ECE5320 Mechatronics Literature Survey on Sensors and Actuators Topic: GyroscopesOutlineReference listTo Explore FurtherGyro principalGyroscopesMechanical GyroscopesMechanical Flywheel GyroscopeOptical GyroscopesActive Ring-laser GyroSlide 11Types of GyroscopesGyro PerformanceGyro ParametersCRS03-02MicroStrain 3DM-GX1Benchmarking: Fiber-optic gyroMajor ApplicationsCont. ApplicationsFinal RemarksECE5320 MechatronicsLiterature Survey on Sensors and Actuators Literature Survey on Sensors and Actuators Topic: GyroscopesPrepared by: Daniel RicsiDept. of Electrical and Computer Engineering Utah State UniversityE:[email protected]/26/2009ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsOutline –Reference list–To explore further–Major applications–Gyro principal–Gyroscopes–Types of gyros–Gyro performance–Gyro parameters–Specifications of CRS03-02–MicroStrain 3DM-GX1–Benchmarking: Fiber-optic gyro–Mayor applications–Final RemarksSlide-2ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-3Reference list•http://web.mac.com/ryo_watanabe/iWeb/Ryo%27s%20Holiday/Gyro%20Sensor.html•http://www.motusbioengineering.com/sensor-comparisons-technical-note.htm•http://metrology.hut.fi/courses/S-108.4010/2007/Spring_2007_MEMS_JKa.pdf•http://automation.tkk.fi/attach/AS-84-3145/Gyros.pdfECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-4To Explore Further•http://www.microstrain.com/3dmgx1.aspx•http://www.microstrain.com/inertia-link.aspx•http://www.xbow.com/Inertial_home.aspx•http://www.vti.fi/en/•http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4245717Gyro principal•Gyro is a type of inertial sensor•Based on conservation of momentum.•Gyro measures rotation•Measure angular velocity–Radians/sec•Integrating the velocity is possible obtain the angular position ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-5inertiamassspinningIrateturnningtorqueTIT___http://en.wikipedia.org/wiki/File:Gyroscope_operation.gifGyroscopes•Non-sensitive to magnetic disturbances. It can be used in environment where the magnetic field is not available–Mechanical gyroscopes•Based on conservation of momentum•Measure the changes in linear- or angular momentum–Optical gyroscopes•No moving parts (gravitation doesn’t affect)ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-6Mechanical Gyroscopes•Based on conservation of momentum–Continuous angular movement•Mm. flywheel gyroscope–Oscillatory angular momentum•Employ a torsionally suspended mass oscillating back and forth at its natural frequency–Continuous linear momentum•Steady stream of fluid, plasma or electrons, which tend to maintain its established velocity–Oscillatory linear momentum• a set of discrete masses moving back and forth along a straight-line pathECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-7Mechanical Flywheel Gyroscope•A rapidly spinning wheel or sphere with big inertia causes a gyroscopic precision, when turned•Rotor is rotated with electrical motor•Rotor on supported by low-friction bearings and in a gimbal•Both axis of the gimbal are perpendicular to the rotating axisECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-8Optical Gyroscopes•Most promising sensors in the mobile robotics in near future.• Two laser beams are rotating opposite directions in a closed loop•When the beams are combined the rotation rate and direction can be calculated from the interference fringes•Five basic principles:–Active optical resonator–Passive optical resonator–Open loop fibre optic interferometer (anal.)–Closed loop fibre optic interferometer (digit.)–Fibre optic resonatorECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-9Active Ring-laser Gyro•Active optical resonator•Resonator is a laser itself•(active)•If gyro is rotated counter clock wise direction, the counter-clock wise beam is travelling slightly longer than the opposite beam•The change in the path length is proportional to the rotation rate•In very small rotation rates•there is a dead-band because of frequency lock-inECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-10http://automation.tkk.fi/attach/AS-84-3145/Gyros.pdfGyroscopes•There are two basic classes of rotation sensing gyros:–Rate gyros•The output is relative to the angular speed–Rate integrating gyros•Indicate the actual turn angle or heading•The angle is relative (must have a initially referenced to a known orientation.ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-11Types of Gyroscopes•Based on coriolis force•Vibrating wheel–Two axis, excitation around axis of symmetry•Vibrating bar gyro•Tuning fork gyro•Analog Devices–Signal conditioning ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-12http://metrology.hut.fi/courses/S-108.4010/2007/Spring_2007_MEMS_JKa.pdfGyro Performance•Classification according to bias drift•Rate grade 10 – 10000 deg/h•Tactical grade 0,01 – 10 deg/h•Navigation grade <0,01 deg/h•Mechanical, optical (fog, laser ring), MEMS (tuning fork, vibrating ring)•Dynamic area: few Hz – 500HzECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-13Gyro Parameters•These parameters are not easy to calibrate•Drift (see previous slide) [deg/h]•Max angular speed [deg/s]•Dynamic resolution [Hz]ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-14http://blogs.smh.com.au/radar/robot.jpgCRS03-02•This is a small gyro•Output : Analog DC voltage centered at about 2.5VDC•Rate Range : +/-100 deg/sec•Scale Factor : 20mV/(deg/sec)•Bias (neutral) : 50% of Vdd•Number of Axis : 1•Bandwidth(-3dB, -90deg) : 10 Hz•Dimensions : 29 x 18 x 29 mm•Power supply (Vdd) : 5VDC +/-250mV•Current dissipation : less than 50mA(150mA for initializationECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-15CRS03-02MicroStrain 3DM-GX1•Three angular rate gyros•Three orthogonal DC accelerometers•Three orthogonal magnetometers•Multiplexer, 16 bit A/D converter, and embedded microcontroller•Output its orientation in dynamic and static environments•Update rates of 350 Hz•http://www.microstrain.com/3dmgx1.aspxECE5320 Mechatronics. Assignment#1 Survey on
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