31results about How to "Realize full decoupling" patented technology

The invention provides a drive-by-wire hydraulic brake control system for automatic driving and a control method thereof. The system comprises a group of brake pedal operation modules, a group of hydraulic control modules, two groups of pressurization modules, two groups of motor driving control modules and a group of electronic control modules, the brake pedal operation module and the pressurization module are connected with the hydraulic control module through pipelines. The two groups of pressurization modules realize redundant backup, the brake pedal operating module, the pressurization modules, the motor driving control module and the hydraulic control module are respectively in signal connection with the electronic control module, and the electronic control module consists of two groups of electronic control sub-modules to realize redundant backup; the control method comprises a brake control method in a power-on failure-free state, a brake control method in a typical hardware failure state and a brake control method in a power-off failure state. The redundant architecture of the multiple pressurization modules, the multiple sensors and the multiple electronic control modulesis adopted, and the requirement of high-level automatic driving for a brake control system is met.

The invention discloses a composite drive-by-wire brake system and brake control method for independently controlling four-wheel pressure. Two electromechanical brake modules in the system are both electromechanical pressurizing units in signal connection with an electronic control unit, two electronic hydraulic brake modules are both connected with a brake main cylinder pipeline in a brake pedalmechanism, each electronic hydraulic brake module is composed of a normally open switch electromagnetic valve, an electronic hydraulic pressurizing unit, normally open linear electromagnetic valves and a brake wheel cylinder in series sequentially through pipelines, pressure sensors are arranged on a connecting pipeline of the brake wheel cylinder, the electromagnetic valves, the electronic hydraulic pressurizing units and the pressure sensors are all respectively in signal connection with the electronic control unit; the brake control method comprises a brake control method of an effective state of electrifying and a brake control method of a failure state of outage. The composite drive-by-wire brake system and brake control method for independently controlling four-wheel pressure can overcome the deficiency of a single line control system, can independently achieve rapid pressure buildup of four wheels and accurately control pressure, and have functions of failure braking and regenerative braking.

The invention provides a fine stablization disturbance decoupling method for a composite axis photoelectric tracking system of a motion platform, which is mainly used for decoupling the target motionsignal and the disturbance signal in the rough tracking frame gyro information, estimates the residual disturbance after the combined action of the coarse stabilization and coarse tracking of the frame and uses the tracking mirror to suppress the decoupled residual disturbance. A tracking frame contains a coarse tracking loop and a coarse stabilization loop, and a coarse stabilization loop model is established as GM(s). The coarse tracking loop control quantity is used as the input of the coarse stabilization loop and its model GM(s), the two outputs are subtracted to obtain the coarse stabilization residual disturbance df(s), and then the df(s) is multiplied by a coarse tracking error transfer function W(s) to obtain the residual disturbance d2(s) after rough stabilization and coarse tracking. The decoupled d2(s) is subjected to feedforward control to the tracking mirror to constitute a fine stabilization, thereby improving the system disturbance suppression capability. The method does not need to add additional sensors, is simple and effective, and is easy to implement in engineering.

The invention discloses an integral metal spring type active vibration reduction table. The integral metal spring type active vibration reduction table comprises a bottom plate (10) and an upper panel (60). Passive vibration isolation units and active vibration isolation units are arranged at the four corners of the bottom plate (10) correspondingly. The passive vibration isolation units are used for achieving high-frequency attenuation of the vibration reduction table and each comprise a metal spring assembly, vibration isolation rubber (50) and a structural damper. The active vibration isolation units are used for achieving active control over the vibration reduction table and each comprise a feedback speed sensor, a feedforward speed sensor, a Lorentz motor and a controller. According to the vibration reduction table, the vibration reduction technique combining passive vibration isolation with active vibration reduction is adopted, high-frequency vibration can be isolated comprehensively, low-frequency vibration can be effectively restrained, and the transmission rate of low-frequency vibration is ensured; and meanwhile, high attenuation rate of high-frequency vibration is achieved, full decoupling under six-degree of freedom control can be achieved, and application is flexible.

The invention discloses a double-steering power cylinder hydraulic steering-by-wire system with a steering feeling simulation function and a method. The system is composed of a steering wheel unit, a hydraulic control unit, a steering execution unit and an electronic control unit. The steering wheel unit, the hydraulic control unit and the steering execution unit are sequentially connected. The electronic control unit receives data acquired by the steering wheel unit and a sensor in the hydraulic control unit and sends a control instruction to all valves of the hydraulic control unit after processing and analyzing are conducted, the steering execution unit is controlled to move through the hydraulic control unit, and steering feeling simulation is achieved. The method comprises the multiple steering modes of steering-by-wire, hydraulic power assisted steering, steering system outage failure steering, manual steering and the like. According to the double-steering power cylinder hydraulic steering-by-wire system with the steering feeling simulation function and the method, a double-motor structure in a traditional steering-by-wire system is omitted, the steering feeling simulation process and the steering execution process of the steering system are achieved through the hydraulic system, the number of mechanical structures of the system is small, and accordingly the system is small in size, simple in structure and easy to integrate.

The invention discloses a method for realizing decoupling of double-row equidistant placement multi-emission coils in a wireless electric energy transmission system. The system applicable to the method comprises N emission coils, wherein N is greater than or equal to 4 and N is an even number; all emission coils are sequentially arranged at equal intervals, wherein the mutual coupling in one emission coil unit cannot be ignored; according to the method disclosed by the invention, full decoupling in each emission coil unit can be realized by means of the arrangement of the decoupling element; in addition, the method can be expanded and popularized to the situation that a plurality of double-row emission coils are arranged at equal intervals, the applicability is high, and the method has important significance in improving the system transmission efficiency and reducing the system control difficulty.

The invention discloses a drive-by-wire hydraulic braking and steering system. The drive-by-wire hydraulic braking and steering system solves the problems that an existing drive-by-wire braking and steering system arranged independently has a large occupied area and low integration and does not facilitate integrated control, and the existing drive-by-wire braking and steering system is poor in stability when the existing system does not work in case of power failure. The drive-by-wire hydraulic braking and steering system comprises a hydraulic source part, a steering part, a braking part and an electric control part; the hydraulic source part comprises a hydraulic pump, a first one-way valve, a second one-way valve and an eighth normally closed electromagnetic valve; the steering part comprises a first normally closed electromagnetic valve and a first high speed switching valve; the braking part comprises a second high speed switching valve and a seventh normally closed electromagnetic valve; the hydraulic source part is in pipeline connection with the steering part through the eighth normally closed electromagnetic valve, the first one-way valve, the first normally closed electromagnetic valve and the first high speed switching valve; the hydraulic source part is in pipeline connection with the braking part through the hydraulic pump, the second one-way valve, the second high speed switching valve and the seventh normally closed electromagnetic valve; and the power control part is in electric wire connection with the hydraulic source part, the steering part and the braking part.

The invention discloses a dual-mass decoupling silicon microgyroscope based on flexible connection. The dual-mass decoupling silicon microgyroscope comprises a base which is provided with an electric signal lead-out wire and a microgyroscope mechanical structural layer which is arranged on the base; the microgyroscope mechanical structural layer comprises a first substructure, a second substructure and a substructure connection device, and the first substructure is connected with the second substructure through the substructure connection device; two completely identical substructures are adopted to reduce the influence of the temperature and stress on the entire microgyroscope, the two substructures are symmetrically arranged on left and right sides, and the motion way of each substructure is linear motion in an x-y plane; by adopting the substructure connection device, the left substructure and the right substructure are integrated into a whole body, so that the consistency of the motion frequency of the two substructures can be guaranteed; moreover, the isolation of the drive motion from the detection motion can be guaranteed by adopting the substructure connection device, and the complete decoupling of the structural motion can be realized; the adoption of the substructure connection device ensures that drive parts and detection parts of the two substructure respectively make linear motion in opposite directions when the microgyroscope makes the drive motion and the detection motion.

The invention discloses a device for fully decoupling multiple transmitting coils in a wireless electric energy transmission system. The device wirelessly transmits the electric energy to one or morereceivers by a plurality of power transmitters. Each power transmitter is provided with a transmitting coil. The device may comprise six transmitting coils, six compensating capacitors, and seven decoupling elements, wherein the transmitting coils are arranged in a double-row array and the distances between the centers of the any two adjacent transmitting coils are the same. Or the device may comprise seven circular transmitting coils, seven compensating capacitors, six decoupling elements, wherein the six transmitting coils surround the other one transmitting coil, and the distances between the centers of the any two adjacent transmitting coils are the same. The mutual inductance among all transmitting coils can be eliminated by configuration. Further, the compensating capacitors are configured to satisfy the resonance. The device can fully decouple the multiple transmitting coils by using the decoupling components, has great significance for improving the system transmission efficiency and reducing the system control difficulty.

The invention discloses a motor direct-driven brake-by-wire system with a main / auxiliary cylinder and a brake control method of the system. The brake system is braked through combination of a double-cavity main cylinder brake module and a single-cavity auxiliary cylinder brake module and relatively independently controlled by an electronic control unit, the double-cavity main cylinder brake modulecomprises a main cylinder integrated motor, a main cylinder ball lead screw mechanism and a main cylinder brake pressure generation unit, two groups of single-cavity auxiliary cylinder brake components are parallelly connected to form the single-cavity auxiliary cylinder brake module, normally open switch solenoid valves, single-cavity auxiliary cylinder pressurizing units and wheel-brake cylinder execution pipelines are serially connected to form the single-cavity auxiliary cylinder brake components, the main cylinder brake pressure generation unit and the single-cavity auxiliary cylinder pressurizing units generate brake pressure through driving of the integrated motor and transmission of the ball lead screw mechanism, and wheel-brake cylinders are braked and controlled by the solenoidvalves. The system solves the problems that when a single motor drives a main cylinder, the building time of the pressure is long, fluctuation is large, accuracy is poor, and the requirements for performances of the motor are high.

The invention discloses a wire-controlled hydraulic steering system. The system solves the problems of high cost caused by adding a road sensing motor, poor stability during power-off failure of the steering system and the like. The system comprises a steering wheel unit, a steering road sensing simulation unit, an electronic control unit and a steering execution unit; the steering wheel unit is connected with the steering road sensing simulation unit by a pipeline via a first oil port and a second oil port of a steering road sensing simulation main cylinder and one port of each of a first switching solenoid valve, a second switching solenoid valve, a third switching solenoid valve and a fourth switching solenoid valve; the steering road sensing simulation unit is connected with the steering execution unit by a pipeline via the other ports of the third switching solenoid valve and the fourth switching solenoid valve, one port of each of a first high-speed switching valve and a second high-speed switching valve as well as a first oil inlet and a second oil inlet of a steering power main cylinder; and the electronic control unit is connected with the steering wheel unit, the steering road sensing simulation unit and the steering execution unit by electric wires respectively.

The invention discloses a P2 hybrid power module. The P2 hybrid power module comprises a driving motor system and a power coupling device. The driving motor system comprises a driving motor and a planetary reducer, the driving motor comprises a stator, a rotor and a rotor support, the planetary reducer comprises a sun gear, an outer gear ring, a planet carrier and a planet gear, the planetary reducer is arranged in the rotor support, the sun gear is connected with the rotor support in an anti-torque mode, and the planet carrier is connected with the transmission input shaft in an anti-torque mode; the power coupling device comprises an actuator motor and an actuator mechanism, the actuator mechanism comprises a combination gear ring and a rotating gear ring, an outer gear ring of the planetary reducer is connected with the rotating gear ring in an anti-torque mode, and the actuator motor controls separation and combination of the combination gear ring and the rotating gear ring by controlling the combination gear ring to move in the axial direction. The invention has the advantages of excellent integration level, small axial size, high system efficiency, high power density, high reliability, low control strategy complexity and the like.

The invention provides a drive-by-wire hydraulic brake system and brake control method for independently controlling four-wheel pressure. Four pressure control units in the system are connected with abrake main cylinder pipeline in a brake pedal mechanism through a main cylinder normally open switch electromagnetic valve, each pressure control unit is respectively composed of a normally open switch electromagnetic valve, an electronic control pressurizing unit, and a normally open linear electromagnetic valve in series sequentially; the down stream of the normally open linear electromagneticvalve is respectively with a brake wheel cylinder, pressure sensors are arranged on a pipeline where the normally open linear electromagnetic valve and the brake wheel cylinder are connected; the electromagnetic valves, the sensors and the electronic control pressurizing units are respectively in signal connection with an electronic control unit; the brake control method comprises a brake controlmethod of an effective state of electrifying and a brake control method of a failure state of outage. The four pressure control units respectively independently control the pressurization, pressure preservation or pressure reduction of the brake wheel cylinder. The drive-by-wire hydraulic brake system for independently controlling four-wheel pressure and the brake control method thereof can actively build up pressure, rapidly pressurize, accurately control pressure and has functions of failure braking and regenerative braking during vehicle braking.

The invention discloses a device for fully decoupling multiple transmitting coils in a wireless electric energy transmission system. The device wirelessly transmits the electric energy to one or morereceivers by a plurality of power transmitters. Each power transmitter is provided with a transmitting coil. The device may comprise six transmitting coils, six compensating capacitors, and seven decoupling elements, wherein the transmitting coils are arranged in a double-row array and the distances between the centers of the any two adjacent transmitting coils are the same. Or the device may comprise seven circular transmitting coils, seven compensating capacitors, six decoupling elements, wherein the six transmitting coils surround the other one transmitting coil, and the distances between the centers of the any two adjacent transmitting coils are the same. The mutual inductance among all transmitting coils can be eliminated by configuration. Further, the compensating capacitors are configured to satisfy the resonance. The device can fully decouple the multiple transmitting coils by using the decoupling components, has great significance for improving the system transmission efficiency and reducing the system control difficulty.

The invention discloses a series-parallel type unmanned aerial vehicle self-adaptive undercarriage which comprises an upper bearing platform, a middle connecting platform and a plurality of connecting rod assemblies located between the upper bearing platform and the middle connecting platform. Each connecting rod assembly comprises a platform rotating part, an upper end connecting rod part, a lower end connecting rod part and a lower end supporting part; the upper bearing platform, the upper end connecting rod component, the lower end connecting rod component, the lower end supporting component and the middle connecting platform form a plane four-connecting-rod mechanism. The landing gear further comprises a pressure sensor, a visual sensor and an inertial measurement unit. According to the series-parallel self-adaptive undercarriage, a generalized parallel mechanism form is adopted, the position and posture can be completely decoupled and adjusted, active folding of the undercarriage can be achieved, the undercarriage has high self-adaptive capacity, and the landing requirements of an unmanned aerial vehicle in various complex scenes are met.

The invention discloses a wire-control hydraulic braking system with an integrated vice master cylinder. The problems that the integration level is low, the braking pressure is relatively slowly set up by a motor, brake pressure variation is large, and pressure setting up accuracy is low are solved. The wire-control hydraulic braking system comprises a braking starting unit, a braking master cylinder, a braking vice master cylinder unit and an electromagnetic valve unit; the braking vice master cylinder unit comprises a motor and the braking vice master cylinder; the electromagnetic valve unit comprises a first two-position three-way electromagnetic valve, a second two-position three-way electromagnetic valve, a fifth constantly-open electromagnetic valve, a second constantly-close electromagnetic valve and a third constantly-close electromagnetic valve; the braking starting unit is connected with a first piston of a master cylinder body of the braking master cylinder through an input push rod of the braking starting unit; the braking master cylinder is in pipeline connection with the electromagnetic valve unit through the fifth constantly-open electromagnetic valve; the braking vice master cylinder is in pipeline connection with the electromagnetic valve unit through the first two-position three-way electromagnetic valve, the second two-position three-way electromagnetic valve, the second constantly-close electromagnetic valve and the third constantly-close electromagnetic valve; and the motor and the braking vice master cylinder are connected with a first vice master cylinder piston through an output shaft in the motor.

The invention discloses a dual-tuning fork effect-based symmetric full-decoupling dual-mass block silicon micro-gyroscope which comprises two vertical layers, wherein the upper layer is a mechanical module of a silicon micro-gyroscope, the lower layer is a glass substrate on which a signal lead is spread, the mechanical module of the micro-gyroscope is composed of two completely same sub-modules which are horizontally and symmetrically arranged, two sensitive mass blocks are connected in a driving direction and a sensitive direction respectively by driving coupling folding beams and cross beams so that the two sensitive mass blocks are mutually associated in a drive mode and a detection mode. Each sub module comprises a sensitive mass block, a drive module, a drive feedback module, detection modules, drive support beams, drive feedback support beams, detection support beams, drive decoupling beams, detection decoupling beams, detection coupling support beams and fixed anchor points. According to the dual-tuning fork effect-based symmetric full-decoupling dual-mass block silicon micro-gyroscope disclosed by the invention, the two sub modules adopt a co-frequency inverted phase drive mode, and the detection module realizes differential detection, and thus influences of outside impaction, temperature and manufacturing deficiency can be effectively inhibited, and the common-mode error resisting capability is strong.

The invention provides a wire-controlled hydraulic brake control system and its control method for automatic driving. The system includes a set of brake pedal operation modules, a set of hydraulic control modules, two sets of booster modules, and two sets of motor drive control modules. and a set of electronic control modules, the brake pedal operation module and the booster module are respectively connected to the hydraulic control module pipeline, two sets of booster modules realize redundant backup, the brake pedal operation module, booster module, motor drive control module, The hydraulic control modules are respectively connected to the electronic control module by signal, and the electronic control module is composed of two groups of electronic control sub-modules to realize redundant backup; the control method includes: the brake control method in the power-on state without failure, typical hardware failure The braking control method under the following conditions and the braking control method under the failure state of power failure. The present invention adopts a redundant architecture of multiple booster modules, multiple sensors and multiple electronic control modules to meet the requirements of high-level automatic driving for the braking control system.

The invention discloses a hydraulic brake-by-wire system with braking two-cavity pair master cylinder and two motors, aimed at overcoming the problems of high requirement for motors, high prices, and fast pressure buildup and accurate pressure control due to a hydraulic brake-by-wire system, which is large in size, expensive, and powered by a motor, of a vacuum booster of a traditional brake system requesting rapid positive and negative rotation switching of the motor. The system comprises a braking master cylinder output unit, a hydraulic control unit, an electronic control unit, and wheel brakes. The hydraulic control unit comprises a third on-off solenoid valve, ninth to twelfth on-off solenoid valves, and an oil cup. The braking master cylinder output unit is connected to the hydraulic control unit using a pipe by means of the braking master cylinder and the oil cup therein. Additionally, the braking master cylinder output unit is connected to the hydraulic control unit using a pipe by means of the braking master cylinder, the third on-off solenoid valve and the hydraulic control unit. The ninth to twelfth on-off solenoid valves are connected to four of the wheel brakes in order using pipes. The electronic control unit is connected to the braking master cylinder output unit and the hydraulic control unit by wires.

The invention discloses a six-axis integrated micro-acceleration sensor and a manufacturing method thereof, comprising upper and lower cover plates and a sensing chip connected together by bonding. The sensing chip includes four beams drawn from the diagonal of the fixed outer frame and connected to the "island" in the middle, so that the "island" in the middle of the outer frame, the beams on the diagonal of the outer frame, and the outer frame form a whole— A fixed frame, each inertial sensing unit is composed of an inertial mass block, a structural support beam, and a sensitive micro-beam, each inertial mass block is trapezoidal, and the middle part of the upper bottom has a structural support beam extending to the lower bottom ; On both sides of the structural support beam, there are sensitive micro-beams connecting the upper bottom edge of the trapezoidal inertial mass block with the "island" in the middle of the fixed frame. Due to the small structure of the sensitive microbeam, the main stress will be concentrated when the sensitive chip is loaded, and it is easy to form a simple stress state of direct tension and direct compression, which is very conducive to decoupling between axes. The invention has a simple and compact structure and is easy to process.

The invention discloses a drive-by-wire hydraulic braking and steering system. The drive-by-wire hydraulic braking and steering system solves the problems that an existing drive-by-wire braking and steering system arranged independently has a large occupied area and low integration and does not facilitate integrated control, and the existing drive-by-wire braking and steering system is poor in stability when the existing system does not work in case of power failure. The drive-by-wire hydraulic braking and steering system comprises a hydraulic source part, a steering part, a braking part and an electric control part; the hydraulic source part comprises a hydraulic pump, a first one-way valve, a second one-way valve and an eighth normally closed electromagnetic valve; the steering part comprises a first normally closed electromagnetic valve and a first high speed switching valve; the braking part comprises a second high speed switching valve and a seventh normally closed electromagnetic valve; the hydraulic source part is in pipeline connection with the steering part through the eighth normally closed electromagnetic valve, the first one-way valve, the first normally closed electromagnetic valve and the first high speed switching valve; the hydraulic source part is in pipeline connection with the braking part through the hydraulic pump, the second one-way valve, the second high speed switching valve and the seventh normally closed electromagnetic valve; and the power control part is in electric wire connection with the hydraulic source part, the steering part and the braking part.

The invention discloses a method for realizing decoupling of double-row equidistant placement multi-emission coils in a wireless electric energy transmission system. The system applicable to the method comprises N emission coils, wherein N is greater than or equal to 4 and N is an even number; all emission coils are sequentially arranged at equal intervals, wherein the mutual coupling in one emission coil unit cannot be ignored; according to the method disclosed by the invention, full decoupling in each emission coil unit can be realized by means of the arrangement of the decoupling element; in addition, the method can be expanded and popularized to the situation that a plurality of double-row emission coils are arranged at equal intervals, the applicability is high, and the method has important significance in improving the system transmission efficiency and reducing the system control difficulty.

The invention relates to a symmetrically-arranged full-decoupling two-axis swing mechanism. The mechanism comprises a base, a three-way cross shaft mechanism, a swing platform and a linear driving device. The two-axis swing action of the mechanism is controlled by controlling stretching and retracting of the two sets of linear driving devices correspondingly, and the angular speed and angular displacement of the mechanism are controlled by controlling the speed and displacement of driving rods of the linear driving devices. According to the mechanism, full decoupling of two-axis swing motion is achieved through the structure of the mechanism, front-back pitching and left-right transverse rolling actions can be completed without mutual interference, the mechanism can be widely applied to aircraft and ship simulators for motion simulation, and in addition, the mechanism has the advantages of being compact in spatial arrangement, light in weight, fast in dynamic response, simple in motioncontrol and the like.

The invention discloses a composite drive-by-wire brake system and brake control method for independently controlling four-wheel pressure. Two electromechanical brake modules in the system are both electromechanical pressurizing units in signal connection with an electronic control unit, two electronic hydraulic brake modules are both connected with a brake main cylinder pipeline in a brake pedalmechanism, each electronic hydraulic brake module is composed of a normally open switch electromagnetic valve, an electronic hydraulic pressurizing unit, normally open linear electromagnetic valves and a brake wheel cylinder in series sequentially through pipelines, pressure sensors are arranged on a connecting pipeline of the brake wheel cylinder, the electromagnetic valves, the electronic hydraulic pressurizing units and the pressure sensors are all respectively in signal connection with the electronic control unit; the brake control method comprises a brake control method of an effective state of electrifying and a brake control method of a failure state of outage. The composite drive-by-wire brake system and brake control method for independently controlling four-wheel pressure can overcome the deficiency of a single line control system, can independently achieve rapid pressure buildup of four wheels and accurately control pressure, and have functions of failure braking and regenerative braking.

The invention discloses a wire-controlled hydraulic steering system. The system solves the problems of high cost caused by adding a road sensing motor, poor stability during power-off failure of the steering system and the like. The system comprises a steering wheel unit, a steering road sensing simulation unit, an electronic control unit and a steering execution unit; the steering wheel unit is connected with the steering road sensing simulation unit by a pipeline via a first oil port and a second oil port of a steering road sensing simulation main cylinder and one port of each of a first switching solenoid valve, a second switching solenoid valve, a third switching solenoid valve and a fourth switching solenoid valve; the steering road sensing simulation unit is connected with the steering execution unit by a pipeline via the other ports of the third switching solenoid valve and the fourth switching solenoid valve, one port of each of a first high-speed switching valve and a second high-speed switching valve as well as a first oil inlet and a second oil inlet of a steering power main cylinder; and the electronic control unit is connected with the steering wheel unit, the steering road sensing simulation unit and the steering execution unit by electric wires respectively.

The invention discloses a dual-mass decoupling silicon microgyroscope based on flexible connection. The dual-mass decoupling silicon microgyroscope comprises a base which is provided with an electric signal lead-out wire and a microgyroscope mechanical structural layer which is arranged on the base; the microgyroscope mechanical structural layer comprises a first substructure, a second substructure and a substructure connection device, and the first substructure is connected with the second substructure through the substructure connection device; two completely identical substructures are adopted to reduce the influence of the temperature and stress on the entire microgyroscope, the two substructures are symmetrically arranged on left and right sides, and the motion way of each substructure is linear motion in an x-y plane; by adopting the substructure connection device, the left substructure and the right substructure are integrated into a whole body, so that the consistency of the motion frequency of the two substructures can be guaranteed; moreover, the isolation of the drive motion from the detection motion can be guaranteed by adopting the substructure connection device, and the complete decoupling of the structural motion can be realized; the adoption of the substructure connection device ensures that drive parts and detection parts of the two substructure respectively make linear motion in opposite directions when the microgyroscope makes the drive motion and the detection motion.