1、Copyright 1998 IEEE All Rights ReservedIEEE Std 517-1974(R2010)IEEE Standard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating GyrosSponsorGyro and Accelerometer Panelof theIEEE Aerospace Electronics System SocietyApproved December 13, 1973Reaffirmed Septemb
2、er 30, 2010IEEE Standards BoardApproved May 30, 1983Reaffirmed August 11, 2011American National Standards InstituteCopyright 1974 byThe Institute of Electrical and Electronics Engineers, IncNo part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, wit
3、hout theprior written permission of the publisher.iiApproved December 13, 1973IEEE Standards BoardRobert D. Briskman, ChairSava I. Sherr, Secretary Stephen J. AngelloSaul AronowJames E. BeehlerRichard BreretonWarren H. CookLouis CostrellJay ForsterJoseph L. KoepfingerWilliam R. KruesiBenjamin J. Leo
4、nDonald T. MichaelVoss A. MooreJames D. M. PhelpsSaul W. RosenthalGustave ShapiroRalph M. ShowersRobert A. SodermanFrederick G. TimmelLeendert van RooijRobert V. WachterBruno O. WeinschelWilliam T. WintringhamiiiForeword(This foreword is not a part of IEEE Std 517-1974, Specification Format Guide an
5、d Test Procedure for Single-Degree-of-FreedomRate-Integrating Gyros.)This standard was prepared by the Gyro and Accelerometer Panel of the Aerospace Electronics Systems Society of theInstitute of Electrical and Electronics Engineers. It consists of two parts.Part I is a specification format guide fo
6、r the preparation of a rate-integrating gyro specification. It provides a commonmeeting ground of terminology and practice for manufacturers and users. The user is cautioned not to overspecify;only those parameters that are required to guarantee proper instrument performance in the specific applicat
7、ion shouldbe controlled. In general, the specification should contain only those requirements that can be verified by test orinspection. Parameters in addition to those given in this standard are not precluded. Figs 1 and 2 are to be used as aguide for the preparation of specific figures or drawings
8、.Part II is a compilation of recommended procedures for testing a rate-integrating gyro. These procedures, includingtest conditions to be considered, are derived from those currently in use. For a specific application, the test procedureshould reflect the requirements of the specifications; therefor
9、e, not all tests outlined in this document need be included,nor are additional tests precluded. In some cases, alternative methods for measuring performance characteristics havebeen included or indicated.The intent is for the specification writer to extract the applicable test conditions and equipme
10、nt requirements fromSection 9. for inclusion in the appropriate sections listed under Section 4.5. Similarly, it is intended that the writerextract the applicable test procedures from Section 10. for inclusion in the appropriate sections listed under Section4.6. Part II can also be used as a guide i
11、n the preparation of a separate rate-integrating gyro test specification withappropriate section numbering.Blank spaces in the text of this document permit the insertion of specific parameter values and their tolerances.Brackets are used to enclose alternative choices of dimensional units, signs, ax
12、es, etc. Boxed statements are includedfor information only and are not part of the specification or test procedures. The symbols used conform to IEEE Std260-1967 , Letter Symbols for Units Used in Electrical Science and Electrical Engineering. Terminology usedconforms to Aerospace Industries Associa
13、tion EETC Report 5 (Revision A), Standard Gyro Terminology.This document defines the requirements and test procedures for a conventional single-degree-of-freedom rate-integrating gyro in terms of characteristics unique to the gyro. The requirements contained herein are intended to coverapplications
14、in which the dynamic angular inputs to which the gyro is subjected are benign relative to the accuracyrequired. This will cover most gimballed platform applications and those nongimballed applications (for example,space vehicle attitude control systems) in which the dynamic inputs are not so severe
15、as to make additional parameterssignificant. The rate-integrating gyro provides a voltage output proportional to angular displacement of the case aboutthe input axis when in an open-loop mode or when captured by a servoed platform, or a current proportional to angularrate about the input axis when c
16、aptured through an external loop using the gyro torquer. A model equation is given inSection 6.3 for reference, to be included in a specification only to the extent necessary.Appendix A lists various rate-integrating gyro design features for which this format is applicable. The table is notintended
17、to make any suggestion regarding the selection of particular design features that might restrict the free choiceof manufacturers.ivThe IEEE will maintain this document current with the state of the technology. Comments are invited on this documentas are suggestions for additional material. These sho
18、uld be addressed to:SecretaryIEEE Standards BoardThe Institute of Electrical andElectronics Engineers, Inc345 East 47 StreetNew York, N.Y. 10017This publication represents a group effort on a large scale. A total of 167 individuals attended 37 meetings of the Gyroand Accelerometer Panel while work o
19、n this standard was in progress. The following members were responsible forthis work:R. B. Clark (Chairman, 1967)C. O. Swanson (Chairman, 1968)H. A. Dinter (Chairman, 1969)N. F. Sinnott (Chairman, 1970)M. D. Mobley (Chairman, 1971)K. W. Homb (Chairman, 1972)A. T. Campbell (Chairman, 1973)A. M. Brady
20、R. M. BurrowsR. A. CrawfordH. B. DiamondJ. DiGirolamoE. G. FotouH. A. FredineT. A. FuhrmanK. N. GreenH. L. GubbinsJ. E. HardieJ. G. HawkinsC. E. HurlburtJ. V. JohnstonC. A. JonesJ. H. JordanK. J. KlarmanJ. KoestlerW. G. LaneA. A. LeeA. M. LeekingF. B. MikoleitG. E. MorrisonG. H. NeugebauerT. M. Rank
21、inR. F. RathckeH. F. RickmanH. RogallL. M. RossR. C. RoyceC. W. SpencerC. I. ThornburgR. L. Van AlstineB. J. WimberH. M. ZieglerIn addition to the above working group, the following members of the Gyro and Accelerometer Panel also approvedthis standard by letter ballot.G. J. BukowJ. CrittendenP. Fla
22、nnerE. GiovanettiJ. MeehanC. MorleyS. V. PiccirilloB. SagevCLAUSE PAGEPart ISpecification Format 11. Scope.12. Applicable Documents12.1 Specifications . 12.2 Standards 22.3 Drawings 22.4 Bulletins . 22.5 Other Publications 23. Requirements 23.1 Description . 23.2 General Requirements 23.3 Performanc
23、e . 33.4 Mechanical Requirements 103.5 Electrical Requirements . 113.6 Environmental Requirements. 133.7 Reliability. 174. Quality Assurance Provisions .184.1 Classification of Tests 184.2 Acceptance Tests 184.3 Qualification Tests . 194.4 Reliability Tests . 204.5 Test Conditions and Equipment. 204
24、.6 Test Methods 204.7 Data Submittal 235. Preparation for Delivery246. Notes .246.1 Intended Use 246.2 Ordering Data. 246.3 Model Equation 24Part IITest Procedure 267. Scope.268. Description 268.1 Angular Displacement Sensing 268.2 Angular Rate Sensing. 268.3 Model Equation 269. Test Conditions and
25、Test Equipment 269.1 Standard Test Conditions . 26viCLAUSE PAGE9.2 Standard Operating and Test Equipment 2910. Test Procedures .2910.1 Examination of Product (Mechanical) 2910.2 Examination of Product (Electrical) . 2910.3 Leak Test. 3110.4 Polarity 3210.5 Operating Temperature Test Series 3310.6 Pi
26、ckoff Test Series 3610.7 Torquer Test Series. 3710.8 Rotor Rotation Detector 3910.9 Spin Motor Test Series 4010.10 Axis Alignment. 4110.11 Input Angle Test Series. 4310.12 Gyro Transfer Characteristic Test Series 4410.13 Drift Rate Test Series 4710.14 Output Noise . 5610.15 Dynamic Response Test Ser
27、ies. 5810.16 Angular Acceleration Sensitivity About the Output Axis 6010.17 Generated Fields . 6110.18 Environmental Test Series 62Annex A Rate-Integrating Gyro Design Features (Informative) 64Annex B Equatorial Tumble Test Suggested Data Reduction Procedure (Informative) 65Copyright 1998 IEEE All R
28、ights Reserved 1IEEE Standard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating GyrosPart ISpecification Format1. ScopeThis specification defines the requirements for a single-degree-of-freedom rate-integrating gyro to be used as a sensorin an attitude contr
29、ol system, a gimbal platform, an angular displacement measuring system, an angular ratemeasuring system, _. The external electronics or control system are not considered tobe part of the gyro.2. Applicable DocumentsThe following documents form a part of the specification to the extent specified here
30、in. In the event of any conflictbetween the requirements of this document and the listed documents, the requirements of this document shall govern.2.1 Specifications2.1.1 Government2.1.2 Industry/Technical2.1.3 CompanyGive identification number, title, date of issue, and revision letter of each list
31、ed document.2 Copyright 1998 IEEE All Rights ReservedIEEE Std 517-1974 IEEE STANDARD SPECIFICATION FORMAT GUIDE AND2.2 Standards2.2.1 Government2.2.2 Industry/Technical1) Aerospace Industries Association, EETC Report 5 (Revision A), Standard Gyro Terminology, June 196512) IEEE Std 260-1967 , Letter
32、Symbols for Units Used in Electrical Science and Electrical Engineering2.2.3 Company2.3 Drawings2.3.1 Government2.3.2 Industry/Technical2.3.3 Company2.4 Bulletins2.4.1 Government2.4.2 Industry/Technical2.4.3 Company2.5 Other Publications3. Requirements3.1 DescriptionThe major components of the rate-
33、integrating gyro herein specified are: a rotor driven by a _ spin motor,_ damping, a _ pickoff, a _ torquer, and _ gimbal suspension.3.2 General Requirements3.2.1 PrecedenceIn the event of conflict among the purchase agreement, this specification, and other documents referred to herein, theorder of
34、precedence shall be as follows:1Available from: National Standards Association, Inc 1321 Fourteenth Street, NW Washington, DC 20005Other applicable documents should be listed under the appropriate categories.To fill in the blanks, refer to Appendix A.Copyright 1998 IEEE All Rights Reserved 3TEST PRO
35、CEDURE FOR SINGLE-DEGREE-OF-FREEDOM RATE-INTEGRATING GYROS IEEE Std 517-19741) Purchase agreement2) This specification and its applicable drawings (see Sections 3.4.2 and 3.5.1)3) Other applicable documents (see Section 2)3.2.2 DefinitionsThe following document and the model equation of Section 6.3
36、define terminology used in this specification:Aerospace Industries Association, EETC Report 5 (Revision A), Standard Gyro Terminology, June 19653.3 PerformancePerformance characteristics shall be as specified hereinafter. The tolerances include a summation of manufacturingand test errors and environ
37、mental effects. Any exception due to environmental effects will be listed in Section 3.6.3.1.3.3.1 Input Angles3.3.1.1 Input LimitsThe minimum angular input limits about the gyro input axis shall be _ rad, .3.3.1.2 Limit StopsThe output angle shall be mechanically limited, corresponding to an input
38、angle of _ rad, .3.3.2 Gyro Scale Factor_ _ V/rad, input angle.3.3.3 Gyro GainH/C, _ _ rad/rad, / .3.3.4 Characteristic TimeJ/C, _ _ seconds.3.3.5 Operating Temperature_ _ K, C.When required by the application, the sensitivity of a gyro parameter to variations in voltage, frequency,temperature, or o
39、ther variables shall be included in the paragraph specifying that parameter.The positive and negative input limits need not be equal.The positive and negative limit stops need not be equal and are sometimes specified in terms of pickoff outputvoltage.Operating temperature is defined as the temperatu
40、re at one or more gyro elements when the gyro is in thespecified operating environment. These elements may include the spin motor winding, the flange, the pickoff, thetorquer, the temperature sensor, etc. In this thermal environment, all operating specifications must be met.4 Copyright 1998 IEEE All
41、 Rights ReservedIEEE Std 517-1974 IEEE STANDARD SPECIFICATION FORMAT GUIDE AND3.3.6 Run-Up Time_ seconds maximum to _ percent of full speed, synchronous speed.3.3.7 Run-Down Time_ seconds minimum from _ percent of full speed, synchronous speed to _ percent of fullspeed, synchronous speed.3.3.8 Warm-
42、Up Time_ second, minute maximum.3.3.9 Torquer Performance3.3.9.1 Command Rate Scale Factor_ _ (rad/s)/mA, (rad/h)/mA, ( /s)/mA, ( /h)/mA.Sometimes nonlinear torquers are specified, in which case a table defining rate versus input should be supplied.3.3.9.2 Command Rate Scale Factor Composite Error_
43、percent output range, maximum.3.3.9.3 Continuous Command RateMinimum: _ rad/s, rad/h, /s, /h.3.3.9.4 Maximum Command RateMinimum: _ rad/s, rad/h, /s, /h for a minimum of _ seconds.3.3.10 Rotor Rotation Detectors3.3.10.1 Peak Output_ _ V (at rated speed).For a variable reluctance torquer the scale fa
44、ctor shall be _ _ (rad/s)/mA2, (rad/h)/mA2, ( /s)/mA2, ( /h)/mA2.Specific terms comprising composite error may be specified in addition to, or instead of, composite error.The degree to which performance may be degraded during application of maximum command rate, and therecovery time, may both be spe
45、cified if applicable.For pulse output type, specify peak output, repetition rate, pulse width, and rise time or fall time, or both. For nearsinusoidal type, specify total output, fundamental signal, and fundamental frequency. Other types of RRD (rotorrotation detectors) should be specified in accord
46、ance with their characteristics.Copyright 1998 IEEE All Rights Reserved 5TEST PROCEDURE FOR SINGLE-DEGREE-OF-FREEDOM RATE-INTEGRATING GYROS IEEE Std 517-19743.3.10.2 Repetition Rate_ times rotor speed.3.3.10.3 Pulse Width_ seconds at _ V (at rated speed).3.3.10.4 Rise, Fall Time_ _ s from _ percent
47、to _ percent peak amplitude.3.3.10.5 Total Output_ _ V rms (at rated speed).3.3.10.6 Fundamental Signal(Sinusoidal) _ percent of total output.3.3.10.7 Fundamental Frequency_ times rotor speed.3.3.11 Pickoff3.3.11.1 Pickoff Scale Factor_ _ V/rad, output angle.3.3.11.2 Pickoff Composite Error_ percent
48、 output range, maximum.3.3.11.3 Pickoff Electrical Null1) _ mV rms, peak to peak total, maximum2) _ mV rms, peak to peak quadrature, maximum3) _ mV rms, peak to peak in phase, maximum3.3.12 Elastic Restraint Drift Rate CoefficientK/H _ (rad/h)/rad, ( /h)/ maximum.Specific terms comprising composite error may be specified in addition to, or instead of, composite error.For ac pickoffs the electrical null is composed prima
