Atatu-axis gyroscope: kusanthula mwachidule mfundo yokhazikika

M'gawo la mayunitsi oyezera mopanda malire (IMUs),ma gyroscopes atatuzimaonekera ngati zigawo zikuluzikulu, kupereka deta zofunika kulamulira maganizo mu ntchito kuyambira ndege ndi makina magalimoto. Kumvetsetsa mfundo zokhazikika za gyroscope ya atatu-axis ndikofunikira kuti ntchito yake ikhale yabwino ndikuwonetsetsa kuti ikugwira ntchito modalirika m'malo osinthika.

## Mfundo yogwira ntchito ya atatu-axis gyroscope

Ma gyroscopes amitundu itatugwirani ntchito poyesa kuthamanga kwa angular pafupi ndi nkhwangwa zitatu zodziimira (X, Y, ndi Z). Poyang'aniridwa ndi kasinthasintha wakunja, gyroscope imapanga liwiro lozungulira, lomwe ndi lofunika kwambiri kuti mudziwe momwe chipangizocho chilili. Mapangidwe amkati a gyroscope yamagulu atatu nthawi zambiri amaphatikiza kukana kwamkati kwa gyroscope, tachometer yosinthika ndi loop yowongolera. Pamodzi, zigawozi zimathandizira kuzindikira ndi kuwongolera mawonekedwe a chipangizocho.

Kukaniza kwamkati kwa gyroscope kumathandizira kukhalabe okhazikika pokana kusintha koyenda, pomwe tachometer yosunthika imayesa kuchuluka kwa kasinthasintha. Dongosolo lowongolera limayendetsa deta iyi, kulola zosintha zenizeni kuti zisungidwe komwe mukufuna. Kulumikizana kovutirapo pakati pa zigawozi kumatsimikizira kuti gyroscope imatha kutsata molondola kusintha kwa malo ndi mawonekedwe, zomwe ndizofunikira kwambiri pamapulogalamu omwe amafunikira kuyendetsa bwino ndikuwongolera.

## Gwero lokhazikika

Kukhazikika kwa gyroscope yamagulu atatu makamaka kumachokera kuzinthu ziwiri: kukhazikika kwa makina ndi kukhazikika kwa dera.

### Kukhazikika Kwamakina

Kukhazikika kwamakina ndikofunikira pakugwira ntchito bwino kwa ma axis atatu a gyroscope. Chipangizocho chiyenera kuwonetsa kukhazikika kwamakina kuti muchepetse zotsatira za kugwedezeka ndi kusokonezeka kwakunja. Kugwedezeka kwamakina kumatha kuyambitsa zolakwika zoyezera liwiro, zomwe zimapangitsa kutsimikiza kwamalingaliro molakwika. Kuti achepetse zovutazi, opanga nthawi zambiri amagwiritsa ntchito zida zolimba komanso njira zopangira kuti gyroscope isavutike ndi kugwedezeka kwa makina ndi kugwedezeka.

Kuphatikiza apo, kukonza ndi kuyika kwa gyroscope kumathandizanso kwambiri pakukhazikika kwake kwamakina. Kuyanjanitsa kolondola ndikukweza kotetezedwa kumachepetsanso chiwopsezo cha kusokoneza mphamvu zakunja, ndikuwonetsetsa kuti gyroscope ikugwira bwino ntchito pansi pazikhalidwe zosiyanasiyana.

### Kukhazikika kwa dera

Chofunikiranso ndikukhazikika kwa dera la atatu-axis gyroscope. Madera omwe amakhudzidwa ndikusintha ma siginecha, monga mabwalo okulitsa ma siginecha a gyroscope ndi mabwalo a fyuluta, ayenera kuwonetsa kukhazikika kwakukulu kuti zitsimikizire kufalikira kwa data molondola. Mabwalowa amapangidwa kuti akane kusokonezedwa, kukulitsa chizindikiro, ndikuchita kusefa kwapamwamba komanso kotsika, komwe ndikofunikira kwambiri kuti musunge kukhulupirika kwa siginecha yoyezedwa ya angular velocity.

Kukhazikika kwa dera ndikofunikira chifukwa kusinthasintha kulikonse kapena phokoso lachizindikiro lingayambitse kuwerengera zabodza, kusokoneza magwiridwe antchito a dongosolo lowongolera. Chifukwa chake, mainjiniya amayang'ana kwambiri kupanga mabwalo omwe amatha kupirira kusintha kwa chilengedwe ndikusunga magwiridwe antchito pakapita nthawi.

## Kugwiritsa ntchito gyroscope yamagulu atatu

Ma gyroscopes atatu-axis amagwiritsidwa ntchito kwambiri m'magawo osiyanasiyana. Poyendetsa ndege, ndizofunikira kuti munthu azitha kuwongolera mutu ndi malingaliro, zomwe zimalola oyendetsa ndege kuti aziyenda bwino komanso moyenera. M'makampani amagalimoto, ma gyroscopes awa amagwiritsidwa ntchito pamakina othandizira oyendetsa magalimoto (ADAS) kuti alimbikitse bata komanso kuwongolera magalimoto.

Kuphatikiza apo, pakuyenda panyanja, ma gyroscopes atatu-axis amagwiritsidwa ntchito kuyeza ndi kuwongolera momwe zombo ndi sitima zapamadzi zimayendera kuti zitsimikizire kuyenda kotetezeka komanso kolondola pamikhalidwe yovuta. Kukhoza kwawo kupereka chidziwitso cha nthawi yeniyeni kumawapangitsa kukhala ofunikira kwambiri pamakina amakono apanyanja.

## Powombetsa mkota

Ma gyroscopes amitundu itatundi mwala wapangodya wa ukadaulo woyezera mopanda mphamvu, ndipo kukhazikika kwawo ndi kulondola kwawo ndikofunikira pakuwongolera malingaliro moyenera. Pomvetsetsa mfundo zakukhazikika kwamakina ndi dera, mainjiniya amatha kupanga ma gyroscope odalirika kwambiri kuti akwaniritse zosowa zamitundu yosiyanasiyana. Pamene ukadaulo ukupitilirabe kusinthika, gawo la ma gyroscopes atatu mu IMUs likhala lofunikira kwambiri, ndikutsegulira njira yopita patsogolo pakuyenda, kuloboti ndi magawo ena.