1、IEEE Std 1431-2004IEEE Standards1431TMIEEE Standard Specification FormatGuide and Test Procedure for CoriolisVibratory Gyros3 Park Avenue, New York, NY 10016-5997, USAIEEE Aerospace and Electronic Systems SocietySponsored by theGyro and Accelerometer PanelIEEE Standards20 December 2004Print: SH95224
2、PDF: SS95224Recognized as anAmerican National Standard (ANSI)The Institute of Electrical and Electronics Engineers, Inc.3 Park Avenue, New York, NY 10016-5997, USACopyright 2004 by the Institute of Electrical and Electronics Engineers, Inc.All rights reserved. Published 20 December 2004. Printed in
3、the United States of America.IEEE is a registered trademark in the U.S. Patent (978) 750-8400. Permission to photocopy portions of any individual standard for educationalclassroom use can also be obtained through the Copyright Clearance Center.Note: Attention is called to the possibility that implem
4、entation of this standard may require use of subject mat-ter covered by patent rights. By publication of this standard, no position is taken with respect to the existence orvalidity of any patent rights in connection therewith. The IEEE shall not be responsible for identifying patentsfor which a lic
5、ense may be required by an IEEE standard or for conducting inquiries into the legal validity orscope of those patents that are brought to its attention.Copyright 2004 IEEE. All rights reserved. iiiIntroductionThis new standard consists of two parts:Part I is a specification format guide for the prep
6、aration of a Coriolis vibratory gyro specification. Itprovides a common meeting ground of terminology and practice for manufacturers and users. The user iscautioned not to over specify; only those parameters that are required to guarantee proper performance in thespecific application should be contr
7、olled. In general, the specification should contain only thoserequirements that can be verified by test or inspection. Parameters in addition to those given in this standardare not precluded.Part II is a compilation of recommended procedures for testing a Coriolis vibratory gyro. These procedures,in
8、cluding test conditions to be considered, are derived from those currently in use. For a specific application,the test procedure should reflect the requirements of the specification; therefore, not all tests outlined in thisstandard need be included, nor are additional tests precluded. In some cases
9、, alternative methods for measur-ing performance characteristics have been included or indicated.The intent is for the specification writer to extract the applicable test conditions and equipment requirementsfrom clause 11 for inclusion in the appropriate clauses listed under 6.5 of this standard. S
10、imilarly, it isintended that the writer extract the applicable test procedures from clause 12 for inclusion in the appropriateclauses listed under 6.6. Part II can also be used as a guide in the preparation of a separate Coriolis vibratorygyro test specification with appropriate clause numbering. In
11、 general, the intent is for the specification writerto ensure consistency and traceability between Part II test procedures and Part I requirements for perfor-mance, mechanical, electrical, environmental, reliability, and quality assurance. To that end, a test procedureshould not be listed in Part II
12、 unless a related requirement exists in Part I.Blank spaces in the text of this document permit the specification writer to insert specific information suchas parameter values and their tolerances, clause numbers, etc. Brackets are used to enclose alternativechoices of dimensional units, signs, axes
13、, etc. Boxed statements are included for information only and arenot part of the specification or test procedures. The terminology used conforms to The AuthoritativeDictionary of IEEE Standards Terms, Seventh Edition. The units used conform to ANSI/IEEE Std 268-1992, IEEE Standard for Metric Practic
14、e. The abbreviation of units conforms to ANSI/IEEE Std 260.1-1993, Standard Letter Symbols for Units of Measurement. The graphic symbols used conform to ANSI/IEEE Std 315-1975, IEEE Standard Graphic Symbols for Electrical and Electronics Diagrams and itssupplement ANSI/IEEE Std 315A-1986.This standa
15、rd defines the requirements and test procedures for a Coriolis vibratory gyro in terms unique tothe Coriolis vibratory gyro. The requirements contained herein cover applications where the Coriolis vibra-tory gyro is used as an angular motion sensor in navigation and control systems.The term Coriolis
16、 vibratory gyro is accepted to include the electronics necessary to operate the gyro and tocondition the output signal. The Coriolis vibratory gyro provides an output proportional to inertial angularrate about its input axis.Annex A lists various Coriolis vibratory gyro design features for which thi
17、s format is applicable. The list isnot intended to make any suggestion regarding the selection of particular design features that might restrictthe free choice of manufacturers.Annex B is a description of the various types of Coriolis vibratory gyros and their functioning.This introduction is not pa
18、rt of IEEE Std 1431-2004, IEEE Standard Specification Format Guide and TestProcedure for Coriolis Vibratory Gyros.iv Copyright 2004 IEEE. All rights reserved.Annex C is a compliance matrix that lists requirements clauses and their corresponding test clauses.Notice to usersErrataErrata, if any, for t
19、his and all other standards can be accessed at the following URL: http:/standards.ieee.org/reading/ieee/updates/errata/index.html. Users are encouraged to check this URL forerrata periodically.InterpretationsCurrent interpretations can be accessed at the following URL: http:/standards.ieee.org/readi
20、ng/ieee/interp/index.html.PatentsAttention is called to the possibility that implementation of this standard may require use of subject mattercovered by patent rights. By publication of this standard, no position is taken with respect to the existence orvalidity of any patent rights in connection th
21、erewith. The IEEE shall not be responsible for identifyingpatents or patent applications for which a license may be required to implement an IEEE standard or forconducting inquiries into the legal validity or scope of those patents that are brought to its attention.Copyright 2004 IEEE. All rights re
22、served. vParticipantsThis publication represents a group effort on a large scale. A total of 98 individuals attended 48 meetings ofthe Gyro and Accelerometer Panel while this standard was in preparation. The major contributors to thisstandard were the following: Randall Curey, Chair*Former ChairThe
23、following individual members of the balloting committee voted on this standard. Balloters may havevoted for approval, disapproval, or abstention. When the IEEE-SA Standards Board approved this standard on 25 March 2004, it had the followingmembership:Don Wright, ChairSteve M. Mills, Vice ChairJudith
24、 Gorman, Secretary*Member EmeritusAlso included are the following nonvoting IEEE-SA Standards Board liaisons:Satish K. Aggarwal, NRC RepresentativeRichard DeBlasio, DOE RepresentativeAlan Cookson, NIST RepresentativeMichael D. FisherIEEE Standards Project EditorDavid Anderson Michael Ash Cleon Barke
25、r Sid Bennett*Stephen Bongiovanni Pierre BouniolHerbert T. Califano Ted Campbell*George W. Erickson Aki HirobeTommy Ichinose Jean-Franois Kieffer Tim LantzBryan Lovitt David Lynch Jean MartelRobert Moore Harold Morris Ralph MorrowCharles Pearce Rex Peters*Clifford Swanson*Daniel Tazartes Mohammad Te
26、hrani Leroy Thielman Christopher Trainor Angelo Truncale Akira Umeda Dave WinkelBruce Youmans Michael AshCleon BarkerSid BennettHerbert T. CalifanoJose CalvanoRandall CureyGeorge W. EricksonYuri FilatovArkady SinelnikovVladimir SkvortzovClifford SwansonDaniel TazartesLeroy ThielmanBruce YoumansChuck
27、 AdamsH. Stephen BergerMark D. BowmanJoseph A. BruderBob DavisRoberto de BoissonJulian Forster*Arnold M. GreenspanMark S. HalpinRaymond HapemanRichard J. HollemanRichard H. HulettLowell G. JohnsonJoseph L. Koepfinger*Hermann KochThomas J. McGeanDaleep C. MohlaPaul NikolichT. W. OlsenRonald C. Peters
28、enGary S. RobinsonFrank StoneMalcolm V. ThadenDoug ToppingJoe D. WatsonCONTENTS 1. Overview 1 1.1 Scope . 1 1.2 Document structure 1 1.3 Definitions . 1 2. References 2 Part ISpecification format. 3 3. Purpose. 3 4. Applicable documents 3 4.1 Specifications 3 4.2 Standards . 3 4.3 Drawings 4 4.4 Bul
29、letins. 4 4.5 Other publications 5 5. Requirement . 5 5.1 Description 5 5.2 General requirements. 5 5.3 Performance. 5 5.4 Mechanical requirements. 12 5.5 Electrical interface requirements . 13 5.6 Environmental requirements 15 5.7 Life 20 5.8 Reliability 20 6. Quality assurance provisions 21 6.1 Cl
30、assification of tests. 21 6.2 Acceptance tests 21 6.3 Qualification tests 22 6.4 Reliability tests 22 6.5 Test conditions and equipment 23 6.6 Test methods 23 7. Preparation for delivery 27 8. Notes. 27 8.1 Intended use. 27 8.2 Ordering data . 27 8.3 Model equation 28 Copyright 2004 IEEE. All rights
31、 reserved. vii Part IITest procedure 31 9. Test procedure overview 31 10. Description . 31 11. Test conditions and test equipment. 31 11.1 Standard test conditions. 31 11.2 Standard operating and test equipment 33 12. Test procedures. 34 12.1 Examination of productmechanical . 34 12.2 Examination of
32、 productelectrical. 34 12.3 Leak test. 36 12.4 Input power 36 12.5 Turn-on time 37 12.6 Warm-up time 37 12.7 Polarity 38 12.8 Operating temperature test series. 38 12.9 Gyro scale factor test series . 39 12.10 Input rate limits test . 42 12.11 Drift rate test series 43 12.12 Input axis alignment 45
33、12.13 Angle storage. 47 12.14 Run-down time 48 12.15 Transfer function . 49 12.16 Generated fields. 49 12.17 Environment test series 50 12.18 Life tests 50 12.19 Reliability tests 52 Annex A (informative) Design features of Coriolis Vibratory Gyros 53 Annex B (informative) Coriolis Vibratory Gyros.
34、56 B.1 Introduction. 56 B.2 Two-dimensional oscillator. 58 B.3 Pendulum variables. 58 B.4 Control of a CVG 59 B.5 CVG in the force-rebalance mode. 60 B.6 CVG in the whole-angle mode 61 B.7 Generalized two-dimensional oscillator equations62 B.8 Simplified analysis of the force-rebalance CVG. 62 B.9 S
35、implified analysis of the open-loop CVG . 63 B.10 Annex B Bibliography 66 Annex C (informative) Compliance matrix 67 viii Copyright 2004 IEEE. All rights reserved. IEEE Standard Specification Format Guide and Test Procedure for Coriolis Vibratory Gyros 1. 1.11.21.3Overview Scope Specification and te
36、st requirements for a single-axis Coriolis vibratory gyro (CVG) for use as a sensor in attitude control systems, angular displacement measuring systems, and angular rate measuring systems are defined. A standard specification format guide for the preparation of a single-axis CVG is provided. A compi
37、lation of recommended procedures for testing a CVG, derived from those presently used in the industry, is also provided. Informative annexes cover CVG design features and theoretical principles of operation. Document structure This standard consists of two parts: Part I is a specification format gui
38、de for the preparation of a CVG specification; Part II is a compilation of recommended procedures for testing a CVG. Definitions Except for the terms defined below, The Authoritative Dictionary of IEEE Standards Terms, Seventh Edition; IEEE Std 528TM-20011; and the model equation of 8.3 define termi
39、nology used in this standard. 1.3.1 Angle storage (Coriolis Vibratory Gyro): The angular information stored in a gyro as a result of its dynamics. 1.3.2 Coriolis Vibratory Gyro (CVG): A gyro based on the coupling of a structural, driven, vibrating mode into at least one other structural mode (pickof
40、f) via Coriolis acceleration. NOTECVGs may be designed to operate in open-loop, force-rebalance (i.e., closed-loop) and / or whole angle modes.21.3.3 Force-rebalance mode (Coriolis Vibratory Gyro): A mode in which the vibration amplitude of the pickoff is nulled by a signal whose amplitude is propor
41、tional to the rotation rate about the input axis (es). 1Information on references can be found in Clause 2. 2Notes in text, tables, and figures are given for information only, and do not contain requirements needed to implement the standard. Copyright 2004 IEEE. All rights reserved. 1 STANDARD SPECI
42、FICATION FORMAT GUIDE AND TEST PROCEDURE IEEE Std 1431-2004 1.3.4 Forcer (Coriolis Vibratory Gyro): A device that exerts a force on a resonator, in response to a command signal. 1.3.5 Open loop mode (Coriolis Vibratory Gyro): A mode in which the vibration amplitude of the pickoff is proportional to
43、the rotation rate about the input axis (es). 1.3.6 Ratiometric output: An output method where the representation of the measured quantity (e.g., voltage, current, pulse rate, pulse width) varies in proportion to a reference quantity. 1.3.7 Whole angle mode (Coriolis Vibratory Gyro): A mode of single
44、-axis operation in which the pickoff output is a measure of the net angle of rotation since initialization. 2.References This standard shall be used in conjunction with the following publications. When the following standards are superseded by an approved revision, the revision shall apply. ANSI Std
45、 268-19923, American National Standard for Metric Practice. IEEE Std 260.1-20044, American National Standard Letter Symbols for Units of Measurement (SI Units, Customary Inch-Pound Units). IEEE Std 280-1985, IEEE Letter Symbols for Quantities Used in Electrical Science and Electrical Engineering. IE
46、EE Std 315-1975, IEEE Graphic Symbols for Electrical and Electronics Diagrams. IEEE Std 315A-1986, IEEE Graphic Symbols for Electrical and Electronics Diagrams (Supplement to ANSI / IEEE Std 315-1975). IEEE Std 528-2001, IEEE Standard for Inertial Sensor Terminology. IEEE Std 647-1995, IEEE Standard
47、 Specification Format Guide and Test Procedure for Single-Axis Laser Gyros. IEEE Std 952-1997, IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros. 3ANSI publications are available from the Sales Department, American National Standards Instit
48、ute, 11 West 42nd Street, 13th Floor, New York, NY 10036, USA 4IEEE publications are available from the Institute of Electrical and Electronics Engineers, 445 Hoes Lane, P.O. Box 1331, Piscataway, NJ 08855-1331, USA (http:/standards.ieee.org/). 2 Copyright 2004 IEEE. All rights reserved. FOR CORIOLI
49、S VIBRATORY GYROS IEEEStd 1431-2004Part ISpecification format 3. Purpose This specification defines requirements for a single-axis Coriolis vibratory gyro (CVG) to be used as a sensor in an inertial measurement unit, _. A description of the design features of a single-axis CVG is presented in Annex A and principles of operation in Annex B. The CVG may include electronics necessary to operate the gyro and condition the output signal. A CVG can be either a macroscopic device or a micro-electro-mechanical system (MEMS). 4. Applicable documents The followi
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