Micro-mechanical Pendulum and Application Technology in The Attitude Control System of The Rotating Body

Abstract

Author found that the micro-mechanical pendulum mounted on a rotating body has gyroscopic effect, which can be sensitive to yaw, pitch and spin angular velocity of the rotating body at same time. It has the function of the three traditional gyro. This paper reported the principle of micro-mechanical pendulum structure, the gyroscopic effect in the rotating body, and sensitive to the rotating body attitude mechanism, as well as application in the attitude control system of the polar coordinate transformation. The tests showed that performance of the micro-mechanical pendulum for the rotating body attitude control system achieves the design requirements of attitude control. Introduction High-speed rotating body is widely used, but the bottleneck in the development is sensitive to rotating body’s attitude sensor technology. This is the core technology involved in the practical use of the rotating body. However, it is not reported in the domestic and international so far. The author found that the micro-mechanical pendulum mounted on the rotating body produces the gyroscopic effect due to the drive force generated by the spin of the rotating body. It can detect yaw, pitch and spin angular velocity of the rotating body, and it has the function of the three traditionalgyro , . Through application of this discovery the bottleneck is not only broken, but also the cost of using is greatly reduced ~ . Micro-mechanical pendulum Fig. 1(a) is a front view of the micro-mechanical pendulum. Fig. 1(b) is a signal acquisition circuit. Fig. 2 is a micro-mechanical pendulum chip’s structural section. Micro-mechanical pendulum was hanging in the box by the beam. Above and below the silicon pendulum chip, a pair of stopper pads is symmetrically set up. When the rotating body yaw or pitch, beam vibration put the pendulum piece along with vibration. Swing of the pendulum piece on intermediate layer leads to capacitance changes in the circuit. The signal outputs because of bridge out of balance. The detection signal can obtain the yaw, pitch and spin angular velocity. 0119 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT-2012) Published by Atlantis Press, Paris, France. © the authors Sensitive to the rotating body’s attitude mechanism Fig. 3 is a gyroscopic effect of the micro-mechanical pendulum mounted on the rotating body , ~ . It is a sensitive schematic to rotating body yaw, pitch and spin angular velocity. The rotating body and micro-mechanical pendulum mounted on the rotating body constitute the closed-loop gyro together. The block diagram is shown in Fig. 4. Fig.4 The shematic block diagram Fig.3 The shematic diagram of gyroscopic Fig.2 Micro-mechanical pendulum chip’s structural section Fig.1 Front view of the micro-mechanical pendulum and signal acquisition circuit diagram Fig. (b)Signal acquisition circuit Fig.(a)Front view of the micro-mechanical pendulum 0120 2nd International Conference on Electronic & Mechanical Engineering and Information Technology (EMEIT-2012) Published by Atlantis Press, Paris, France. © the authors Fig. 4 shows a micro-mechanical pendulum can output the spin angular velocity and the transvers angular velocity (as polar). With geographic coordinate system, it output yaw, pitch and spin angular velocity. Mounted on a rotating body, the micromechanical pendulum’s kinematic equation is ( ) ( ) 2