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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">novtexmech</journal-id><journal-title-group><journal-title xml:lang="ru">Мехатроника, автоматизация, управление</journal-title><trans-title-group xml:lang="en"><trans-title>Mekhatronika, Avtomatizatsiya, Upravlenie</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">1684-6427</issn><issn pub-type="epub">2619-1253</issn><publisher><publisher-name>Commercial Publisher «New Technologies»</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.17587/mau.22.374-382</article-id><article-id custom-type="elpub" pub-id-type="custom">novtexmech-1014</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>ДИНАМИКА, БАЛЛИСТИКА, УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВ</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="en"><subject>DYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFT</subject></subj-group></article-categories><title-group><article-title>Датчик угловых скоростей на базе волнового твердотельного гироскопа  с металлическим резонатором для систем ориентации, стабилизации и навигации</article-title><trans-title-group xml:lang="en"><trans-title>Angular Rate Sensor Based on a Solid-State Wave Gyroscope with a Metal  Resonator for Attitude Control, Stabilization and Navigation Systems</trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Распопов</surname><given-names>В. Я.</given-names></name><name name-style="western" xml:lang="en"><surname>Raspopov</surname><given-names>V. Ya.</given-names></name></name-alternatives><bio xml:lang="ru"><p>д-р техн. наук, проф.</p></bio><bio xml:lang="en"><p> D., Professor</p><p>Tula, 300012</p></bio><email xlink:type="simple">tgupu@yandex.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Лихошерст</surname><given-names>В. В.</given-names></name><name name-style="western" xml:lang="en"><surname>Likhosherst</surname><given-names>V. V.</given-names></name></name-alternatives><bio xml:lang="ru"><p>канд. техн. наук, доц.</p></bio><bio xml:lang="en"><p> Tula, 300012</p></bio><email xlink:type="simple">lvv_01@inbox.ru</email><xref ref-type="aff" rid="aff-1"/></contrib></contrib-group><aff-alternatives id="aff-1"><aff xml:lang="ru"><institution>ФГБОУ ВО "Тульский государственный университет"</institution><country>Россия</country></aff><aff xml:lang="en"><institution>Tula State University</institution><country>Russian Federation</country></aff></aff-alternatives><pub-date pub-type="collection"><year>2021</year></pub-date><pub-date pub-type="epub"><day>08</day><month>07</month><year>2021</year></pub-date><volume>22</volume><issue>7</issue><fpage>374</fpage><lpage>382</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Commercial Publisher «New Technologies», 2021</copyright-statement><copyright-year>2021</copyright-year><copyright-holder xml:lang="ru">Commercial Publisher «New Technologies»</copyright-holder><copyright-holder xml:lang="en">Commercial Publisher «New Technologies»</copyright-holder><license xlink:href="https://mech.novtex.ru/jour/about/submissions#copyrightNotice" xlink:type="simple"><license-p>https://mech.novtex.ru/jour/about/submissions#copyrightNotice</license-p></license></permissions><self-uri xlink:href="https://mech.novtex.ru/jour/article/view/1014">https://mech.novtex.ru/jour/article/view/1014</self-uri><abstract><p>Описаны методики и результаты испытаний волнового твердотельного гироскопа (ВТГ) — датчика угловых скоростей (ДУС), разработанного на кафедре "Приборы управления" ТулГУ и изготовленного серийным заводом АО "Мичуринский завод "Прогресс" по отработанной им технологии.</p><p>Металлический резонатор ВТГ-ДУС изготовлен из элинварного сплава и имеет разнотолщинную цилиндрическую конструкцию, нижняя часть которой с меньшей толщиной стенки выполняет роль подвеса для верхнего цилиндра, собственно резонатора, имеющего конусную форму, обеспечивающую лучшую локализацию колебаний на его торцевой кромке.</p><p>Технологические дефекты изготовления, разночастотность и разнодобротность, устранены балансировкой "по массе", основанной на удалении избыточного металла в определенных точках на торцевой кромке резонатора.</p><p>Электронный модуль обеспечивает вторую моду первичных и вторичных, возникающих при вращении, колебаний кромки резонатора и создает сигнал компенсации кориолисовой и квадратурной составляющих выходного сигнала в узлах. Поскольку максимальные амплитуды сигналов возбуждения и компенсации не превышают 10 В, то при больших механических воздействиях контур компенсации может не отработать возросший сигнал, и ВТГ-ДУС теряет работоспособность. Полное время отработки сигнала компенсации не превышает 1 мкс при максимальной потребляемой мощности электронного модуля, не превышающей 4 Вт.</p><p>При испытаниях на механические и температурные воздействия использовались нормы, характерные для аналогичных датчиков угловых скоростей, применяемых на борту летательных аппаратов. Определены стабильность нулевого сигнала и масштабного коэффициента при одновременном воздействии на ВТГ-ДУС измеряемой скорости и температуры. Получены значения случайного блуждания и нестабильности нулевого сигнала по графикам отклонений Аллана. Установлено, что ВТГ-ДУС обладает ударной прочностью и восстанавливает измерительную способ-ость после удара. Испытания на вибростойкость выявили резонансные частоты и диапазоны частот, в которых испытываемый образец ВТГ-ДУС может применяться без существенной доработки.</p></abstract><trans-abstract xml:lang="en"><p>The article describes the methods and test results of a solid-wave gyroscope (SVG) — an angular rate sensor (ARS), developed at the Department of Control Devices, Tula State University and manufactured by the serial plant of JSC "Michurinsky Plant" Progress "according to the technology it worked out. The metal resonator SVG-ARS is made of an elinvar alloy and has a cylindrical structure of different thickness, the lower part of which, with a smaller wall thickness, acts as a suspension for the upper cylinder, the resonator itself, which has a conical shape, providing better vibration localization at its end edge. Technological manufacturing defects, different frequencies and variability, are eliminated by balancing " by mass" based on the removal of excess metal at certain points on the end edge of the resonator. The electronic module provides the second mode of primary and secondary oscillations of the resonator edge arising during rotation and creates a signal to compensate for the Coriolis and quadrature components of the output signal at the nodes. The maximum amplitudes of the excitation and compensation signals do not exceed 10 V. Therefore, at large values of mechanical influences, the compensation circuit may not work out the increased signal and the SVG-ARS loses its operability. The total processing time of the compensation signal does not exceed 1 μs. The maximum power consumption of the electronic module is not more than 4 W. When testing for mechanical and temperature effects, the norms were used that are typical for similar devices (angular rate sensors) used on board aircraft. The tests were carried out on the bench equipment of a specialized enterprise. The stability of the zero signal and the scale factor was determined under the simultaneous action of the measured speed and temperature on the SVG-ARS. The values of the random walk and the instability of the zero signal were obtained from the Allan deviation plots. Their values provide a basis for the conclusion about the possibility of using the developed SVG for several hours on board dynamic aircraft in orientation, stabilization and navigation systems. It was found that SVG-ARS possesses impact strength and restores its measuring ability after impact. Tests for vibration resistance revealed resonance frequencies and frequency rangesin which the tested VTG-DUS sample can be used without significant modification. The results of vibration tests can be used to refine the design and control electronics for the operating conditions of a particular aircraft.</p></trans-abstract><kwd-group xml:lang="ru"><kwd>волновой твердотельный гироскоп</kwd><kwd>вращение</kwd><kwd>температура</kwd><kwd>удар</kwd><kwd>вибрация</kwd></kwd-group><kwd-group xml:lang="en"><kwd>wave solid state gyroscope</kwd><kwd>rotation</kwd><kwd>temperature</kwd><kwd>shock</kwd><kwd>vibration</kwd></kwd-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Bryan G. H. On the Beats in the Vibrations of a Revolving Cylinder or Bell // Proc. of Cambridge Phil. Soc. 1890, Nov. 24. Vol. VII. Pt. III. P. 101—111.</mixed-citation><mixed-citation xml:lang="en">Bryan G. H. On the Beats in the Vibrations of a Revolving Cylinder or Bell, Proc. of Cambridge Phil. Soc. 1890, Nov. 24,vol. VII, pt. 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