阅读说明：本技术 一种液浮陀螺仪的悬浮液体污染物检测系统及检测方法 (Suspended liquid pollutant detection system and detection method of liquid floated gyroscope ) 是由 赵新宇 石慧 武丽花 李毓杰 盘海东 顾轩宇 于 2021-07-29 设计创作，主要内容包括：本发明涉及一种液浮陀螺仪的悬浮液体污染物检测系统及检测方法,包括浮动组件、传感器、力矩器、信号发生器和上位机；所述传感器的输入端与浮动组件相连接,用于采集浮动组件的机械角位移并将其转换成相对应的电信号；该传感器的输出端与力矩器相连接,用于将处理后的电信号输入到力矩器；该力矩器与浮动组件相连接,用于将电流或输入电信号转换成力矩并作用于浮动组件使其发生旋转；所述信号发生器的输出端与力矩器相连接,用于提供低频三角波信号,并将该低频三角波信号输出至力矩器。本发明能够对陀螺仪内部悬浮液是否存在污染物进行准确的识别,对提高陀螺仪可靠性以及故障陀螺仪故障定位的准确性方面效果显著。(The invention relates to a detection system and a detection method for suspended liquid pollutants of a liquid floated gyroscope, which comprises a floating assembly, a sensor, a torquer, a signal generator and an upper computer, wherein the sensor is arranged on the upper computer; the input end of the sensor is connected with the floating assembly and is used for collecting the mechanical angular displacement of the floating assembly and converting the mechanical angular displacement into a corresponding electric signal; the output end of the sensor is connected with the torquer and used for inputting the processed electric signal to the torquer; the torquer is connected with the floating assembly and used for converting current or input electric signals into torque and acting on the floating assembly to enable the floating assembly to rotate; the output end of the signal generator is connected with the torquer and used for providing a low-frequency triangular wave signal and outputting the low-frequency triangular wave signal to the torquer. The method can accurately identify whether the suspension liquid in the gyroscope has pollutants, and has obvious effects on improving the reliability of the gyroscope and the accuracy of fault positioning of the fault gyroscope.)

1. The utility model provides a suspension liquid pollutant detecting system of floated gyroscope which characterized in that: the device comprises a floating assembly, a sensor, a torquer, a signal generator and an upper computer; the input end of the sensor is connected with the floating assembly and is used for collecting the mechanical angular displacement of the floating assembly and converting the mechanical angular displacement into a corresponding electric signal; the output end of the sensor is connected with the torquer and used for inputting the processed electric signal to the torquer; the torquer is connected with the floating assembly and used for converting current or input electric signals into torque and acting on the floating assembly to enable the floating assembly to rotate; the output end of the signal generator is connected with the torquer and used for providing a low-frequency triangular wave signal and outputting the low-frequency triangular wave signal to the torquer.

2. The system for detecting contaminants in a liquid suspension of a gyroscopic liquid according to claim 1, wherein: the output end of the sensor is connected with the torquer through the operational amplifier, the low-frequency triangular wave signal and the demodulation signal output by the sensor are applied to the input end of the operational amplifier together, the electric signal processed by the operational amplifier is output to the torquer, and the rotating torque generated by the torquer enables the floating assembly to rotate regularly and slowly at constant speed in the positive direction and the reverse direction.

3. The system for detecting contaminants in a liquid suspension of a gyroscopic liquid according to claim 1, wherein: the torquer is also connected with an upper computer, and the upper computer finishes the real-time collection of the feedback current on the torquer and draws a curve by embedding SCPI language in a main program.

4. A method for detecting suspended liquid pollutants of a liquid floated gyroscope is characterized by comprising the following steps: the method comprises the following steps:

step 1, measuring a feedback current of a torquer, and calculating to obtain a damping torque;

and 2, recording a track curve of the feedback current through a recorder, and if an abnormal peak signal appears on the curve, indicating that pollutants exist in the suspension liquid between the gyroscope floating assembly and the shell.

5. The method for detecting contaminants in a liquid suspension of a gyroscopic liquid according to claim 4, wherein: the calculation formula of the step 1 is as follows:

in the ideal case, only the damping moment M_d：

In the formula: c is the damping coefficient of the gyroscope around the output shaft;

theta-the angle of rotation of the floating assembly about the output shaft.

Technical Field

The invention belongs to the technical field of detection of suspended liquid pollutants, relates to detection of suspended liquid pollutants of a liquid floated gyroscope, and particularly relates to a system and a method for detecting suspended liquid pollutants of a liquid floated gyroscope.

Background

The liquid floated gyroscope is an angular motion sensor which floats a sealed floating assembly in the gyroscope by utilizing liquid buoyancy, the buoyancy counteracts or reduces the gravity of the floating assembly, so that the positive pressure borne by a centering support of the floating assembly is reduced, the friction moment of the floating assembly is eliminated and reduced, and the precision of the gyroscope is improved, and the structure of the liquid floated gyroscope is shown in figure 1. When angular motion is input along the input shaft, the gyroscopic moment will cause the floating assembly to rotate about the output shaft, and the force feedback system will in turn generate a feedback moment to balance the gyroscopic moment, with the feedback current being proportional to the input angular velocity. If the suspension between the floating assembly and the shell has pollutants, the rotation of the floating assembly around the output shaft is affected, the feedback torque needs to balance not only the moment of the gyroscope but also the friction torque caused by the pollutants, and the feedback current cannot correctly reflect the input angular velocity, so that the gyroscope is in failure. The conventional liquid floated gyroscope test mostly adopts a force feedback test method, including a rolling test, a fixed attitude drift test, a successive drift test and the like, the tests emphasize the test of the gyroscope parameters, the test conditions are ideal, whether pollutants exist in the suspension liquid in the gyroscope or not can not be accurately identified, and the fault occurs after part of gyroscope delivery systems are used.

Therefore, how to develop a detection system and a detection method for a suspended liquid pollutant of a floated gyroscope is a technical problem to be solved urgently by technical personnel in the field, and the same or similar prior art is not found through retrieval.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a detection system and a detection method for suspended liquid pollutants of a liquid floated gyroscope, which can accurately identify whether pollutants exist in suspension liquid in the gyroscope, so that the gyroscope with the faults can be effectively screened in time.

The invention solves the practical problem by adopting the following technical scheme:

a detection system for suspended liquid pollutants of a liquid floated gyroscope comprises a floating assembly, a sensor, a torquer, a signal generator and an upper computer; the input end of the sensor is connected with the floating assembly and is used for collecting the mechanical angular displacement of the floating assembly and converting the mechanical angular displacement into a corresponding electric signal; the output end of the sensor is connected with the torquer and used for inputting the processed electric signal to the torquer; the torquer is connected with the floating assembly and used for converting current or input electric signals into torque and acting on the floating assembly to enable the floating assembly to rotate; the output end of the signal generator is connected with the torquer and used for providing a low-frequency triangular wave signal and outputting the low-frequency triangular wave signal to the torquer.

The output end of the sensor is connected with the torquer through the operational amplifier, the low-frequency triangular wave signal and the demodulation signal output by the sensor are applied to the input end of the operational amplifier together, the electric signal processed by the operational amplifier is output to the torquer, and the rotating torque generated by the torquer enables the floating assembly to rotate regularly and slowly in the positive direction and the reverse direction at a constant speed.

And the torquer is also connected with an upper computer, and the upper computer finishes the real-time acquisition of the feedback current on the torquer and draws a curve by embedding SCPI language in a main program.

A method for detecting suspended liquid pollutants of a liquid floated gyroscope comprises the following steps:

step 1, measuring a feedback current of a torquer, and calculating to obtain a damping torque;

and 2, recording a track curve of the feedback current through a recorder, and if an abnormal peak signal appears on the curve, indicating that pollutants exist in the suspension liquid between the gyroscope floating assembly and the shell.

Moreover, the calculation formula of step 1 is:

in the ideal case, only the damping moment M_d：

In the formula: c is the damping coefficient of the gyroscope around the output shaft;

theta-the angle of rotation of the floating assembly about the output shaft.

The invention has the advantages and beneficial effects that:

the method is based on the dynamic universe test of the gyroscope in the closed-loop state, makes up the blind area existing in the conventional static test method, can accurately identify whether pollutants exist in the internal suspension of the gyroscope, and has obvious effects on improving the reliability of the gyroscope and the accuracy of fault positioning of the fault gyroscope.

Drawings

FIG. 1 is a schematic diagram of a single-degree-of-freedom liquid floated gyroscope;

FIG. 2 is a schematic diagram of the operation of the present invention;

FIG. 3 is a graph of a test according to the present invention;

description of reference numerals:

1. the device comprises a shell 2, a floating assembly 3, a sensor 4, floating liquid 5 and a torquer.

Detailed Description

The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:

a detection system for suspended liquid pollutants of a liquid floated gyroscope is shown in figures 1 and 2 and comprises a floating assembly, a sensor, a torquer, a signal generator and an upper computer; the input end of the sensor is connected with the floating assembly and is used for collecting the mechanical angular displacement of the floating assembly and converting the mechanical angular displacement into a corresponding electric signal; the output end of the sensor is connected with the torquer and used for inputting the processed electric signal to the torquer; the torquer is connected with the floating assembly and used for converting current or input electric signals into torque and acting on the floating assembly to enable the floating assembly to rotate; the output end of the signal generator is connected with the torquer and used for providing a low-frequency triangular wave signal and outputting the low-frequency triangular wave signal to the torquer.

In this embodiment, the output end of the sensor is connected to the torquer through the operational amplifier, the low-frequency triangular wave signal and the demodulated signal output by the sensor are applied to the input end of the operational amplifier, the electrical signal processed by the operational amplifier is output to the torquer, and the rotational torque generated by the torquer causes the floating assembly to rotate regularly and slowly at constant speed in the forward and reverse directions.

In this embodiment, the torquer is further connected with an upper computer, and the upper computer completes real-time collection of feedback current on the torquer and draws a curve by embedding SCPI language in a main program.

The curve drawn by the upper computer is shown as an actually measured Md curve in figure 3. Whether pollutants exist in the suspension liquid is judged by observing the actual measurement curve, and when a peak signal appears on the actual measurement curve, the pollutants exist in the suspension liquid at the periphery of the floating assembly.

Fig. 1 is a structural schematic diagram of a single-degree-of-freedom liquid floated gyroscope, which mainly comprises a shell 1, a floating assembly 2, a sensor 3, floating liquid 4 and a torquer 5.

Fig. 2 is a working principle diagram of the invention, which mainly comprises a sensor, a phase-sensitive demodulation, a high-precision triangular wave signal generator, a power amplifier, a torquer and the like. The high-precision triangular wave generator is realized by a high-precision DA converter and a singlechip, and aims to generate triangular wave signals with longer period and extremely high linearity, and capable of transforming and frequency-converting. The signal and a demodulation signal output by the sensor are applied to an input end of the operational amplifier together, and the gyroscope floating assembly swings around an output shaft of the gyroscope at a constant speed and a constant amplitude in a corresponding period under the action of the signal. The period and amplitude of the triangular wave signal can be set according to different structural parameters of different types of gyroscopes, such as a limit angle, a gap and a geometric dimension of the floating assembly, the viscosity of suspension, the requirement on the swinging speed of the floating assembly and the like.

It should be noted that: the rate of rotation of the floating assembly, which is generated by the triangular wave signal, must be chosen small enough to detect the friction torque and its variations as small as possible with high resolution, for which purpose the period of the triangular wave is required to be long enough, typically greater than 100 seconds; reasonably selecting the voltage of the input triangular wave, determining the corresponding relation between the voltage and the swing angle of the floating assembly, and ensuring the swing speed of the floating assembly to be in an expected range;

FIG. 3 is a detection curve diagram of the present invention, wherein a digital voltmeter is selected for the current collection of the gyroscope torquer, SCPI language is embedded in the main program of the computer, so as to control the parameters of the test instrument, such as data precision, sampling rate, data transmission, etc., by the computer, and the main program of the computer simultaneously completes the separation calculation of the parameters of the gyroscope and the drift coefficient and the real-time display of the sampling data graph.

A method for detecting suspended liquid pollutants of a liquid floated gyroscope comprises the following steps:

step 1, measuring a feedback current of a torquer, and calculating to obtain a damping torque;

and 2, recording a track curve of the feedback current through a recorder, and if an abnormal peak signal appears on the curve, indicating that pollutants exist in the suspension liquid between the gyroscope floating assembly and the shell.

The calculation formula of the step 1 is as follows:

in the ideal case, only the damping moment M_d：

In the formula: c is the damping coefficient of the gyroscope around the output shaft;

theta-the angle of rotation of the floating assembly about the output shaft.

In this embodiment, after the triangular wave signal and the demodulated signal output by the sensor are applied to the input end of the operational amplifier, in order to keep the moment balance, the gyro floating assembly will generate slow constant speed rotation in the positive and negative directions, at this time, the damping moment acting on the floating assembly is balanced with the moment in the torquer, and the damping moment can be obtained by measuring the feedback current of the torquer.

In the ideal case, only the damping moment M_d：

In the formula: c is the damping coefficient of the gyroscope around the output shaft;

theta-the angle of rotation of the floating assembly about the output shaft.

When the floating assembly is moved at a constant speed,is a constant value. The damping torque represented by the feedback current is therefore a square wave, as shown by the dashed line in fig. 3. If an angular elastic moment acts on the floating assembly, the measured curve will be inclined, as shown in FIG. 3' measured M_dThe presence of an abnormal spike on the curve indicates the presence of a contaminant in the suspension between the gyroscope floating assembly and the housing.

The working principle of the invention is as follows:

the invention adopts a low-frequency function generator, adds a triangular wave signal with a set period at the input end of the operational amplifier of the force feedback loop, and requires the period to be more than 100 seconds and the linearity to be high. Under the driving action of the triangular wave signal, in order to keep moment balance, the gyroscope floating assembly generates slow forward and reverse constant-speed rotation, the output voltage of the sensor is also triangular wave, the damping moment acting on the floating assembly is balanced with the moment in the torquer, and the feedback current of the torquer is measured, so that the damping moment can be obtained. And recording a track curve of the feedback current by a recorder, and if an abnormal peak signal appears on the curve, indicating that pollutants exist in suspension liquid between the gyroscope floating assembly and the shell.

It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, those examples described in this detailed description, as well as other embodiments that can be derived from the teachings of the present invention by those skilled in the art and that are within the scope of the present invention.