CN115790976B - Method for testing working stability of H-shaped dynamic pressure motor of high-precision gyroscope - Google Patents
Method for testing working stability of H-shaped dynamic pressure motor of high-precision gyroscope Download PDFInfo
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Abstract
The invention relates to a testing method of an H-shaped dynamic pressure motor of a gyroscope, in particular to a testing method of the working stability of the H-shaped dynamic pressure motor of a high-precision gyroscope, which is used for solving the defects that the variation range of the position of the mass center of a rotor cannot be reflected by monitoring the working power stability of the H-shaped dynamic pressure motor, the repeatability of the position of the mass center of the rotor which is gradually started by the H-shaped dynamic pressure motor and the variation of the stability of the mass center of the rotor in the overturning process of the H-shaped dynamic pressure motor further cause the random drift of the gyroscope to be increased and the stability of a drift coefficient to be poor. According to the method for testing the working stability of the H-shaped dynamic pressure motor of the high-precision gyroscope, the displacement change of the center of mass of the rotor on the XOY surface is measured through the first sensor, the second sensor and the third sensor, the displacement change data of the center of mass of the rotor on the XOY surface of a space coordinate system is drawn into a displacement change curve on a plane coordinate system, and the working stability of the rotor of the H-shaped dynamic pressure motor is evaluated through interpreting the displacement change curve.
Description
Technical Field
The invention relates to a testing method of an H-shaped dynamic pressure motor of a gyroscope, in particular to a testing method of the working stability of the H-shaped dynamic pressure motor of a high-precision gyroscope.
Background
The dynamic pressure gyro motor is the core of a two-floating and three-floating gyro meter, provides stable momentum moment for the meter, and the stability of a rotor of the dynamic pressure gyro motor determines the interference moment of the gyro meter, so that the measurement attitude and the position precision of a space vehicle and a carrier are influenced.
Because the dynamic pressure gyro motor adopts a dynamic pressure air bearing, in the working process, the rotor and the stator are separated by pumping air pressure, and the working clearance is only 1-3 mu m. The working stability of the rotor of the dynamic pressure gyro motor is determined by the processing precision and the assembling precision of the air bearing for supporting the motor, the processing and assembling precision of the air bearing is required to be within hundreds of nanometers, the direct measurement cannot be usually carried out in the production process, and only the indirect reflection can be carried out through the measuring precision of an instrument after the dynamic pressure gyro motor is assembled to the instrument.
The H-type dynamic pressure motor is one kind of dynamic pressure gyro motor, and its rotor support form is formed from H-type air-bearing. However, due to the influence of processing and assembling errors, the center of mass of the rotor of the H-shaped dynamic pressure motor continuously fluctuates within a certain range during actual work, and after the H-shaped dynamic pressure motor is started successively, the center of mass of the rotor of the H-shaped dynamic pressure motor deviates, so that the random drift of the gyro meter is increased, and the stability of the drift coefficient is deteriorated.
The working stability of the rotor of the existing H-shaped dynamic pressure motor is indirectly reflected mainly by monitoring the working power stability of the H-shaped dynamic pressure motor, and because the change rate of the motor power is the comprehensive quantity reflecting the load change of the motor and can not subdivide the change corresponding to the position of the mass center of the rotor, the method has the following problems: (1) the variation range of the rotor centroid position cannot be reflected; (2) The repeatability of the mass center position of the rotor which is started by the H-shaped dynamic pressure motor one by one cannot be reflected; (3) The change of the stability of the center of mass of the rotor in the turning process of the H-shaped dynamic pressure motor cannot be reflected.
Disclosure of Invention
The invention aims to overcome the defects that the working power stability of an H-shaped dynamic pressure motor cannot reflect the change range of the center of mass position of a rotor, the repeatability of the center of mass position of the rotor of the H-shaped dynamic pressure motor when the H-shaped dynamic pressure motor is started successively and the change of the stability of the center of mass of the rotor of the H-shaped dynamic pressure motor in the overturning process cause the random drift of a gyroscope to be increased and the stability of a drift coefficient to be poor, and provides the method for testing the working stability of the H-shaped dynamic pressure motor of the high-precision gyroscope.
In order to solve the defects existing in the prior art, the invention provides the following technical solutions:
a method for testing the working stability of an H-shaped dynamic pressure motor of a high-precision gyroscope is characterized by comprising the following steps:
step 6, interpreting a displacement change curve;
and judging whether the plurality of mark points meet the preset requirements, if so, finishing the work stability test of the high-precision gyroscope H-shaped dynamic pressure motor, and otherwise, repairing the H-shaped dynamic pressure motor.
Furthermore, in step 3, the first sensor and the third sensor are both located on the Y axis and symmetrically distributed along the H-type dynamic pressure motor to be tested, and the second sensor is located on the XOY plane and has the same distance from the X axis and the Y axis; the first sensor, the second sensor and the third sensor are all capacitance sensors, and the measuring ends are all arranged close to the rotor.
Further, the step 4 specifically includes:
4.1, driving a rotating mechanism to rotate at the speed of r revolutions per minute after the H-shaped dynamic pressure motor to be tested works Amin;
step 4.2, when the H-shaped dynamic pressure motor to be tested rotates to the negative direction of the Y axis of the space coordinate system and is vertically upward, closing the rotating mechanism Amin;
4.3, driving the rotating mechanism to rotate continuously at the speed of r revolutions per minute, and closing the rotating mechanism when the H-shaped dynamic pressure motor to be tested rotates to the forward vertical upward direction of the Y axis of the space coordinate system; enabling the H-shaped dynamic pressure motor to be tested to continue to work Amin;
and acquiring displacement change data on an XOY surface of a rotor mass center space coordinate system from the stable work to the stop work process of the H-shaped dynamic pressure motor to be tested.
Further, in step 5, the setting of the plurality of mark points in the displacement variation curve specifically includes: defining the position coordinate of the rotor mass center in Amin of the step 4.1 as a; defining the position coordinate of the rotor mass center in Amin of the step 4.2 as e; defining the position coordinate of the rotor centroid in Amin of the step 4.3 as h; defining the lowest point on the Y axis in the displacement change curve as b, the highest point on the Y axis as f, the lowest point on the X axis as g, and the highest point on the X axis as c.
Further, the step 6 specifically includes:
step 6.1, making a maximum diameter circle on the track of the step a, judging whether the radius of the circle is not more than 0.01 mu m, if so, performing step 6.2, and otherwise, performing repair treatment on the H-shaped dynamic pressure motor;
6.2, performing linear regression calculation on the data of b and c, and the data of f and g, and judging whether the linearity of b and c, the linearity of f and the linearity of g are not more than 0.02 mu m, if so, performing step 6.3, otherwise, performing repair treatment on the H-type dynamic pressure motor;
step 6.3, making a maximum diameter circle on the track of the e, calculating a Y-axis coordinate value of the circle center, judging whether the absolute value of the Y-axis coordinate value of the circle center is less than 0.1 mu m, if so, performing step 6.4, otherwise, repairing the H-shaped dynamic pressure motor;
and 6.4, making a maximum diameter circle on the track of H, calculating the distance from the circle center to a point (0,0), judging whether the distance is less than 0.03 mu m, if so, completing the work stability test of the high-precision gyroscope H-shaped dynamic pressure motor, delivering the H-shaped dynamic pressure motor to be used for assembling a two-floating gyroscope, and otherwise, repairing the H-shaped dynamic pressure motor.
Further, in step 4, amin is 5-10min, and r is 1.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention relates to a method for testing the working stability of an H-shaped dynamic pressure motor of a high-precision gyroscope, which comprises the steps of measuring the displacement change of a rotor mass center on an XOY surface through a first sensor, a second sensor and a third sensor, drawing the displacement change data of the rotor mass center on the XOY surface of a space coordinate system into a displacement change curve on a plane coordinate system, and evaluating the working stability of the rotor of the H-shaped dynamic pressure motor by interpreting the displacement change curve; the invention solves the problem that the working stability of the rotor of the H-shaped dynamic pressure motor can not be directly measured, and can reflect the change range of the position of the mass center of the rotor, the repeatability of the position of the mass center of the rotor gradually started by the H-shaped dynamic pressure motor and the change of the stability of the mass center of the rotor in the turning process of the H-shaped dynamic pressure motor.
(2) The method for testing the working stability of the H-shaped dynamic pressure motor of the high-precision gyroscope can screen the H-shaped dynamic pressure motor with higher reliability, further ensure the random drift precision and coefficient stability of the two floating gyroscopes and greatly ensure the reliability and qualification rate of the two floating gyroscopes.
Drawings
Fig. 1 is a schematic distribution diagram of a first sensor, a second sensor and a third sensor in an embodiment of the method for testing the working stability of the H-type dynamic pressure motor of the high-precision gyroscope of the present invention;
fig. 2 is a schematic diagram of a spatial coordinate system established on an H-type dynamic pressure motor to be tested in the embodiment of the present invention;
FIG. 3 is a diagram illustrating a displacement variation curve obtained in step 5 according to an embodiment of the present invention.
The reference numerals are illustrated below: 1-a rotor; 2-a stator; 3-a first sensor; 4-a second sensor; 5-a third sensor.
Detailed Description
The invention will be further described with reference to the drawings and exemplary embodiments.
A method for testing the working stability of an H-shaped dynamic pressure motor of a high-precision gyroscope comprises the following steps:
the second sensor 4 is located on the XOY plane and is equidistant from the X-axis and the Y-axis for the purpose of: meanwhile, the sum of the displacement change vectors of the rotor 1 along the X axis and the Y axis of the space coordinate system is extracted, the measured value of the rotor 1 along the X axis of the space coordinate system is combined for proofreading through angle conversion, and then the displacement change of the rotor 1 along the X axis of the space coordinate system is calculated;
the measuring ends of the first sensor 3, the second sensor 4 and the third sensor 5 are all arranged close to the rotor 1; the first sensor 3, the second sensor 4 and the third sensor 5 are all capacitance sensors;
4.1, driving a rotating mechanism to rotate at the speed of 1 revolution per minute after the H-shaped dynamic pressure motor to be tested works for 5min;
step 4.2, when the H-shaped dynamic pressure motor to be tested rotates to the negative direction of the Y axis of the space coordinate system and is vertically upward, closing the rotating mechanism for 5min;
4.3, driving the rotating mechanism to continuously rotate at the speed of 1 revolution per minute, and closing the rotating mechanism when the H-shaped dynamic pressure motor to be tested rotates to the forward vertical upward direction of the Y axis of the space coordinate system; the H-shaped dynamic pressure motor to be tested continues to work for 5min;
acquiring displacement change data on an XOY surface of a rotor mass center space coordinate system from the stable work to the stop work process of the H-shaped dynamic pressure motor to be tested;
defining the position coordinate of the rotor mass center within 5min in the step 4.1 as a; defining the position coordinate of the rotor mass center within 5min in the step 4.2 as e; defining the position coordinate of the rotor mass center within 5min in the step 4.3 as h; defining the lowest point on a Y axis in a displacement change curve as b, the highest point on the Y axis as f, the lowest point on an X axis as g and the highest point on the X axis as c;
step 6, interpreting a displacement change curve;
step 6.1, making a maximum diameter circle on the track of the motor a, judging whether the radius of the maximum diameter circle is not more than 0.01 mu m, if so, performing step 6.2, and otherwise, repairing the H-shaped dynamic pressure motor;
6.2, performing linear regression calculation on the data of b and c, and the data of f and g, judging whether the linearity of b and c, the linearity of f and the linearity of g are not more than 0.02 mu m, if so, performing step 6.3, and otherwise, performing repair processing on the H-type dynamic pressure motor;
step 6.3, making a maximum diameter circle on the track of the e, calculating a Y-axis coordinate value of the circle center, judging whether the absolute value of the Y-axis coordinate value of the circle center is less than 0.1 mu m, if so, performing step 6.4, otherwise, repairing the H-shaped dynamic pressure motor;
and 6.4, making a maximum diameter circle on the track of H, calculating the distance from the circle center to a point (0,0), judging whether the distance is less than 0.03 mu m, if so, completing the work stability test of the high-precision gyroscope H-shaped dynamic pressure motor, delivering the H-shaped dynamic pressure motor to be used for assembling a two-floating gyroscope, and otherwise, repairing the H-shaped dynamic pressure motor.
After the H-type dynamic pressure motor tested by the invention is assembled with the two floating gyros, the starting and stopping failure probability of the two floating gyros is reduced by more than 90 percent, the random drift of the two floating gyros generally meets 0.0016 degree/H (sigma), and the scale factor stability of the two floating gyros is less than 1 multiplied by 10 -5 The qualification rate of the two-floating gyroscope is improved from 30 percent to over 60 percent.
The principle of measuring the displacement change of the rotor center of mass on the XOY plane through the first sensor, the second sensor and the third sensor is as follows:
each sensor and the rotor 1 form a parallel plate capacitor:
In the formula:
is the dielectric constant of the medium between the surface of the rotor 1 and the sensor in ^>
；/>
Is the plate area of a parallel plate capacitor in ^ 5>
；/>
Is the distance between the two plates of a parallel plate capacitor in unit>
；/>
Is a sensor capacitance in units of>
；
The diameter of the measuring head of the sensor cylinder is
End area thereof->
So substituting equation one:
The capacitive reactance of a parallel plate capacitor is:
In the formula:
measuring the power supply frequency of the circuit;
output voltage
(ii) a From the above equations one to three, in the effective measurementWithin the quantity range, the output voltage of the circuit is in direct proportion to the distance between the measuring end surface of each sensor and the surface of the rotor 1;
thus, equation three can be expressed as:
In the formula:
for measuring the calibration coefficient, the calibration coefficient can be calibrated by adjusting the measurement coordinate;
therefore, the real-time voltage output of each sensor can be acquired by high frequency, and the data is drawn by data processing software, so that a displacement change diagram of each sensor relative to the surface of the rotor 1 can be obtained, as shown in fig. 3.
The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (5)
1. The method for testing the working stability of the H-shaped dynamic pressure motor of the high-precision gyroscope is characterized by comprising the following steps of:
step 1, establishing a space coordinate system on an H-shaped dynamic pressure motor to be tested, wherein an original point O is the position of the mass center of a rotor, a Z axis is coincided with the axis of a stator (2), and an XOY plane is coincided with the radial plane of the rotor (1); fixing the stator (2) on a rotating mechanism, wherein the Z axis is horizontal, the Y axis is positive and vertical upwards, and the X axis is superposed with a rotating shaft of the rotating mechanism;
step 2, arranging a first sensor (3), a second sensor (4) and a third sensor (5) on the rotating mechanism, wherein the first sensor, the second sensor and the third sensor are used for measuring the displacement change of the center of mass of the rotor on an XOY plane; the first sensor (3) and the third sensor (5) are positioned on a Y axis and are symmetrically distributed along the H-shaped dynamic pressure motor to be tested, and the second sensor (4) is positioned on an XOY surface and is equal in distance from the X axis and the Y axis; the first sensor (3), the second sensor (4) and the third sensor (5) are all capacitance sensors, and the measuring ends are all arranged close to the rotor (1);
step 3, enabling the H-shaped dynamic pressure motor to be tested to stably work for more than 30min, and establishing a plane coordinate system by taking the position coordinate of the center of mass of the rotor at the moment as an origin (0,0) after ensuring that the temperature field of the H-shaped dynamic pressure motor is stable, wherein an XOY plane of the plane coordinate system is superposed with a radial plane of the rotor (1);
step 4, driving a rotating mechanism to enable the H-shaped dynamic pressure motor to be tested to rotate around the X axis for one circle, and collecting displacement change data on an XOY surface of a rotor mass center space coordinate system;
step 5, drawing a displacement change curve on a plane coordinate system according to the displacement change data of the rotor mass center on the XOY surface of the space coordinate system obtained in the step 4, and setting a plurality of mark points in the displacement change curve;
step 6, interpreting a displacement change curve;
and judging whether the plurality of mark points meet the preset requirements, if so, finishing the work stability test of the high-precision gyroscope H-shaped dynamic pressure motor, and otherwise, repairing the H-shaped dynamic pressure motor.
2. The method for testing the working stability of the H-type dynamic pressure motor of the high-precision gyroscope according to claim 1, wherein the step 4 specifically comprises:
4.1, driving a rotating mechanism to rotate at the rate of r revolutions per minute after the H-shaped dynamic pressure motor to be tested works Amin;
step 4.2, when the H-shaped dynamic pressure motor to be tested rotates to the negative direction of the Y axis of the space coordinate system and is vertically upward, closing the rotating mechanism Amin;
4.3, driving the rotating mechanism to continuously rotate at the rate of r revolutions per minute, and closing the rotating mechanism when the H-shaped dynamic pressure motor to be tested rotates to the positive vertical upward direction of the Y axis of the space coordinate system; enabling the H-shaped dynamic pressure motor to be tested to continue to work Amin;
and acquiring displacement change data on an XOY surface of a rotor mass center space coordinate system from the stable work to the stop work process of the H-shaped dynamic pressure motor to be tested.
3. The method for testing the operation stability of the H-type dynamic pressure motor of the high precision gyroscope of claim 2, wherein the method comprises the steps of: in step 5, the setting of the plurality of mark points in the displacement change curve specifically includes: defining the position coordinate of the rotor centroid in Amin of the step 4.1 as a; defining the position coordinate of the rotor mass center in Amin of the step 4.2 as e; defining the position coordinate of the rotor mass center in Amin of the step 4.3 as h; defining the lowest point on the Y axis in the displacement change curve as b, the highest point on the Y axis as f, the lowest point on the X axis as g, and the highest point on the X axis as c.
4. The method for testing the operation stability of the H-type dynamic pressure motor of the high precision gyroscope according to claim 3, wherein the step 6 is specifically:
step 6.1, making a maximum diameter circle on the track of the step a, judging whether the radius of the circle is not more than 0.01 mu m, if so, performing step 6.2, and otherwise, performing repair treatment on the H-shaped dynamic pressure motor;
6.2, performing linear regression calculation on the data of b and c, and the data of f and g, judging whether the linearity of b and c, the linearity of f and the linearity of g are not more than 0.02 mu m, if so, performing step 6.3, and otherwise, performing repair processing on the H-type dynamic pressure motor;
step 6.3, making a maximum diameter circle on the track of the e, calculating a Y-axis coordinate value of the circle center, judging whether the absolute value of the Y-axis coordinate value of the circle center is less than 0.1 mu m, if so, performing step 6.4, otherwise, repairing the H-shaped dynamic pressure motor;
and 6.4, making a maximum diameter circle on the track of H, calculating the distance from the circle center to a point (0,0), judging whether the distance is less than 0.03 mu m, if so, completing the work stability test of the H-shaped dynamic pressure motor of the high-precision gyroscope, and delivering the H-shaped dynamic pressure motor for assembling a two-floating gyroscope, otherwise, repairing the H-shaped dynamic pressure motor.
5. The method for testing the operation stability of the H-type dynamic pressure motor of the high precision gyroscope of claim 4, wherein the method comprises the steps of: in the step 4, the Amin is 5-10min, and the r is 1.
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