first output terminals of preset SPD switches and the second output terminals of the remaining SPD switches. It should be understood that a capacitance is formed between the resonator and each discrete electrode of the electrode holder, such as... Figure 2 As shown, these capacitors include capacitors Ca, Cb, ..., Ch. The switching signal ensures that only the first output of a designated single-pole double-throw (SPD) switch is connected and its second output is disconnected, while the second outputs of the remaining SPD switches are connected and their first outputs are disconnected. This guarantees that only the capacitance value of the capacitor connected to the designated SPD switch can be measured each time. For example... Figure 2 In the case of a single-pole double-throw switch A, the first output terminal is connected and the second output terminal is disconnected. In the case of the other single-pole double-throw switches, the second output terminal is connected and the first output terminal is disconnected. This allows the capacitance value of capacitor Ca to be measured.
[0032] The multi-way switching module consists of several single-pole double-throw switches. The input terminal of each switch is connected to a certain electrode under test in the electrode holder. The first output terminal is connected to the parallel output terminal of the feedback integrating capacitor of the voltage integrating module. The second output terminal is connected to ground. The positive terminals of capacitors Ca, Cb, ..., Ch are all connected to the inverting input terminal of the operational amplifier. The negative terminals of capacitors Ca, Cb, ..., Ch are respectively connected to the input terminals of the aforementioned single-pole double-throw switches.
[0033] Reference voltage module: Provides a reference voltage to the voltage integration module and comparator module; receives the output switching signal from the feedback switching module and adjusts the output reference voltage accordingly. The reference voltage module outputs a precise reference voltage to the positive terminal of the precision resistor R1 in the voltage integration module and the inverting input terminal of the comparator module, improving output stability and detection accuracy. It also receives the output signal from the feedback switching module and adjusts the output reference voltage value accordingly.
[0034] Voltage Integrator Module: Receives a reference voltage, processes the reference voltage, precision resistor R1, and feedback capacitor Cf to output a triangular wave signal, which is then transmitted to the comparator module. The voltage integrator module includes a precision resistor R1, a precision operational amplifier, and a fixed feedback capacitor Cf. The voltage output from the reference voltage module is connected to the positive terminal of the precision resistor R1, and its negative terminal is connected to the inverting input of the precision operational amplifier. The non-inverting input of the precision operational amplifier is grounded. A fixed feedback capacitor Cf is connected in parallel between the inverting input and the output terminal. Depending on the selection of the multiplexer module, capacitors Ca, Cb, ..., Ch are connected in parallel. The positive terminals of each capacitor are connected to the inverting input of the operational amplifier circuit. The first output terminals of each multiplexer module are connected to the output terminals of the operational amplifier. Through the cooperation of the precision resistor R1, the feedback capacitor Cf, and the input reference voltage module, the voltage integrator module outputs a triangular wave.
[0035] The comparator module receives a reference voltage and a triangular wave signal, processes them to obtain a square wave signal, and then transmits the square wave signal to both the processor module and the feedback switching module. The comparator module's inverting input receives the output from the voltage integrator module, and its non-inverting input receives the output from the reference voltage module. Since the voltage integrator module outputs a triangular wave, the comparator module will output a square wave to the processor module. Furthermore, the output of this module will also be input to the feedback switching module.
[0036] Feedback switching module: Receives a square wave signal. When the comparator module switches between high and low levels, it outputs a switching signal to the reference voltage module. The feedback switching module takes the square wave output from the comparator module as its input. When the comparator switches between high and low levels, the feedback switching module outputs a switching signal to the reference voltage module, causing its output voltage to switch. This prevents the integrator from saturating and changes the integration direction, resulting in the voltage integrator ultimately outputting a triangular wave.
[0037] The processor module receives square wave signals and obtains the capacitance values between the resonator connected by the single-pole double-throw switch and the discrete electrodes based on the square wave signals. It then transmits the switching signal to the multiplexer module and transmits the capacitance values between the resonator and each discrete electrode of the electrode holder to the isolated communication module. The processor module also receives square wave signals output from the comparator module and accurately measures the frequency of the square wave by measuring its high and low level times, thereby calculating the capacitance value to be measured. Furthermore, according to a pre-set program, it outputs a switching signal to the multiplexer module to switch the capacitors under test; and according to the communication protocol, it outputs a digital signal to the isolated communication module, packaging and transmitting the capacitance values of multiple capacitors under test to the host computer. During measurement, the capacitance of the electrode holder and test cables is first tested and recorded, then each capacitor is tested separately, with the remaining capacitors grounded. This eliminates parasitic capacitance factors and reduces coupling interference. A high-precision clock is used to improve time resolution, thus significantly improving the capacitance test resolution.
[0038] The isolated communication module receives the capacitance value between the resonator and each discrete electrode of the electrode holder, performs level conversion on this value, and then sends it to the host computer. It also receives the digital signal output from the processor module, performs level conversion according to the protocol, and then sends it to the host computer. This isolation method reduces the impact of high-speed digital square wave signals on the capacitance testing process. Combined with the host computer's capacitance testing software, it refreshes and records the capacitance values of multiple electrodes at a test frequency of multiple times per second, significantly improving testing efficiency.
[0039] The host computer obtains the capacitance uniformity of multiple capacitance values at the assembly position by measuring the capacitance between each discrete electrode of the resonator and the electrode holder; by changing the relative assembly relationship between the resonator and the electrode holder, capacitance uniformity values at different positions are obtained, and the position with the optimal capacitance uniformity value is the position where the assembly gap between the resonator and the electrode holder is most uniform.
[0040] The voltage integration module includes a resistor R1, a capacitor Cf, and an operational amplifier. One end of the resistor R1 is connected to the reference voltage module, and the other end of the resistor R1 is connected to the inverting input of the operational amplifier and one end of the capacitor Cf. The resonator is connected to one end of the capacitor Cf, and the other end of the capacitor Cf is connected to the output of the operational amplifier and the first output of each single-pole double-throw switch. The non-inverting input of the operational amplifier is grounded.
[0041] The processor module is used for timing control, sequentially switching and testing multiple capacitors under test on the electrode holder in a time-division manner, and acquiring the square wave output from the comparator module to calculate the output frequency according to the following formula.
[0042] When the input precision resistor is R1, the feedback capacitor (including the fixed capacitor Cf and the capacitor under test C) tn When the parallel value is C, the output voltage of the voltage integrator module is:
[0043]
[0044] Where R1 is the input precision resistor, C is the feedback capacitor, and V ref t is the reference voltage, and t is time.
[0045] Since the oscillation frequency is determined by the feedback capacitor, the upper and lower limits of the output voltage of the integrator module are defined as U0. Therefore, the slope of its output triangular wave is determined by the feedback capacitor, and the oscillation period T is:
[0046] T = 2U0R1C
[0047] Given U0, R1, and T, the capacitance C to be measured can be determined. tn Capacity:
[0048]
[0049] Where Cf is the capacitance value of the capacitor Cf. It is important to understand that the capacitance Cf under test... tn Let Ca be the capacitor, ..., and Ch be the capacitor.
[0050] This embodiment also provides a method for assembling a hemispherical gyroscope, including:
[0051] Insert the resonator into the center hole of the electrode holder. The capacitance tester obtains the capacitance value between each electrode of the electrode holder and the resonator, as well as the capacitance uniformity at the corresponding position. Record the current position and the capacitance uniformity at the current position.
[0052] Remove the resonator, change the preset angle, and reinsert it into the center hole of the electrode holder. Calculate the capacitance uniformity between each electrode and the resonator again, and mark the relative positions of the resonator and the electrode holder. Repeat the assembly at preset angles to obtain the capacitance uniformity at each assembly position. Select the position with the best capacitance uniformity as the position with the smallest assembly gap error for the hemispherical resonant gyroscope. Complete the assembly of the resonator and the electrode holder at this position.
[0053] Specifically, the method includes the following steps:
[0054] Step 1: Connect the power supply and test the parasitic capacitance of the current electrode holder 5, test cable 2, test fixture, etc. The capacitance tester displays the capacitance between the current eight electrodes and the resonator terminals. Use the zeroing function to remove the parasitic capacitance of the electrode holder, test cable, fixture, etc.
[0055] Step 2: Insert the resonator into the center hole of the electrode holder. The capacitance test software interface displays the capacitance values between the eight electrodes of the electrode holder and the resonator, as well as the uniformity of the corresponding positions. Record the current position and the capacitance uniformity at the current position.
[0056] Step 3: Pull out the resonator, rotate it 45°, and reinsert it into the center hole of the electrode holder. Calculate the capacitance uniformity between the eight electrodes and the resonator again, and mark the relative positions of the resonator and the electrode holder. Repeat the assembly every 45° to obtain the capacitance uniformity of eight assembly positions. Select the position with the best capacitance uniformity as the position with the smallest assembly gap error of the hemispherical resonant gyroscope. Complete the assembly of the resonator and the electrode holder at this position.
[0057] This embodiment addresses the issue of uneven gaps during the assembly of the resonator and electrodes in a hemispherical resonant gyroscope. In the hemispherical resonant gyroscope, the center of the resonator sphere coincides with the center of the electrode base sphere. The inner spherical surface of the coated resonator and the eight discrete coated regions on the electrode base form a spherical capacitance, used to detect the resonator's vibration displacement. The electrode capacitance is primarily linearly related to the electrode gap. By testing the electrode capacitance values at different angles around the resonator-electrode base assembly, the gap uniformity at different positions can be obtained. The adjustment method involves online real-time measurement of the capacitance between the spherical gaps after the resonator and electrode base are assembled. By adjusting the relative position between the resonator and electrode base, multiple capacitance uniformity values are obtained at different positions. The position with the best capacitance uniformity is selected as the assembly position of the resonator and electrode base. This invention enables high-precision online measurement and adjustment of gap errors, reducing gyroscope assembly errors and providing strong technical support for improving the accuracy of hemispherical resonant gyroscopes.
[0058] This embodiment achieves high-precision capacitance detection of each discrete electrode of the electrode holder to the metallized resonator. Combined with multiplexing and oscillation frequency methods, it performs time-division and segmented testing, which can eliminate the interference from parasitic capacitance and multi-channel coupling caused by test cables, test fixtures, and the electrode holder itself. The testing process is fast and efficient, and the test results are accurate with minimal drift.
[0059] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.
Claims
1. A hemispherical resonator gyroscope assembly gap error identification and adjustment device, characterized by The utility model relates to a kind of capacitive test device, including: Base (1), capacitive test cable (2), capacitive tester (3), resonator (4) and electrode seat (5);Wherein, The electrode seat (5) is placed on the base (1); One end of the capacitive test cable (2) is connected with the electrode seat (5), and the other end of the capacitive test cable (2) is connected with the capacitive tester (3); The resonator (4) is inserted into the electrode seat central hole; The resonator (4) is connected with the capacitive tester (3) cable.
2. The hemispherical resonator gyroscope assembly gap error identification and adjustment apparatus of claim 1, wherein: The inner spherical surface of the resonator and the surface of the electrode seat are both completed surface metallization treatment by magnetron sputtering coating method;The surface of the electrode seat after coating is etched by laser to form a plurality of discrete electrodes with the same area.
3. The device for identifying and adjusting assembly gap error of hemispherical gyroscope according to claim 2, characterized in that: The number of capacitive test cables (2) is equal to the number of discrete electrodes, and one end of each capacitive test cable (2) is connected with the corresponding discrete electrode of each capacitive test cable (2).
4. The device for identifying and adjusting assembly gap error of hemispherical gyroscope according to claim 3, characterized in that: The capacitive tester (3) obtains the capacitance value between the resonator and each discrete electrode of the electrode seat in real time during assembly, and obtains the capacitance uniformity of multiple capacitance values at the assembly position by the capacitance value between the resonator and each discrete electrode of the electrode seat.
5. The hemispherical resonator gyroscope assembly gap error identification and adjustment apparatus of claim 4, wherein: By changing the relative assembly relationship between the resonator and the electrode seat, the capacitive tester (3) can obtain the capacitance uniformity value at different positions, and the position with the optimal capacitance uniformity value is the position with the most uniform gap between the resonator and the electrode seat.
6. The device for identifying and adjusting assembly gap error of hemispherical gyroscope according to claim 1 or 5, characterized in that: The capacitive tester (3) includes a multiplexer module, a reference voltage module, a voltage integration module, a comparator module, a feedback switching module, a processor module, an isolation communication module, and a host computer. The input single end of the multiplexer module is connected to the other end of each capacitive test cable (2), one output end of the multiplexer module is connected to the output end of the voltage integration module, and the other output end of the multiplexer module is grounded. One end of each discrete electrode is connected to the other end of the corresponding capacitive test cable (2), and the resonator is connected to the voltage integration module. The reference voltage module is connected to the input end of the voltage integration module and the inverting input end of the comparator module. The output end of the voltage integration module is connected to the non-inverting input end of the comparator module. The feedback switching module is connected to the output end of the reference voltage module and the output end of the comparator module. The processor module is connected to the multiplexer module and the isolation communication module. The isolation communication module is connected to the host computer.
7. The device for identifying and adjusting assembly gap error of hemispherical gyroscope according to claim 6, characterized in that: The multiplexer module includes a plurality of single-pole double-throw switches. The input single end of each single-pole double-throw switch is connected to the other end of the corresponding capacitive test cable (2), the first output end of each single-pole double-throw switch is connected to the output end of the voltage integration module, and the second output end of each single-pole double-throw switch is grounded. The multiplexer module receives the switching signal transmitted by the processor module, and connects the first output end of the preset single-pole double-throw switch and the second output end of the remaining single-pole double-throw switches according to the switching signal.
8. The device for identifying and adjusting assembly gap error of hemispherical gyroscope according to claim 7, characterized in that: The reference voltage module: provides a reference voltage to the voltage integration module and the comparator module; The feedback switching module receives an output switching signal and adjusts the reference voltage according to the output switching signal; The voltage integration module: receives the reference voltage, processes the reference voltage, a precision resistor R1 and a feedback capacitor Cf to output a triangular wave signal, and transmits the triangular wave signal to the comparator module; The comparator module: receives the reference voltage and the triangular wave signal, processes the reference voltage and the triangular wave signal to obtain a square wave signal, and transmits the square wave signal to the processor module and the feedback switching module respectively; The feedback switching module: receives the square wave signal and outputs a switching signal to the reference voltage module when the comparator module switches between high and low levels; The processor module: receives the square wave signal and obtains the capacitance value between the resonator and the discrete electrode connected by the single-pole double-throw switch according to the square wave signal; The switching signal is transmitted to the multi-way switch module, and the capacitance value between the resonator and each discrete electrode of the electrode seat is transmitted to the isolation communication module; The isolation communication module: receives the capacitance value between the resonator and each discrete electrode of the electrode seat, and sends the capacitance value to the upper computer after level conversion; The upper computer: obtains the capacitance uniformity of multiple capacitance values at the assembly position by the capacitance value between the resonator and each discrete electrode of the electrode seat, changes the relative assembly relationship between the resonator and the electrode seat to obtain the capacitance uniformity value at different positions, and selects the position with the optimal capacitance uniformity value as the position with the most uniform assembly gap between the resonator and the electrode seat.
9. The device according to claim 7, wherein the device is characterized by: The voltage integration module includes a resistor R1, a capacitor Cf and an operational amplifier; wherein, One end of the resistor R1 is connected to the reference voltage module, and the other end of the resistor R1 is connected to the inverting input terminal of the operational amplifier and one end of the capacitor Cf respectively; The resonator is connected to one end of the capacitor Cf, and the other end of the capacitor Cf is connected to the output terminal of the operational amplifier and the first output terminal of each single-pole double-throw switch respectively; The non-inverting input terminal of the operational amplifier is grounded.
10. A hemispherical resonator gyroscope assembling method using the hemispherical resonator gyroscope assembly gap error identification and adjustment apparatus according to any one of claims 1 to 9, characterized by The resonator is inserted into the center hole of the electrode seat, the capacitance tester obtains the capacitance value between each electrode of the electrode seat and the resonator and the corresponding position capacitance uniformity, and records the current position and the capacitance uniformity at the current position; The resonator is pulled out, rotated by a preset angle and inserted into the center hole of the electrode seat again, the capacitance uniformity between each electrode and the resonator is calculated again, and the relative position between the resonator and the electrode seat is marked; the assembly is repeated every preset angle to obtain the capacitance uniformity at each assembly position, and the position with the best capacitance uniformity is selected as the position with the smallest assembly gap error of the hemispherical resonator gyroscope, and the assembly of the resonator and the electrode seat is completed at this position.