MIL-G-81168-5B.pdf

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MIL-G-81168/5B(OS)

18 October 1974

SUPERSEDING

23 November 1973

MIL-G-81168/5A

MILITARY SPECIFICAT I O N SHEET

GYROSCOPE, RATE INTEGRATING

The complete requirements for procuring t h e gyroscope descr ibed he re in s h a l l consist o f t h i s document and t h e la tes t i ssue of spec i f i -ca t ion MIL-G-81168.

NAMEPLATE TO BE LOCATED ON T H I S END

AND SHALL CONFORM TO NAMEPLATE T CONFIGURATION AS SHOWN I N FIGURE 3

OA

‘ &i / 2.48 MAX.

L S O C Z T I

CONNECTOR \ MDM 2 I S S K

CANNON OR EQUAL

I N

o. O010

o. O01 0.002 O. 003 O. 048 0.0630 0.125 0.25 O. 400 O. 450 1.18 1.187 1.295 2.48 6.00

Mi4

o. 02!

0.03 0.05 0.08 1.20 1.60( 3.18 6.3

10.15 11.45 30.0 30.15 32.90

63. O

152.4

FIGURE 1. DIMENSIONS AND CONFIGURATION

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THIS DOCUMENT CONTAINS y PAGES. , Licensed by Information Handling ServicesLicensed by Information Handling Services

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MIL-G-81168/5B( OS)

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I GNAL 4 GEN E RATO R

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S P I N BALANCE PAN* TORQUE

MOTOR HEATER GENERATOR

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CANNON OR EQUAL 1

F I G U E 2. SCHEMATIC DIAGRAM

Requirement Value Units

D i e l e c t r i c Strength 250 v o l t s , mis @SO Hz

Using Test Point P a i r s : 1 and case 9 and case 5 and case 6 and case 5 t o 6

Insu la t ion Resistance 100 megohms

Using a test p o t e n t i a l o f : 2 50 v o l t s , D.C.

Using t e s t po in t p a i r s same as f o r d i e l e c t r i c .

Sp inmotor

Type :

Winding Configuration :

Rated Exci ta t ion :

Tolerance minimum m i n i m u m f10 volts synchronous, h y s t e r e s i s 2 Phase

15.0 v o l t s , peak-peak f 1 . O V

sq. wave centered a t O v o l t s

850 HZ Nominal f l IL -G-BLLb8/5B 1 2 I 7777706 0 3 5 8 8 1 5 7 I' i

MIL-G-81168/5B(OS)

Units Tolerance Value Requirement

Spinmotor (cont . )

T e s t Excitation*: 15.0 v o l t s , peak-peak

sq. wave centered a t O v o l t s

HZ

microseconds rPm í r p s )

(kg*m2/s 1 gm- cm2/ s ec seconds 45

f. 1v

&.i% maximum nominal nominal maximum maximum maximum maximum f.1 maximum maximum f20% f30%

-10 % nominal

21% +.i% maximum nominal maximum

520% f20%

520% f4O % f30% +50%

25,500

(425)

1.32 x 104

(1.32 x 10-3)

R i s e T i m e (10%-90%) Angular Veloci ty :

Rotor Angular Momentum:

Run-up Time t o Synchronous Speed:

Run-up Time t o 1/2 Synchronous

Power Consumption:

Speed :

S t a r t i n g :

Running :

Power Factor a t Synchronous Speed :

S t a r t i n g Current (pe r phase) :

Running Current (pe r phase):

DC Resistance (per winding

Impedance (over temperature @7OoF (21'C)) :

range -2OO t o 15OOF (-29' t o 65.5'C) ) :

1 5

5.0 4.0 0.5

9.5

17+j 26

32 5

170 t j 49 O seconds w a t t s watts m a m a ohms ohms

P i ckof f

Rated Exci ta t ion : v o l t s , rms

HZ

T e s t Exci ta t ion* : v o l t s , r m s

HZ

m a ma

Dis tor t ion :

Primary Current:

. . DC Resistance a t 7OoF(2l0C) Primary :

Secondary :

ohms ohms

Impedance :

Primary with open secondary:

@7OoF (21'C) ohms ohms ohms ohms

@-20° t o 150'F (-29' . t o 65.5OC) 170+j490

@7OoF (21OC) 405+j100 @-20° t o 150'F (-29' t o 65.5OC) 405tj100

Secondary with open primary:

*NOTE: Spinmotor and pickoff e x c i t a t i o n s h a l l be suppl ied from a phase locked frequency source.

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I I i

MIL-G-81168/5B( OS)

Requirement

Pickoff (cont. )

Null Voltage:

Phase Shi f t :

Units - Value - Tolerance

. ... i . . _ . 15 O

31.5 +5 mv, r m s degrees maximum +7 degrees

(+I20 mad) nominal maximum minimüm

+20% maximum maximum maximum maximum maximum maximum maximum maximum maximum minimum

(See Above)

+25% minimum maximum

Scale Factor:

Linearity Error:

When measured a t input angles f r o m O t o +1.5°(k26mad) or l i m i t of input angular freedom (whichever i s l e s s ) i n increments of O. 5O(9 mrad) .

mv/m percent

D.C. permanent magnet

Torquer

Type :

Control Current Range:

Control Winding Resistance :

@7OoF(2l0C) @15OoF( 65.5OC)

Control Winding Inductance:

Control Winding Time Constant

Command Rate Scale Factor2 (L/R) :

tolerance from specified value :

ma 0-220

16 O 22 8

4. O

50.0 Command Rate

(rad/sec) ohms ohps millihenrys microseconds Tolerance

(percent up t o 1 .0 up t o 1.5 up t o 2.2

+. 75 k1.5 k5.0

Command Rate Scale Factorfi tolerance from specified value after 4 years:

up t o 1.0 +.75 -.95 +1.5 -1.7 +5.0 -5.2 up t o 1 . 5 up t o 2.2

M a x i m u m Command Rate:

Gyro U n i t

Command Rate Scale Factor%:

Gyro Scale Factor:

Input Angular Freedom :

2.25 rad/sec

1. o ( i . 745) 16.6 deg/sec/ma (mrad/s *ma) mv/mr f0.5 (8.5) k2.0

(35)

$<NOTE: Command rate.scale f ac to r s h a l l be defined as the r a t i o of output angular velocity t o torquer current.

Reauirement

6 --_ .

Value

Gyro U n i t (cont. )

Angular Acceleration S e n s i t i v i t y 5 19 about t h e Output Axis:

(9.05)

Gyro Phasing:

Spinmotor:

MIL-G- 8116 8/5B( OS)

W i t s Tolerance deg/hr rad/sec2

( rad /hr ) (5GäEZ ) maximum

With a two phase e x c i t a t i o n and phase A lead ing phase B by 90°, p o s i t i v e spinmotor r o t a t i o n s h a l l occup with te rmina l 1 connected t o phase A and te rmina l 3 connected t o phase B.

Pickoff :

Pos i t i ve output vol tage s h a l l occur when the ,vo l t age from te rmina l 6 t o terminal 7 is in phase with t h e vol tage from t e rmina l 5 t o te rmina l 4.

Torquer :

Pos i t ive torque s h a l l occur when a p o s i t i v e vol tage is appl ied t o te rmina l 10 with r e spec t t o te rmina l 9 .

Cha rac t e r i s t i c Time :

@-20° t o +15OoF ( - 2 9 O t o 65.5OC) 2 msec @7OoF ( 2 1 O C ) 1 msec

H / J ( r a t i o of wheel momentum t o 530 l/sec output a x i s i n e r t i a ) :

maximum nominal nominal

Axis Alignment :

OA orthogonal t o mounting f lange sur face within 1 .5 mil l i radianS. Uncer-t a i n t y i n alignment due t o pivot / jewel c learance s h a l l no t exceed 0.25 m r .

Input a x i s a l igned t o within 1 . 5 mi l l i r ad ians of t h e I A notch.

D r i f t Rate: (-20° t o 15OOF (-29O t o 65.5OC) unless otherwise ind ica ted)

To ta l = R i + 7 / ( M U S ) 2 + : 50 ( 870)

(370)

(525)

Acceleration Insens i t i ve (Ri) : 2 1

Mass Unbalance (MUS, MUI) : 30

To ta l Acceleration Sens i t ive 42 (Resultant): ( 735 1 deg/hr maximum deg/hr maximum deg/hr/g maximum deg/hr/g maximum

(mrad/hr)

(mrad/hr)

(mrad/hr-g)

(mrad/hr* g) i I

MIL-G-81168/5B( OS)

Reauirement Units - Value Toleran ce maximum maximum maximum maximum maximum maximum maximum m i n i m u m

Gyro ü n f t (cont. )

D r i f t r a t e (cont.) :

Random D r i f t : ( 30 min. test , max p-p v a r i a t i o n commencing 5 min-u t e s after s t a r t -up ) @135OF (57OC) 6

(105) h i s o e l a s t i c i t y : 0.4 (1-500 Hz, 1 5 g (147 m / s 2 ) peak) (7)

Day-to-day s t a b i l i t y :

g i n s e n s i t i v e 6. O

(105) 6.0

( 105 )

(870)

( 140 1

2.5 (44)

(1.05)

20 o

(12.2) m a s s unbalance

D r i f t Boundaries over G y r o L i f e :

To ta l : heg/hr

(mrad/hr) deg/hr

(mrad/hr) Random :

Elastic Res t ra in t Coeff ic ien t : deg/hr / m r ( mrad/hr m a d )

Input a x i s rate c a p a b i l i t y :

M a x i m u m sus ta ined rate about IA without damage rad/sec

Rate Noise:

deg/hr, rms (rad/hr maximum Low frequency:

Using a first order torque t o balance loop with an open loop bandwidth of:

with no f i l t e r i n g of loop output f requencies below:

rad /sec minimum minimum m a x i m u m rad /sec

High frequency:

Using a first order torque-to balance loop with an open loop bandwidth of :

with no f i l t e r i n g o f loop output f requencies below:

deg/hr, rms ( rad /hr minimum minimum rad/sec rad /sec

Maximum allowed f i l t e r i n g i n both cases: dB /decade maximum

MIL-G-811b8/58 1 2 M

9999906 0358819 b M'

I

- 1 I

Requirement

Gyro Unit ( cont.

Ambient Temperature :

(Gyro s h a l l meet a l l require-ments over t h i s temperature range un le s s otherwise indicated)

Storage Temperature :

Operating L i f e :

or (whichever occurs f i r s t ) :

Vibration, shock , a l t i t u d e and moisture r e s i s t a n c e s h a l l be conducted i n accordance with

MIL-G-81168.

Markings/Nameplate :

Value Units Tolerance

-20 t o t150 OF (-20 t o 65.5) ( O C )

-65 t o t190 O F (-54 t o 88) ("'2) range range

3000 operating h r s minimum 4 years minimum

The gyro s h a l l be i d e n t i f i e d by marking i n accopdance with MIL-STD-130.

A l l markings s h a l l withstand t h e same environmental tests required of t h e gyro and s h a l l remain l e g i b l e throughout t h e operat ing l i f e of t h e gyro

The name D l a t e configurat ion s h a l l be as shown i n f i g u r e 3. Nameplates s h a l l conform t o the-requirements o f MIL-P-15024, type A, B , C , E or G as appropriate .

r!n

&te ï n t e a t i n g -. S e r i a l No.

L N ~ . a l Stock 1 M e ! \ Number

I S M

FIGURE 3. NAMEPLATE CONFIGURATION

k i I

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MIL-G-81168/5B (OS)

Tests and Inspections

The gyro shall meet requirements of this specification when tested and inspected in accordance with the procedures described in MIL-G-81168 and itemized iin sequence in Table I therein, with the following exceptions and additions:

a. The following test procedures arenot applicable: operating temperature, torquer null voltage, torquer linearity error, temperature sensor inducted voltage, hysteresis, reaction torque, temperature sensor scale Tactor, and null repeatability. The pickoff impedance shall be measured at 3400 Hz instead of 1000 Hz as indicated in MIL-G-81168.

b.

rates shall be determined by the six-position servo turntable test pro-cedure.

brating table test procedure. These drift rate test procedures are in-cluded in MIL-G-81168, section four. Random drift rate shall be deter-mined with the gyro in a servo rate loop, monitoring the torquer current for 30 minutes.

The acceleration insensitive and mass unbalance caused drift

Anisoelasticity shall be determined by the "high-gravity" vi-

c. "he following test procedure, to determine the sensitivity to angular acceleration about the output axis, shall be performed after the characteristic time test procedure.

during first article inspection.

This test shall be performed only

The gyro shall be mounted on a single-axis oscillating table with a means of driving it sinusoidally at known variable frequencies. The gyro shall be positioned with the output axis parallel to the table axis and shall be energized and stabilized as described in MIL-G-81168, off shall be monitored by a device capable of reading the peak-to-peak output voltage and the torquer current shall be adjusted to hold the gyro at null. The table shall be operated at a frequency approximately equal to, but not greater than one tenth of the inverse of the gyro charac-teristic time at an amplitude great enough to produce easily discernible output voltages without causing the gimbal to reach the stops.

The gyro pick-

The output axis sensitivity is the ratio of the peak-to-peak output voltage of the gyro pickoff to the peak-to-peak amplitude of the table rate divided by the gyro's transfer function.

d. The following test procedure, to determine rate noise, shall be performed after the random drift rate test procedure.

be performed during first article inspection, periodic production in-spection, and quality conformance inspection.

This test shall

The gyro shall be mounted in the test fixture with the output axis vertical and the input axis east and the gyro pickoff shall be connected to the input of a servo rate loop as described in MIL-G-81168. The servo rate i t

MIL-G-81168/5B( OS)

e

A t .

loop s h a l l have the bandwidth specif ied herein.

c i t ed and s tab i l ized i n accordance with MILG-81168.

value of t he torquer feedback current above 2 Hz i n t he frequency range specif ied i n t h e d e t a i l specif icat ion s h a l l be determined.

The gyro s h a l l be ex- The t o t a l rms

Rate noise i s t h e m s current multiplied by t h e command rate scale fac tor of t h e gyro.

e. In addition t o tests at rom ambient temperature, t he following tests s h a l l be performed during first art icle inspection and periodic production inspection:

(1) Run-up t i m e a t -2OOF and 15OOF (-29O and 65.5OC) ('2) Command rate sca le f ac to r a t -20°F and 15OOF (-29O and 65.5OC)

(3) Gyro Scale Factor a t -2OOF and 15OOF (-29O and 65.5OC)

(4) Character is t ic Time a t -2OOF and 15OoF (-29O and 65.5OC)

(5) Acceleration sens i t ive and acceleration insensi t ive drift at -2OoF, 135OF, and 150°F (-29O, 57O, and 65.5OC)

(6) Random dr i f t a t 135OF (57OC) f . In addition t o impedance tests required by MIL-G-81168, spin motor and pickoff DC res i s tance and spin motor impedance s h a l l be measured during first ar t ic le or qual i f ica t ion inspection and periodic production inspection.

NOTE:

annotated parenthet ical ly with SI ( Internat ional System of Units) equiva-l e n t quant i t ies where applicable non-SI uni t s are used.

t o illustrate and encourage t h e use of SI quant i t ies .

In accordance with ASTM E 380-72, t h i s specif icat ion has been

This was done

Custodian :

Navy - OS

Preparing Activity:

Project Number 1285-N39 4 Navy - OS

U. S. GOVERNMENT PRINTING OFFICE 1974-603-1 l u 3 0 6 9