阅读说明：本技术 自抑制干扰的倾斜度传感器 (Self-interference-suppressing inclination sensor ) 是由 胡狄辛 钟星立 于 2020-09-01 设计创作，主要内容包括：本发明提供一种自抑制干扰的倾斜度传感器,包括装配成一体的具有大转动惯量的长重摆锤与小转动惯量的短轻摆,共同浸泡在阻尼液体容器中；利用转动惯量差形成启动时间差,作为干扰抑制部件的轻摆率先响应摆动,摩擦消耗扰动能量于阻尼液体中,作为倾斜度传感器的长重摆锤再迟缓偏转平稳追踪倾斜发生度。(The invention provides a self-interference-suppression inclination sensor, which comprises a long heavy pendulum bob with large moment of inertia and a short light pendulum with small moment of inertia, which are assembled into a whole and are soaked in a damping liquid container together; a starting time difference is formed by utilizing a rotational inertia difference, the light slew rate serving as an interference suppression component firstly responds to swing, disturbance energy is consumed in damping liquid through friction, and a long and heavy pendulum hammer serving as an inclination sensor then deflects slowly and stably tracks the inclination occurrence degree.)

1. A self-jamming inclination sensor, characterized by: comprises a long heavy pendulum bob with large moment of inertia and a short light pendulum with small moment of inertia which are assembled into a whole and are soaked in a damping liquid container together; a starting time difference is formed by utilizing a rotational inertia difference, the light slew rate serving as an interference suppression component firstly responds to swing, disturbance energy is consumed in damping liquid through friction, and a long and heavy pendulum hammer serving as an inclination sensor then deflects slowly and stably tracks the inclination occurrence degree.

2. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the short light pendulum with small moment of inertia is arranged on the long heavy pendulum bob with large moment of inertia and can swing and deflect freely, and the short light pendulum can reduce the resonance interference acting on the long heavy pendulum bob.

3. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the long and heavy pendulum bob with large moment of inertia is in an anchor-shaped thick block shape, the gravity center is positioned on the central line of the anchor-shaped thick block shape and is distributed symmetrically with uniform or nonuniform mass, the radius of rotation of the long and heavy pendulum bob is longer than that of the short and light pendulum with small moment of inertia, and the long and heavy pendulum bob is capable of obtaining an increased oblique rotation moment from the shape and has the characteristics of large moment of inertia and slow start.

4. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the short light pendulum with small moment of inertia is in a fan-shaped slice shape, the gravity center is positioned on the central line of the fan-shaped slice shape, the short light pendulum is distributed symmetrically with uniform or non-uniform mass, the enlarged surface area is obtained from the shape, and the short light pendulum has the characteristics of small moment of inertia and quick start.

5. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the material specific gravity of the long heavy pendulum bob with large moment of inertia is greater than that of the short light pendulum with small moment of inertia, the volume of the long heavy pendulum bob with large moment of inertia is greater than that of the short light pendulum with small moment of inertia, and the mass of the long heavy pendulum bob with large moment of inertia is greater than that of the short light pendulum with small moment of inertia.

6. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the specific gravity of the damping liquid is smaller than the material specific gravity of the short light pendulum with small moment of inertia.

7. A self-interference-suppressing inclination sensor according to claim 1, characterized in that: the damping liquid container can integrate a long heavy pendulum bob and a short light pendulum bob which are assembled into a whole, and damping liquid in an outer protective container shell, and is packaged into an inclination sensor for inhibiting interference.

8. A self-interference-suppressing inclination sensor according to claim 2 or 4, characterized in that: the number of the short light pendulum with small moment of inertia is at least one that is arranged on the long heavy pendulum with large moment of inertia.

9. A self-interference-suppressing inclination sensor according to claim 8, characterized in that: and a resistance increasing structure is arranged on the short light pendulum with small moment of inertia.

10. A self-interference-suppressing inclination sensor according to claim 9, characterized in that: the resistance increasing structure comprises slotting, hollowing or concave-convex etching.

Technical Field

The invention belongs to the technical field of measurement and control, and particularly relates to a self-interference-suppression gradient sensor.

Background

The measurement of the inclination angle is related to many fields of national defense construction and civil use, such as a tank fire control system, a ship-borne fire control system, a vehicle-mounted radar and the like, and the absolute measurement of the inclination angle of a measured surface is needed.

Currently, there are two types of common tilt angle sensors: one type is a pendulum type inclination sensor taking a gravity pendulum as a reference, such as a solid pendulum type inclination sensor and a liquid pendulum type inclination sensor; the other type of position gyroscope is designed by taking a free gyroscope and keeping the orientation of a self symmetrical axis in an inertial reference system as a reference.

The two types of inclination sensors, which are used in dynamic situations with disturbances, generally have the following disadvantages: in a dynamic situation, an inclination sensor taking a gravity pendulum bob as a reference is easily disturbed by shaking, so that the precision of a detection process is damaged; or the shaking interference causes the gravity pendulum bob to oscillate back and forth, and the reading cannot be stabilized. A position gyroscope which uses a free gyroscope to keep a self symmetrical axis and uses an orientation in an inertial reference system as a reference is suitable for dynamically measuring an inclination angle in principle, but has short service life, easy damage under large acceleration impact, high cost and limited use environment.

Solid pendulum tilt sensors typically have a gravity pendulum suspended in a solid, rigid support.

Because the gravity pendulum bob is under the action of the gravity of the earth, the gravity pendulum bob always keeps the vertical direction and points to the earth center. When the pendulum bracket is integral and inclines for an angle in a certain direction, the pendulum bracket can generate a certain deflection immediately, the pendulum is still kept in the vertical direction under the action of gravity, and the relative position of the pendulum and the bracket is inevitably changed. The amount of change in the offset position is detected, and the amount is converted into a tilt angle value.

With the technical progress of moving equipment, such as the requirements of underground excavation shield machines, high-speed drilling and the like, the occasions of taking inclination angle measurement as main monitoring are gradually increased, the application of a pendulum type inclination angle sensor taking a gravity pendulum bob as a reference is more and more extensive, high precision, digitization and quick response are required, and the defect that the sensor is easily interfered by shaking is more and more obvious.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a self-interference-suppressing tilt sensor for solving the problem of the prior art that is susceptible to jitter interference.

To achieve the above and other related objects, the present invention provides a self-interference-suppressing inclination sensor, including a long heavy pendulum with a large moment of inertia and a short light pendulum with a small moment of inertia, which are integrally assembled, and immersed in a damping liquid container; a starting time difference is formed by utilizing a rotational inertia difference, the light slew rate serving as an interference suppression component firstly responds to swing, disturbance energy is consumed in damping liquid through friction, and a long and heavy pendulum hammer serving as an inclination sensor then deflects slowly and stably tracks the inclination occurrence degree.

Optionally, the short light pendulum with small moment of inertia is mounted on the long heavy pendulum bob with large moment of inertia, and can swing and deflect freely, and the short light pendulum can reduce resonance interference acting on the long heavy pendulum bob.

Optionally, the long and heavy pendulum bob with large moment of inertia is in an anchor-shaped slab body shape, the gravity center is located on the center line of the anchor-shaped slab body shape and is distributed symmetrically with uniform or non-uniform mass, the radius of rotation of the long and heavy pendulum bob is longer than that of the short and light pendulum with small moment of inertia, an increased oblique rotation moment is obtained from the shape, and the pendulum bob has the characteristics of large moment of inertia and slow start.

Optionally, the short light pendulum with small moment of inertia is in a fan-shaped sheet shape, the center of gravity is located on the central line of the fan-shaped sheet shape and is distributed symmetrically with uniform or non-uniform mass, an enlarged surface area is obtained from the shape, and the pendulum has the characteristics of small moment of inertia and quick start.

Optionally, the material specific gravity of the long heavy pendulum mass with large moment of inertia is greater than that of the short light pendulum mass with small moment of inertia, the volume of the long heavy pendulum mass with large moment of inertia is greater than that of the short light pendulum mass with small moment of inertia, and the mass of the long heavy pendulum mass with large moment of inertia is greater than that of the short light pendulum mass with small moment of inertia.

Optionally, the specific gravity of the damping liquid is smaller than the material specific gravity of the short pendulum with small moment of inertia.

Optionally, the damping liquid container can integrate the long heavy pendulum and the short light pendulum which are assembled into a whole, and the damping liquid in the outer protective container shell, and is packaged into an inclination sensor for suppressing interference.

Optionally, at least one short pendulum with small moment of inertia is arranged on the long heavy pendulum with large moment of inertia.

Optionally, a resistance-increasing structure is arranged on the short light pendulum with small moment of inertia.

Optionally, the resistance-increasing structure includes a groove, a hollow, or a concave-convex etching.

As described above, the self-interference-suppressing inclination sensor of the present invention has at least the following advantageous effects:

from the aspect of time, the short light pendulum is used as an interference suppression component and has the characteristic of preferential starting, so that the interference energy is consumed in advance in the agile damping swinging process, the swinging amount of the weight-reducing pendulum is reduced, and the stable detection of the inclination is realized.

Functionally, the heavy pendulum bob is in an anchor shape and is used as an inclination sensor, an enlarged inclination rotation moment is obtained from the shape, the slow start and the backward force generation after the interference suppression are facilitated, and the quick response of the inclination is realized.

In the aspect of optimization, the inclination sensor capable of self-suppressing interference provides adjustable and controllable matching selectable parameters, such as specific gravity and damping coefficient of matched damping liquid, the size and thickness of a heavy pendulum weight, the surface roughness of a short light pendulum, resonance frequency and the like, is favorable for suppressing specific disordered jitter interference frequency, and is wider in interference suppression frequency range when a plurality of short light pendulums are assembled.

Drawings

FIG. 1 is a diagram of the analysis of the rotation moment of a spherical pendulum.

FIG. 2 is an analysis diagram of the rotating moment of the anchor-shaped heavy pendulum.

Fig. 3 is a schematic diagram comparing the inclination angle and the obtained rotation moment.

Fig. 4 is a schematic view of an anchor-shaped heavy pendulum hammer equipped with a fan-shaped short pendulum.

FIG. 5 is a schematic view of an inclination sensor immersed in a damping liquid to suppress interference.

Fig. 6 is a schematic view showing reduction of the amount of shaking of the anchor-shaped counter-swing hammer.

Fig. 7 is a schematic view of a second embodiment of a schematic view of an anchor-shaped heavy pendulum equipped with a fan-shaped short pendulum.

Fig. 8 is a schematic view of an embodiment three of an anchor-shaped heavy pendulum bob schematic view equipped with a fan-shaped short pendulum.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

Please refer to fig. 1 to 8. It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so as to be understood and read by those skilled in the art, and therefore, the present disclosure is not limited to the conditions of the present disclosure, and any modifications of the structures, the changes of the ratios, or the adjustments of the sizes, should fall within the scope of the present disclosure without affecting the functions and the achievable purposes of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.

Referring to fig. 5, the present invention provides a self-interference-suppressing tilt sensor, including: the damping device comprises damping liquid 1, a long heavy pendulum bob 2 and at least one short pendulum bob 3, wherein the damping liquid 1 is packaged in a protective shell 4; the heavy pendulum is arranged in the damping liquid 1, and the long heavy pendulum hammer 2 can swing left and right; each of the short pendulums 3 is placed in the damping liquid 1, the short pendulums 3 are mounted on the long heavy pendulum mass 2 (see fig. 5, for example), and the moment of inertia of the long heavy pendulum mass 2 is greater than that of the short pendulums 3. In terms of time, the short pendulum 3 serves as an interference suppression component and has the characteristic of being started preferentially, so that the interference energy is consumed in advance in the agile damping swinging process, the shaking amount of the long and heavy pendulum hammer 2 is reduced, and stable inclination detection is realized. Functionally, the long and heavy pendulum hammer 2 is in an anchor shape and serves as an inclination sensor, an increased inclination rotation moment is obtained from the shape, the slow start and the backward force generation after interference suppression are facilitated, and the quick response of the inclination is realized. In view of optimization, the self-interference-suppression inclination sensor provides adjustable and controllable matching selectable parameters, such as specific gravity and damping coefficient of the selected damping liquid 1, size and thickness of the long and heavy pendulum bob 2, surface roughness of the short and light pendulum 3, resonant frequency and the like, is beneficial to suppression of specific random jitter interference frequency, and has wider interference suppression frequency range when a plurality of fan-shaped short and light pendulums 3 are assembled.

In order to achieve better interference suppression, in this embodiment, please refer to fig. 5, optionally, the specific gravity of the material of the long heavy pendulum 2 is greater than that of the material of the short light pendulum 3. Optionally, the rotating arm of the long heavy pendulum 2 is larger than that of the short light pendulum 3. Optionally, the long heavy pendulum 2 has a thick block structure, and the short light pendulum 3 has a thin block structure. Optionally, the long and heavy pendulum hammer 2 includes a vertical rotating shaft 21, an intermediate connecting member 22 and a radian pendulum hammer 23, the upper end of the intermediate connecting member 22 is mounted on the protective shell 4 through the vertical rotating shaft 21, and the radian pendulum hammer 23 is fixed at the other end of the intermediate connecting member 22. Optionally, the arc pendulum 23 and the rotation trajectory of the end of the connecting rod coincide. Optionally, the short light pendulum 3 is fan-shaped. Optionally, a resistance increasing structure is arranged on the short light pendulum 3. The resistance-increasing structure specifically comprises grooving, hollowing or concave-convex etching. The intermediate connecting member 22 may be a rigid rod structure or a flexible cord structure.

In this embodiment, the method further includes: and the signal detection component is used for detecting the swinging angle of the long and heavy pendulum hammer 2. The pointer shown in fig. 5 is for illustration only, and does not represent that a pointer structure must be implemented in the sensor,

in this embodiment, referring to fig. 7 and 8, there are a plurality of short and light pendulums 3, and the installation positions of the short and light pendulums 3 are symmetrically arranged.

In this embodiment, the long and heavy pendulum bob has a longer radius of rotation than the short and light pendulum bob having a small moment of inertia, and obtains an increased tilt moment in terms of shape, and has characteristics of large moment of inertia and slow start.

For a clearer understanding, the following further elaborations are made:

the working principle of most of the existing gravity pendulums is that a heavy bob is hung below a middle connecting line and is hung on a rigid support, a piece of coordinate paper is placed below the heavy bob, the gravity center of the heavy bob usually points to the zero point of a coordinate center, and once the heavy bob is inclined, the gravity center points to the position of the coordinate paper, and an inclined angle value can be output through conversion.

The shape of the existing gravity pendulum is needle-shaped, spherical and the like.

As shown in fig. 1, a diagram of a rotating moment analysis of a ball pendulum is shown, and for the sake of simplifying the description, a suspension wire + a ball pendulum is taken as an example, and it is assumed that the suspension wire has a fixed length R and the mass of the ball pendulum is 100 equivalents. When the gravity center of the spherical pendulum bob points to the earth center, namely the gravity center is superposed with the earth center, the tilting rotation moment along the motion circular track is zero at the moment.

If the pendulum is inclined by 15 degrees, the component force of the spherical pendulum along the tangential direction of the circle is as follows: 100 sin15 is 25.88 equivalents, and the clockwise tilting rotational moment caused by the tilt along the circular path is 25.88R.

As shown in fig. 2, the analysis diagram of the rotation moment of the anchor-shaped heavy and long pendulum 2 further assumes that three hard suspension wire and spherical pendulums are simultaneously configured, the included angle is 60 degrees, and each ball is also the length R of the hard suspension wire and the mass is 100 equivalent; if after a 15 ° tilt still occurs, three spherical pendulums: the tangential component force of the circle is (i) anticlockwise-100 sin 45-70.71, (ii) clockwise 100 sin 15-25.88, (iii) clockwise 100 sin 75-96.59, and the tilting rotation moment caused by the tilting along the circular track is obtained in total (-70.71+25.88+95.59) R-51.76R, which is just 1 time higher than that of a single ball.

According to a formula, the tilting rotation moment is the component force in the tangential direction of the circle and the length of the swinging force arm, which shows that the heavier the pendulum is, the larger the component force in the tangential direction of the circle is, and the longer the swinging force arm is, the larger the rotation return moment caused by final tilting is; will facilitate rapid rotation of the tilting pendulum, accurate response.

However, due to the limitation of the overall dimension of the inclination sensor, the length R of the swing arm cannot be expanded infinitely; thus, in a limited space, where a large tilting moment is desired, the preferred direction must satisfy the two prerequisites that the weight of the pendulum itself is sufficiently large and that the number of pendulums side by side along the circular trajectory is sufficiently large.

The pendulum bob is made of a material with a large specific gravity, and is arranged side by side along a circular track, and a plurality of spherical hammers are connected in series or fused together again to form the anchor-shaped long and heavy pendulum bob 2, so that the effect of improving the tilting and rotating moment is a better combination mode.

The anchor-shaped long heavy pendulum hammer 2 is used as an inclination sensor and is made of a material with a large specific gravity, the anchor-shaped thick block is in a shape, the gravity center of the anchor-shaped thick block is positioned on the central line of the shape of the anchor-shaped thick block and is distributed symmetrically with uniform or non-uniform mass, and an enlarged inclined rotating moment is obtained from the shape relative to a needle-shaped heavy hammer and a spherical heavy hammer, and the anchor-shaped long heavy pendulum hammer has the characteristics of large self mass, large moment of inertia and slow start; the upper end is connected with a vertical rotating shaft 21, an intermediate connecting piece 22 is connected with a radian pendulum bob 23 on the rotating circular track along the shaft.

As shown in fig. 3, the schematic diagram of the inclination angle versus the obtained rotation moment, referring to the above assumption, the anchor-shaped long and heavy pendulum bob 2 has a self-generated inclination rotation moment amount which is obviously much larger than that of a single spherical pendulum bob at the same inclination angle.

The inclination sensor is used for detecting the attitude of the motion equipment and requiring to complete angle detection in a dynamic state; in the continuous change process of the inclination angle of the detected equipment, the disturbance of disordered jitter is often accompanied, so that the fluctuation of the angle detection output value is large.

Namely, the device follows the effective angle change of the device, and simultaneously, the disordered disturbance of the chaotic jitter is superposed to jointly form the oblique output of the sensor; it is undesirable that the two cannot be distinguished at all. Therefore, the process of detecting the disordered jitter interference and the continuous inclination is divided into high-frequency reciprocating jitter which is classified into an interference frequency band, relatively slow movement angle change is regarded as an inclination frequency band, and two light and long heavy pendulums 2 are respectively configured to separately respond and deflect.

In this way, as shown in fig. 4, an anchor-shaped long and heavy pendulum 2 equipped with a fan-shaped short and light pendulum 3 is schematically illustrated, and the anchor-shaped long and heavy pendulum 2, as an inclination sensor, has characteristics of slow start and force application in the backward stroke, and performs reverse performance migration. The lighter the pendulum bob is, the shorter the moment arm is, and the smaller the rotation moment caused by inclination is; it is understood that the agility start is followed by a slow shaking.

A fan-shaped short light pendulum 3 is formed and used as an interference suppression part and is made of a material with a small specific gravity, the fan-shaped thin block has a body shape, the center of gravity is positioned on the central line of the body shape of the fan-shaped thin block, the surface is rough and is distributed symmetrically with uniform or non-uniform mass, compared with a needle-shaped heavy hammer and a spherical heavy hammer, the fan-shaped short light pendulum has the characteristics of small self mass, small rotational inertia and quick start; the upper end is connected with a vertical rotating shaft 21, and a radian pendulum bob 23 enclosed by two radius lines is arranged on the rotating circular track of the shaft.

As shown in fig. 5, a schematic diagram of an inclination sensor immersed in damping liquid 1 for suppressing interference, fan-shaped short pendulums 3 are mounted on anchor-shaped long and heavy pendulums 2, each capable of swinging freely, and are immersed together in selected damping liquid 1 to provide deflection swing damping.

Firstly, the specific gravity of damping liquid 1 is selected, the buoyancy lift force generated by soaking is as small as possible, the anchor-shaped long heavy pendulum bob 2 and the fan-shaped short light pendulum bob 3 cannot be used, and the weight is excessively reduced, so that the greater the weight of the pendulum bob, the smaller the tangential component force is, and the smaller the rotation moment is caused;

secondly, optimizing the damping coefficient of the damping liquid 1, wherein the deflection friction resistance of the anchor-shaped long and heavy pendulum hammer 2 is small, so that the requirement of rapid gradient tracking is met; the fan-shaped short and light pendulum 3 consumes much energy, has strong interference suppression capability and can realize stable detection as much as possible; the damping liquid 1 has the characteristics that various requirements need to be considered.

As is known, an object soaked in liquid is subjected to upward buoyancy force, the upward buoyancy force depends on the weight of the liquid discharged by the object, and when the anchor-shaped long heavy pendulum 2 and the fan-shaped short light pendulum 3 have certain volumes, the weight of the discharged unit of liquid is determined by the specific gravity of the liquid. Therefore, the light liquid is adopted, and can be selected from various oil products or mixed in proportion.

When the clutter jitter interference intensity is large and the frequency bandwidth is complex, the number of the fan-shaped short light pendulums 3 is at least one, a plurality of the fan-shaped short light pendulums are allowed to be configured, and the specific clutter jitter interference is specifically inhibited by a spectrum analysis means.

The fan-shaped short and light pendulum 3 can also be processed by means of grooving, hollowing, concave-convex etching and the like, so that the surface roughness is increased, and the damping motion friction force is improved.

As shown in fig. 6, a schematic diagram of reducing the amount of shake of the anchor-shaped long and heavy pendulum 2 is shown, in a chaotic jitter interference working environment, the anchor-shaped long and heavy pendulum 2 and the fan-shaped short and light pendulum 3 have a starting time difference, which causes the agile fan-shaped short and light pendulum 3 to shake in response to a high-frequency reciprocating disturbance first, with the help of an increased surface area, the jitter energy is consumed in a damping light pendulum process in advance, after the interference amount caused by jitter is reduced as a whole, the anchor-shaped long and heavy pendulum 2 started slowly can generate force in a backward stroke under the driving of an increased rotation moment, and the rapid tracking and the stable detection output of the inclination track are realized.

The key point is that the starting time difference of the light and long heavy pendulum bob 2 is created, the vibration interference amount consumed by the motion damping of the fan-shaped short light pendulum 3 is in the front, the anchor-shaped long heavy pendulum bob 2 tracks the inclination track, and the method is equivalent to that the high-frequency clutter is filtered out firstly in the pretreatment, the false is removed, the true is stored, and then the low-frequency and relatively flat oscillogram is drawn.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.