CN204346447U - Pendulum type gyroscope north searching instrument - Google Patents

Abstract

The utility model discloses a kind of pendulum type gyroscope north searching instrument, mainly for providing that a kind of structure is simple, cost is low, volume is little and the pendulum type gyroscope north searching instrument that precision is high.The utility model comprises rotor case, tracking means and damping unit, and tracking means comprises monitoring device, the torque motor, the tracking stage body be connected with the clutch end of torque motor that are electrically connected with monitoring device that monitoring rotor case swings and is arranged on the transit electronics scale followed the tracks of above stage body; Damping unit comprises processor, the torquer be electrically connected with processor and damper switch.The utility model eliminates the devices such as mechanical reduction machine, servomotor and speed measuring motor relative to prior art, such that pendulum type gyroscope north searching instrument structure is simple, cost is low, volume is little.The utility model adopts torque motor to realize, to the driving following the tracks of stage body, so there is not the interference of the factors such as transmission backlash, dry friction and gear shifting quadrant texturing, improve north finding precision.

Description

Pendulum Gyro North Finder

technical field

The utility model relates to a pendulum gyroscope north finder.

Background technique

The pendulum gyro north finder is a high-precision north finder widely used in civilian and military applications. Its basic structure is a gyro house with a built-in gyro motor. The gyro house is freely suspended by a constant elastic metal sling. The rotor axis of the gyro motor, also known as the H axis, is in a horizontal state and has the ability to automatically approach the local meridian plane. The pendulum gyro north-finder generally makes the H-axis of the gyro motor quickly converge to the meridian plane through speed damping to complete the north-finding measurement. When the H-axis is close to the meridian plane, the swing speed of the gyro room is extremely low. The body completes the low-speed tracking of the gyro room. Usually, the combination of "servo motor-speed motor" and a mechanical reducer are used to drive the tracking body to complete the tracking. The swing speed signal measured by the speed motor is processed and applied as a speed damping signal to the On the torque device, the damping of the gyro room is realized.

Due to the speed measurement dead zone of the speed measurement motor, it cannot output a linear, smooth and sufficient signal-to-noise ratio swing speed signal at an extremely low speed. Therefore, the swing speed of the gyro room must be amplified by hundreds of thousands to millions of times. Generally, a mechanical reducer is used to mechanically amplify the swing speed, but due to the interference factors such as transmission backlash, dry friction and gear deformation in the mechanical reducer, the linearity and signal-to-noise ratio of the speed measuring motor are not ideal, so the north-seeking accuracy is not good. high. In addition, the mechanical reducer has a complex structure, high cost, and large volume, resulting in a pendulum gyro north finder with a complex structure, high cost, and large volume. In addition, although the use of a large speed ratio transmission is beneficial to the extremely low-speed tracking of the gyro house by the tracking platform, the maximum azimuth tracking speed and maximum damping signal will be limited by the maximum rotational speed of the servo motor.

Utility model content

In view of the above problems, the utility model provides a pendulum gyro north finder with simple structure, low cost, small volume and high precision.

The utility model pendulum gyro north finder comprises a gyro room, a tracking device and a damping device, wherein the tracking device includes a monitoring device for monitoring the swing of the gyro room, a torque motor electrically connected with the monitoring device, and a torque motor connected with the torque motor. The tracking platform connected to the power output end of the tracking platform and the theodolite electronic dial arranged above the tracking platform, the theodolite electronic dial outputs digital azimuth signals according to the rotation of the tracking platform; the damping device includes a processor, and A torque device and a damping switch electrically connected to the processor; wherein, the processor is electrically connected to the electronic dial of the theodolite, and converts the digital azimuth signal into a DC speed measurement signal output; the torque device is based on The received DC speed measurement signal is used to obtain the speed damping signal applied to the gyro room, so that the gyro motor in the gyro room converges to the local meridian plane, and the damping north-seeking is completed.

Compared with the prior art, the utility model omits devices such as a mechanical reducer, a servo motor and a speed measuring motor, so that the pendulum gyro north finder has simple structure, low cost and small volume. The utility model adopts a torque motor instead of a mechanical reducer and a servo motor to drive the tracking platform body, and there are no interference factors such as transmission backlash, dry friction and gear deformation, and improves the north-seeking precision. In addition, the utility model uses theodolite electronic dial instead of the speed measuring motor to realize the speed measurement of the tracking platform body, which is more suitable for measuring the extremely low speed of the tracking platform body, and the lower the speed, the smaller the measurement error, and further improves the north-finding accuracy.

Description of drawings

Fig. 1 is the structural representation of the utility model pendulum type gyroscope north finder;

Fig. 2 is a swing phase plan view of the gyro room in the pendulum gyro north finder of the utility model.

Detailed ways

The utility model is further described below in conjunction with the accompanying drawings of the description.

As shown in Figures 1 and 2, the pendulum gyro north finder of the present invention includes a gyro room 1, a tracking device and a damping device. Wherein the gyro room 1 is provided with a gyro motor, and the H axis of the gyro motor has the ability to automatically approach the local meridian plane. The tracking device is used to track the swing of the gyro house 1, and the damping device is used to damp the speed of the gyro house 1 so that it rapidly decays and converges to the local meridian plane.

Described tracking device comprises reflective mirror 21, photoelectric sensor 22, torque motor 25, tracking platform body 26 and theodolite electronic dial 31, wherein reflective mirror 21, photoelectric sensor 22 constitute the monitoring device of the present utility model, monitor the swing of gyro room.

Since the suspension column 11 is arranged between the gyro room 1 and the suspension belt 12, the suspension column 11 is fixedly connected with the gyro room 1, and the reflector 21 is fixedly connected with the suspension column 11, so that the gyro room 1 swings, and the reflector 21 swings thereupon. The photoelectric sensor 22 is opposite to the reflection mirror 21, and can obtain the swing signal of the gyro room 1 according to the reflection signal of the reflection mirror 21. The photoelectric sensor 22 is electrically connected with the torque motor 25, and the signal sent by the photoelectric sensor 22 is transmitted to the torque motor 25 after being amplified by the amplifier 23 and rectified by the corrector 24, and the power output end of the torque motor 25 is driven and connected with the tracking platform body 26, and the torque The motor 25 drives the tracking platform body 26 to rotate according to the signal received, thereby realizing the tracking of the gyroscope room 1 by the tracking platform body 26, and the theodolite electronic scale 31 is arranged on the top of the tracking platform body and is fixedly connected with the tracking platform body. Along with the rotation of the tracking platform body 26, the theodolite electronic scale 31 outputs a digital azimuth signal.

The damping device includes a processor, a torque device 35 and a damping switch 34 for controlling whether the damping device damps the speed of the gyro house 1 .

Wherein the processor is electrically connected with the theodolite electronic dial 31 and includes a digital differential processor 32 and a D/A converter 33 . The digital differential processor 32 performs differential processing on the digital azimuth signal to obtain the digital azimuth speed signal of the tracking platform 26 , and then obtains the DC speed measurement signal through the D/A converter 33 . The torquer 35 is electrically connected to the processor, and applies the received DC speed measurement signal to the gyro room 1 as a speed damping signal, so that the gyro motor in the gyro room 1 converges to the local meridian plane to complete the damping north-seeking.

The utility model adopts the torque motor to replace the mechanical reducer and the servo motor in the traditional pendulum gyro north finder to drive the tracking platform 26 to rotate, so as to realize the tracking of the gyro room 1 by the tracking platform 26, the structure is simpler, and to a large extent The manufacturing cost is reduced and the size of the instrument is reduced. Due to the replacement of the mechanical reducer, there are no interference factors such as transmission backlash, dry friction, and gear deformation, which improves the north-finding accuracy; and the torque motor can realize low-speed and stable control of the tracking platform 26 .

Adopt theodolite electronic dial 31 to measure and track platform body 26 rotating speeds: suppose the minimum reading angle of theodolite electronic dial 31 is Δ α, and the reading time interval of two adjacent minimum reading angles is Δ t, in two readings Take the number of filling pulses between as N, then according to the formula The angular velocity ω of the rotation of the tracking platform 26 is derived.

In the traditional pendulum gyro north finder, since there is a mechanical reducer before the speed measuring motor, the mechanical amplification of the mechanical reducer makes the linearity and signal-to-noise ratio not ideal, so the speed signal obtained by the speed measuring motor is not accurate. , the speed damping signal applied to the torque device 35 after the speed signal is processed is not ideal, resulting in low north-finding accuracy. And the utility model utilizes the theodolite electronic dial 31 to replace the tachometer motor in the traditional pendulum gyro north finder to measure and track the rotating speed of the platform body 26, so the speed damping signal to the gyro room 1 comes from the theodolite electronic dial 31, and the theodolite electronic The dial 31 is directly fixed on the tracking platform 26, without the influence of various interference factors of the mechanical reducer, which improves the linearity, sensitivity and signal-to-noise ratio; 31 The smaller the measured relative error is, the greater the north-finding accuracy is.

The relationship between the tracking platform body 26 and the gyroscope room 1 in the utility model is as follows:

State one, the tracking platform body 26 tracks the gyro room 1: the damping switch 34 of the damping device is disconnected. In this state, the swing of the gyro room 1 is an active movement, and the tracking platform body 26 tracks the rotation of the gyro room 1 as a driven movement. The theodolite electronic dial 31 fixedly connected to the body 26 outputs a digital azimuth signal reflecting the swing situation of the gyro house 1 .

State 2, the convergence control of the gyro room 1 when swinging at zero speed: the gyro room 1 "tracks" the tracking platform 26 when the tracking platform 26 is in a static state. It is a special working state for driven motion. Since the rotational speed of the tracking platform body 26 is zero, the damping signal of the swing of the gyroscope room 1 can only be obtained from the series differential circuit of the swing signal, and this state is used to quickly attenuate the swing of the gyroscope room 1 to zero.

State three, the tracking platform body 26 tracks the gyro room 1: the damping switch 34 of the damping device is closed, and the tracking platform body 26 tracks the gyro room 1 while the digital azimuth signal of the theodolite electronic dial 31 is processed as the DC velocity signal as the speed The damping signal performs speed damping on the gyro room 1 .

The speed damping north-finding process of the utility model pendulum gyro north-finder is:

As can be seen from Fig. 2, in order to make the speed damping motion of the gyro room 1 enter the center fast damping line 44, at first it will enter the undamped free swing trajectory 41, and then close the damping switch 34 at the switch point 43, so that the torque device 35 is aligned with the gyroscope. Room 1 generates a damping force, leading the undamped free swing into the center fast damping line 44 .

The method for making the gyro house 1 enter the undamped free swing trajectory 41 is that the gyro house 1 starts to swing freely from rest and enters the second state, and makes the phase trajectory take a certain position on the horizontal axis of the phase plane coordinate as the initial condition. Under the condition of small swing amplitude, the time taken for the gyro house to swing freely from rest to just entering the center fast damping line 44 is T1, and this time has nothing to do with the declination angle of the starting point. At this point, the damping switch is closed to introduce speed damping signal, enter state three, and complete damping north-seeking after closing the damping switch T2. Here T1 is called the free swing time period, and T2 is called the damping time period.

After several cycles of damping, the H-axis of the gyro motor converges to the vicinity of the local meridian, and the tracking platform also works near the zero position. At this time, the internal noise and environmental interference are more prominent, making the H-axis of the tracking platform and the gyro room In the process of approaching the meridian plane, there may be side-to-side creeping motion instead of simple monotonous convergence. If the accuracy of north-seeking is not high, reading the data on the electronic dial of the theodolite at this time is the result of this north-seeking. If you want to further improve the north-seeking accuracy, after the last damping procedure is completed, enter state 1. Within the given north-seeking time T3, the theodolite electronic dial outputs N digital azimuth readings, and take these N digital azimuths The average of the angle readings is the fine north finding result. Theoretically, the longer the T3 time, the higher the north-seeking accuracy. The utility model is very effective in realizing fast convergence under the condition of large deflection angle.

The above are only preferred embodiments of the present utility model, but the scope of protection of the present utility model is not limited thereto. Any skilled person familiar with the art within the technical scope disclosed by the utility model can easily think of changes or Replacement should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be determined by the protection scope defined in the claims.

Claims (4)

1. a pendulum type gyro north-finder, is characterized in that: comprise gyro house, tracking device and damping device, wherein tracking device comprises the monitor device that monitors described gyro house swing, the torque motor that is electrically connected with described monitor device, The tracking platform body that is connected with the power output end of described torque motor, and the theodolite electronic scale that is arranged on the tracking platform top, described theodolite electronic scale is output digital azimuth angle signal according to the rotation of tracking platform body; The damping device includes a processor, a torquer electrically connected to the processor, and a damping switch; Wherein, the processor is electrically connected to the electronic dial of the theodolite, and converts the digital azimuth signal into a DC speed measurement signal for output; The torquer, based on the received DC speed measurement signal, obtains a speed damping signal applied to the gyro room, so that the gyro motor in the gyro room converges to the local meridian plane, and completes the damping north-seeking. 2 . The pendulum gyro north finder according to claim 1 , wherein the monitoring device includes a reflector fixedly connected to the gyro house and a photoelectric sensor opposite to the reflector. 3 . 3. The pendulum gyro north finder according to claim 1, characterized in that: the processor includes A digital differential processor, which performs differential processing on the digital azimuth signal to obtain a digital azimuth speed signal of the tracking platform body; A D/A converter is used to convert the digital azimuth speed signal to obtain the DC speed measurement signal. 4. The pendulum gyro north finder according to claim 1, characterized in that: an amplifier and a corrector are arranged between the monitoring device and the torque motor to amplify and correct the signal sent by the monitoring device and then transmitted to the torque motor.