The content of the invention
The object of the present invention is to provide a kind of radio energies and information carrying means for inertial navigation system, it being capable of customer serviceShortcoming of the prior art, for Rotating Inertial Navigation System rotating mechanism the characteristics of, i.e. gyro rotation axis and rotating mechanismRelative rotation between pedestal, traditional Rotating Inertial Navigation System realize the electric energy of gyro and accelerometer and information using conducting slip ringTransmission.
The present invention is achieved in that a kind of radio energy and information carrying means for inertial navigation system, it is included justGrade control unit, rotation axis, secondary control unit and the base unit of inertial navigation, wherein, primary control unit and secondary control are singleMember is mounted on by rotating axis connection, secondary control unit on the base unit of inertial navigation.
Primary control unit includes primary control circuit and primary magnetic core；Secondary control unit includes secondary control circuit,Secondary magnetic core, secondary secondary power supply, gyro.
The primary control circuit is mended using primary CLC circuit compensations and secondary control circuit using secondary CLC circuitsIt repays.
The primary electric energy transmission winding and information transmission winding of the primary CLC circuits share primary magnetic core, secondary CLCThe secondary electric energy transmission winding and secondary information transmission winding of circuit share secondary magnetic core.
Electric energy transmits and information transmission uses common primary magnetic core and secondary magnetic core；The armature winding of electric energy transmission is in primaryThe outside of magnetic core, the armature winding of information transmission is in the inside of primary magnetic core, and equally, the secondary windings of electric energy transmission is in secondary magneticThe outside of core, in the inside of secondary magnetic core, transformer has the secondary windings of information transmission between primary magnetic core and secondary magnetic coreAir gap, by structural member secondary magnetic core, gyro, accelerometer links together for the gyro rotation axis of the inertial navigation system,The primary magnetic core is linked together by the pedestal and gyro rotation axis of rotating mechanism, secondary power supply circuit, and describedThe secondary windings connection of transformer carries out secondary power supply conversion for the voltage of secondary windings output, is given after power conversionGyro and accelerometer power supply, primary magnetic core and secondary magnetic core are using annulus magnetic core, the armature winding and secondary windingsThe coiling clockwise on the anchor ring of respective magnetic core respectively；Parallel resonance circuit includes：Input DC power connects describedBattery in inertial navigation system；Full-bridge controlled resonant converter, input terminal are connected with the input DC power, output terminal with it is describedResonant capacitance and the secondary windings of transformer be connected in parallel；The control signal of resonant transform circuit generates 2 tunnels using microcontrollerComplementation carries the square wave driving signal in dead zone, and CLC compensation circuits are used on armature winding, shunt compensation electricity is used on secondary windingsHold, the compensation circuit of primary and secondary is in magnetic resonance state for the circuit on primary and secondary both sides, is finally reached most efficientlyThe electric energy of rate and the transmission of information, primary compensation circuit use CLC compensation circuits, and secondary compensation is secondary tandem compensating electric capacity,The value of capacitance and inductance determines parameters according to the resonant frequency of radio energy and information carrying means, finally makes wirelessElectric energy and the information transmission system are in resonance state, the secondary power supply translation circuit of rectifying output circuit, secondary power supply conversion electricityRoad uses BUCK topological structures, powers after the secondary power supply translation circuit voltage stabilizing to gyro.
It is an advantage of the invention that (1) carries out electric energy and letter in the rotating mechanism of Rotating Inertial Navigation System using conducting slip ringThe transmission of breath is rotated by the ceaselessly contact of slip ring, and over time, reliability substantially reduces, using radio energy and letterRotation of the transmitting device by holding certain distance between gyro rotation axis and the pedestal of inertial navigation system is ceased, so rotates inertial navigation systemThe reliability of system greatly enhances, and is not in the risk that conducting slip ring is brought；(2) transformer is arranged on electric energy coil on the outside,Signal coil is surveyed inside, and this winding mode has the advantage that electric energy is wrapped in signal, signal is made not to be interfered.(3)Secondary secondary power supply conversion uses non-isolated topological structure, and radio energy and information carrying means is made quickly to respond inertial navigation systemSystem.The configuration of the present invention is simple, reliability are high, service life and reliability are all far longer than conducting slip ring, the existing skill of its customer serviceThe drawbacks of conducting slip ring contact electric energy and information are transmitted in art substantially increases the reliability of inertial navigation system.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present inventionFormula is described in further detail：
As shown in Figure 1, a kind of include for the radio energy and information carrying means of inertial navigation system：Primary control unit 1,Rotation axis 2, secondary control unit 3, the base unit 4 of inertial navigation.Wherein, primary control unit 1 include primary control circuit and justGrade magnetic core；Secondary control unit 3 includes secondary control circuit, secondary magnetic core, secondary secondary power supply, gyro.
Primary control circuit and secondary control circuit are using same CLC circuit compensations, the compensation of conventional wireless electric energyCircuit is compensated using series electrical perhaps shunt capacitance, when input voltage fluctuation or the fluctuation of load, the resonant frequency of systemIt can fluctuate, cause the reduction of wireless power transmission efficiency, can also increase the interference of information transmission.
Primary electric energy transmission winding and information transmission winding share primary magnetic core, secondary electric energy transmission winding and secondary informationTransmission winding shares secondary magnetic core.
Secondary power supply circuit is connected with the secondary windings of the transformer, for the voltage of secondary windings outputSecondary power supply conversion is carried out, is powered after power conversion to gyro and accelerometer.
The electric energy transmission and information transmission of a kind of radio energy and information carrying means for Rotating Inertial Navigation System useCommon primary magnetic core and secondary magnetic core；The armature winding of electric energy transmission is in the outside of primary magnetic core, the armature winding of information transmissionIn the inside of primary magnetic core, equally, in the outside of secondary magnetic core, the secondary windings of information transmission exists the secondary windings of electric energy transmissionThe inside of secondary magnetic core.
Transformer has air gap between primary magnetic core and secondary magnetic core, and the gyro rotation axis of the inertial navigation system passes through knotComponent links together secondary magnetic core, gyro, accelerometer, the pedestal and gyro that the primary magnetic core passes through rotating mechanismRotation axis links together.
Using annulus magnetic core, the armature winding and secondary windings exist respectively for the primary magnetic core and secondary magnetic coreCoiling clockwise on the anchor ring of respective magnetic core；
Parallel resonance circuit includes：
Input DC power connects the battery in the inertial navigation system；Full-bridge controlled resonant converter, input terminal with it is described defeatedEnter DC power supply connection, the secondary windings of output terminal and the resonant capacitance and transformer is connected in parallel；
The control signal of the resonant transform circuit generates the complementary square wave driving letter with dead zone in 2 tunnels using microcontrollerNumber.
CLC compensation circuits are used on the armature winding, Shunt compensation capacitor, primary and secondary are used on secondary windingsCompensation circuit be in magnetic resonance state for the circuit on primary and secondary both sides, be finally reached the electric energy and information of peak efficiencyTransmission.
The primary compensation circuit uses CLC compensation circuits, and secondary compensation is secondary tandem compensating electric capacity, capacitance and electricityThe value of sense determines parameters according to the resonant frequency of radio energy and information carrying means, finally makes radio energy and letterBreath Transmission system is in resonance state.
The secondary power supply translation circuit of the rectifying output circuit, secondary power supply translation circuit use BUCK topological structures,It powers after the secondary power supply translation circuit voltage stabilizing to gyro.
Shown in Figure 1, the present invention provides a kind of radio energy and information carrying means for inertial navigation system, bagsIt includes：Primary control unit, rotation axis, secondary control unit, the base unit of inertial navigation.
Wherein, primary control unit is made of primary control circuit and primary magnetic core；
The secondary control circuit of secondary control unit, secondary magnetic core, secondary secondary power supply, gyro composition.
Primary compensation circuit in primary control circuit：Traditional primary compensation circuit is using series capacitance or electricity in parallelAppearance compensates, and primary compensation circuit is compensated using CLC circuits, shown in Figure 2, and in Q1, Q2, Q3, Q4 is formed completeRespectively then capacitance C1, inductance L1, capacitance C2 connections access series compensation capacitance or shunt capacitance to the output of bridge circuit midpoint again,Adding in CLC circuits makes the resonance link of system have stronger resonance capacity and Ability of Resisting Disturbance.
Similarly, the secondary compensation circuit in secondary control unit also carries out secondary circuit compensation using CLC circuits, referring to figureShown in 3, secondary transformer Ls connection Cs, then respectively at capacitance C3, inductance L2, capacitance C4 connections, in secondary access CLC electricityRoad makes secondary circuit have very wide adaptability, in other words, as the fluctuation of the input voltage of primary control unit, addsEnter the influence that the secondary circuit of CLC circuits fluctuates from primary voltage, make inertial navigation system work more stable and reliable.
Primary compensation circuit and secondary circuit make primary and secondary circuit be operated in one using same CLC circuit compensationsIn a resonant frequency, i.e., the resonant frequency of primary electric energy transmission circuit, the resonant frequency of secondary electric energy transmission circuit, radio energyWith the resonant frequency of the information transmission system, this three resonant frequencies are consistent, and realize inertial navigation radio energy and information transmissionThe magnetic resonance of system, the electric energy and the information transmission system for making inertial navigation have very high antijamming capability and high efficiency.Conventional wirelessThe compensation circuit of electric energy is compensated using series electrical perhaps shunt capacitance, when input voltage fluctuation or the fluctuation of load, systemResonant frequency can fluctuate, cause the reduction of wireless power transmission efficiency, can also increase information transmission interference.
Electric energy transmission and information transmission carry out the biography of electric energy and signal using same primary magnetic core in primary control circuitIt is defeated, as shown in figure 4, the winding of information transmission is in the inside of magnetic core, the winding of electric energy transmission in the outside of magnetic core, primary electric energy aroundCertain interval (>=2mm) is kept between group and primary data winding, such electric energy winding and information winding construction make radioThere can be stronger antijamming capability with the transmission of information carrying means information.
Similarly, electric energy transmission and information transmission carry out electric energy and signal using same secondary magnetic core in secondary control circuitTransmission, as shown in figure 5, the secondary windings of information transmission, in the inside of magnetic core, the secondary windings of electric energy transmission is in the outer of magnetic coreSide keeps certain interval (>=2mm) between secondary electric energy winding and secondary information winding, also improve radio energy and letterCease the antijamming capability of transmitting device.
Secondary power supply circuit in secondary control circuit, after secondary CLC compensation circuits and rectification circuit, in windingVoltage becomes direct current by exchanging, and direct current passes through capacitive energy storage, as described in Figure 6, straight after rectification subsequently into secondary power supply linkGalvanic electricity pressure carries out energy storage and filtering by C5, then connects by metal-oxide-semiconductor Q1, diode D1, filter inductance L1, filter capacitor C6It connects, finally gives load RL power supplies.
Modulates information circuit in primary control circuit, as shown in fig. 7, carrier generating circuit generates fixed carrier frequencyCircuit, microcontroller receive the information of gyro transmission, the information (base-band information) received are then passed through fixed agreement latticeFormula is exported carries out modulates information to carrier generating circuit, information is encoded by gating circuit switch, through ovennodulation and volumeInformation after code enters armature winding.
Information demodulator circuit in secondary control circuit, as shown in figure 8, first the information on information winding is filtered by band logicalRipple device circuit into the extraction of row information, then carries out shaping filter to information by shaping circuit, compares using information transmissionCircuit (decision device) is into the recovery of row information.
The relation of the carrier frequency of electric energy transmission and the carrier frequency of information transmission is as follows, and the carrier frequency of information transmission is bigIt will not interfere with each other between 10 times of carrier frequency of electric energy transmission or more, such electric energy transmission and information transmission and cause informationThe failure of transmission.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
All or part of step in the embodiment of the present invention can utilize software to realize, corresponding software program can depositStorage is in the storage medium that can be read, such as CD or hard disk.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit andWithin principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.