Accelerometer with torquer electromagnetic compensation structure and vibration error suppression method

Abstract

The invention discloses an accelerometer with a torquer electromagnetic compensation structure and a vibration error suppression method. The accelerometer comprises a base, a mass pendulum, a torquer, a servo control circuit and a sensor, wherein the torquer comprises a permanent magnet, a yoke, a torquer coil and an electromagnetic compensation structure. Wherein the electromagnetic compensation structure is a compensation coil fixed on a yoke, the coil is connected in series with a torquer coil, the series connection direction of the compensation coil can be adjusted, the compensation coil is connected in parallel with an adjusting resistor, and the resistance value of the parallel adjusting resistor can be determined by measuring the vibration rectification error of the accelerometer when the compensation coil is positively connected and reversely connected. And finally, accurate suppression of the vibration rectification error of the accelerometer is realized.

Description

Technical Field

[0001] This invention pertains to accelerometer design technology, specifically relating to an accelerometer with a torque electromagnetic compensation structure and a method for suppressing vibration errors. Background Technology

[0002] With the rapid development of aerospace technology, various platforms are placing increasingly higher demands on the accuracy and environmental adaptability of inertial navigation systems. Some application scenarios involve extreme vibration overloads, posing even more stringent challenges to maintaining the accuracy of navigation systems.

[0003] As the core sensor of navigation systems, accelerometers are subject to increasingly stringent environmental requirements. The vibration rectification error of accelerometers, as a core indicator for evaluating their vibration resistance, is also receiving more and more attention from the system.

[0004] Generally, reducing the nonlinearity of the accelerometer torque converter can suppress the vibration rectification error of the accelerometer. Suppressing nonlinearity can be achieved by reducing the nonlinearity of the accelerometer torque converter's magnetic field and reducing the accelerometer's oscillation amplitude. However, the above methods often have limitations in their suppression effect and require adjustments during assembly, resulting in large vibration rectification errors of the accelerometer under high dynamic environments, making it difficult to maintain the inertial navigation accuracy under high dynamic environments. Summary of the Invention

[0005] This invention provides an accelerometer with a torque electromagnetic compensation structure and a vibration error suppression method, so that the vibration rectification error of the accelerometer is minimized during use.

[0006] The first aspect of the present invention provides an accelerometer with a torque electromagnetic compensation structure, comprising: a mass pendulum, a torque generator, and an electromagnetic compensation unit; The torque converter consists of a yoke, a permanent magnet, a magnetic cap, and a torque converter coil. The electromagnetic compensation unit includes: an electromagnetic compensation coil and an adjustment resistor; The electromagnetic compensation coil is coaxial with the torque converter coil; The electromagnetic compensation coil is connected in parallel with the regulating resistor and in series with the torque coil; The vibration error generated by the electromagnetic compensation unit cancels out the vibration error generated by the torque device.

[0007] Optionally, the electromagnetic compensation coil is fixed on the yoke and sleeved on the outside of the torque coil.

[0008] Optionally, the electromagnetic compensation coil is sleeved on the magnetic cap and inside the torque coil.

[0009] Optionally, the connecting wire of the electromagnetic compensation coil is connected to the fixed part of the mass pendulum via a yoke.

[0010] Optionally, the accelerometer with torque electromagnetic compensation structure also includes: servo control circuit and sensor; The servo control circuit is used to adjust the current supplied to the torque coil based on the displacement of the mass pendulum detected by the sensor.

[0011] A second aspect of the present invention also provides a vibration error suppression method for an accelerometer with a torque electromagnetic compensation structure, used in an accelerometer with a torque electromagnetic compensation structure as described in any one of the first aspects, the method comprising the following steps: First, connect the torque coil and the electromagnetic compensation coil in the same direction, disconnect the adjusting resistor, and measure the first vibration rectification error of the accelerometer. The second step is to reverse the connection between the torque coil and the electromagnetic compensation coil, disconnect the adjusting resistor, and measure the second vibration rectification error of the accelerometer. The third step is to obtain the vibration rectification errors generated by the accelerometer torque coil and the electromagnetic compensation coil respectively, based on the first vibration rectification error and the second vibration rectification error. The fourth step is to calculate the resistance value of the adjusting resistor based on the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively. Fifth step: Adjust the connection direction of the torque coil and the electromagnetic compensation coil according to the direction of the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively; connect the adjustment resistor with the resistance value in parallel.

[0012] Optionally, when the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are in the same direction, the torque coil and the electromagnetic compensation coil are connected in opposite directions. When the directions of the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are different, the torque coil and the electromagnetic compensation coil are connected in the same direction.

[0013] Optionally, the resistance value of the adjusting resistor is calculated based on the vibration rectification error generated by the torque coil and the electromagnetic compensation coil, including: Obtain the proportion of vibration rectification error generated by the torque coil and the electromagnetic compensation coil, respectively; Calculate the resistance value of the adjusting resistor based on the ratio.

[0014] This invention provides an accelerometer with a torque electromagnetic compensation structure and a method for suppressing vibration errors. By designing an electromagnetic compensation mechanism at the torque end of the accelerometer and adjusting the compensation current using a circuit, the accelerometer's sway can be suppressed, thereby suppressing the accelerometer's vibration rectification error and achieving an effect that is difficult to achieve with conventional vibration rectification error suppression methods. This solves the problem of maintaining the performance of inertial navigation systems in highly dynamic environments, minimizing the vibration rectification error of the accelerometer during use. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an accelerometer with a torque electromagnetic compensation structure according to an embodiment of the present invention; Explanation of reference numerals in the attached figures: 1-Mass pendulum, 2-Servo control circuit, 3-Yoke, 4-Permanent magnet, 5-Sensor, 7-Torque coil, 8-Supplementary coil. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0019] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of an accelerometer with a torque electromagnetic compensation structure according to an embodiment of the present invention. Figure 1 As shown, the accelerometer with torque electromagnetic compensation structure provided by the present invention includes: a mass pendulum 1, a torque generator, and an electromagnetic compensation unit; The torque generator consists of a yoke 3, a permanent magnet 4, a magnetic cap, and a torque generator coil 7. The electromagnetic compensation unit includes: an electromagnetic compensation coil 8 and an adjustment resistor; The electromagnetic compensation coil is coaxial with the torque converter coil; The electromagnetic compensation coil is connected in parallel with the regulating resistor and in series with the torque coil; The vibration error generated by the electromagnetic compensation unit cancels out the vibration error generated by the torque device.

[0021] Optionally, the electromagnetic compensation coil is fixed on the yoke and sleeved on the outside of the torque coil.

[0022] Optionally, the electromagnetic compensation coil is sleeved on the magnetic cap and inside the torque coil.

[0023] Optionally, the connecting wire of the electromagnetic compensation coil is connected to the fixed part of the mass pendulum via a yoke.

[0024] Optionally, the accelerometer with torque electromagnetic compensation structure also includes: servo control circuit and sensor; The servo control circuit is used to adjust the current supplied to the torque coil based on the displacement of the mass pendulum detected by the sensor.

[0025] The present invention also provides a method for suppressing vibration error of an accelerometer with a torque electromagnetic compensation structure, the method comprising the following steps: S101: Connect the torque coil and the electromagnetic compensation coil in the same direction, disconnect the adjusting resistor, and measure the first vibration rectification error of the accelerometer; S102: Connect the torque coil and the electromagnetic compensation coil in reverse, disconnect the adjusting resistor, and measure the second vibration rectification error of the accelerometer; S103: Based on the first vibration rectification error and the second vibration rectification error, obtain the vibration rectification error generated by the accelerometer torque coil and the electromagnetic compensation coil respectively; S104: Calculate the resistance value of the regulating resistor based on the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively; S105: Adjust the connection direction of the torque coil and the electromagnetic compensation coil according to the direction of the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively; connect the adjusting resistor with the specified resistance value in parallel. By adjusting the resistor in parallel, the rectification error of the accelerometer as a function of temperature changes approaches 0.

[0026] Optionally, when the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are in the same direction, the torque coil and the electromagnetic compensation coil are connected in opposite directions. When the directions of the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are different, the torque coil and the electromagnetic compensation coil are connected in the same direction.

[0027] Optionally, the resistance value of the adjusting resistor is calculated based on the vibration rectification error generated by the torque coil and the electromagnetic compensation coil, including: Obtain the proportion of vibration rectification error generated by the torque coil and the electromagnetic compensation coil, respectively; Calculate the resistance value of the adjusting resistor based on the ratio.

[0028] For example, the accelerometer is mounted on a vibration table, and the vibration rectification error of the accelerometer is measured according to the above steps. The first vibration rectification error of the accelerometer is measured as δ1, and the second vibration rectification error is measured as δ2.

[0029] Assume the vibration rectification error generated by the accelerometer torque coil is δ 力矩器 The vibration rectification error generated by the electromagnetic compensation coil is δ 电磁补偿 ,So: δ 力矩器 +δ 电磁补偿 =δ1 δ 力矩器 -δ 电磁补偿 =δ2 Solving for the given information yields: δ 力矩器 =(δ1+δ2) / 2 δ 电磁补偿 =(δ1-δ2) / 2 Compare δ 力矩器 With δ 电磁补偿 If the positive and negative signs are the same, the torque coil and the electromagnetic compensation coil are connected in opposite directions; if the signs are opposite, the torque coil and the electromagnetic compensation coil are connected in the same direction.

[0030] When the directions of the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are different, the torque coil and the electromagnetic compensation coil are connected in the same direction.

[0031] Calculate δ 电磁补偿 With δ 力矩器The ratio, denoted as α: α=abs(δ 电磁补偿 / δ 力矩器 ) The resistance of the electromagnetic compensation coil is known to be R. 电磁补偿 The magnitude of the parallel regulating resistors is: R 调节 =R 电磁补偿 / (α-1) Connect the adjusting resistor in parallel with the electromagnetic compensation coil to complete the adjustment.

[0032] This invention provides an accelerometer with a torque electromagnetic compensation structure and a method for suppressing its vibration error. By designing an electromagnetic compensation mechanism at the torque end of the accelerometer and adjusting the compensation current using a circuit, the accelerometer's swing can be suppressed, thereby suppressing the accelerometer's vibration rectification error and achieving an effect that is difficult to achieve with conventional vibration rectification error suppression methods. This solves the problem of maintaining the performance of inertial navigation systems in highly dynamic environments, minimizing the vibration rectification error of the accelerometer during use.

[0033] This ensures that the accelerometer's error remains small during use in vibration environments, reducing the accuracy loss of the accelerometer in inertial navigation systems.

[0034] For example, the torque generator of the accelerometer consists of a yoke, a permanent magnet, a torque generator coil, and an electromagnetic compensation unit; the mass pendulum of the accelerometer is fixed on the yoke, and the servo feedback circuit is connected to the photoelectric sensor and the torque generator to realize the closed-loop torque feedback of the accelerometer.

[0035] The electromagnetic compensation unit of the accelerometer torque unit includes: an electromagnetic compensation coil and an adjustment resistor; the electromagnetic compensation coil is fixed on the yoke and is coaxial with the torque coil. Furthermore, the diameter of the electromagnetic compensation coil is usually larger than that of the torque converter coil; the axial fixed position of the electromagnetic compensation coil should be as close as possible to the distance between it and the torque converter coil. The electromagnetic compensation coil is connected in parallel with the regulating resistor and in series with the torque coil; the direction of the series connection can be changed. Vibration error can be suppressed by changing the resistance value of the regulating resistor.

[0036] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. An accelerometer with a torque electromagnetic compensation structure, characterized in that, include: Mass pendulum, torque converter, and electromagnetic compensation unit; The torque converter consists of a yoke, a permanent magnet, a magnetic cap, and a torque converter coil. The electromagnetic compensation unit includes: an electromagnetic compensation coil and an adjustment resistor; The electromagnetic compensation coil is coaxial with the torque converter coil; The electromagnetic compensation coil is connected in parallel with the regulating resistor and in series with the torque coil; The vibration error generated by the electromagnetic compensation unit cancels out the vibration error generated by the torque device.

2. The accelerometer with a torque electromagnetic compensation structure according to claim 1, characterized in that, The electromagnetic compensation coil is fixed on the yoke and sleeved on the outside of the torque coil.

3. The accelerometer with a torque electromagnetic compensation structure according to claim 1, characterized in that, The electromagnetic compensation coil is sleeved on the magnetic cap and inside the torque coil.

4. The accelerometer with a torque electromagnetic compensation structure according to claim 1, characterized in that, The connecting wire of the electromagnetic compensation coil is connected to the fixed part of the mass pendulum via a yoke.

5. The accelerometer with a torque electromagnetic compensation structure according to claim 1, characterized in that, Also includes: Servo control circuits and sensors; The servo control circuit is used to adjust the current supplied to the torque coil based on the displacement of the mass pendulum detected by the sensor.

6. A method for suppressing vibration error in an accelerometer with a torque electromagnetic compensation structure, used in an accelerometer with a torque electromagnetic compensation structure as described in any one of claims 1-5, characterized in that, The method includes the following steps: First, connect the torque coil and the electromagnetic compensation coil in the same direction, disconnect the adjusting resistor, and measure the first vibration rectification error of the accelerometer. The second step is to reverse the connection between the torque coil and the electromagnetic compensation coil, disconnect the adjusting resistor, and measure the second vibration rectification error of the accelerometer. The third step is to obtain the vibration rectification errors generated by the accelerometer torque coil and the electromagnetic compensation coil respectively, based on the first vibration rectification error and the second vibration rectification error. The fourth step is to calculate the resistance value of the adjusting resistor based on the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively. Fifth step: Adjust the connection direction of the torque coil and the electromagnetic compensation coil according to the direction of the vibration rectification error generated by the torque coil and the electromagnetic compensation coil respectively; connect the adjustment resistor with the resistance value in parallel.

7. The vibration error suppression method according to claim 6, characterized in that, When the vibration rectification error generated by the torque coil and the electromagnetic compensation coil are in the same direction, connect the torque coil and the electromagnetic compensation coil in opposite directions. When the directions of the vibration rectification errors generated by the torque coil and the electromagnetic compensation coil are different, the torque coil and the electromagnetic compensation coil are connected in the same direction.

8. The vibration error suppression method according to claim 6, characterized in that, Based on the vibration rectification errors generated by the torque converter coil and the electromagnetic compensation coil, calculate the resistance value of the regulating resistor, including: Obtain the proportion of vibration rectification error generated by the torque coil and the electromagnetic compensation coil, respectively; Calculate the resistance value of the adjusting resistor based on the ratio.

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