CN104236588A - Determination method of directions and frequency cracking of stiff shafts of cylindrical vibratory gyro harmonic oscillator - Google Patents
Determination method of directions and frequency cracking of stiff shafts of cylindrical vibratory gyro harmonic oscillator Download PDFInfo
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Abstract
The invention discloses a determination method of directions and frequency cracking of stiff shafts of a cylindrical vibratory gyro harmonic oscillator. The method comprises the steps as follows: (1) the edge of the harmonic oscillator is slightly knocked, standing wave oscillation is produced, a sound is made, and recording is performed; the standing wave oscillation is formed by superposition of standing waves along a first stiff shaft and a second stiff shaft, the amplitude of the synthetic standing wave is set to be A, the amplitude of the standing wave along the first stiff shaft is set to be A1, the amplitude of the standing wave along the second stiff shaft is set to be A2, a parameter phi refers to an included angle formed by a knocked position and a coordinate axis, a parameter theta refers to an included angle formed by the first stiff shaft and the coordinate axis, the harmonic oscillation frequency of standing wave oscillation I is omega1, the harmonic oscillation frequency of standing wave oscillation II is omega2, the damping is zeta, and the oscillation form of the synthetic standing wave is shown in the specification; (2) parameters in the formula are determined through analysis and fitting, directions of the stiff shafts of the harmonic oscillator are determined by the item phi-theta in the formula; the fact that delta omega equals the difference between the omega1 and the omega2 reflects the frequency cracking of the harmonic oscillator; phi refers to the phase change after superposition of the standing waves. The method has the advantages of simple principle, convenience in operation, high efficiency and the like.
Description
Technical field
The present invention is mainly concerned with solid fluctuation gyro field, refers in particular to a kind ofly to be applicable to the stiff shaft orientation of cylinder oscillation gyro harmonic oscillator and the defining method of frequency cracking.
Background technology
Gyro is the device for inspected object angular velocity.Cylinder oscillation gyro is that a class utilizes Coriolis effect to realize the hull vibration gyro of angular velocity measurement.Its basic structure is made up of, as shown in Fig. 1 (a) the cylindrical shell 1 of an one end open and a support shank 2.
The basic functional principle of cylinder oscillation gyro is as follows: the cylindrical shell 1 of gyro, under the exciting force of frequency of operation, produces with the driving vibration shape of standing wave form vibration, as shown in Fig. 1 (b).When the external world exists turning rate input, due to the effect of coriolis force, be separated by the position of 45 ° by there is new stationary wave vibration, as shown in Fig. 1 (c) with driving the vibration shape.The amplitude size of this stationary wave vibration and the size of angular velocity proportional, just can determine angular velocity by detecting this standing wave amplitude.
Generally will represent that the axle in cylindrical shell 1 stationary wave vibration orientation is tied to form as stiff shaft.First stiff shaft 3 and the second stiff shaft 4 are corresponding respectively drives the standing wave of the vibration shape and the standing wave detecting the vibration shape.For a complete desirable gyro harmonic oscillator, drive the frequency of the vibration shape consistent with the frequency detecting the vibration shape, the orientation of stiff shaft is also consistent with energized position.But in fact due to foozle, harmonic oscillator is not perfect symmetry.Therefore, drive the frequency of the vibration shape and detect the frequency inconsistent (difference on the frequency between them is called frequency cracking) of the vibration shape, the orientation of stiff shaft is also relevant with error.Therefore, the relevant information such as orientation, frequency cracking detecting the stiff shaft of harmonic oscillator is very important to the research of gyro.Method in the past to be determined the vibration of harmonic oscillator, but equipment is very expensive, and efficiency is lower.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides the defining method of a kind of principle is simple, easy and simple to handle, efficiency is high cylinder oscillation gyro harmonic oscillator stiff shaft orientation and frequency cracking.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A defining method for cylinder oscillation gyro harmonic oscillator stiff shaft orientation and frequency cracking, the steps include:
(1) rap at harmonic oscillator edge, produce stationary wave vibration and send the sound, recording as sound signal;
Described stationary wave vibration is formed by stacking by the standing wave along the first stiff shaft and the second stiff shaft, if the amplitude of synthesis standing wave is A, the standing wave amplitude along the first stiff shaft is A
1, the standing wave amplitude along the second stiff shaft is A
2, parameter phi is the angle of beating position and coordinate axis, and θ is the angle of the first stiff shaft and coordinate axis, and the resonance frequency of stationary wave vibration I is ω
1, the resonance frequency of stationary wave vibration II is ω
2, damping is ζ, obtains the vibration mode synthesizing standing wave:
(2) analyze according to the vibration mode of above-mentioned synthesis standing wave, by analyzing the parameter in matching determination formula, the φ-θ item in formula determines the stiff shaft orientation of harmonic oscillator; Δ ω=ω
1-ω
2react the frequency cracking of harmonic oscillator;
for the phase place change after standing wave superposition.
As a further improvement on the present invention: in step (2), when stiff shaft position angle φ-θ is 0, the amplitude meeting Uniform attenuation of the stationary wave vibration after synthesis; When stiff shaft position angle φ-θ is not 0, the stationary wave vibration amplitude attenuation after synthesis can present periodic vibration; Period of oscillation has reacted the frequency cracking of harmonic oscillator, and frequency cracking is larger, and it is faster that amplitude is vibrated; The difference reflects of crest and the trough orientation of stiff shaft, azimuthal sine value of stiff shaft is larger, and the difference of crest and trough is larger.
As a further improvement on the present invention: the amplitude attenuation of sound wave has reacted the ζ item in formula; Distance between ripple knot has reacted the Δ ω item in formula; Sin [4 (φ-θ)] item in different responses between Wave crest and wave trough formula.
As a further improvement on the present invention: under described step (1) uses microphone location equipment standing wave aural signal to be recorded.
Compared with prior art, the invention has the advantages that: the defining method of cylinder oscillation gyro harmonic oscillator stiff shaft orientation of the present invention and frequency cracking, principle is simple, easy and simple to handle, efficiency is high, only need by knocking harmonic oscillator, produce sound wave, then sound wave is analyzed to the vibration information that just conveniently can obtain harmonic oscillator, differentiate stiff shaft orientation and frequency cracking, cost is minimum.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of cylinder oscillation gyro and principle of work thereof.
Fig. 2 is the principle schematic of gyro stationary wave vibration superposition.
Fig. 3 is the standing wave pictorial diagram of each harmonic oscillator.
Fig. 4 is the schematic flow sheet of the inventive method.
Fig. 5 be the present invention in embody rule example, utilize audio graphics to judge harmonic oscillator azimuth of vibration, frequency cracking schematic diagram.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 4, the defining method of cylinder oscillation gyro harmonic oscillator stiff shaft orientation of the present invention and frequency cracking, testing process is:
(1) rap at harmonic oscillator edge, send the standing wave sound, record as sound signal; When embody rule, microphone location equipment can be used under above-mentioned standing wave aural signal record;
(2) sound signal that step (1) collects imported in the form of a file in disposal system, by analyzing, the parameter in matching determination formula (3), stiff shaft orientation, the frequency cracking of harmonic oscillator are also just decided.
In above-mentioned testing process, ultimate principle of the present invention is: when rapping harmonic oscillator along cylindrical shell marginal position, and harmonic oscillator can produce stationary wave vibration by nature, and sends the sound.According to modal superposition rule, this stationary wave vibration can be regarded as and is formed by stacking by the standing wave along two stiff shafts (first stiff shaft 3 and the second stiff shaft 4), as shown in Figure 2.If the amplitude of synthesis standing wave is A, the standing wave amplitude along the first stiff shaft 3 is A
1, the standing wave amplitude along the second stiff shaft 4 is A
2.The inevitable angle at 45 ° of first stiff shaft 3 of imperfect harmonic oscillator and the second stiff shaft 4, then can obtain relation between them as shown in the formula (1) by energy principle and deformation principle:
(1)
A＝A
1cos[2(φ-θ)]+A
2sin[2(φ-θ]]
Wherein, parameter phi is the angle of beating position and coordinate axis, and θ is the angle of the first stiff shaft 3 and coordinate axis, and as shown in Figure 2, so the solution of equation (1) is:
A
1＝Acos2(φ-θ)
(2)
A
2＝Asin2(φ-θ)
The resonance frequency of stationary wave vibration I is ω
1, the resonance frequency of stationary wave vibration II is ω
2, and the impact of damping ζ is taken into account, the vibration mode synthesizing standing wave can be obtained:
φ-θ item in formula (3) determines the stiff shaft orientation of harmonic oscillator; Δ ω=ω
1-ω
2, reacted the frequency cracking of harmonic oscillator.In formula (3)
for the phase place change after standing wave superposition.
According to above formula (3), draw out the standing wave figure of each harmonic oscillator in following table 1 with mathematical software, as shown in Figure 3.
Table 1 harmonic oscillator parameter
As shown in Figure 3, when stiff shaft position angle φ-θ is 0, the amplitude meeting Uniform attenuation of the stationary wave vibration after synthesis; When stiff shaft position angle φ-θ is not 0, the stationary wave vibration amplitude attenuation after synthesis can present periodic vibration.Period of oscillation has reacted the frequency cracking of harmonic oscillator, and frequency cracking is larger, and it is faster that amplitude is vibrated; The difference reflects of crest and the trough orientation of stiff shaft, azimuthal sine value of stiff shaft is larger, and the difference of crest and trough is larger.
Because harmonic oscillator stationary wave vibration passes ripple by air, that namely hears in atmosphere knocks the sound.So, by detecting this sound wave, just can analyze the parameter that sound wave obtains in formula (3) easily, thus knowing stiff shaft orientation and the frequency cracking of harmonic oscillator.
Fig. 5 is the one section of acoustic waveform figure enrolled in embody rule example, and the amplitude attenuation of sound wave has reacted the ζ item in formula (3); Distance between ripple knot has reacted the Δ ω item in formula (3); And sin [4 (φ-the θ)] item in different responses between Wave crest and wave trough formula (3).Through simple matching and parameter recognition, so obtain frequency cracking Δ ω=5.2Hz; Included angle-θ=21 ° of the first stiff shaft 3 and beating position.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (4)
1. a defining method for cylinder oscillation gyro harmonic oscillator stiff shaft orientation and frequency cracking, is characterized in that, step is:
(1) rap at harmonic oscillator edge, produce stationary wave vibration and send the sound, recording as sound signal;
Described stationary wave vibration is formed by stacking by the standing wave along the first stiff shaft and the second stiff shaft, if the amplitude of synthesis standing wave is A, the standing wave amplitude along the first stiff shaft is A
1, the standing wave amplitude along the second stiff shaft is A
2, parameter phi is the angle of beating position and coordinate axis, and θ is the angle of the first stiff shaft and coordinate axis, and the resonance frequency of stationary wave vibration I is ω
1, the resonance frequency of stationary wave vibration II is ω
2, damping is ζ, obtains the vibration mode synthesizing standing wave:
(2) analyze according to the vibration mode of above-mentioned synthesis standing wave, by analyzing the parameter in matching determination formula, the φ-θ item in formula determines the stiff shaft orientation of harmonic oscillator; △ ω=ω
1-ω
2react the frequency cracking of harmonic oscillator;
for the phase place change after standing wave superposition.
2. the defining method of cylinder oscillation gyro harmonic oscillator stiff shaft orientation according to claim 1 and frequency cracking, it is characterized in that, in step (2), when stiff shaft position angle φ-θ is 0, the amplitude meeting Uniform attenuation of the stationary wave vibration after synthesis; When stiff shaft position angle φ-θ is not 0, the stationary wave vibration amplitude attenuation after synthesis can present periodic vibration; Period of oscillation has reacted the frequency cracking of harmonic oscillator, and frequency cracking is larger, and it is faster that amplitude is vibrated; The difference reflects of crest and the trough orientation of stiff shaft, azimuthal sine value of stiff shaft is larger, and the difference of crest and trough is larger.
3. the defining method of cylinder oscillation gyro harmonic oscillator stiff shaft orientation according to claim 2 and frequency cracking, is characterized in that, the amplitude attenuation of sound wave has reacted the ζ item in formula; Distance between ripple knot has reacted the △ ω item in formula; Sin [4 (φ-θ)] item in different responses between Wave crest and wave trough formula.
4. the cylinder oscillation gyro harmonic oscillator stiff shaft orientation according to claim 1 or 2 or 3 and the defining method of frequency cracking, is characterized in that, under described step (1) uses microphone location equipment standing wave aural signal to be recorded.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104848875A (en) * | 2015-05-18 | 2015-08-19 | 中国人民解放军国防科学技术大学 | Non-contact drive detecting system and non-contact drive detecting method for cup-shaped harmonic oscillator of cup-shaped fluctuation gyro |
| CN105865430A (en) * | 2016-05-03 | 2016-08-17 | 中国人民解放军国防科学技术大学 | Shape modification system and method based on chemical etching and used for integrated quartz cylindrical shell harmonic oscillator |
| CN107843269A (en) * | 2017-09-30 | 2018-03-27 | 中国人民解放军国防科技大学 | Method and device for screening cylindrical shell vibrating gyroscope harmonic oscillators |
| CN108844555A (en) * | 2018-07-04 | 2018-11-20 | 中国人民解放军国防科技大学 | Method and system for determining unbalanced mass of gyro harmonic oscillator with cylindrical shell |
| CN109238308A (en) * | 2018-10-31 | 2019-01-18 | 中国船舶重工集团公司第七0七研究所 | A kind of the high-accuracy modal test system and test method of metal tubular resonant gyroscope |
| CN110595509A (en) * | 2019-09-30 | 2019-12-20 | 中国船舶重工集团公司第七0七研究所 | Knocking device for parameter test of low-damping harmonic oscillator |
| CN111536994A (en) * | 2020-04-29 | 2020-08-14 | 中国人民解放军国防科技大学 | Resonant micro gyroscope multi-mode cooperative control method and system and resonant micro gyroscope |
| CN113899365A (en) * | 2021-11-22 | 2022-01-07 | 哈尔滨工业大学 | Standing wave azimuth angle measurement method based on asymmetric parameter identification of hemispherical resonator gyroscope detection channel |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104848875B (en) * | 2015-05-18 | 2016-11-30 | 中国人民解放军国防科学技术大学 | The noncontact driving detecting system of the cup-shaped harmonic oscillator of cup-shaped fluctuation gyro and method |
| CN104848875A (en) * | 2015-05-18 | 2015-08-19 | 中国人民解放军国防科学技术大学 | Non-contact drive detecting system and non-contact drive detecting method for cup-shaped harmonic oscillator of cup-shaped fluctuation gyro |
| CN105865430B (en) * | 2016-05-03 | 2019-03-26 | 中国人民解放军国防科学技术大学 | Based on the sub- correction of the flank shape system and method for chemical etching integral type quartz cylinder case resonant |
| CN105865430A (en) * | 2016-05-03 | 2016-08-17 | 中国人民解放军国防科学技术大学 | Shape modification system and method based on chemical etching and used for integrated quartz cylindrical shell harmonic oscillator |
| CN107843269A (en) * | 2017-09-30 | 2018-03-27 | 中国人民解放军国防科技大学 | Method and device for screening cylindrical shell vibrating gyroscope harmonic oscillators |
| CN107843269B (en) * | 2017-09-30 | 2019-11-08 | 中国人民解放军国防科技大学 | Method and device for screening cylindrical shell vibrating gyroscope harmonic oscillators |
| CN108844555A (en) * | 2018-07-04 | 2018-11-20 | 中国人民解放军国防科技大学 | Method and system for determining unbalanced mass of gyro harmonic oscillator with cylindrical shell |
| CN108844555B (en) * | 2018-07-04 | 2020-12-04 | 中国人民解放军国防科技大学 | Method and system for determining unbalanced mass of gyro harmonic oscillator with cylindrical shell |
| CN109238308A (en) * | 2018-10-31 | 2019-01-18 | 中国船舶重工集团公司第七0七研究所 | A kind of the high-accuracy modal test system and test method of metal tubular resonant gyroscope |
| CN110595509A (en) * | 2019-09-30 | 2019-12-20 | 中国船舶重工集团公司第七0七研究所 | Knocking device for parameter test of low-damping harmonic oscillator |
| CN111536994A (en) * | 2020-04-29 | 2020-08-14 | 中国人民解放军国防科技大学 | Resonant micro gyroscope multi-mode cooperative control method and system and resonant micro gyroscope |
| CN111536994B (en) * | 2020-04-29 | 2021-09-24 | 中国人民解放军国防科技大学 | Resonant micro gyroscope multi-mode cooperative control method and system and resonant micro gyroscope |
| CN113899365A (en) * | 2021-11-22 | 2022-01-07 | 哈尔滨工业大学 | Standing wave azimuth angle measurement method based on asymmetric parameter identification of hemispherical resonator gyroscope detection channel |
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