一种球形气浮气动陀螺仪的研制及其相关技术的研究
摘要
自陀螺仪问世以来，因其具有不受制于任何外界信息而能测量出载体姿态信息的能力而被应用在航空、航天、航海等领域中。随着社会的进步，惯性技术的不断发展，以陀螺仪为核心器件的测量系统己从传统的军用市场走向广阔的民用市场。发展陀螺仪及其相关技术，一直是各国重点研究的内容之一，也成为衡量一个国家科技水平和军事实力的重要标志之一。除了不断开发新型陀螺仪以外，对已有的陀螺仪通过技术革新，提高精度、降低成本也具有重要的现实意义。虽然静电陀螺仪和液浮陀螺仪具有很高的精度，但是结构复杂，价格昂贵，应用不是广泛；而目前在研究的固体陀螺仪技术还不成熟，存在较多的技术难点要突破，要想达到更高的精度、更广泛的应用还需要投入大量的几力和财力进行探索和研究。相比较而言由于气体的粘度比液体粘度小，气体轴承具有摩擦阻力小、功耗低、转速高、无污染等优点，采用气体润滑的高速轴承能够提高仪表的可靠性、寿命和精度，气体润滑轴承的这些优点，使得它非常适合于惯性器件的制作，而且相对于已有的气浮陀螺仪来说有进一步提高精度、降低成本、简化结构、减小体积的可能。因此研制一种高精度、低成本、小型化的气浮陀螺仪具有重要的现实意义。
本文将气体轴承技术与气动技术有机的结合起来，提出了一种新型气浮气动陀螺仪的基本结构，建立了该陀螺仪的运动学模型，分析研究了转子圆周上的气动喷嘴、供气压力等相关参数对陀螺仪稳定工作性能的影响，同时分析了转子不平衡量等参数对陀螺仪漂移误差的影响情况，为陀螺仪的设计和加工提供了理论依据。
为进一步改善气浮气动陀螺仪的启停性能，减小陀螺转子启停过程的碰磨，延长该陀螺仪的使用寿命，提出了采用实心转子电机辅助驱动与制动的方案。通过施加电磁力矩后陀螺仪的动力学模型，分析研究了陀螺仪结构参数以及电机相关参数对气浮气动陀螺仪驱动及制动性能的影响规律，为选择和设计电机以保证气浮气动陀螺仪具有更好的启停性能奠定了基础。
要保证气浮气动陀螺仪转子能够稳定运转，首要任务就是要对气浮轴承进行动态设计，确定气浮轴承的动态特性参数。本文针对新型结构的气浮陀螺轴承提出了一种求解具有类似结构气体轴承动态性能的方法：通过相容性条件统一了狭缝气膜和球面润滑气膜，采用三角形有限单元划分统一后的气膜，以小扰动法为基础将陀螺轴承内的气膜压力分解为静态压力和动态压力两部分，通过迦辽金加二阶微分降为一阶微分，以降低对插值函数连续性的要求，根据气体流量守恒方程和稳态压力方程求解气膜内的稳态压力，进而求得动态压力和陀螺轴承气膜的动态特性系数，并分析陀螺仪轴承结构参数对动态性能的影响规律。
以陀螺仪轴承转子的动态性能参数为基础，根据陀螺仪转子的运动方程，得到陀螺轴承转子稳定运转时的临界稳定性方程，进而求得用临界质量来表示陀螺仪转子稳定运转的稳定性判据。根据此判据，分析陀螺仪轴承各结构参数对稳定性的影响规律，结合气体陀螺轴承的静态承载性能，对陀螺仪转子结构进行多目标优化设计，以其得到具有较高的静态承载性能和动态稳定性的结构。
为了陀螺仪能够稳定运转，减小由不平衡量引起的机械漂移误差，必须对陀螺仪转子进行平衡。本文针对新型结构的陀螺仪转子存在球心位置难以确定，质心不在转子实体上的特点，提出了辅助件初始静平衡气浮单摆精密静平衡动平衡的思路和方法，解决了该结构类型陀螺仪转子的平衡问题。
最后，在前面工作的基础上，对陀螺仪的加工误差以及气体陀螺轴承的各种性能进行了初步测试，初步验证了陀螺仪设计的正确性。
Gyroscope, which has the ability of measuring the attitude information of carrier without limiting to anything outside, is widely used in the aerospace and navigation field since it has come into the world. With the advancement of the society and the development of the inertia technology, the measurement system which is based on gyroscopes is going from the traditional military market to the widely civilian market. It is always an important mission for every country to develop gyroscopes and the technology, and that is an essential index for weighting the science level and military strength of a country. Besides exploiting new type gyroscopes continuously, it is very significant to modify the existing gyroscopes, improve their precision and inducing the cost. ESG and fluid floated gyroscope have high accuracy, but they are not widely used because of complicated structures and high price. The technique of solid gyroscopes being studied is needed to be proved, and there are many difficulties and problems to be solved. It will need a great deal of manpower and finance to improve the accuracy and make it further widely used. The viscosity of gas is lower than the liquid. The gas bearings have such advantage as low friction, less power consumption, high speed and less pollution, and the gas bearings with high speed can provide reliability, life and accuracy for the instrument. All these advantages of gas bearings make them not only being used in inertial device, but also has the possibility of improving accuracy, inducing cost, simplifying structure and deducing volume. So it has an important significance to development a new type gas gyroscope with low cost, high accuracy and simple structure.
Combining gas bearing technique with pneumatic technology, a new type gas floated pneumatic gyroscope is proposed in this paper. The motion equation of the gyroscope is erected, the influence of the parameters such as pneumatic nozzles mounting around the gyro-rotor, supply pressure etc on the driving performance of the gyroscopes is studied, at the same time the influence of the rotor’s unbalance on the gyroscope’s drift error is analyzed. All the above study provides the theoretical preparation for designing and manufacturing the gyroscope.
In order to improve the start-stop performance, prolong the life and deduce the disturbance, a scheme which adopt a motor with solid rotor to driving and braking the gyroscope auxiliary is put forward. According to the dynamic equation of the gyroscope with electromagnetic torque, the author study the influence of the structure parameters of the gyroscope and the motor parameters on the driving and braking performance, and this paper establish a foundation for having good start-stop performance by choosing and design motor.
To guarantee the gas floated pneumatic gyroscope rotor running steadily, the first job is to make dynamic design and determine the dynamic coefficients of the gas gyro-bearing. In viewing of the new type gas floated pneumatic gyroscope, this paper put forward a method which can solve the dynamic characteristics of the similar structure: the slot film and spherical film are united by compatibility condition, and the united film is meshed by triangular finite elements. Based on small perturbation theory, the pressure of the united film in the gas gyro-bearing is decomposed into two parts: static pressure and dynamic pressure; the Reynolds equation can be deduced from two order to one order by Galerkin residual method, and it can decrease the requirement to the interpolation function. Based on the flow conservation function and the static pressure function, the static pressure in the film can be obtained, the dynamic pressure and dynamic coefficients of gas film can also be achieved, and the influence of different structure parameters on the dynamic coefficient is also analyzed.
Based on the dynamic coefficients and the motional function of the gas gyro-rotor, the critical stability equation of the gyro-rotor running steadily is obtained, and the critical mass, which is used as the stability criterion to determine whether the gas gyro-rotor is stable or not, is also obtained. Based on the stability criterion, the influence of different structure parameters on the stability is studied in the paper. In order to get both higher static load capacity and dynamic stability, optimal designing the gas gyroscope is taken in the paper considering the static load capacity.
In order to guarantee the gas gyroscope running steadily and decrease the drifting error arising from the unbalance mass, the gas gyroscope must be balanced. Because the spherical cavity’s position of the new type gyro-rotor is difficult to ascertain, and the centroid of the gyro-rotor doesn’t lie in the rotor, so the idea and method of balance, which is static balance using auxiliary workpiece firstly, then adopting the static balance method called gas floating simple pendulum, lastly dynamic balance, is adopted in the paper aiming at the above questions. Based on the mentioned method, the unbalance of the new type gas gyro-rotor is solved.
Lastly, on the above work, the preliminary test about the maching error of the gas gyroscope and various performance of the gas gyro-bearing is made, the gas gyroscope is verified to be correct preliminary.
本文将气体轴承技术与气动技术有机的结合起来，提出了一种新型气浮气动陀螺仪的基本结构，建立了该陀螺仪的运动学模型，分析研究了转子圆周上的气动喷嘴、供气压力等相关参数对陀螺仪稳定工作性能的影响，同时分析了转子不平衡量等参数对陀螺仪漂移误差的影响情况，为陀螺仪的设计和加工提供了理论依据。
为进一步改善气浮气动陀螺仪的启停性能，减小陀螺转子启停过程的碰磨，延长该陀螺仪的使用寿命，提出了采用实心转子电机辅助驱动与制动的方案。通过施加电磁力矩后陀螺仪的动力学模型，分析研究了陀螺仪结构参数以及电机相关参数对气浮气动陀螺仪驱动及制动性能的影响规律，为选择和设计电机以保证气浮气动陀螺仪具有更好的启停性能奠定了基础。
要保证气浮气动陀螺仪转子能够稳定运转，首要任务就是要对气浮轴承进行动态设计，确定气浮轴承的动态特性参数。本文针对新型结构的气浮陀螺轴承提出了一种求解具有类似结构气体轴承动态性能的方法：通过相容性条件统一了狭缝气膜和球面润滑气膜，采用三角形有限单元划分统一后的气膜，以小扰动法为基础将陀螺轴承内的气膜压力分解为静态压力和动态压力两部分，通过迦辽金加二阶微分降为一阶微分，以降低对插值函数连续性的要求，根据气体流量守恒方程和稳态压力方程求解气膜内的稳态压力，进而求得动态压力和陀螺轴承气膜的动态特性系数，并分析陀螺仪轴承结构参数对动态性能的影响规律。
以陀螺仪轴承转子的动态性能参数为基础，根据陀螺仪转子的运动方程，得到陀螺轴承转子稳定运转时的临界稳定性方程，进而求得用临界质量来表示陀螺仪转子稳定运转的稳定性判据。根据此判据，分析陀螺仪轴承各结构参数对稳定性的影响规律，结合气体陀螺轴承的静态承载性能，对陀螺仪转子结构进行多目标优化设计，以其得到具有较高的静态承载性能和动态稳定性的结构。
为了陀螺仪能够稳定运转，减小由不平衡量引起的机械漂移误差，必须对陀螺仪转子进行平衡。本文针对新型结构的陀螺仪转子存在球心位置难以确定，质心不在转子实体上的特点，提出了辅助件初始静平衡气浮单摆精密静平衡动平衡的思路和方法，解决了该结构类型陀螺仪转子的平衡问题。
最后，在前面工作的基础上，对陀螺仪的加工误差以及气体陀螺轴承的各种性能进行了初步测试，初步验证了陀螺仪设计的正确性。
Gyroscope, which has the ability of measuring the attitude information of carrier without limiting to anything outside, is widely used in the aerospace and navigation field since it has come into the world. With the advancement of the society and the development of the inertia technology, the measurement system which is based on gyroscopes is going from the traditional military market to the widely civilian market. It is always an important mission for every country to develop gyroscopes and the technology, and that is an essential index for weighting the science level and military strength of a country. Besides exploiting new type gyroscopes continuously, it is very significant to modify the existing gyroscopes, improve their precision and inducing the cost. ESG and fluid floated gyroscope have high accuracy, but they are not widely used because of complicated structures and high price. The technique of solid gyroscopes being studied is needed to be proved, and there are many difficulties and problems to be solved. It will need a great deal of manpower and finance to improve the accuracy and make it further widely used. The viscosity of gas is lower than the liquid. The gas bearings have such advantage as low friction, less power consumption, high speed and less pollution, and the gas bearings with high speed can provide reliability, life and accuracy for the instrument. All these advantages of gas bearings make them not only being used in inertial device, but also has the possibility of improving accuracy, inducing cost, simplifying structure and deducing volume. So it has an important significance to development a new type gas gyroscope with low cost, high accuracy and simple structure.
Combining gas bearing technique with pneumatic technology, a new type gas floated pneumatic gyroscope is proposed in this paper. The motion equation of the gyroscope is erected, the influence of the parameters such as pneumatic nozzles mounting around the gyro-rotor, supply pressure etc on the driving performance of the gyroscopes is studied, at the same time the influence of the rotor’s unbalance on the gyroscope’s drift error is analyzed. All the above study provides the theoretical preparation for designing and manufacturing the gyroscope.
In order to improve the start-stop performance, prolong the life and deduce the disturbance, a scheme which adopt a motor with solid rotor to driving and braking the gyroscope auxiliary is put forward. According to the dynamic equation of the gyroscope with electromagnetic torque, the author study the influence of the structure parameters of the gyroscope and the motor parameters on the driving and braking performance, and this paper establish a foundation for having good start-stop performance by choosing and design motor.
To guarantee the gas floated pneumatic gyroscope rotor running steadily, the first job is to make dynamic design and determine the dynamic coefficients of the gas gyro-bearing. In viewing of the new type gas floated pneumatic gyroscope, this paper put forward a method which can solve the dynamic characteristics of the similar structure: the slot film and spherical film are united by compatibility condition, and the united film is meshed by triangular finite elements. Based on small perturbation theory, the pressure of the united film in the gas gyro-bearing is decomposed into two parts: static pressure and dynamic pressure; the Reynolds equation can be deduced from two order to one order by Galerkin residual method, and it can decrease the requirement to the interpolation function. Based on the flow conservation function and the static pressure function, the static pressure in the film can be obtained, the dynamic pressure and dynamic coefficients of gas film can also be achieved, and the influence of different structure parameters on the dynamic coefficient is also analyzed.
Based on the dynamic coefficients and the motional function of the gas gyro-rotor, the critical stability equation of the gyro-rotor running steadily is obtained, and the critical mass, which is used as the stability criterion to determine whether the gas gyro-rotor is stable or not, is also obtained. Based on the stability criterion, the influence of different structure parameters on the stability is studied in the paper. In order to get both higher static load capacity and dynamic stability, optimal designing the gas gyroscope is taken in the paper considering the static load capacity.
In order to guarantee the gas gyroscope running steadily and decrease the drifting error arising from the unbalance mass, the gas gyroscope must be balanced. Because the spherical cavity’s position of the new type gyro-rotor is difficult to ascertain, and the centroid of the gyro-rotor doesn’t lie in the rotor, so the idea and method of balance, which is static balance using auxiliary workpiece firstly, then adopting the static balance method called gas floating simple pendulum, lastly dynamic balance, is adopted in the paper aiming at the above questions. Based on the mentioned method, the unbalance of the new type gas gyro-rotor is solved.
Lastly, on the above work, the preliminary test about the maching error of the gas gyroscope and various performance of the gas gyro-bearing is made, the gas gyroscope is verified to be correct preliminary.
引文
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