零刚度弹性梁旋转式陀螺研究

The Research of Zero Torsional Stiffness Rotating Gyroscope

设计并制作了在"零扭转刚度"条件下的一种用于旋转体偏航角速率测量的陀螺。分析该陀螺工作原理,建立该陀螺的数学模型,设计和制作了零扭转刚度陀螺的敏感结构。利用交流电桥提取电容变化信号,进而实现对旋转体偏航角速度的测量。在旋转体自旋角速度不同的情况下,对陀螺输出信号进行测量,分别得到载体的旋转速率φ=10×2πrad/s时,比例系数K=20.96 mV/[(°)·s-1];φ=12×2πrad/s时,K=21.12 mV/[(°)·s-1],φ=14×2πrad/s时,K=21.10 mV/[(°)·s-1]。理论研究和性能测试表明,在陀螺振动元件的弹性梁扭转刚度为0时,陀螺输出信号的大小只与偏航角速度Ω有关,与载体旋转角速率φ无关。

A kind of gyroscope which used to detect yaw angular velocity of the rotating carrier has been designed and fabricated at the ＂zero torsional stiffness＂ conditions.The operating principle of the gyroscope has been analyzed and the mathematical model of the gyroscope has been established,then the gyroscope＇ sensitive structure of zero-torsion stiffness was designed and fabricated.The Changing capacitance signal could be extracted by using the alternating current bridge and thus the rotating body yaw rate could be measured.In the case of different spin angular velocity of rotating carrier,the gyro＇s output signal was measured,and the scaling factor was showed as follows：When φ·=10×2π rad/s,scaling factor;K=20.96 mV/[（°）·s^-1];When φ·=12×2π rad/s,scaling factor K=21.12 mV/[（°）·s^-1];When φ·=14×2π rad/s,scaling factor K=21.10 mV/[（°）·s^-1].Theoretical research and performance test indicated that in the condition of zero torsional stiffness,the gyro＇s output signal only have relation with the measured angular Ω,not with the rotating carrier＇s rotation rate φ·.