精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
ISSN-L : 0912-0289
論文
ハイブリッド支持式回転型ジャイロの開発
水野 毅秋山 智広髙﨑 正也石野 裕二
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ジャーナル フリー

2015 年 81 巻 4 号 p. 356-362

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A new configuration for rotating gyros using magnetic suspension is proposed and fabricated. Gyro is one of inertial sensors and a measuring instrument for angular velocity. The magnetically suspended gyro (MSG) was proposed in which a disk-type rotor is connected to a synchronous motor through a fluid bearing and the motor is fixed to the holder; the holder is suspended by magnetic force without any mechanical contact to achieve high-accuracy measurement. According to this concept, a six-degree-of-freedom (6-DOF) active MSG was developed. However, the MSG had to consume power for compensating the gravitational force acting on the holder by magnetic force. In addition, the miniaturization of the MSG was difficult because four pairs of electromagnets were arranged on the opposite sides of the holder. To solve these problems, a novel gyro with hybrid suspension is designed and fabricated. In this gyro, only two rotational motions of the holder are controlled by four electromagnets while the other 4-DOF motions of the holder are constrained by cross springs and a gimbal. Such configuration is suitable for reducing power consumption and also for miniaturization. This paper shows the basic concepts and measurement principles of the rotary gyro with hybrid suspension. The performance of the gyro is evaluated through the measurement of two-axis angular velocities. It is found from the measured frequency characteristics and the succeeding analysis that imperfect derivatives used in the estimation cause an interaction between the two-axis estimations. Two ways to cope with this problem are also presented.

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