Method for Increasing the Accuracy of a Gyroscope with a Spherical Ball Bearing Suspension

The article is devoted to the development of a method for improving the accuracy of a gyro with a spherical ball bearing suspension operating in the mode of a deflection angle meter of the base on which it is installed. When operating a gyroscope as part of an information-measuring and control system, such an operational characteristic as the accuracy of readings, depending on the noise component of the gyroscope output signal, is of decisive importance. The purpose of the article is to solve the problem of reducing the noise component of the output signal while maintaining a wide bandwidth of the device and a minimum phase delay of the output signal in relation to the measured value. The paper provides an overview of the existing device construction schemes. A mathematical description of the functioning of the gyroscope is presented, on the basis of which the transfer functions for the moment (disturbing, controlling or total) along the direct and cross channels are obtained. Transfer functions are also obtained, which are the ratio of the output signal to the measured value through direct and cross channels. It is noted that the predominant frequencies of the noise component of the output signal correspond to the rotational frequency of the gyroscope rotor, the rotation frequency of the gyroscope rotor and the multiple rotation frequencies of the gyroscope rotor. The structure of the system is proposed in which the signal from the gyroscope angle sensor with a spherical ball bearing suspension is summed up with the output signal of an additional angular velocity sensor according to the corresponding coordinate and then the total signal is smoothed using an aperiodic link of the first order. The results are obtained for determining the parameters of the channel of the angular velocity meter, at which it is possible to compensate for the bandwidth limitations in the channel of the angle measurement due to the time constant of the smoothing filter and at the same time ensure effective suppression of the noise component of the output signal. The proposed construction scheme of the meter provides attenuation of noise components in the output signal of a gyroscope with a spherical ball bearing suspension at a rotation frequency of the gyroscope rotor 250 Hz by 156 times, at a frequency of nutation oscillations of the gyroscope rotor 404 Hz by 256 times, at a frequency of 500 Hz by 316 times, at a frequency of 750 Hz by 474 times, at a frequency of 1000 Hz by 630 times, at a frequency of 1250 Hz by 785 times while maintaining a wide bandwidth of 285 Hz when measuring an angle with a phase lag of the output signal from the measured one close to zero degrees in the bandwidth.

1. Peshekhonov V. G. Gyroscopes of the beginning of the XXI century, Gyroscopy and navigation, 2003, vol. 4, no. 43, pp. 5—18 (in Russian).

2. Kharlamov S. A. Gyroscope with an external kinetic moment — the history of the first studies of the self-vibration model, Collection of materials of the III Conference of young scientists "Navigation and motion control, St. Petersburg, Publishing House of the State Research Center of the Russian Federation JSC "Concern "Central Research Institute "Electropribor", 2001, pp. 8—12 (in Russian).

3. Nicolai E. L. Gyroscope in a gimbal, Moscow, Nauka, 1964, 52 p. (in Russian).

4. Magnus K. Gyroscope. Theory and application, Moscow, Mir, 1974, 526 p. (in Russian).

5. Ishlinskiy A. Yu. Orientation, gyroscopes and inertial navigation, Moscow, Nauka, 1976, 470 p. (in Russian).

6. Pelpor D. S. Gyroscopic systems, Moscow, Higher School, 1988, 423 p. (in Russian).

7. Matveev V. A. Gyroscope is simple, Moscow, Publishing House of Bauman Moscow State Technical University, 2012, 209 p. (in Russian).

8. Lukyanov D. P., Raspopov V. Ya., Filatov Yu. V. Applied theory of gyroscopes, St. Petersburg: SSC RF JSC "Concern "Central Research Institute "Electropribor", 2015, 315 p. (in Russian).

9. Meleshko V. V. Gyroscope of the direction with integralpositional horizontal correction on pitching // Visnik of the National Technical University of Ukraine "Kievsky politechnichny Institute". A series of Prilado buduvaniya, 2010, no. 39, pp. 14—20 (in Ukraine).

10. Karasun V. V., Melnik V. N. Gyroscope directions with structural redundancy, Eastern European Journal of Advanced Technology, 2011, vol. 2, pp. 51—55 (in Russian).

11. Ostanin S. Yu. The state of theory and practical implementations of power supply systems and electric drives of gyroscopes with a mechanical kinetic moment carrier, Scientific readings on aviation, dedicated to the memory of N. E. Zhukovsky, 2017, no. 5, pp. 534—543 (in Russian).

12. Patent 3225609 USA, MKI G01C, NKI 74-5.7. Two-axis Gyroscope, Priority 1962.

13. Patent 3408874 USA, MKI G01C, NKI 74-5. Two-axis, nonfloated ball bearing Gyroscope, Priority 1965.

14. Patent 3417627 USA, MKI G01C, NKI 74-5.6. Free-rotor gyro, Priority 19615.

15. Patent 3517562 USA, MKI G01C, NKI 74-5.6. Inertial Gyroscope,Priority 1967.

16. Patent 1473893 FRG, MKI G01C, NKI 42c, 25/51. Federgetriebener Kreisel, Priority 1970.

17. Patent 3019662 USA, MKI G01C, NKI 74-5.7. Gyroscopic Control Mechanism, Priority 1975.

18. Patent 7707452 France, MCI G05D 1/00//B 64G 1/100. La systeme gyroscopiques, Priority 1978.

19. Patent 4309005 USA, MKI F423 13/30, F4 1G7/22, NKI 244/3.16. Target seeking Gyro, Priority 1982.

20. Rolling bearings. Bearings of progressive designs. Special double-row spherical ball bearing: information sheet, Moscow, JSC NPO VNIIP, 1986, 21 p. (in Russian).

21. Raspopov V. Ya. Gyroscopes with ball—bearing suspension, Tula, Vulture and K, 2003, 175 p. (in Russian).

22. Patent 1345770 Russian Federation, IPC G01C 25/00. A device for technological running-in of a spherical ball bearing of a gyroscope / Andreev A. A., Gryaznov E. A., Freiman V. S., No.3978852/22; application 15.11.85; publ. 10.08.05, Bul. No.22.

23. A. S. 282956 USSR. Gyroscopic device / V. Ya. Raspopov, Yu.N. Oskin (USSR), No. 3177926; application 31.07.87; publ. 3.10.88.

24. Patent 2308680 Russian Federation, IPC G01C 19/02, G01P 9/04. Gyroscope (variants) / Guskov A. A., Makarov A. M., Gryaznov E. A., Urakova L. E., No. 2005137296/28; application 30.11.05; publ. 20.10.07, Byul. No.29.

25. Patent 2460040 Russian Federation, IPC G01C 19/02. Gyroscope (variants) / Makarov A. M., Kozhin V. V., Gryaznov E. A., Urakova L. E., Gorbachev V. M., No.2011109981/28; application 16.03.11; publ. 27.08.12, Bul. No. 24.

26. Patent 2446382 Russian Federation, IPC G01C 19/02. Gyroscope / Makarov A. M., Kozhin V. V., Gryaznov E. A., Urakova L. E., No. 2010133531/28; application 10.08.10; publ. 27.03.12, Bul. No.9.

27. Patent 2572501 Russian Federation, IPC G01C 25/00. Method of gyroscope drift correction and device for its implementation / Makarov A. M., Patrushev I. P., No.2014140387/28; application 06.10.14; publ. 10.01.16, Bul. No. 1.

28. Mokrov A. P., Makarov A. M. Small-sized gyroscope with spherical ball bearing suspension, Interuniversity collection of articles based on the materials of the III All-Russian scientific and practical conference "Socio-economic and technical problems of the military-industrial complex", 2016, pp. 156—161 (in Russian).

29. "... By the name of "Progress". JSC "Michurin plant "Progress", Ryazan, Publishing house "IP Potapov V. S.", 2007, 216 p. (in Russian).

30. Available at: www.sagem-ds.com.

31. Raspopov V. Ya., Malyutin D. M., Alaluev R. V., Telukhin S. V., Shepilov S. I. Gyroscopic angle sensor with spherical ball bearing suspension with improved operational characteristics, Gyroscopy and navigation, 2018, vol. 26, no. 2 (101), pp. 88—94 (in Russian).

32. Raspopov V. Ya., Malyutin D. M., Ivanov Yu. V. Gyroscopes in gyroscopic stabilization systems, Handbook. Engineering magazine, 2009, no. 7 (148), pp. 52—58 (in Russian).