1、AEROSPACE STANDARDAS1104Issued 1969-12Reaffirmed 2008-02Single-Degree-of-Freedom Spring-Restrained Rate GyrosINTRODUCTIONIn the interest of standardization, SAE Committee SC-22 has written this specification for a subminiature single-degree-of-freedom, spring-restrained rate gyro. The actual specifi
2、cations are based upon data from rate gyro manufacturers and represent the performance capabilities and design characteristics of the majority of gyros used in todays systems.This specification is not meant to limit the system designer but serves to advise him of rate gyro characteristics which have
3、 been established and verified by usage over the years.TABLE OF CONTENTSINTRODUCTION 11. SCOPE .32. APPLICABLE DOCUMENTS32.1 Government and Military32.2 Other33. REQUIREMENTS.33.1 Description.33.2 General43.3 Performance 43.4 Mechanical.73.5 Electrical 83.6 Environmental10SAE Technical Standards Boa
4、rd Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising therefrom, is the sole responsibil
5、ity of the user.” SAE reviews each technical report at least every five years at which time it may be reaffirmed, revised, or cancelled. SAE invites your written comments and suggestions. Copyright 2008 SAE International All rights reserved. No part of this publication may be reproduced, stored in a
6、 retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: 724-776-4970 (outside USA) Fax: 724-776-0790 Email: Cus
7、tomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE AS1104 - 2 -TABLE OF CONTENTS (Continued)4. QUALITY ASSURANCE PROVISIONS114.1 Classification of Tests 114.2 Acceptance Tests.114.3 Qualification Tests134.4 Test Conditions and Equipment .134.5 Test Methods145. PREPARATION FOR DELIVERY .166.
8、SUBMINIATURE RATE GYRO SPECIFICATION CODE .16FIGURE 1 Mechanical Schematic Typical Rate Gyroscope17FIGURE 2 Electrical Schematic Typical Rate Gyroscope .18FIGURE 3 Outline Drawing of a Typical Rate Gyroscope .19FIGURE 4 Subminiature Rate Gyroscope Specification Code20SAE AS1104 - 3 -1. SCOPE:This sp
9、ecification covers that gyroscopic instrument normally defined as a “subminiature rate gyro.“ The rate gyro, when subjected to an angular rate about its input axis, provides an AC output voltage proportional to the angular rate. The subminiature size category generally includes gyro instruments of o
10、ne (1) inch diameter or less and three and one-half (3 1/2) inches length or less. This specification defines the requirements for a subminiature spring-restrained, single-degree-of-freedom rate gyro for aircraft, missile, and spacecraft applications.2. APPLICABLE DOCUMENTS:The following documents s
11、hall form a part of this specification to the extent specified herein. The applicable issue of each shall be that in effect on the date of this specification unless otherwise specified in the manufacturers detail specifications. Supplementary specifications, standards, or the like, which by referenc
12、e in any of the following publications are indicated to be a part thereof, shall not be considered effective except as specifically stated in the manufacturers detail specification or as may be otherwise mutually agreed upon between the vendor and the purchaser.2.1 Government and Military:MIL-E-5272
13、 EnvironmentalMIL-E-26600 RFIMIL-P-116 PreservationMIL-STD-129 MarkingMIL-STD-105 Sampling Inspection2.2 Other:AIA EETC Report No. 5, Revision A, Standard Gyro TerminologyIEEE Test Procedure for Single-Degree-of-Freedom, Spring-Restrained Rate Gyros3. REQUIREMENTS:3.1 Description:The major component
14、s of the rate gyroscope (refer to figure 1) herein specified are an external case with provisions for mounting and electrical connection, a variable reluctance pickoff, a spring-restrained output member which rotates through a limited travel path, a damping regulator, and necessary electrical circui
15、ts and interconnections. The spring-restrained output member contains a synchronous spin motor (the rate sensing element) and supports the rotor for the variable reluctance pickoff. The elastic restraint is accomplished by some form of mechanical spring. A torquer and a rotor rotation detector are i
16、ncluded as optional self-test features. The prescribed means of defining subminiature rate gyros is in accordance with Paragraph 6 and Figure 4 of this specification.SAE AS1104 - 4 -3.2 General:3.2.1 Precedence: In the event of conflict between the purchase agreement and this specification, or other
17、 documents referred to herein, the order of precedence shall be defined by the purchase agreement.3.2.2 Definitions: EETC Report No. 5, Revision A, Standard Gyro Terminology, shall be used as a guide for definition of terms cited herein.3.3 Performance:3.3.1 Full Scale Rate (degrees per second): The
18、 gyro shall be capable of measuring rates up to and including the specified full scale rate. The full scale rate of the unit shall be selected and specified from the following list of nominal standard full scale rates.TABLE I - Nominal Standard Full Scale Rates3.3.2 Input Limit Stops: The gyro shall
19、 contain mechanical stops to limit the rate to no less than the full scale specified and no more than the full scale specified plus 20 percent (%).3.3.3 Mechanical Overload: The gyro shall be capable of withstanding an angular rate of 1000 deg/sec. or two times the full scale range, whichever is gre
20、ater.3.3.4 Gyro Scale Factor (volts/degree/second): The gyro scale factor shall be determined by dividing the full scale voltage output by the specified full scale rate. The full scale voltage output will vary with excitation frequency as follows:a. 400 Hz. - 5.6 volts 5%b. 800 Hz. - 8.0 volts 5%c.
21、4800 Hz. - 15.0 volts 5%SAE AS1104 - 5 -3.3.5 Undamped Natural Frequency (hertz): The gyro undamped natural frequency about the output axis shall be selected and specified from the following table:TABLE II - Subminiature Rate Gyro Undamped Natural Frequencies3.3.6 Damping Ratio ( critical): The damp
22、ing ratio shall be specified between 0.2 and 5.0 nominal at 80 F and shall vary over the operating temperature range as follows:TABLE III - Subminiature Rate Gyro Damping RatiosIf compensated damping over the temperature range is not required by the user, an alternate may be specified as follows:TAB
23、LE IV - Subminiature Rate Gyro Damping Ratio(without compensated damping over the temperature range)3.3.7 Ready Time: The gyro shall meet the performance requirement of this specification within 60 sec. of the application of spin motor and pickoff excitation.3.3.8 Self Test Torquer: If applicable, t
24、he gyro shall be capable of continuous torquing of 5 deg sec.3.3.9 Spin Motor Rotation Detector: If applicable, the gyro shall produce a signal of 100 mv. minimum when the spin motor has attained synchronization. This signal will be at a frequency proportional to the motor excitation frequency.3.3.1
25、0 Threshold and Resolution: The threshold and resolution shall be 0.01 deg/sec. or 0.1% of full scale whichever is greater.3.3.11 Hysteresis: The hysteresis shall be 0.20% of full scale maximum.SAE AS1104 - 6 -3.3.12 Zero Offset:a. The zero offset at room ambient conditions, prior to exposure to eit
26、her storage or operating environments, shall be not more than 0.25% of nominal full scale rate.b. The zero set at room ambient conditions, after exposure to the storage and operating environments, shall be not more than 0.25% of nominal full scale rate.3.3.13 Zero Offset Shift with Temperature and V
27、ibration:a. The zero offset shall not shift more than 0.25% of nominal full scale rate when the gyro is exposed to extremes of the operating temperature range.b. The zero offset shall not shift more than 0.5% of nominal full scale rate when the gyro is exposed to the operating vibration specificatio
28、n.3.3.14 Linear Acceleration Sensitivity: The linear acceleration sensitivity shall be not more than 0.1% of nominal full scale rate per g acceleration.3.3.15 Signal Modulation Noise: The induced noise in the pickoff shall not exceed 20 mv. over the frequency range of 0-100 Hz. while the gyro motor
29、is excited at operating voltage and frequency and with all other circuits open.3.3.16 Linearity: The signal generator output shall vary no more than 0.5% of the nominal full scale rate from the nominal sensitivity from zero to half scale and no more than 2.0% of nominal full scale rate from the nomi
30、nal sensitivity from half scale to full scale.3.3.17 Rate Sensitivity About the Spin Reference Axis:3.3.17.1 The misalignment of the actual spin axis with the spin reference axis shall be such that at zero rate about the input reference axis, the error rate shall be 0.005 deg./sec. per deg./sec. max
31、imum.3.3.17.2 The gimbal output angle at full scale range shall be such that with full scale rate about the input reference axis, the error rate shall be 0.03 deg/sec. per deg/sec. maximum.3.3.18 Angular Acceleration Sensitivity About the Output Axis: A function of gimbal moment of inertia and rotor
32、 angular momentum (IOA/H); this parameter shall not exceed 0.075 deg./sec./rad./sec.2.3.3.19 Polarity:3.3.19.1 Pickoff: The voltage from the pickoff secondary line to return shall be in phase, within the allowed pickoff phase shift, with the voltage from the pickoff primary line to return for positi
33、ve input rates (CW about 1A with 1A vector down).3.3.19.2 Rotor: The rotor shall rotate in the direction indicated by the spin reference vector when connected as specified in para. 3.5.1.SAE AS1104 - 7 -3.3.19.3 Self Test Torquer:a. Permanent Magnet: A positive indication shall result when voltage f
34、rom the control line to return is positive (refer to Figure 2).b. AC Torquer: A positive rate indication shall result when the voltage from the control line to return has the same phase as the voltage from the pattern line to ground.3.3.20 Life:3.3.20.1 Storage and Transportation: The gyro shall ope
35、rate within specification after 24 months of storage or transportation under a normal distribution of the storage and transportation environments.3.3.20.2 Operating: The useful operating life of the gyro shall be 2,000 hr when operated under any combination of the operating environments. The gyro sh
36、all be capable of a minimum of 200 starts and stops over the operating life.3.4 Mechanical:3.4.1 Exterior Surface: All exterior surfaces must withstand the environments specified herein and the handling experienced in the normal course of operation, testing, and maintenance without deterioration whi
37、ch would cause nonconformance to this specification.3.4.2 Outline and Mounting Dimensions: All gyros supplied to this specification shall conform to the dimensions listed below and to figure 3 of this specification.3.4.2.1 Length: The maximum length, exclusive of connectors or wiring pins shall be 3
38、.00 inches.3.4.2.2 Body Diameter: Two body diameters are acceptable as designated below:a. Type I - 1.000 in. 0.002b. Type II - 0.937 in. 0.002 3.4.2.3 Mounting Provisions: Two mounting styles are acceptable for gyros to this specification:a. Body mount (i.e., cylindrical)b. Flange mountSAE AS1104 -
39、 8 -3.4.2.4 Flange Mount: The flange mount shall have the following dimensional limitations:Flange O.D. 1.130 maxFlange thickness 0.150 maxFlange location 1.500 max from header endOptional SlotWidth 0.064 in. to 0.074 in.Depth 0.040 in. to 0.050 in.Exact dimensions and tolerances shall be mutually a
40、greed upon by the user and manufacturer.3.4.2.5 Index Provisions: A means, such as scribe line, nameplate, terminal numbering, flange slot positioning, or addition of a pin or key, shall be provided to approximately locate the input axis.3.4.2.6 Index Key/Pin: The index Key or pin, if required, shal
41、l have the following dimensional limitations:Width or Diameter 0.050 in. to 0.075 in.Length 0.060 in. to 0.120 in.Exact dimensions and tolerances shall be mutually agreed upon by the user and manufacturer.3.4.3 Gyros Axes: The input reference axis (IRA) and the spin reference axis (SRA) are determin
42、ed from the axis alignment provisions on the gyro case.3.4.4 Weight: The weight of the gyro shall be seven ounces maximum. When accessories such as mount, cable, connector, or choke are required, additional weight shall be allowed.3.4.5 Identification of Product: Each gyro shall be provided with a n
43、ameplate securely attached to the gyro on the end opposite the terminals. The nameplate shall provide the following information:a. Rate Gyro _ deg./sec. (full scale rate)b. Excitation (v., , hz.)c. Specification Numberd. Unit Serial Numbere. Axis Identification Markingf. Manufacturers name or symbol
44、3.5 Electrical:3.5.1 Schematic: The electrical circuit shall be connected as shown in Figure 2.SAE AS1104 - 9 -3.5.2 Circuit Excitation and Impedances:3.5.2.1 Spin Motor:3.5.2.1.1 Voltage: The spin motor excitation voltage shall be 261 volts AC RMS, 1, 2, or 3 phase, or 6.3 volts AC RMS, 1, 2, or 3
45、phase.3.5.2.1.2 Frequency: The spin motor excitation frequency shall be 400 or 800 hz. The gyro sensitivity will vary with frequency variation.3.5.2.1.3 Wave Shape: The gyro shall operate from either sine wave or square wave excitation.3.5.2.1.4 Running Power: The total power input to the gyro motor
46、 shall not be greater than 3 watts.3.5.2.1.5 Starting Power: The total starting power input to the gyro motor shall not be greater than 3.5 watts at room ambient conditions.3.5.2.1.6 Power Factor: The power factor shall be 0.5 minimum.3.5.2.1.7 Phase Splitting Capacitor: The use of a phase splitting
47、 capacitor with single phase excitation is allowed. The gyro manufacturer shall specify the characteristics of the capacitor when used.3.5.2.2 Pickoff:3.5.2.2.1 Excitation Voltage: The pickoff excitation voltage shall be 115, 26, or 6.3 volts AC RMS. (Voltage supply variations result in equivalent s
48、ensitivity variations; linearity is affected accordingly when the voltage varies during a test run.)3.5.2.2.2 Excitation Frequency: The pickoff excitation frequency shall be 400, 800, or 4800 hz.3.5.2.2.3 Excitation Harmonics: The pickoff excitation shall not contain harmonics in excess of 5% of the
49、 fundamental.3.5.2.2.4 Pickoff Power: The pickoff power shall be 1.5 watts maximum.3.5.2.2.5 Pickoff Load: The pickoff load shall be 10,000 ohms 1% for measurement of gyro characteristics.3.5.2.2.6 Carrier Phase Shift (Voltage into Voltage out): The phase shift, voltage into voltage out, shall not exceed 10 deg with a series choke and 50 deg without a series choke. Phase shift shall be measured at a rate equal to 10% of the full scale rate.SAE AS1104 - 10 -3.5.2.2.7 Primary Impedance: The manufacturer shall specify primary imp
