Device for fast detection of electrically driven gyro drift

Abstract

This invention provides a device for rapidly detecting the drift of an electric gyroscope. A follower circuit is connected to the electric gyroscope and a phase-sensitive demodulation circuit. A power board is connected to an excitation power supply via a transformer. The excitation power supply controls the on / off state of the servo motor in the follower circuit through a delay circuit. The phase-sensitive demodulation circuit calculates the drift signal and sends it to an indicator circuit for amplification and display. This invention tracks the gyroscope angle through a follower circuit connected to the output signal of the electric gyroscope. The delay circuit periodically cuts off the excitation power supply to the servo motor to eliminate its own influence. The phase-sensitive demodulation circuit then extracts, demodulates, and amplifies the gyroscope drift signal. Finally, the indicator circuit visually displays the drift magnitude, achieving rapid detection of gyroscope drift. This solves the problems of traditional detection methods, such as long single-detection cycles severely impacting production efficiency, high manual labor intensity, and poor accuracy. It improves detection efficiency, reduces costs, provides accurate data, and allows for automatic cyclic detection.

Description

Technical Field

[0001] This invention belongs to the field of gyroscope detection technology, specifically relating to a device for rapidly detecting the drift of an electric gyroscope. Background Technology

[0002] With their high-precision attitude sensing and stable control characteristics, electric gyroscopes have become core components in key fields such as navigation and guidance, geological exploration, and aerospace, and are widely used in scenarios such as spacecraft attitude maintenance, ship navigation, and exploration equipment calibration. Drift is a core indicator for measuring the performance of electric gyroscopes, directly determining the operational accuracy and reliability of equipment. Its accurate detection is crucial for ensuring the overall operational quality of the equipment.

[0003] Drift detection of electric gyroscopes is a key process in equipment production, debugging, and maintenance. Existing technologies mostly employ a time-cumulative detection method: the gyroscope under test is placed in a standard environment and continuously run, accumulating attitude data over a long period and analyzing and calculating the drift amount to determine whether it meets the standard; if the drift exceeds the tolerance, it needs to be adjusted and tested again for the same long period to verify the effect. This method has the following drawbacks in actual operation: a single test takes several hours to tens of hours, the cycle is too long, which seriously restricts production efficiency, and further increases turnaround time in mass production; moreover, the entire testing process requires dedicated personnel to monitor and record, which increases labor costs and also poses the problem of data accuracy being affected by human error. The testing efficiency is low and the cost is high, making it difficult to meet the needs of intelligent and efficient production and maintenance of equipment. Therefore, it is necessary to improve the method to address the above problems. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a device for rapidly detecting the drift of an electric gyroscope. A follower circuit connected to the output signal of the electric gyroscope tracks the gyroscope angle, and a delay circuit periodically cuts off the excitation power of the servo motor to eliminate its own influence. The gyroscope drift signal is then extracted, demodulated, and amplified by a phase-sensitive demodulation circuit. Finally, an indicator circuit visually displays the magnitude of the drift, achieving rapid detection of gyroscope drift. This solves the problems of traditional detection methods, such as long single-detection cycles severely impacting production efficiency, high manual labor intensity, and poor accuracy during detection. It improves detection efficiency, reduces costs, shortens the detection cycle, provides accurate data, and allows for automatic cyclic detection.

[0005] The technical solution adopted in this invention is as follows: a device for rapidly detecting the drift of an electric gyroscope, comprising a power board and a follower circuit, an indicator circuit, and a phase-sensitive demodulation circuit integrated on a phase-sensitive demodulation board, all electrically connected to the power board. The input terminal of the follower circuit is connected to the output terminal of the electric gyroscope, and the output terminal of the follower circuit is connected to the input terminal of the phase-sensitive demodulation circuit. The power board is connected to the excitation power supply of the same source as the excitation power supply of the electric gyroscope through a transformer B1, and the excitation power supply is connected to the follower circuit through a delay circuit. The delay circuit periodically disconnects or connects the servo motor SM in the follower circuit to the excitation power supply, thereby synchronizing the output value of the follower circuit with the drift value of the electric gyroscope. The indicator circuit is connected to the power board through an optocoupler and a power converter. The phase-sensitive demodulation circuit is connected to the excitation power supply, and the output terminal of the phase-sensitive demodulation circuit is connected to the input terminal of the indicator circuit. The phase-sensitive demodulation circuit sends the calculated electric gyroscope drift signal to the indicator circuit according to the output signal of the follower circuit, and the indicator circuit amplifies and displays the electric gyroscope drift signal.

[0006] The follow-up circuit includes a synchro receiver CT, a signal amplifier W, and a servo motor SM. The input terminal of the synchro receiver CT is connected to the output terminal of the electric gyroscope, and the output terminal of the synchro receiver CT is connected to the input pin of the signal amplifier W. The signal output terminal of the signal amplifier W is connected to the signal control terminal of the servo motor SM and the input terminal of the phase-sensitive demodulation circuit, respectively. The power supply terminal of the servo motor SM is connected to the excitation power supply through a delay circuit. When the delay circuit turns on the excitation power supply and the servo motor SM, the unbalanced voltage generated when the angle of the electric gyroscope is inconsistent with the angle of the synchro receiver CT is amplified by the signal amplifier W and sent to the phase-sensitive demodulation circuit to drive the servo motor SM to rotate.

[0007] Further, the indicating circuit includes an ammeter A and an instrumentation amplifier AD620 containing amplifier channels 620-1 and 620-2. The positive and negative input terminals of amplifier channel 620-1 are connected to the output pins B-1 and B-2 of the phase-sensitive demodulation circuit via signal output interfaces 11 and 12 of the phase-sensitive demodulation board, respectively. The signal output terminal of amplifier channel 620-1 is connected to the positive input terminal of amplifier channel 620-2, one end of resistor R16, and... The normally open contact of relay J is connected, and the coil of relay J, which is connected between the power board and the optocoupler, is controlled by the optocoupler. The negative power supply terminal of amplifier channel 620-1 is connected to one end of resistor R15, and the other end of resistor R15, the other end of resistor R16, and the common contact of relay J are connected to the positive input terminal of ammeter A. The negative input terminal of ammeter A, the ground terminal of amplifier channel 620-1, and the negative signal input terminal of amplifier channel 620-1 are all connected to the negative 5V output terminal of the power converter. The negative signal input terminal of amplifier channel 620-2, the ground terminal of amplifier channel 620-2, and the low control terminal of optocoupler are all connected to the negative 5V output terminal of power converter. The signal output terminal of amplifier channel 620-2 is connected to one end of resistor R17, and the other end of resistor R17 is connected to the high control terminal of optocoupler. The power input terminals of amplifier channels 620-1 and 620-2 are both connected to the positive 5V output terminal of power converter.

[0008] Furthermore, the node connecting the positive input terminal of the amplifier channel 620-1 and the signal output interface 11 of the phase-sensitive demodulation board is electrically connected to one end of the resistor R13, and the other end of the resistor R13 is electrically connected to the signal output interface 12 of the phase-sensitive demodulation board.

[0009] Furthermore, it also includes capacitor C7, resistor R14, diode D8, and diode D7; one end of capacitor C7 is connected to the positive terminal of the power supply output from the power board, and the other end of capacitor C7 is connected to one end of resistor R14. The other end of resistor R14 is connected to the signal input interface 13 of the phase-sensitive demodulation board. The anode of diode D8 is connected to the signal input interface 10, and the cathode of diode D8 is connected to the signal input interface 13; the anode of diode D7 is connected to the signal input interface 13, and the cathode of diode D7 is connected to the signal input interface 10, so that diode D7 and diode D8 form an anti-phase parallel structure for bidirectional limiting and overvoltage protection of the input signal.

[0010] Furthermore, the phase-sensitive demodulation circuit includes a signal processing module and a logic demodulation module connected to the signal processing module.

[0011] Furthermore, the signal processing module includes operational amplifiers U1, U2, and U3. The inverting input of operational amplifier U1 is electrically connected to the positive terminal of diode D1, the negative terminal of diode D2, and one end of resistor R2. The other end of resistor R2 is split into two paths via capacitor C1: one path is directly connected to the reference power input interface 3 of the phase-sensitive demodulation board, and the other path is electrically connected to the signal input interface 5 of the phase-sensitive demodulation board via resistor R1. The non-inverting input of operational amplifier U1 is connected to the negative terminal of diode D1 and the positive terminal of diode D2. The other ends of resistor R7 and capacitor C4 are grounded, and a voltage divider circuit is formed by resistors R6 and R7 to provide a stable reference level for the non-inverting inputs of operational amplifiers U1 and U3. The output of operational amplifier U1 is electrically connected to one end of resistor R3 via capacitor C2. The inverting input terminal of the operational amplifier U2 is electrically connected to one end of capacitor C3, one end of potentiometer BP1, and the other end of resistor R3, and capacitor C3 and potentiometer BP1 are connected in parallel; the output terminal of the operational amplifier U2 is electrically connected to the other end of capacitor C3, the other end of potentiometer BP1, and one end of resistor R5, and the other end of resistor R5 is electrically connected to the signal input interface 6 of the phase-sensitive demodulation board. The inverting input terminal of the operational amplifier U3 is electrically connected to the positive terminal of diode D3, the negative terminal of diode D4, and one end of resistor R10, and the other end of resistor R10 is electrically connected to the signal input interface 9 of the phase-sensitive demodulation board via capacitor C5; the non-inverting input terminal of the operational amplifier U3 is connected to the negative terminal of diode D3 and the positive terminal of diode D4, and the output terminal of the operational amplifier U3 is electrically connected to the logic demodulation module. The non-inverting input terminals of operational amplifiers U1, U2 and U3 are interconnected and then connected to one end of capacitor C4. The other end of capacitor C4 is connected to the node of resistors R6 and R7, and is grounded after being divided by resistors R6 and R7. One end of the resistor R8 is electrically connected to the power input interface 4 of the phase-sensitive demodulation board, and the other end of the resistor R8 is electrically connected to the grounded resistor R9. The resistor R8 and the resistor R9 form an auxiliary voltage divider circuit. The power supply terminals of operational amplifiers U1, U2, and U3 are all electrically connected to the power input interface 4 of the phase-sensitive demodulation board, thus achieving unified power supply.

[0012] Furthermore, the signal processing module includes a two-channel selection circuit composed of a first set of optocouplers N1 to N4 and a second set of optocouplers N5 to N8, which is used to select and output the signals from the two signal input interfaces 10 and 13 on the phase-sensitive demodulation board to the signal output interfaces 11 and 12. The positive terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the output terminal of the operational amplifier U3 through diode D5, and the negative terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the node of the voltage divider circuit of resistors R8 and R9; the anode on the input side of optocoupler N1 and the cathode on the input side of optocoupler N2 are connected to the CL(L) signal of the phase-sensitive demodulation board signal input interface 13 through resistor R11, and the collector on the output side of optocoupler N1 and the emitter on the output side of optocoupler N2 are connected to the signal output interface 12 of the phase-sensitive demodulation board; the anode on the input side of optocoupler N3 and the cathode on the input side of optocoupler N4 are connected to the CL(H) signal of the phase-sensitive demodulation board signal input interface 10 through resistor R12, and the collector on the output side of optocoupler N3 and the emitter on the output side of optocoupler N4 are connected to the signal output interface 11 of the phase-sensitive demodulation board; The positive terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the nodes of the voltage divider circuit of resistors R8 and R9, and the negative terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the output terminal of operational amplifier U3 through diode D6; the anode on the input side of optocoupler N5 and the cathode on the input side of optocoupler N6 are connected to the CL(L) signal of the phase-sensitive demodulation board signal input interface 13 through resistor R11, and the collector on the output side of optocoupler N5 and the emitter on the output side of optocoupler N6 are connected to the signal output interface 11 of the phase-sensitive demodulation board; the anode on the input side of optocoupler N7 and the cathode on the input side of optocoupler N8 are connected to the CL(H) signal of the phase-sensitive demodulation board signal input interface 10 through resistor R12, and the collector on the output side of optocoupler N7 and the emitter on the output side of optocoupler N8 are connected to the signal output interface 12 of the phase-sensitive demodulation board; One end of capacitor C6 is electrically connected to the signal output interface 12 of the phase-sensitive demodulation board, and the other end of capacitor C6 is electrically connected to the signal output interface 11 of the phase-sensitive demodulation board.

[0013] Furthermore, the delay circuit is a time-delay relay.

[0014] Advantages of this invention compared to existing technologies: 1. This technical solution uses a time-delay relay to control the on / off state of the servo motor excitation power supply. During the off period, it accumulates the unbalanced voltage generated by the gyroscope drift, enabling rapid acquisition of drift data in a short time, significantly shortening the detection cycle and improving batch detection efficiency. 2. This technical solution uses a phase-sensitive demodulation circuit combined with an instrumentation amplifier to calculate, amplify, and correct the drift signal, eliminating the influence of signal zero-point offset. The detection data is accurate and reliable, eliminating the need for full-process manual monitoring and reducing labor costs and human error. 3. This technical solution can flexibly change the detection range by adjusting the delay time and series resistance to adapt to the drift detection requirements of electric gyroscopes of different specifications. The device has a compact structure, high integration, and automated cyclic detection, meeting the needs of efficient equipment production and operation and maintenance. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the circuit structure of the present invention; Figure 2 This is a circuit diagram showing the connection between the power board, excitation power supply, follower circuit, and indicator circuit of the present invention. Figure 3 This is a circuit diagram of the phase-sensitive demodulation circuit of the present invention. Detailed Implementation

[0016] The following will be based on embodiments of the present invention. Figure 1-3The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that, unless otherwise stated herein, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0019] Devices for quickly detecting drift in electric gyroscopes, such as Figure 1-3As shown, the system includes a power board 2 and a follower circuit 1, an indicator circuit 3, and a phase-sensitive demodulation circuit 4 integrated on a phase-sensitive demodulation board 10, all electrically connected to the power board 2. The input terminal of the follower circuit 1 is connected to the output terminal of the electric gyroscope 7, and the output terminal of the follower circuit 1 is connected to the input terminal of the phase-sensitive demodulation circuit 4. The power board 2 is connected to the excitation power supply 6, which is of the same origin as the excitation power supply of the electric gyroscope, through a transformer B1. The excitation power supply 6 is connected to the follower circuit 1 through a delay circuit 5, which periodically disconnects or connects the servo motor SM in the follower circuit 1 to the excitation power supply 6, thereby synchronizing the output value of the follower circuit 1 with the drift value of the electric gyroscope. Specifically, the delay circuit 5 is a time-delay relay. The indicator circuit 3 is connected to the power board 2 through an optocoupler 8 and a power converter 9. The phase-sensitive demodulation circuit 4 is connected to the excitation power supply 6, and the output terminal of the phase-sensitive demodulation circuit 4 is connected to the input terminal of the indicator circuit 3. The phase-sensitive demodulation circuit 4 is connected to the excitation power supply 6 according to the phase-sensitive demodulation board 10. The output signal of the follower circuit 1 sends the calculated electric gyroscope drift signal to the indicator circuit 3, which then amplifies and displays the signal. The phase-sensitive demodulation circuit 4 calculates the unbalanced voltage (gyroscope drift value) and sends the signal to the indicator circuit. In this structure, the follower circuit 1 tracks the gyroscope output, and the delay circuit 5 periodically cuts off the excitation power supply of the servo motor SM, generating an unbalanced voltage that does not match the gyroscope output. The phase-sensitive demodulation circuit 4 then extracts, demodulates, and amplifies the unbalanced voltage. Finally, the indicator circuit 3 visually displays the magnitude and polarity of the unbalanced voltage, which represents the drift magnitude, thus achieving rapid gyroscope drift detection and significantly improving detection efficiency and accuracy. The excitation power supply 6, which originates from the same source as the gyroscope excitation, ensures the synchronization of the reference signal and eliminates phase differences. The delay circuit 5 enables the follower circuit 1 to be switched on and off periodically, eliminating dynamic errors in the servo mechanism and allowing the output to directly reflect the true gyroscope drift.

[0020] The follower circuit 1 is specifically as follows: The follower circuit 1 includes a synchro receiver CT, a signal amplifier W, and a servo motor SM. The input terminal of the synchro receiver CT is connected to the output terminal of the electric gyroscope 7, and the output terminal of the synchro receiver CT is connected to the input pin of the signal amplifier W. The signal output terminal of the signal amplifier W is connected to the signal control terminal of the servo motor SM and the input terminal of the phase-sensitive demodulation circuit 4, respectively. The power supply terminal of the servo motor SM is connected to the excitation power supply 6 through a delay circuit 5. When the delay circuit 5 turns on the excitation power supply 6 and the servo motor SM, the electric gyroscope 7... The unbalanced voltage generated when the angle is inconsistent with the angle of the synchro receiver CT is amplified by the signal amplifier W and sent to the phase-sensitive demodulation circuit 4 to drive the servo motor SM to rotate. The delay circuit 5 disconnects the signal amplifier W from the unbalanced voltage amplified by the synchro receiver CT at regular intervals. The unbalanced voltage will change due to the accumulation of gyroscope drift, and the drift value and the unbalanced voltage are linearly related. In the above structure, the synchro receiver CT, the signal amplifier W, and the servo motor SM form a closed-loop follow-up system to track the gyroscope angle and output the unbalanced voltage. The gyroscope drift is detected by the unbalanced voltage.

[0021] The indicating circuit 3 is as follows: The indicating circuit 3 includes an ammeter A and an instrumentation amplifier AD620 containing amplifier channels 620-1 and 620-2. The positive and negative input terminals of the amplifier channel 620-1 are connected to the output pins B-1 and B-2 of the phase-sensitive demodulation circuit 4 via the signal output interfaces 11 and 12 of the phase-sensitive demodulation board 10, respectively. The signal output terminal of the amplifier channel 620-1 is connected to the positive input terminal of the amplifier channel 620-2 and the resistor R16, respectively. The normally open contact of relay J is connected to the power supply board 2 and the optocoupler 8. The coil of relay J is controlled by optocoupler 8. The negative power supply terminal of amplifier channel 620-1 is connected to one end of resistor R15. The other end of resistor R15, the other end of resistor R16, and the common contact of relay J are connected to the positive input terminal of ammeter A. The negative input terminal of ammeter A, the ground terminal of amplifier channel 620-1, and the negative signal input terminal of amplifier channel 620-1 are all connected to the negative 5V output terminal of power converter 9. The negative signal input terminal of amplifier channel 620-2, the ground terminal of amplifier channel 620-2, and the low control terminal of optocoupler 8 are all connected to the negative 5V output terminal of power converter 9. The signal output terminal of amplifier channel 620-2 is connected to one end of resistor R17, and the other end of resistor R17 is connected to the high control terminal of optocoupler 8. The power input terminals of amplifier channels 620-1 and 620-2 are both connected to the positive 5V output terminal of power converter 9.

[0022] Specifically, the node connecting the positive terminal of the signal input of the amplifier channel 620-1 and the signal output interface 11 of the phase-sensitive demodulation board 10 is electrically connected to one end of the resistor R13, and the other end of the resistor R13 is electrically connected to the signal output interface 12 of the phase-sensitive demodulation board 10.

[0023] It also includes capacitor C7, resistor R14, diode D8, and diode D7; one end of capacitor C7 is connected to the positive terminal of the power supply output from power board 2, and the other end of capacitor C7 is connected to one end of resistor R14. The other end of resistor R14 is connected to the signal input interface 13 of phase-sensitive demodulation board 10. The anode of diode D8 is connected to signal input interface 10, and the cathode of diode D8 is connected to signal input interface 13; the anode of diode D7 is connected to signal input interface 13, and the cathode of diode D7 is connected to signal input interface 10, so that diode D7 and diode D8 form an anti-phase parallel structure for bidirectional limiting and overvoltage protection of the input signal.

[0024] The indicator circuit 3 amplifies the signal and displays the drift value and direction. At this time, the indicator light of relay J illuminates, indicating that the data is available. The indicator light is controlled by the delay circuit 5.

[0025] like Figure 1 , 3 As shown, the phase-sensitive demodulation circuit 4 is specifically as follows: The phase-sensitive demodulation circuit 4 includes a signal processing module and a logic demodulation module connected to the signal processing module; The signal processing module includes operational amplifiers U1, U2, and U3. The inverting input of operational amplifier U1 is electrically connected to the positive terminal of diode D1, the negative terminal of diode D2, and one end of resistor R2. The other end of resistor R2 is split into two paths via capacitor C1: one path is directly connected to the reference power input interface 3 of the phase-sensitive demodulation board 10, and the other path is electrically connected to the signal input interface 5 of the phase-sensitive demodulation board 10 via resistor R1. The non-inverting input of operational amplifier U1 is connected to the negative terminal of diode D1 and the positive terminal of diode D2. The other ends of resistor R7 and capacitor C4 are grounded, and a voltage divider circuit is formed by resistors R6 and R7 to provide a stable reference level for the non-inverting inputs of operational amplifiers U1 and U3. The output of operational amplifier U1 is electrically connected to one end of resistor R3 via capacitor C2. The inverting input terminal of the operational amplifier U2 is electrically connected to one end of capacitor C3, one end of potentiometer BP1, and the other end of resistor R3, and capacitor C3 and potentiometer BP1 are connected in parallel; the output terminal of the operational amplifier U2 is electrically connected to the other end of capacitor C3, the other end of potentiometer BP1, and one end of resistor R5, and the other end of resistor R5 is electrically connected to the signal input interface 6 of phase-sensitive demodulation board 10. The inverting input terminal of the operational amplifier U3 is electrically connected to the positive terminal of diode D3, the negative terminal of diode D4, and one end of resistor R10, and the other end of resistor R10 is electrically connected to the signal input interface 9 of phase-sensitive demodulation board 10 via capacitor C5; the non-inverting input terminal of the operational amplifier U3 is connected to the negative terminal of diode D3 and the positive terminal of diode D4, and the output terminal of the operational amplifier U3 is electrically connected to the logic demodulation module. The non-inverting input terminals of operational amplifiers U1, U2 and U3 are interconnected and then connected to one end of capacitor C4. The other end of capacitor C4 is connected to the node of resistors R6 and R7, and is grounded after being divided by resistors R6 and R7. One end of the resistor R8 is electrically connected to the power input interface 4 of the phase-sensitive demodulation board 10, and the other end of the resistor R8 is electrically connected to the grounded resistor R9. The resistor R8 and the resistor R9 form an auxiliary voltage divider circuit. The power supply terminals of operational amplifiers U1, U2, and U3 are all electrically connected to the power input interface 4 of the phase-sensitive demodulation board 10, so as to achieve unified power supply.

[0026] The signal processing module includes a two-channel selection circuit composed of a first set of optocouplers N1 to N4 and a second set of optocouplers N5 to N8, which is used to select and output the signals from the two signal input interfaces 10 and 13 on the phase-sensitive demodulation board 10 to the signal output interfaces 11 and 12. The positive terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the output terminal of the operational amplifier U3 via diode D5, and the negative terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the node of the voltage divider circuit of resistors R8 and R9; the anode on the input side of optocoupler N1 and the cathode on the input side of optocoupler N2 are connected to the CL(L) signal of the signal input interface 13 of the phase-sensitive demodulation board 10 via resistor R11, and the collector on the output side of optocoupler N1 and the emitter on the output side of optocoupler N2 are connected to the signal output interface 12 of the phase-sensitive demodulation board 10; the anode on the input side of optocoupler N3 and the cathode on the input side of optocoupler N4 are connected to the CL(H) signal of the signal input interface 10 of the phase-sensitive demodulation board 10 via resistor R12, and the collector on the output side of optocoupler N3 and the emitter on the output side of optocoupler N4 are connected to the signal output interface 11 of the phase-sensitive demodulation board 10; The positive terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the nodes of the voltage divider circuit of resistors R8 and R9, and the negative terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the output terminal of operational amplifier U3 through diode D6; the anode on the input side of optocoupler N5 and the cathode on the input side of optocoupler N6 are connected to the CL(L) signal of the signal input interface 13 of the phase-sensitive demodulation board 10 through resistor R11, and the collector on the output side of optocoupler N5 and the emitter on the output side of optocoupler N6 are connected to the signal output interface 11 of the phase-sensitive demodulation board 10; the anode on the input side of optocoupler N7 and the cathode on the input side of optocoupler N8 are connected to the CL(H) signal of the signal input interface 10 of the phase-sensitive demodulation board 10 through resistor R12, and the collector on the output side of optocoupler N7 and the emitter on the output side of optocoupler N8 are connected to the signal output interface 12 of the phase-sensitive demodulation board 10; One end of capacitor C6 is electrically connected to the signal output interface 12 of phase-sensitive demodulation board 10, and the other end of capacitor C6 is electrically connected to the signal output interface 11 of phase-sensitive demodulation board 10.

[0027] X / Y / Z are the three-phase angle signals output by the gyroscope. These signals are converted by the synchro receiver (CT) and output to amplifier W before reaching the servo motor SM. When the synchro receiver CT signal and the angle of the servo motor SM are inconsistent, an unbalanced voltage signal is generated. This unbalanced voltage is amplified and drives the servo motor SM to rotate. If the servo motor SM is not connected to the excitation power supply (6), the motor does not move. The unbalanced voltage increases with the angle inconsistency and is sent to the CL(H) and CL(L) terminals of the phase-sensitive demodulation board. The time-delay relay is used to accumulate the angle difference over a certain period, which is the gyroscope drift value over that period. Work process: 1) The input terminal (i.e. the wiring terminals X / Y / Z) of the follower circuit 1 of this structure is connected to the output terminal of the electric gyroscope 7, and RH / RL is connected to the excitation power supply 6, which is from the same source as the gyroscope excitation power supply. The excitation power supply 6 also serves as the working power supply of this structure. 2) During operation, firstly, the time-delay relay disconnects the excitation signal of the servo motor SM. The output signal of the electric gyroscope 7 is connected to the receiving motor CT through the X / Y / Z terminals. After the gyroscope angle changes, an unbalanced voltage is generated at the output of the receiving motor CT. The signal is amplified by the signal amplifier W, and the amplified unbalanced voltage is sent to the servo motor SM. At this time, since the servo motor SM is not connected to the excitation signal, the servo motor SM does not rotate. The unbalanced voltage increases as the gyroscope drift value increases. The time when the excitation power supply of the servo motor SM is disconnected is recorded as t. 3) Power board 2 provides the required DC27V power supply for the operation of this structure through internal transformation, rectification, filtering, voltage regulation and filtering processes; follower circuit 1 and phase sensitive adjustment board 10 use the DC27V output from power board 2, power converter converts DC27V to DC5V, and power converter 9 outputs a voltage of 5V to provide working power to instrumentation amplifier AD620. 4) The amplified unbalanced voltages CL(H) and CL(L) and the excitation signal are sent to the phase-sensitive demodulation board 10. The unbalanced voltage and the excitation signal are a pair of following sinusoidal voltage signals. When the two signals are in phase, the angle is in the range of 0 to 180°. When they are out of phase, the angle is in the range of 0 to -180°. The magnitude of the unbalanced voltage represents the magnitude of the angle. 5) The upper part of the phase-sensitive demodulation circuit 4 converts the sinusoidal excitation signal into a square wave signal with the same phase through rectification, amplification and filtering. The lower part of the phase-sensitive demodulation circuit 4 separates the amplified unbalanced voltage through optocouplers. 6) The instrumentation amplifier AD620 in the indicator circuit 3 amplifies the signals B-1 and B-2 output from the phase-sensitive demodulation board 10 and indicates them through positive and negative voltmeters. The gyroscope drift is an cumulative process, and the output voltage value vmax represents the angle drift value. vmax / t is the gyroscope drift speed. The gyroscope drift speed can be directly read by recalibrating the positive and negative indication scales of the ammeter A. Since there is a certain zero offset in the demodulated output signal of the phase-sensitive demodulation board 10, the instrumentation amplifier AD620 corrects the offset. 7) The gyroscope drift is an cumulative process. When time t is reached, the time delay relay is turned on, the servo motor SM is connected to the excitation signal, and the servo motor SM drives the receiving motor CT to rotate until the unbalanced voltage is eliminated. 8) The device operates by repeating processes 2 to 7 above; 9) The measurement range can be changed by modifying the delay circuit 5 to demonstrate the time t and connecting the ammeter to the amplifier 620-1 in series with resistors R15 and R16.

[0028] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0029] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A device for rapidly detecting drift in an electric gyroscope, characterized in that: The system includes a power board (2) and a follower circuit (1), an indicator circuit (3), and a phase-sensitive demodulation circuit (4) integrated on a phase-sensitive demodulation board (10). The input terminal of the follower circuit (1) is connected to the output terminal of the electric gyroscope (7), and the output terminal of the follower circuit (1) is connected to the input terminal of the phase-sensitive demodulation circuit (4). The power board (2) is connected to the excitation power supply (6) of the same source as the excitation of the electric gyroscope through a transformer B1. The excitation power supply (6) is connected to the follower circuit (1) through a delay circuit (5), and the delay circuit (5) periodically activates the servo motor in the follower circuit (1). The motor SM is disconnected or connected to the excitation power supply (6) to synchronize the output value of the follower circuit (1) with the drift value of the electric gyroscope; the indicator circuit (3) is connected to the power board (2) through the optocoupler (8) and the power converter (9); the phase-sensitive demodulation circuit (4) is connected to the excitation power supply (6); the output terminal of the phase-sensitive demodulation circuit (4) is connected to the input terminal of the indicator circuit (3); and the phase-sensitive demodulation circuit (4) sends the calculated electric gyroscope drift signal to the indicator circuit (3) according to the output signal of the follower circuit (1); and the indicator circuit (3) amplifies and displays the electric gyroscope drift signal.

2. The device for rapidly detecting drift of an electric gyroscope according to claim 1, characterized in that: The follower circuit (1) includes a synchro receiver CT, a signal amplifier W, and a servo motor SM. The input terminal of the synchro receiver CT is connected to the output terminal of the electric gyroscope (7), and the output terminal of the synchro receiver CT is connected to the input pin of the signal amplifier W. The signal output terminal of the signal amplifier W is connected to the signal control terminal of the servo motor SM and the input terminal of the phase-sensitive demodulation circuit (4), respectively. The power supply terminal of the servo motor SM is connected to the excitation power supply (6) through a delay circuit (5). When the delay circuit (5) turns on the excitation power supply (6) and the servo motor SM, the unbalanced voltage generated when the angle of the electric gyroscope (7) is inconsistent with the angle of the synchro receiver CT is amplified by the signal amplifier W and sent to the phase-sensitive demodulation circuit (4) to drive the servo motor SM to rotate.

3. The device for rapidly detecting drift of an electric gyroscope according to claim 1, characterized in that: The indicating circuit (3) includes an ammeter A and an instrumentation amplifier AD620 containing amplifier channels 620-1 and 620-2. The positive and negative input terminals of the amplifier channel 620-1 are connected to the output pins B-1 and B-2 of the phase-sensitive demodulation circuit (4) via the signal output interfaces 11 and 12 of the phase-sensitive demodulation board (10), respectively. The signal output terminal of the amplifier channel 620-1 is connected to the positive input terminal of the amplifier channel 620-2, one end of the resistor R16, and the relay, respectively. The normally open contact of J is connected, and the relay J coil connected between the power board (2) and the optocoupler (8) is controlled by the optocoupler (8). The negative power supply terminal of the amplifier channel 620-1 is connected to one end of the resistor R15, and the other end of the resistor R15, the other end of the resistor R16 and the common contact of the relay J are connected to the positive input terminal of the ammeter A. The negative input terminal of the ammeter A, the ground terminal of the amplifier channel 620-1 and the negative signal input terminal of the amplifier channel 620-1 are all connected to the negative 5V output terminal of the power converter (9). The negative terminal of the signal input of amplifier channel 620-2, the ground terminal of amplifier channel 620-2, and the low terminal of the control of optocoupler (8) are all connected to the negative terminal of the 5V output of power converter (9). The signal output terminal of amplifier channel 620-2 is connected to one end of resistor R17, and the other end of resistor R17 is connected to the high terminal of the control of optocoupler (8). The power input terminals of amplifier channel 620-1 and amplifier channel 620-2 are all connected to the positive terminal of the 5V output of power converter (9).

4. The device for rapidly detecting drift of an electric gyroscope according to claim 3, characterized in that: The node connecting the positive input terminal of the amplifier channel 620-1 and the signal output interface 11 of the phase-sensitive demodulation board (10) is electrically connected to one end of the resistor R13, and the other end of the resistor R13 is electrically connected to the signal output interface 12 of the phase-sensitive demodulation board (10).

5. The device for rapidly detecting drift of an electric gyroscope according to claim 4, characterized in that: It also includes capacitor C7, resistor R14, diode D8 and diode D7; one end of capacitor C7 is connected to the positive terminal of the power supply output by the power supply board (2), and the other end of capacitor C7 is connected to one end of resistor R14. The other end of resistor R14 is connected to the signal input interface 13 of the phase-sensitive demodulation board (10). The anode of diode D8 is connected to the signal input interface 10, and the cathode of diode D8 is connected to the signal input interface 13. The anode of diode D7 is connected to the signal input interface 13, and the cathode of diode D7 is connected to the signal input interface 10, so that diode D7 and diode D8 form an anti-phase parallel structure for bidirectional amplitude limiting and overvoltage protection of the input signal.

6. The device for rapidly detecting drift of an electric gyroscope according to claim 1, characterized in that: The phase-sensitive demodulation circuit (4) includes a signal processing module and a logic demodulation module connected to the signal processing module.

7. The device for rapidly detecting drift of an electric gyroscope according to claim 6, characterized in that: The signal processing module includes operational amplifiers U1, U2, and U3. The inverting input of operational amplifier U1 is electrically connected to the positive terminal of diode D1, the negative terminal of diode D2, and one end of resistor R2. The other end of resistor R2 is divided into two paths via capacitor C1. One path is directly connected to the reference power input interface 3 of the phase-sensitive demodulation board (10), and the other path is electrically connected to the signal input interface 5 of the phase-sensitive demodulation board (10) via resistor R1. The non-inverting input of operational amplifier U1 is connected to the negative terminal of diode D1 and the positive terminal of diode D2. The other ends of resistor R7 and capacitor C4 are grounded, and a voltage divider circuit is formed by resistor R6 and resistor R7 to provide a stable reference level for the non-inverting inputs of operational amplifiers U1 and U3. The output of operational amplifier U1 is electrically connected to one end of resistor R3 via capacitor C2. The inverting input terminal of the operational amplifier U2 is electrically connected to one end of capacitor C3, one end of potentiometer BP1, and the other end of resistor R3, and capacitor C3 and potentiometer BP1 are connected in parallel; the output terminal of the operational amplifier U2 is electrically connected to the other end of capacitor C3, the other end of potentiometer BP1, and one end of resistor R5, and the other end of resistor R5 is electrically connected to the signal input interface 6 of the phase-sensitive demodulation board (10); The inverting input terminal of the operational amplifier U3 is electrically connected to the positive terminal of diode D3, the negative terminal of diode D4, and one end of resistor R10, and the other end of resistor R10 is electrically connected to the signal input interface 9 of the phase-sensitive demodulation board (10) via capacitor C5; the non-inverting input terminal of the operational amplifier U3 is connected to the negative terminal of diode D3 and the positive terminal of diode D4, and the output terminal of the operational amplifier U3 is electrically connected to the logic demodulation module. The non-inverting input terminals of operational amplifiers U1, U2 and U3 are interconnected and then connected to one end of capacitor C4. The other end of capacitor C4 is connected to the node of resistors R6 and R7, and is grounded after being divided by resistors R6 and R7. One end of the resistor R8 is electrically connected to the power input interface 4 of the phase-sensitive demodulation board (10), and the other end of the resistor R8 is electrically connected to the grounded resistor R9. The resistor R8 and the resistor R9 form an auxiliary voltage divider circuit. The power supply terminals of the operational amplifiers U1, U2 and U3 are all electrically connected to the power input interface 4 of the phase-sensitive demodulation board (10) to achieve unified power supply.

8. The device for rapidly detecting drift of an electric gyroscope according to claim 7, characterized in that: The logic demodulation module includes a two-channel selection circuit composed of a first group of optocouplers N1 to N4 and a second group of optocouplers N5 to N8, which is used to complete the signal selection and output of the two signal input interfaces 10 and 13 on the phase-sensitive demodulation board (10) to the signal output interface 11 and the signal output interface 12. The positive terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the output terminal of the operational amplifier U3 through diode D5, and the negative terminals of the control terminals of the first group of optocouplers N1 to N4 are all connected to the node of the voltage divider circuit of resistors R8 and R9; the anode on the input side of optocoupler N1 and the cathode on the input side of optocoupler N2 are connected to the CL(L) signal of the signal input interface 13 of the phase-sensitive demodulation board (10) through resistor R11, and the collector on the output side of optocoupler N1 and the emitter on the output side of optocoupler N2 are connected to the signal output interface 12 of the phase-sensitive demodulation board (10); the anode on the input side of optocoupler N3 and the cathode on the input side of optocoupler N4 are connected to the CL(H) signal of the signal input interface 10 of the phase-sensitive demodulation board (10) through resistor R12, and the collector on the output side of optocoupler N3 and the emitter on the output side of optocoupler N4 are connected to the signal output interface 11 of the phase-sensitive demodulation board (10); The positive terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the nodes of the voltage divider circuit of resistors R8 and R9, and the negative terminals of the control terminals of the second group of optocouplers N5 to N8 are all connected to the output terminal of the operational amplifier U3 through diode D6; the anode on the input side of optocoupler N5 and the cathode on the input side of optocoupler N6 are connected to the CL(L) signal of the signal input interface 13 of the phase-sensitive demodulation board (10) through resistor R11, and the collector on the output side of optocoupler N5 and the emitter on the output side of optocoupler N6 are connected to the signal output interface 11 of the phase-sensitive demodulation board (10); the anode on the input side of optocoupler N7 and the cathode on the input side of optocoupler N8 are connected to the CL(H) signal of the signal input interface 10 of the phase-sensitive demodulation board (10) through resistor R12, and the collector on the output side of optocoupler N7 and the emitter on the output side of optocoupler N8 are connected to the signal output interface 12 of the phase-sensitive demodulation board (10); One end of the capacitor C6 is electrically connected to the signal output interface 12 of the phase-sensitive demodulation board (10), and the other end of the capacitor C6 is electrically connected to the signal output interface 11 of the phase-sensitive demodulation board (10).

9. The device for rapidly detecting drift of an electric gyroscope according to claim 1, characterized in that: The delay circuit (5) is a delay relay.

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