EP0436532A1 - Entrainement a oscillation de rotation - Google Patents

Entrainement a oscillation de rotation

Info

Publication number
EP0436532A1
EP0436532A1 EP89900239A EP89900239A EP0436532A1 EP 0436532 A1 EP0436532 A1 EP 0436532A1 EP 89900239 A EP89900239 A EP 89900239A EP 89900239 A EP89900239 A EP 89900239A EP 0436532 A1 EP0436532 A1 EP 0436532A1
Authority
EP
European Patent Office
Prior art keywords
wheel rim
torsional vibration
spokes
vibration drive
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP89900239A
Other languages
German (de)
English (en)
Inventor
Robert E. Carter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rockwell Collins Deutschland GmbH
Original Assignee
Teldix GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teldix GmbH filed Critical Teldix GmbH
Publication of EP0436532A1 publication Critical patent/EP0436532A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • C—CHEMISTRY; METALLURGY
    • C07—ORGANIC CHEMISTRY
    • C07F—ACYCLIC, CARBOCYCLIC OR HETEROCYCLIC COMPOUNDS CONTAINING ELEMENTS OTHER THAN CARBON, HYDROGEN, HALOGEN, OXYGEN, NITROGEN, SULFUR, SELENIUM OR TELLURIUM
    • C07F9/00—Compounds containing elements of Groups 5 or 15 of the Periodic Table
    • C07F9/02—Phosphorus compounds
    • C07F9/28—Phosphorus compounds with one or more P—C bonds
    • C07F9/38—Phosphonic acids [RP(=O)(OH)2]; Thiophosphonic acids ; [RP(=X1)(X2H)2(X1, X2 are each independently O, S or Se)]
    • 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
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G01C19/66—Ring laser gyrometers
    • G01C19/68—Lock-in prevention
    • G01C19/70—Lock-in prevention by mechanical means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28—HEAT EXCHANGE IN GENERAL
    • F28F—DETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
    • F28F1/00—Tubular elements; Assemblies of tubular elements
    • F28F1/10—Tubular elements and assemblies thereof with means for increasing heat-transfer area, e.g. with fins, with projections, with recesses
    • F28F1/40—Tubular elements and assemblies thereof with means for increasing heat-transfer area, e.g. with fins, with projections, with recesses the means being only inside the tubular element

Definitions

  • the invention relates to a torsional vibration drive with the features of the preamble of claim 1.
  • Ring laser gyroscopes can measure rotational speeds with great accuracy.
  • ring laser gyroscopes cannot measure very small rotational speeds without special countermeasures, since the frequencies of the two light waves rotating in opposite directions, due to an inertial rotation, converge on a common one Pull intermediate frequency together (pull-in effect of coupled oscillators, so-called lock-in effect).
  • the size of this Tatzone which extends around the rotational speed zero point, can be influenced by a number of laser gyro-specific design criteria, but remains so large even with the best possible design of the relevant parameters that the rotational speed measurement error in almost all practical applications, e.g. B. in position control or even more so in navigation systems is unacceptable.
  • the laser gyroscope is set in uniform rotational vibrations about an axis that is perpendicular to the beam path plane.
  • the time period during which frequency synchronization takes place at the turning points of the torsional vibration of the laser gyroscope is determined by the maximum amplitude and the frequency of the vibration and can thus be minimized.
  • the measurement error of the laser gyro still remaining in this regard is thus significantly reduced. Due to the torsional vibration, no structural deformation of the base body, such as B periodic stretching, compression or bending are caused, since this leads to incorrect measurement behavior of the laser gyro due to a periodic or non-periodic loss modulation of the optical resonator.
  • the torsion transducers have spokes of uniform cross-section, on which piezoceramic plates are applied and which thus represent multilayer bending elements. If an electrical voltage is applied r , a bending moment is generated in the spokes, which results in a torque acting on the wheel rim. Usually, the voltage is excited, the frequency of which corresponds to the resonance frequency of the system.
  • the mass of the laser body is usually very large and the space allowed for the vibration mechanism is very small. This means that the rotary transducer must be made of a material that has a modulus of elasticity that is comparable to that of steel.
  • the axis of rotation must be kept stable. This requires that the rotary oscillator has extremely high stiffness about all axes except the axis of rotation, which in turn requires that the spokes parallel to the axis of rotation are as extensive as possible.
  • the operating amplitude is usually limited by the surface tensile strength of the piezoceramic.
  • the finished device must be suitable to be operated in an extended ambient temperature range, as is required by various user specifications.
  • the vibration generator must be connected to the gyro block by means of a coupling which prevents structural deformation of the gyro block due to thermal expansion in the radial direction.
  • This coupling can be simple, such as. B. a thick layer of elastic material or complicated, such as. B. a multi-part three-dimensional bending element.
  • the result is a coupling that is very stiff in the direction of rotation and very flexible in the radial direction.
  • this coupling represents a limitation in the performance of the gyroscope, since it reduces the axis rigidity.
  • Arrangements according to the prior art are made of steel with a low coefficient of expansion, e.g. Made in Invar and consist of a central pin, four or six flat spokes with a uniform rectangular cross-section and a cylindrical wheel rim, which also has a uniform rectangular cross-section.
  • Piezoceramic plates are applied to the side surfaces of each spoke, all of which are simultaneously subjected to a high voltage of such a frequency that the system oscillates at its resonance frequency.
  • the present invention proposes a specially designed rotary oscillator with a piezo drive for laser gyroscope, which is suitable for being operated at a significantly increased frequency and amplitude.
  • the rotary transducer according to the invention is constructed similarly to the previous rotary transducers: it is made from a single block of steel with low thermal expansion and has a central hub which, for. B. is attached to the carrier vehicle, and further has spokes and a wheel rim, both of which have a uniform rectangular cross-section.
  • the spokes are attached to the wheel rim using a special bending element.
  • This bending element is designed in such a way that it works like a joint which has a great flexibility for bending movements in the plane perpendicular to the axis of rotation, but which has a high rigidity for bending movements outside this plane.
  • the joint decouples the wheel rim from the bending moment at the outer end of the spokes. This avoids the usual deformation of the wheel rim, which would either be transferred to the gyro block, or dissipate valuable vibration energy into the wheel rim / gyro base body connection. The result is that higher mechanical quality can be achieved. Exemplary embodiments are explained on the basis of the drawing.
  • FIG. 1 shows a top view of a rotary oscillator according to the invention
  • Fig. 2 shows a connection of Fig. 1 in detail
  • 3A and 3B show spoke connections with or without the special joint according to the invention.
  • 5A and 5B show spoke and wheel rim deflections, as are typical for the prior art and for the invention.
  • Fig. 1 an embodiment of a rotary oscillator according to the invention is shown in supervision.
  • a hub 1 is held by four projections 2, which are fixed to a fastening plate (not shown) with the aid of four bolts, not shown, which are inserted through bores 3.
  • Four spokes 4 are provided which extend outward from the hub 1 and which are connected to a cylindrical wheel rim 5 via special joints 6.
  • a laser gyroscope block which is not shown, has a central fastening opening into which the wheel rim 5 is fitted. This connection represents the only holder of the laser gyroscope block.
  • Thin piezoceramic plates 7 and 8, which are provided with electrodes on their large surfaces, are applied to the two sides of each spoke in a form-fitting manner over the entire surface.
  • the outer electrodes 9 and 10 of the plates 7 and 8 are all electrically connected to a terminal of an AC voltage source (not shown).
  • the other source clamp is connected to the body of the rotary transducer.
  • the piezoceramic plates all have retentive polarization vectors which are directed in the anti-clockwise direction in FIG. Then the application of a positive potential to the outer electrodes of the piezo-ceramic plates causes a moment on the wheel rim 5 in the clockwise direction.
  • the rotary transducer can be made of Invar or a similar alloy and has a diameter of approximately 5.5 cm and a height (thickness) of approximately 3 cm.
  • Four spokes 4 are preferably provided, which have a width (dimension between the plates 7 and 8) of a few millimeters and radial lengths of about 10 or more millimeters.
  • the hub 1 is made as stable as possible in the remaining space in order to avoid bending contributions of the hub.
  • the height of the joint is preferably as large as that of the entire rotary oscillator (about 3 cm).
  • both a translatory force 8 and a torque 9 act on the end of the spoke 4 at 6D.
  • the joint is designed so that when the forces occur, the segments 6A, 6B and 6C together form a flexible torsion spring around the point 6D and thus decouple the moment 9 from the end of the spoke.
  • the segments 6A and 6C are, however, very rigid with regard to compression or pull in the direction of the translational force 8. As a result, the full translational force 8 actually reaches the spoke end 6D. As a result, the spoke behaves almost like a free bar that is only clamped on one side to the hub and is exposed to a point load at the tip.
  • the bending element 6B is also pressure-resistant in the radial direction, as a result of which undesirable transverse vibrations that would otherwise occur are avoided.
  • the elements 6A, 6B and 6C have the same height (thickness) as the rotary oscillator, they have a high torsional stiffness for forces which act around axes which do not coincide with the desired axis of the gyro rotation.
  • the thickness and length of the elements 6A, 6B and 6C are of the order of 1 mm.
  • FIG. 3A shows a spoke 11 according to the prior art, which starts from the hub 12 and here is rigidly connected to the wheel rim 13. If the wheel rim 13 is rotated by the angle x, then the dashed curve of the bent spoke results.
  • the spoke has a characteristic double bend, that is to say it has an S shape.
  • FIG. 3B shows a similar spoke 11, which is connected to the wheel rim 13 via a flexible joint 15. If the wheel rim 13 is rotated by the same angle x, the spoke 11 must be subjected to less bending in this embodiment; this results in a much smaller surface stress on the piezo elements 14. It has been shown that, even if the spokes according to FIGS. 3A and 3B have the same stiffness, the advantage of the design of FIG. 3B is retained, that is to say the surface tension of the ceramic does not represent any limitation with respect to the achievable amplitude.
  • bending elements 22A and 22B which are intended to represent two adjacent spokes of the rotary oscillator, are fastened to a base body 21 which is to correspond to the hub and to a rigid block 23 which is to correspond to the wheel rim.
  • flexure 22B When flexure 22B is energized to move its right end in the direction of arrow 24, flexure 22A, which is pressurized as a passive column and acts as a lever through block 23, generates torque at the tip of flexure 22B , which almost completely counteracts the bending element produced by the piezo elements.
  • joints 26, which represent the bending elements of the present invention decouple the rotary activities of the bending elements 22A and 22B from the translational activity, which makes it possible to derive almost all of the work that can be achieved from the bending elements.
  • 5A schematically shows the bending pattern of a rotary oscillator, the spokes of which are rigidly connected to the wheel rim and which was rotated in the direction of arrow 31.
  • the resulting movements of parts of the wheel rim in radial directions 32 create difficulties for fastening the gyro block to the rotary oscillator.
  • connection is rigid and even, the oscillating deformations are transferred to the gyro block.
  • 5B shows the bending pattern of a rotary oscillator which, according to the invention, has bends influenced by joints. In this case, the previously shown difficulties with the attachment of the wheel cross / gyro block cannot occur.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Organic Chemistry (AREA)
  • Power Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Health & Medical Sciences (AREA)
  • Geometry (AREA)
  • Thermal Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Gyroscopes (AREA)
  • Treatments For Attaching Organic Compounds To Fibrous Goods (AREA)

Abstract

Entraînement à oscillation de rotation pour laser gyroscopique comportant un moyeu, des rayons et une jante extérieure, avec des piézocéramiques disposées sur les rayons. A la jonction des rayons et de la jante sont disposés des éléments de flexion qui assurent une grande flexibilité dans les rotations de la jante autour de l'axe de l'entraînement.
EP89900239A 1988-02-24 1988-12-14 Entrainement a oscillation de rotation Ceased EP0436532A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3805631A DE3805631A1 (de) 1988-02-24 1988-02-24 Drehschwingungsantrieb
DE3805631 1988-02-24

Publications (1)

Publication Number Publication Date
EP0436532A1 true EP0436532A1 (fr) 1991-07-17

Family

ID=6347974

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89900239A Ceased EP0436532A1 (fr) 1988-02-24 1988-12-14 Entrainement a oscillation de rotation

Country Status (6)

Country Link
US (1) US5063321A (fr)
EP (1) EP0436532A1 (fr)
JP (1) JPH03502856A (fr)
KR (1) KR890013041A (fr)
DE (1) DE3805631A1 (fr)
WO (1) WO1989008237A1 (fr)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4038020A1 (de) * 1989-12-16 1991-06-20 Teldix Gmbh Schrittmotor zum antrieb eines koerpers, insbesondere einer welle, um kleine drehwinkel pro schritt
WO1992019018A1 (fr) * 1991-04-17 1992-10-29 Motorola, Inc. Resonateur piezoelectrique
US5281884A (en) * 1992-06-03 1994-01-25 At&T Bell Laboratories Adjustable X-Y stage
IT1279061B1 (it) * 1995-11-21 1997-12-04 Pirelli Vibratore torsionale
US5950995A (en) * 1997-12-04 1999-09-14 Honeywell Inc. Ring laser gyroscope dither motor structure
US5867270A (en) * 1997-12-04 1999-02-02 Honeywell Inc. Mechanism and method for mounting piezoelectric transducers
JP3939048B2 (ja) * 1999-05-17 2007-06-27 セイコーインスツル株式会社 圧電アクチュエータ
JP3436727B2 (ja) 1999-10-01 2003-08-18 日本碍子株式会社 圧電／電歪デバイス及びその製造方法
JP3436735B2 (ja) * 1999-10-01 2003-08-18 日本碍子株式会社 圧電／電歪デバイス及びその製造方法
EP1139450A4 (fr) * 1999-10-01 2007-04-04 Ngk Insulators Ltd Dispositif piezo-electrique / electrostrictif
US6404109B1 (en) 1999-10-01 2002-06-11 Ngk Insulators, Ltd. Piezoelectric/electrostrictive device having increased strength
JP3845544B2 (ja) * 1999-10-01 2006-11-15 日本碍子株式会社 圧電／電歪デバイス及びその製造方法
US6525448B1 (en) 1999-10-01 2003-02-25 Ngk Insulators Ltd Piezoelectric/electrostrictive device
JP3845543B2 (ja) * 1999-10-01 2006-11-15 日本碍子株式会社 圧電／電歪デバイス及びその製造方法
US6873087B1 (en) * 1999-10-29 2005-03-29 Board Of Regents, The University Of Texas System High precision orientation alignment and gap control stages for imprint lithography processes
US7432634B2 (en) 2000-10-27 2008-10-07 Board Of Regents, University Of Texas System Remote center compliant flexure device
CN1262883C (zh) 2000-07-17 2006-07-05 得克萨斯州大学***董事会 影印用于平版印刷工艺中的自动化液体分配的方法和***
JP4669222B2 (ja) * 2001-10-22 2011-04-13 ミニスイス・ソシエテ・アノニム 圧電駆動装置
US7027156B2 (en) 2002-08-01 2006-04-11 Molecular Imprints, Inc. Scatterometry alignment for imprint lithography
US8349241B2 (en) 2002-10-04 2013-01-08 Molecular Imprints, Inc. Method to arrange features on a substrate to replicate features having minimal dimensional variability
US6929762B2 (en) 2002-11-13 2005-08-16 Molecular Imprints, Inc. Method of reducing pattern distortions during imprint lithography processes
US6871558B2 (en) 2002-12-12 2005-03-29 Molecular Imprints, Inc. Method for determining characteristics of substrate employing fluid geometries
US7452574B2 (en) 2003-02-27 2008-11-18 Molecular Imprints, Inc. Method to reduce adhesion between a polymerizable layer and a substrate employing a fluorine-containing layer
US7122079B2 (en) 2004-02-27 2006-10-17 Molecular Imprints, Inc. Composition for an etching mask comprising a silicon-containing material
US7157036B2 (en) 2003-06-17 2007-01-02 Molecular Imprints, Inc Method to reduce adhesion between a conformable region and a pattern of a mold
US7136150B2 (en) 2003-09-25 2006-11-14 Molecular Imprints, Inc. Imprint lithography template having opaque alignment marks
US8076386B2 (en) 2004-02-23 2011-12-13 Molecular Imprints, Inc. Materials for imprint lithography
US7906180B2 (en) 2004-02-27 2011-03-15 Molecular Imprints, Inc. Composition for an etching mask comprising a silicon-containing material
CN108288923A (zh) * 2018-02-13 2018-07-17 哈尔滨工业大学 一种多层式旋转型压电精密驱动器
CN110553638B (zh) * 2019-09-28 2024-06-07 中科天翼导航技术有限公司 一种激光陀螺的谐振子结构

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4115004A (en) * 1976-11-15 1978-09-19 Litton Systems, Inc. Counterbalanced oscillating ring laser gyro
US4314174A (en) * 1980-03-25 1982-02-02 Litton Systems, Inc. Piezoelectric transducer drive having temperature compensation
US4349183A (en) * 1980-08-04 1982-09-14 Litton Systems Inc. Spring for a ring laser gyro dither mechanism
US4436423A (en) * 1981-09-14 1984-03-13 The Singer Company Ring laser gyroscope suspension
GB2111297B (en) * 1981-10-28 1985-06-12 British Aerospace Oscillatory drive mechanisms
DE3150160A1 (de) * 1981-12-18 1983-06-30 Honeywell Gmbh, 6050 Offenbach Ringlaserkreisel
GB2178890B (en) * 1985-08-06 1989-06-07 Ferranti Plc Dither mechanism for ring laser gyroscope
US4790657A (en) * 1986-03-18 1988-12-13 Litton Systems, Inc. Ring laser gyroscope curved blade flexure and support ring assembly and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8908237A1 *

Also Published As

Publication number Publication date
DE3805631A1 (de) 1989-09-07
WO1989008237A1 (fr) 1989-09-08
KR890013041A (ko) 1989-09-21
US5063321A (en) 1991-11-05
JPH03502856A (ja) 1991-06-27

Similar Documents

Publication Publication Date Title
EP0436532A1 (fr) Entrainement a oscillation de rotation
DE69727756T2 (de) Drehgeschwindigkeitssensor
EP2803633B1 (fr) Dispositif doté d'un élément optique suspendu pivotant
DE10154526B4 (de) Piezoelektrisches Stellelement
DE19643182B4 (de) Schwingungskonstruktion
EP2208020B1 (fr) Capteur de vitesse de rotation
DE19530007C2 (de) Drehratensensor
DE10107327B4 (de) Zur Verhinderung einer unnötigen Oszillation geeigneter Winkelgeschwindigkeitssensor
EP0924778B1 (fr) Dispositif de propulsion pour trois éléments de rotation avec au moins deux organes d'entraînement à type piézoélectrique
DE3415630C2 (fr)
DE1523883C3 (de) Mechanischer Schwinger für Zeitmeßgeräte
DE3530057C2 (fr)
DE3704584A1 (de) Kraftsensor bzw. bezugsfrequenzgeber
DE69719012T2 (de) Monolithischer Drehgeschwindigkeitssensor mit Schwingbalken
EP1472506B1 (fr) Capteur de vitesse de rotation micromecanique
DE69310315T2 (de) Vibratordrehungsmessaufnehmer
DE68922453T2 (de) Schwingungswellen-Antriebsanordnung.
DE1797167A1 (de) U-foermiger mechanischer Vibrator
DE69709739T2 (de) Piezoelektrischer motor mit unabhängigen statormodulen
DE3150160C2 (fr)
DE3926504C2 (de) Schwingkreisel
DE3708661C2 (de) Ringlaser-Gyroskop mit Schwingbiegekörper
DE69422936T2 (de) Mehrachsiger Vibrationskreisel mit einem Stapel piezoelektischer Scheiben
WO2015188986A1 (fr) Composant micromécanique à deux axes d'oscillation et procédé de fabrication d'un composant micromécanique
DE19605648B4 (de) Piezoelektrisch schwingende gyrometrische Vorrichtung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19900619

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): DE FR GB IT

17Q First examination report despatched

Effective date: 19910827

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 19921101