CN102062589B - Fiber-optic gyroscope based angular displacement measuring device and method - Google Patents
Fiber-optic gyroscope based angular displacement measuring device and method Download PDFInfo
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- CN102062589B CN102062589B CN2010105918488A CN201010591848A CN102062589B CN 102062589 B CN102062589 B CN 102062589B CN 2010105918488 A CN2010105918488 A CN 2010105918488A CN 201010591848 A CN201010591848 A CN 201010591848A CN 102062589 B CN102062589 B CN 102062589B
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- optic gyroscope
- fibre optic
- whirligig
- output valve
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Abstract
The invention discloses a fiber-optic gyroscope based angular displacement measuring device and method. The fiber-optic gyroscope based angular displacement measuring device comprises a fiber-optic gyroscope and an operation processing unit which are connected with each other. The fiber-optic gyroscope based angular displacement measuring method comprises the following steps of: (1) fixing the fiber-optic gyroscope on a rotary device to be measured, and enabling a measuring axis of the fiber-optic gyroscope to be parallel to a rotation axis of the rotary device to be measured; (2) enabling the operation processing unit to receive output values of the fiber-optic gyroscope and calculate the mean value of output values within test time when the rotary device to be measured is on the static state; (3) enabling the rotary device to be measured to rotate an angle, wherein output values of the fiber-optic gyroscope are continuously recorded by the operation processing unit in the rotation process; and (4) obtaining the angular displacement of the rotary device to be measured, which is caused by rotation, through the calculation carried out by the operation processing unit according to the scale factor of the fiber-optic gyroscope, the mean value of the output values obtained in the step (2), and various output values of the fiber-optic gyroscope obtained in the step (3). The device and the method, which are disclosed by the invention, have the advantages of strong test adaptability, simple structure and high measurement precision.
Description
Technical field
The present invention relates to measuring technique, relate in particular to a kind of angle displacement measurement device and method based on fibre optic gyroscope.
Background technology
Angular displacement is meant that a whirligig is around the turned angle of its turning axle.In industrial many occasions, need accurately measure the angular displacement of whirligig.At present, comparatively common method has transit method and scrambler mensuration etc.
The transit method needs one to place whirligig right-angle prism in addition as benchmark, a right-angle prism is placed on the whirligig again, before rotating, uses transit mark to make two angle theta between the prism normal
1, after rotating, use transit mark to make two angle theta between the prism normal
2, θ then
2-θ
1Be exactly the turned angle of whirligig, i.e. angular displacement.The limitation in this method of testing tested person place is bigger, needs to guarantee that the light path of transit is unimpeded, when the anglec of rotation is big, also needs a plurality of outside references.
The scrambler measurement is with a high-precision scrambler and the coaxial installation of the rotation axis of whirligig, so just can read the angular coding of whirligig at an arbitrary position the time, thereby can obtain the angular displacement of rotation.The limitation that this method of testing is installed is big, needs the design shaft joint rotation axis of whirligig to be drawn and select suitable scrambler installation.
All there is the defective of testing bad adaptability in above measuring method.
Summary of the invention
The objective of the invention is deficiency, a kind of angle displacement measurement device and method based on fibre optic gyroscope is provided to prior art.
For realizing above-mentioned purpose, the technical scheme that the present invention taked is: its angle displacement measurement device based on fibre optic gyroscope comprises interconnective fibre optic gyroscope and operation processing unit.
Further, operation processing unit according to the invention comprises:
The output valve receiving trap is used to receive the output valve of fibre optic gyroscope 1,
Average computing device is used for when tested whirligig 2 remains static, the output valve of fibre optic gyroscope 1 in the test duration that said output valve receiving trap is received being tried to achieve mean value;
Integral operation unit is used to receive the data of average computing device; And in tested whirligig 2 rotary courses, receive the output valve of the fibre optic gyroscope 1 of output valve receiving trap transmission continuously, be used for the rotational displacement that integral and calculating obtains tested whirligig 2.
The method that the present invention utilizes above angle displacement measurement device to carry out angle displacement measurement comprises the steps:
1) fibre optic gyroscope 1 is fixed on the tested whirligig 2, makes the measurement axis of fibre optic gyroscope 1 parallel with the rotation axis 5 of tested whirligig 2;
2) remain static down at tested whirligig 2, operation processing unit 3 receives the output valve of fibre optic gyroscope 1 and calculates the mean value of the output valve in the test duration;
3) make angle of tested whirligig 2 rotations, in this rotary course by each output valves of operation processing unit 3 continuous recording fibre optic gyroscopes 1;
4) according to constant multiplier, the step 2 of fibre optic gyroscope 1) mean value of said output valve, each output valve of the described fibre optic gyroscope of step 3), utilize formula (1) and (2) to obtain the angular displacement that tested whirligig 2 obtains because of rotation
Ω
i＝(f
i-f
0)/K (1)
θ＝∫Ω
id
t (2)
In formula (1) and the formula (2), f
iOutput valve for the fibre optic gyroscope 1 of operation processing unit (3) in the step 3) the i time record; f
0Be step 2) mean value of said output valve, K is the constant multiplier of fibre optic gyroscope 1, Ω
iFor step 3) described the i time when record tested whirligig 2 angle of rotation speed, θ is the angular displacement that tested whirligig rotates.
Compared with prior art, beneficial effect of the present invention is:
(1) prior art does not use fibre optic gyroscope to carry out angle displacement measurement, and the present invention is installed on fibre optic gyroscope on the whirligig, and measures the angular velocity and the integration of whirligig, just can obtain the angular displacement of whirligig; Because of fibre optic gyroscope has the advantages that volume is little, start-up time is short, especially be fit to the application of angle displacement measurement aspect.
(2) because of the present invention only requires that the rotation axis of measurement axis and tested whirligig of optical fibre gyro is parallel, and do not require and to overlap that it is strong therefore to test adaptability, do not need the mounting structure of complex design, do not need outside reference yet.
(3) few and can realize showing in real time the angular displacement of being surveyed through operation processing unit because of measuring process of the present invention, therefore test is simple, convenient.
(4) among the present invention owing to adopt this high precision angular-rate sensor of fibre optic gyroscope, so measuring accuracy is high, the test angles displacement accuracy can reach 5 rads.
Description of drawings
Fig. 1 is an enforcement synoptic diagram of the present invention;
Fig. 2 is the schematic block diagram of operation processing unit of the present invention;
Fig. 3 is the schematic flow sheet of angle displacement measurement of the present invention;
Wherein, 1. fibre optic gyroscope, 2. tested whirligig, 3. operation processing unit, the 4. communications cable, 5 is the rotation axis of tested whirligig.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Fibre optic gyroscope is the sensor of measured angular speed, and its output expression formula is:
F＝KΩ+D
0 (3)
In the formula, F is fibre optic gyroscope output, and K is the constant multiplier of fibre optic gyroscope, and Ω is an input angular velocity, D
0For fibre optic gyroscope zero partially.K and D
0Be the amount of demarcating in advance, then just can calculate the angular velocity Ω of input according to the output F of fibre optic gyroscope.When fibre optic gyroscope with tested whirligig is fixed and during the rotating shaft parallel of the measurement axis of fibre optic gyroscope and tested whirligig; Its measured angular velocity is the angular velocity of tested whirligig; It is carried out integration, just can obtain the angular displacement of tested whirligig.
As shown in Figure 1, the angle displacement measurement device that the present invention is based on fibre optic gyroscope comprises interconnective fibre optic gyroscope 1 and operation processing unit 3.As the preferred embodiment for the present invention, operation processing unit 3 comprises: (1) output valve receiving trap is used to receive the output valve of fibre optic gyroscope 1; (2) average computing device is used for when tested whirligig 2 remains static, the output valve of fibre optic gyroscope 1 in the test duration that said output valve receiving trap is received being tried to achieve mean value; (3) integral operation unit is used to receive the data of average computing device; And in tested whirligig 2 rotary courses, receive the output valve of the fibre optic gyroscope 1 of output valve receiving trap transmission continuously, be used for the rotational displacement that integral and calculating obtains tested whirligig 2.
The used fibre optic gyroscope 1 of the present invention is selected interferometric fiber optic gyroscope (IFOG) etc. usually.
When use the present invention is based on the angle displacement measurement device of fibre optic gyroscope,, at first, fibre optic gyroscope 1 is installed on the tested whirligig 2, makes the measurement axis of fibre optic gyroscope 1 parallel with the rotation axis 5 of tested whirligig 2 with reference to Fig. 1.In Fig. 1, the rotation axis 5 of the measurement axis of fibre optic gyroscope 1 and tested whirligig 2 is overlapping, but in the present invention, only requires the measurement axis of fibre optic gyroscope 1 and rotation axis 5 parallel the getting final product of tested whirligig 2.
When carrying out angle displacement measurement, keep tested whirligig 2 to remain static earlier,, and calculate the mean value f that in the test duration t that sets, tries to achieve the output valve of fibre optic gyroscope 1 by the output valve of operation processing unit 3 receptions from fibre optic gyroscope 1
0, (usually can test duration t be set to about 10 minutes) this moment, fibre optic gyroscope 1 be surveyed is the projection Ω of rotational-angular velocity of the earth on its measurement axis
0:
f
0＝kΩ
0+D
0 (4)
In the formula, K is the constant multiplier of fibre optic gyroscope, D
0For fibre optic gyroscope zero partially.
Then, 2 rotations of tested whirligig are arbitrarily angled, and in rotary course by the output valve receiving trap continuous recording of operation processing unit 3 output valve f from fibre optic gyroscope 1
i(i is record count), that this moment, fibre optic gyroscope 1 was surveyed is the projection Ω of rotational-angular velocity of the earth on the measurement axis of fibre optic gyroscope 1
0With the angular velocity Ω in tested whirligig 2 rotary courses
iSum:
f
i＝K(Ω
0+Ω
i)+D
0 (5)
By operation processing unit 3 according to formula (4) and formula (5), the angular velocity Ω when having calculated in tested whirligig 2 rotation processes the i time record
i, calculating formula is following:
Ω
i＝(f
i-f
0)/K (1)
Again according to formula (2) with the angular velocity integration, promptly obtain the angular displacement of tested whirligig 2 rotations:
θ＝∫Ω
idt (2)
In formula (1) and the formula (2), f
iThe output valve of fibre optic gyroscope for the described the i time record of step 3); f
0Be step 2) mean value of said output valve, K is the constant multiplier of fibre optic gyroscope, Ω
iFor step 3) described the i time when record tested whirligig angle of rotation speed, θ is the angular displacement that tested whirligig is taken place because of rotation.
The maximum benefit of angle displacement measurement method that the present invention is based on fibre optic gyroscope is the restriction that does not receive mounting structure; Need not make measurement axis coaxial fully with the rotation axis of tested whirligig; Skipped complicated structural design link; And the measurement mechanism applicability based on this kind method is good, can be applied to different tested whirligigs, not the restriction in tested person place.In addition, because fibre optic gyroscope be numeral output, test macro that can simplicity of design resolves back formation angular displacement with the output of fibre optic gyroscope and shows in real time, and test speed is fast, and reading is simple.
In measuring process, when the fibre optic gyroscope rotational angle is no more than 360 when spending, because the angular displacement error that the error of fibre optic gyroscope constant multiplier is brought can be less than 5 rads, and the error of fibre optic gyroscope random drift can be ignored.Therefore, analyze from overall performance, the measuring accuracy that the present invention is based on the angle displacement measurement method of fibre optic gyroscope can reach and be superior to 5 rads.
Claims (2)
1. the angle displacement measurement method based on fibre optic gyroscope is characterized in that comprising the steps:
1) fibre optic gyroscope (1) is fixed on the tested whirligig (2), makes the measurement axis of fibre optic gyroscope (1) parallel with the rotation axis (5) of tested whirligig (2);
2) remain static down at tested whirligig (2), operation processing unit (3) receives the output valve of fibre optic gyroscope (1) and calculates the mean value of the output valve in the test duration;
3) make angle of tested whirligig (2) rotation, in this rotary course by each output valve of operation processing unit (3) continuous recording fibre optic gyroscope (1);
4) according to constant multiplier, the step 2 of fibre optic gyroscope (1)) mean value of said output valve, each output valve of the described fibre optic gyroscope of step 3), utilize formula (1) and (2) to obtain the angular displacement that tested whirligig (2) is taken place because of rotation
Ω
i＝(f
i-f
0)/K (1)
θ＝∫Ω
idt (2)
In formula (1) and the formula (2), f
iOutput valve for the fibre optic gyroscope (1) of operation processing unit (3) in the step 3) the i time record; f
0Be step 2) mean value of said output valve, K is the constant multiplier of fibre optic gyroscope (1), Ω
iBe the angle of rotation speed of the i time tested whirligig of when record (2) in the step 3), θ is the angular displacement that tested whirligig (2) is produced because of rotation.
2. method according to claim 1 is characterized in that: said operation processing unit (3) comprising:
The output valve receiving trap is used to receive the output valve of fibre optic gyroscope (1),
Average computing device is used for when tested whirligig (2) when remaining static the output valve of fibre optic gyroscope (1) in the test duration that said output valve receiving trap is received being tried to achieve mean value;
Integral operation unit is used to receive the data of average computing device; And in tested whirligig (2) rotary course, receive the output valve of the fibre optic gyroscope (1) of output valve receiving trap transmission continuously, be used for the angular displacement that integral and calculating obtains tested whirligig (2).
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| CN2010105918488A CN102062589B (en) | 2010-12-16 | 2010-12-16 | Fiber-optic gyroscope based angular displacement measuring device and method |
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| CN102564456B (en) * | 2011-12-29 | 2014-12-03 | 深迪半导体(上海)有限公司 | Device and method for testing three-axis micro gyroscope |
| CN102590550A (en) * | 2012-01-12 | 2012-07-18 | 浙江大学 | Method for measuring three-dimensional torsion angular rates of linear vibration table |
| CN102590551A (en) * | 2012-01-12 | 2012-07-18 | 浙江大学 | Method for simultaneously measuring three-dimensional torsion angle velocity of linear vibration table |
| CN102654408A (en) * | 2012-05-15 | 2012-09-05 | 浙江大学 | Optical fiber gyroscope precision evaluating method |
| CN104536462A (en) * | 2015-01-09 | 2015-04-22 | 西安应用光学研究所 | Position control method based on fiber-optic gyroscope integral means |
| CN106908050A (en) * | 2015-12-22 | 2017-06-30 | 上海亨通光电科技有限公司 | A kind of fibre optic gyroscope at exportable attitude orientation angle |
| CN107655439B (en) * | 2017-09-19 | 2020-06-02 | 北京电子工程总体研究所 | Automatic interpretation method for control surface step test result |
| CN108106834A (en) * | 2017-12-29 | 2018-06-01 | 徐州徐工挖掘机械有限公司 | Hydraulic crawler excavator turnability test device and test method |
| CN109870122B (en) * | 2019-04-01 | 2020-12-01 | 长春理工大学 | Angular displacement sensor angle detection device based on program-controlled multi-tooth dividing table |
| CN111121819B (en) * | 2019-12-16 | 2022-07-12 | 南京理工大学 | Method for testing angular displacement error of silicon micro gyroscope in vibration state |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1412521A (en) * | 2002-12-03 | 2003-04-23 | 武汉理工大学 | Method for detecting deformation of underwater engineering structure based on fibre-optic gyro technique and its device |
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1135278A (en) * | 1997-07-16 | 1999-02-09 | Meidensha Corp | Physical amount conversion regulating device of deflection angle detecting signal |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1412521A (en) * | 2002-12-03 | 2003-04-23 | 武汉理工大学 | Method for detecting deformation of underwater engineering structure based on fibre-optic gyro technique and its device |
| CN1821721A (en) * | 2006-03-27 | 2006-08-23 | 北京航空航天大学 | Precise decoupling detecting method for gyroscope scale factor and input shaft default angle |
Non-Patent Citations (2)
| Title |
|---|
| JP特公平6-80405B2 1994.10.12 |
| JP特开平11-35278A 1999.02.09 |
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