CN110926443A - Sensor for three-floating gyroscope and stator manufacturing process thereof - Google Patents
Sensor for three-floating gyroscope and stator manufacturing process thereof Download PDFInfo
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- 239000012790 adhesive layer Substances 0.000 claims abstract description 21
- 239000000565 sealant Substances 0.000 claims abstract description 14
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- 229910010293 ceramic material Inorganic materials 0.000 claims description 23
- MCMNRKCIXSYSNV-UHFFFAOYSA-N Zirconium dioxide Chemical compound O=[Zr]=O MCMNRKCIXSYSNV-UHFFFAOYSA-N 0.000 claims description 22
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- 238000002360 preparation method Methods 0.000 abstract description 3
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- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
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Abstract
The invention relates to a sensor, in particular to a sensor for a three-floating gyroscope and a stator preparation process thereof, which solve the problems of oil leakage of a sensor rotor and asymmetry of a sensor magnetic circuit in the existing moving coil type sensor device, wherein the sensor rotor comprises a rotor bracket, a rotor coil and a rotor potting adhesive layer; the rotor support is an annular support, an annular groove is formed in the circumferential direction of the outer circumferential surface of the annular support, and one side wall of the groove is a step surface; the rotor coil is wound in the small end of the groove; pouring sealant into the large end of the groove along the peripheral surface of the rotor coil to form a rotor pouring sealant layer; the first end face of the potting adhesive layer is tightly attached to the end face of the large end of the groove, and the second end face of the potting adhesive layer is flush with the end face of the rotor support; the sensor stator comprises an inner magnetic conductive ring and a plurality of magnetic poles, and the magnetic poles and the inner magnetic conductive ring are integrally arranged. Through optimizing the sensor structure, the gyro mass center does not drift obliquely with a certain slope trend any more, and the gyro precision and reliability can be ensured.
Description
Technical Field
The invention relates to a sensor, in particular to a sensor for a three-floating gyroscope.
Background
The three-floating gyroscope is mainly used in the fields of space satellites, open sea positioning, high-precision weapon systems and the like at present due to the advantages of small size, high precision, high reliability and the like. The random drift of the three-floating gyro with the highest precision in the world can reach 1.5 multiplied by 10-7The stable running time of the system can reach 1.0 multiplied by 10 per hour4h. Through decades of development, domestic three-floating gyroscope achieves a series of achievements, and the precision of the three-floating gyroscope is said to reach 5.0 multiplied by 10-5And (4) DEG/h. Compared with emerging gyros such as a fiber optic gyroscope, a laser gyroscope, a hemispherical resonator gyroscope and the like, the gyroscope still has advantages in the aspects of market, precision and engineering practice. However, in recent years, the development of the domestic three-floating gyroscope is relatively slow, and besides the gyroscope precision factor, the reliability problem is also a main factor for restricting the development of the gyroscope, such as the oil leakage problem of a rotor of the three-floating gyroscope sensor.
The three-floating gyroscope belongs to a single-degree-of-freedom integral gyroscope, when a gyroscope closed circuit normally works, a floater is often positioned near a zero position, the working angle is extremely small, and the smaller the zero position dead zone of a sensor is, the lower the self harmful interference torque is, the better the performance of the sensor is, and the higher the gyroscope precision is. At present, the three-floating-gyro sensor is mainly divided into a micro-synchronizer type sensor, a short-circuit turn sensor and a moving-coil type sensor. The rotor coaxiality of the micro-motion synchronizer type sensor is extremely high, basically in a micron order, the processing is very difficult, and the radial magnetic tension and the tangential magnetic tension exist, so that the integral random drift of the gyroscope is large; the short-circuit turn sensor has low sensitivity, high assembly process requirement, complex implementation and high difficulty. The moving-coil sensor has small zero dead zone and low self-interference torque relative to the first two sensors, is convenient to realize engineering, and can be made into a structure basically the same as a signal execution mechanism when being matched with the signal execution mechanism for use, so that the whole symmetry of the gyroscope is good, and the gyroscope is of great importance for various high-precision gyroscopes with nearly harsh parameter performances.
The structure schematic diagram of the three-floating gyroscope is shown in fig. 1, the structure assembly schematic diagram of the moving-coil sensor is shown in fig. 2a and fig. 2b, the gyroscope float generally adopts a cylindrical structure form, fig. 2b shows that the outer magnetic conduction ring 5, the stator 7 and the gyroscope end cover 23 are bonded together and fixed, and the sensor rotor 6 is bonded on the float frame 22. When the gyro float generates angular displacement relative to the gyro end cover, the sensor converts the mechanical angular displacement into an alternating current signal through an electromagnetic induction principle, and then the alternating current signal is finally fed back to the execution unit through the control circuit, and the torquer completes the reverse correction of the angular displacement of the gyro float around the output shaft. Therefore, once the oil leakage phenomenon of the sensor rotor directly causes the mass center of the gyroscope floater to change, the sensor and the torquer control unit do not correspondingly compensate the change of the mass center of the floater, the zero-order parameter output of the gyroscope can obliquely float along a certain slope, and finally the precision of the gyroscope is deteriorated or even loses the precision function.
As shown in fig. 3a, 3b and 4, the conventional moving-coil sensor rotor is composed of a rotor aluminum bracket 10, a rotor coil 11, a rotor lug 12, a rotor potting adhesive layer 8, and the like. The rotor aluminum support 10 is an annular support, an annular groove is formed in the circumferential direction of the outer circumferential surface of the rotor aluminum support, the rotor coil 11 is wound on the annular support along the bottom of the groove and is bonded through the coil bonding glue 9, and then the pouring glue is poured along the outer circumferential surface of the rotor coil 11 to form the rotor pouring glue layer 8.
As shown in fig. 8, the existing moving-coil sensor stator 7 adopts a bonding mode of 8 magnetic poles and an inner magnetic conductive ring, the bonding requires that the angular difference error of every two adjacent magnetic poles is less than or equal to 10', and the bonding precision is ensured by a tool. After bonding, 8 stator coils are respectively sleeved on the 8 magnetic poles, and then the whole assembly is packaged in the pouring sealant. The pouring sealant has the function of ensuring the mechanical parameters of the stator and the rotor not to deform to be stable.
The existing moving-coil sensor device mainly has the following defects:
1) when a rotor coil of the moving-coil sensor is bonded, a small amount of coil bonding glue is inevitably left between a rotor support and a pouring glue layer, the coil is damaged due to improper treatment of the bonding glue, and the coil has no resistance, so that the bonding glue cannot be removed 100%. When residual bonding glue exists between the rotor aluminum support and the pouring glue, due to different thermal expansion coefficients of the three, micro gaps which cannot be identified by a microscope may appear on contact surfaces of the sensor rotor and the three after the gyroscope is subjected to various environmental tests, gyroscope fluorine oil can penetrate into the gaps, and as a result, oil seepage of the gyroscope sensor rotor occurs at the coil bonding glue, and oil seepage occurs at the first rotor oil seepage point 14 and the second rotor oil seepage point 15; the mass change of the oil leakage rotor of the sensor rotor is almost milligram level or even sub-milligram level, the oil leakage rotor can only be identified through parameter change in the long-time test process of the gyroscope, the test identification process can be as long as months or even years, and the difficulty of inhibiting oil leakage of the rotor of the three-floating gyroscope is also the difficulty.
2) The working frequency of the moving-coil sensor can reach thousands of Hertz, the rotor aluminum support can generate eddy current, the eddy current can increase the zero voltage of the sensor, the zero dead zone of the sensor is enlarged, the gyro working near the zero is not allowed, and the eddy current reduction process treatment must be carried out on the rotor support. As shown in fig. 3b, the eddy current reduction process 13 for the rotor support is essentially to segment the aluminum support, divide the whole support into several parts, and break the whole eddy current into "whole parts" to finally achieve the purpose of reducing the eddy current. However, the aluminum support is segmented in the process of reducing the eddy current, and the problem of oil leakage of the contact surface of the adhesive, the rotor support and the pouring sealant is caused again.
3) 8 magnetic poles of the sensor stator and the inner magnetic conductive ring adopt a gluing process, the angle division precision is mainly guaranteed by a tool, and the angle division precision error is about +/-10'. Therefore, the unavoidable magnetic circuit asymmetry condition is generated among the stator, the rotor and the outer magnetic conductive ring of the sensor, and the zero voltage of the sensor is indirectly increased.
Disclosure of Invention
In order to solve the problems of oil leakage of a sensor rotor and asymmetry of a sensor magnetic circuit of the conventional moving coil type sensor device, the invention provides a sensor for a three-floating gyroscope.
The technical scheme of the invention is to provide a sensor for a three-floating gyroscope, which comprises an outer magnetic conductive ring, a sensor rotor and a sensor stator which are coaxially arranged from outside to inside in sequence;
it is characterized in that:
the sensor rotor comprises a rotor bracket, a rotor coil, a rotor lug plate and a rotor potting adhesive layer; the rotor support is an annular support, an annular groove is formed in the circumferential direction of the outer circumferential surface of the annular support, and one side wall of the groove is a step surface;
the rotor coil is wound in the small end of the groove along the circumferential direction of the bottom of the groove and is bonded by coil bonding glue; pouring sealant into the large end of the groove along the peripheral surface of the rotor coil to form a rotor pouring sealant layer; the first end face of the potting adhesive layer is tightly attached to the end face of the large end of the groove, and the second end face of the potting adhesive layer is flush with the end face of the rotor support;
the sensor stator comprises an inner magnetic conductive ring and a plurality of magnetic poles, and the magnetic poles and the inner magnetic conductive ring are integrally arranged.
Further, in order to solve the eddy current problem, the rotor support is made of machinable ceramic materials.
Further, the machinable ceramic material is a zirconia ceramic material.
Furthermore, in order to reduce the self-interference torque of the sensor, four grooves are formed along the outer peripheral surface of the rotor pouring sealant layer, the length directions of the four grooves are along the axial direction of the sensor rotor, and the four grooves are centrosymmetric with respect to the center of the sensor rotor; the rotor lugs are placed in two of the grooves.
The invention also provides a preparation process of the sensor stator in the sensor for the three-floating gyroscope, which comprises the following steps:
preparing ferrite by adopting a hot isostatic pressing process;
step two, machining the ferrite according to a given pattern, and reserving grinding allowance;
and step three, finishing the product by grinding step two until the product meets the requirements.
The invention has the beneficial effects that:
1) the structure of the sensor rotor is optimized, so that the problem of oil leakage of the rotor of the three-floating gyroscope is mainly solved, the mass center of the gyroscope does not drift obliquely in a certain slope trend any more, and the precision and the reliability of the gyroscope are ensured;
2) the invention replaces the material of the sensor rotor bracket with the machinable ceramic material, thereby solving the problem of large zero dead zone caused by the eddy current problem of the sensor; the characteristic of high resistivity of the ceramic material is utilized, the eddy current problem is solved, the support does not need to be subjected to eddy current reduction treatment, and the structure is simple and stable;
3) according to the invention, by further optimizing the material of the sensor rotor bracket and using the zirconia ceramic material to replace the processable ceramic material bracket, the problems of large harmful interference torque of the sensor and cracking and ovality of the rotor bracket caused by mismatching of the thermal expansion coefficients of the processable ceramic bracket and the gyro floater frame are solved; the rotor is not easy to deform and crack;
4) the sensor rotor symmetry design further reduces the self-interference torque of the sensor;
5) the invention reduces the assembly error through the optimization and improvement of the symmetry of the sensor stator structure. Under the condition that the external size of the three-floating-gyro sensor is not changed, the zero dead zone of the improved sensor is reduced by 20 percent, the interference moment of the sensor is reduced by 30 percent, and the overall performance of the sensor is obviously improved.
Drawings
FIG. 1 is a schematic diagram of a triple-flying gyroscope structure;
FIG. 2a is a front view of a prior art triple-gyro sensor;
FIG. 2b is a cross-sectional view of a prior art triple-gyro sensor;
FIG. 3a is a front view of a prior art sensor rotor structure;
FIG. 3b is a cross-sectional view of a prior art sensor rotor structure;
FIG. 4 is a schematic view of a prior art sensor rotor with a partially enlarged rotor oil penetration spot;
FIG. 5 is a front view of the sensor structure of the present invention;
FIG. 6 is a cross-sectional view of a sensor structure according to the present invention;
FIG. 7a is a front view of the sensor rotor structure of the present invention;
FIG. 7b is a cross-sectional view of a sensor rotor construction of the present invention;
FIG. 7c is an enlarged view of II in FIG. 7 b;
FIG. 7d is an enlarged view of III in FIG. 7 b;
FIG. 8 is a schematic view of a prior art sensor stator structure;
FIG. 9 is a schematic view of a sensor stator structure according to the present invention;
FIG. 10a is a front view of the optimized sensor rotor structure of the present invention;
fig. 10b is a cross-sectional view of the optimized sensor rotor structure of the present invention.
The reference numbers in the figures are: 1-sensor, 2-radial magnetic suspension, 3-axial magnetic suspension and 4-torquer;
5-outer magnetic conductive ring, 6-sensor rotor, 7-sensor stator;
8-rotor potting adhesive layer, 81-first end face of the potting adhesive layer, 82-big end face of the groove, 83-second end face of the potting adhesive layer, and 84-end face of the rotor bracket; 9-coil adhesive, 10-rotor aluminum support, 11-rotor coil, 12-rotor lug, 13-rotor support eddy current reduction treatment, 14-first rotor oil seepage point, and 15-second rotor oil seepage point;
16-a rotor support;
17-stator potting adhesive layer, 18-magnetic pole, 19-stator coil, 20-internal magnetic conduction ring and 21-groove;
22-top float frame, 23-top end cover.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 5 and 6, the sensor structure for a triple-floating gyroscope of the present invention is coaxially provided with an outer magnetic conductive ring 5, a sensor rotor 6, and a sensor stator 7 from outside to inside in sequence, and the three jointly form an angular displacement sensing system of a sensitive float relative to a gyroscope end cover. The outer magnetic conductive ring 5, the sensor stator 7 and the gyro end cover 23 are fixedly bonded together, and the sensor rotor 6 is bonded on the floater frame.
The sensor rotor comprises 1 rotor bracket 16, 4 rotor coils 11, 2 lugs 12, a rotor potting adhesive layer 8 and other parts and auxiliary articles; the stator comprises 1 internal magnetic conductive ring 20, 8 stator magnetic poles, 8 stator coils 19, a stator potting adhesive layer 17 and other parts and auxiliary articles.
The invention designs and optimizes the rotor support structure aiming at the oil leakage phenomenon of the sensor rotor. The improved sensor rotor is shown in fig. 7a, 7b, 7c and 7d, and comprises a rotor support 16, a rotor coil 11, a rotor lug 12 and a rotor potting adhesive layer 8; the rotor support 16 is an annular support, an annular groove is formed along the circumferential direction of the outer circumferential surface of the annular support, and one side wall of the annular groove is a step surface, as shown in fig. 7 d; the height of the other side wall is the same as the height of the small end of the one side wall, see fig. 7 b; the rotor coil 11 is wound in the small end of the groove along the circumferential direction of the bottom of the groove and is bonded by the coil bonding glue 9; the potting adhesive is poured into the groove large end along the outer peripheral surface of the rotor coil to form a rotor potting adhesive layer 8, as can be seen from the figure, a first end surface 81 of the potting adhesive layer is tightly attached to an end surface 82 of the annular groove large end, and a second end surface 83 of the potting adhesive layer is flush with an end surface 84 of the rotor bracket. After the structure is improved, the coil bonding glue is deeply buried in the contact surface of the pouring sealant and the bracket, the contact surface of the original rotor oil seepage position is changed into the direct contact of the bracket and the pouring sealant, and because the thermal expansion coefficient of the rotor bracket and the pouring sealant is much smaller than that of the bonding glue, small gaps are not easy to appear in an environmental test, so that the problem of the rotor oil seepage caused by the pollution of the coil bonding glue to the pouring sealant and the stress surface of the bracket is fundamentally solved by adopting the method.
The invention aims at the problem of oil leakage of the rotor caused by the eddy current reduction process of the sensor rotor aluminum support, and designs and optimizes the rotor support material. The rotor support is made of machinable ceramic material instead of aluminum material. The resistivity of the ceramic material is high and can reach 1.2 multiplied by 1014Omega cm, the problem of rotor eddy current can be solved because the support is not conductive after the machinable ceramic material is adopted as the rotor support, namely, the support does not need to be treated by the eddy current reducing process, and further, the support is not required to be treated by the eddy current reducing processThe problem of the oil leakage of the rotor caused by the vortex reduction process is solved, and the process is shown in fig. 7a, 7b and 7 c. It is also possible to replace the sensor rotor material with a machinable ceramic material for the zirconia ceramic material. The zirconia ceramic material has the following outstanding advantages:
a) the zirconia ceramic material has higher hardness, bending strength and compressive strength;
the sensor rotor support is a thin-walled part, the wall thickness is about 0.2-0.3 mm basically, and the rotor support capable of processing ceramic materials can crack and have poor form and position tolerance during processing. If the zirconia ceramic material is adopted, the problems of cracking and deformation are obviously improved due to higher hardness, bending strength and compressive strength of the material.
b) The thermal expansion coefficient of the zirconia ceramic material is more matched with that of the gyroscope floater frame;
coefficient of thermal expansion of 7.5 x 10 compared to machinable ceramic materials-6The thermal expansion coefficient of the zirconia ceramic material is 1.0 x 10 per DEG C-5V. C. The thermal expansion coefficient of the gyro float frame is 1.16 multiplied by 10-5The zirconia ceramic material is nearly equal to the float frame material/° c. When the sensor is subjected to the same external environment change, the external stress of the rotor of the zirconia ceramic material sensor is basically consistent with that of the gyro floater, and the harmful interference torque of the sensor is reduced.
The invention aims at the problem of asymmetric magnetic circuit caused by the adoption of a bonding process of the magnetic pole and the inner magnetic conductive ring of the sensor stator, optimizes the structure of the sensor stator, and adopts a new process technology to combine the magnetic pole 18 of the sensor stator and the inner magnetic conductive ring 20 into a whole by direct mechanical processing, as shown in figure 9.
The stator core material is a soft magnetic ferrite material, is particularly sensitive to stress due to the characteristics of the material, and is extremely easy to remove slag during processing. Therefore, the traditional process is to divide the stator core into a plurality of different parts which are easy to process and then bond the parts, so that the unavoidable magnetic circuit asymmetry condition is generated among the stator, the rotor and the outer magnetic conductive ring of the sensor, the zero voltage of the sensor is indirectly increased,
with the development of ferrite material preparation and processing technology, the ferrite is prepared by adopting a hot isostatic pressing process at present. Therefore, the ferrite is prepared by using the hot isostatic pressing process, so that the sintered stator ferrite has higher density, smaller molecular spacing and insensitivity to external stress; then the ferrite is machined, the machining is changed into grinding when the allowance size is reached, and the machining stress can be controlled by slowly grinding the stator core, so that the ferrite is not easy to drop slag, and the qualification rate is high. At present, the precision of the new machining process can be adjusted to the machining angle division error of the ferrite part to be about +/-3'. By adopting the method, the assembly error precision of the sensor stator is improved to 3 times of the original precision, the symmetry of a magnetic circuit is greatly improved, and the zero dead zone of the sensor is reduced.
The sensor rotor 6 has two rotor lug 12 parts as physical medium for the conduction of the power supply to the coil. For this purpose the sensor rotor 6 has to be designed with two recesses for the placement of the lugs. This makes the sensor rotor radial structure asymmetric, which can lead to additional detrimental disturbing moments for a three-floater high-precision inertial device. Therefore, the sensor rotor groove is changed from two positions to four positions, and the specific structure is shown in fig. 10a and 10b, namely, the sensor rotor groove also comprises two grooves 21. Although the function of only two lugs is realized, the optimized sensor rotor structure is centrosymmetric, and the sensor rotor structure has a further inhibiting effect on harmful disturbance moment of the gyroscope.
Claims (5)
1. A sensor for a three-floating gyroscope comprises an outer magnetic conductive ring (5), a sensor rotor (6) and a sensor stator (7) which are coaxially arranged from outside to inside in sequence;
the method is characterized in that:
the sensor rotor (6) comprises a rotor bracket (16), a rotor coil (11), a rotor lug plate (12) and a rotor potting adhesive layer (8); the rotor support (16) is an annular support, an annular groove is formed in the circumferential direction of the outer circumferential surface of the annular support, and one side wall of the groove is a step surface;
the rotor coil (11) is wound in the small end of the groove along the circumferential direction of the bottom of the groove and is bonded through coil bonding glue (9); pouring sealant is poured into the large end of the groove along the peripheral surface of the rotor coil (11) to form a rotor pouring sealant layer (8); the first end face (81) of the potting adhesive layer is tightly attached to the end face (82) of the large end of the groove, and the second end face (83) of the potting adhesive layer is flush with the end face (84) of the rotor support;
the sensor stator (7) comprises an inner magnetic conductive ring (20) and a plurality of magnetic poles (18), wherein the magnetic poles (18) and the inner magnetic conductive ring (20) are integrally arranged.
2. The sensor for a triple-floating gyroscope of claim 1, wherein: the rotor support (16) is made of machinable ceramic material.
3. The sensor for a triple-floating gyro according to claim 2, characterized in that: the machinable ceramic material is a zirconia ceramic material.
4. Sensor for a triple-flying gyroscope according to any of claims 1 to 3, characterized in that: four grooves are formed in the peripheral surface of the rotor potting adhesive layer (8), the length directions of the four grooves are along the axial direction of the sensor rotor (6), and the four grooves are centrosymmetric with respect to the center of the sensor rotor (6); the rotor lugs (12) are placed in two of the grooves.
5. A process for preparing a sensor stator for a sensor for a triple-flying gyroscope according to any one of claims 1 to 4, comprising the following steps:
preparing ferrite by adopting a hot isostatic pressing process;
step two, machining the ferrite according to a given pattern, and reserving grinding allowance;
and step three, finishing the product by grinding step two until the product meets the requirements.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212847A (en) * | 2020-08-25 | 2021-01-12 | 西安航天精密机电研究所 | Combined sensor for two floating gyroscopes |
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