RU2123664C1 - Three-axle gyrostabilizer self-orienting by azimuth - Google Patents

Abstract

FIELD: azimuthal orientation of mobile objects. SUBSTANCE: three gyros and two accelerometers which sensitivity axes are horizontal are put of stabilized platform and form stabilization and correction systems relative to two horizontal axes together with stabilization and correction amplifiers and stabilizing motors. Increased sensitivity unit of accelerometer and measurement unit are additionally inserted for orientation by azimuth. First unit incorporates comparator, electron key and current source electrically intercoupled. Input of comparator is connected to output of accelerometer and current source is linked to torque converter of accelerometer via key. Measurement unit includes second electron key, pulse generator, three reversible counters, digital-to-analog converter and summing amplifier. Second electron key is connected with controlling input to output of comparator and couples output of pulse generator and input of first reversible counter which output as well as outputs of two other counters are connected in series with first one and via digital-to-analog converter are connected to inputs of summing amplifier whose output is linked to torque converter of vertical gyro. EFFECT: decreased time for determination of direction of meridian. 2 dwg

Description

 The invention relates to the field of measuring equipment, specifically to that part of it that deals with azimuthal orientation of moving objects having gyrostabilizers in control systems.

 It is known from the literature [1] that self-orientation in the azimuth of a triaxial gyrostabilizer or its gyrocompassing as a process can be realized using elements of the gyrostabilizer itself — accelerometers, gyroscopes, or command angle sensors by various methods and technical means.

 The closest in technical essence to the claimed invention should be considered a triaxial gyrostabilizer self-orienting in azimuth [2], containing three gyroscopes and two accelerometers, the sensitivity axes of which are horizontal, mounted on a stabilized platform and, together with stabilization, correction, and stabilizing motors, form stabilization and correction systems , relative to two horizontal axes, and for orientation in azimuth, the accelerometer output through a third correction amplifier is connected to dates the moment of the vertical gyroscope, whose angle sensor is connected through the stabilization amplifier to the stabilizing engine of the vertical axis of the platform.

 A disadvantage of the known device should be considered relatively low speed, therefore, bringing the platform to the direction of the meridian takes a lot of time. This is because the signal from the accelerometer to the moment sensor of the vertical gyroscope is proportional to the angle of deviation of the platform from the horizon plane. When the platform moves to the meridian direction, the value of this angle decreases, and the signal on the moment sensor of the vertical gyro decreases. The amplification of the signal in the amplifier leads to an oscillatory stability boundary and a violation of the aperiodic compass motion.

 This drawback can be eliminated, and the speed is increased if the accelerometer sensitivity is increased, which will allow to select components proportional to the specified angle, angular velocity and angular acceleration of the compass motion of the platform in the signal from the accelerometer.

 The aim of the present invention is to reduce the time spent in determining the direction of the meridian triaxial gyrostabilizer.

 This goal is achieved by the fact that an accelerometer sensitivity increasing unit and a measuring unit are additionally introduced, the first of which contains: a comparator, an electronic key and a current source electrically connected to each other; the comparator input is connected to the accelerometer output, and the current source is connected via a key to the accelerometer moment sensor; the measuring unit includes: a second electronic key, a pulse generator, three reversible counters, a digital-to-analog converter and a summing amplifier, while the second electronic key is connected by a control input to the output of the comparator and connects the output of the pulse generator and the input of the first reverse counter, the output of which and the outputs two other counters connected in series to the first through a digital-to-analog converter are connected to the inputs of a summing amplifier, the output of which is connected to the moment a vertical gyro.

The essence of the proposed self-orientating azimuthal triaxial gyrostabilizer can be shown using the circuit diagram, which is presented in FIG. 1, which shows: two horizontal gyroscopes Г ₂ , Г ₃ , one vertical gyroscope Г ₁ and two horizontal accelerometers А ₂ , А ₃ , mounted on platform 1, enclosed by means of frames 2 and 3 in cardan mounts with three degrees of freedom, and Together with stabilization amplifiers USS ₂ , USS ₃ , USS ₁ , correction amplifiers K ₂ , K ₃ , K ₁ and stabilizing engines SD ₂ , SD ₃ , and SD ₁ form stabilization and correction systems relative to two horizontal and one vertical axis of the platform. In FIG. 1 shows the angular mismatches α ₁ , α ₂ , α ₃ corresponding to an arbitrary position of the platform, and the coordinate system OX _n Y _n Z _n associated with the platform does not coincide with the coordinate system ONLξ, whose axes are oriented to the cardinal points, the axis ON is directed to north, the axis OL is directed vertically, and the axis Oξ is directed east. Then the NOξ plane is the horizon plane, and NOL is the meridian plane. This SC has projections of the angular velocity ω ₃ of the Earth's daily rotation: ω _N = ω ₃ cosφ - horizontal and ω _L = ω ₃ sinφ - vertical.

усилителя коррекции К₁ и далее, как показано на фиг. 1, по цепочке ДМ₁, ДУ₁, УСС₁ и СД₁.The relative position of the SC is determined by the angles and angular velocity of rotation of the platform, which take place with an arbitrary state of the platform. The indicated angles can have different values, therefore, before gyro-compaction of the gyrostabilizer, it is necessary to bring the platform to its original position, which is characterized by the fact that the sensitivity axes of the horizontal gyroscopes G ₂ and G ₃ together with the platform are horizontal using tracking systems. To do this, use signals from accelerometers A ₂ , A ₃ through correction amplifiers K ₂ , K ₃ , torque sensors DM ₂ and DM ₃ . Further, the signals of the angle sensors ДУ ₂ , ДУ _{3 of} gyroscopes Г ₂ , Г ₃ through amplifiers УСС ₂ , УСС ₃ are fed to stabilizing motors СД, СД, which rotate the platform together with gyroscopes and accelerometers to steady-state angles α ₂ = α _2y , α ₃ = α _3y .
In this case, the vertical gyroscope is verticalized, and its sensitivity axis is held upright by means of a tracking system consisting of: an angle sensor

correction amplifier K ₁ onwards as shown in FIG. 1, along the chain DM ₁ , DN ₁ , USS ₁ and SD ₁ .

When the Key is turned on in the upper position, the platform goes into gyrocompass mode. At the same time, the accelerometer A ₂ , using the sensitivity increasing unit consisting of: a comparator 4, an electronic key 5 and a current source 6, is switched to self-oscillation mode, due to the fact that the input of the comparator 4 is connected to the output of the accelerometer, and the current source 6 is connected via key 5 connects to the accelerometer moment sensor. The presence in the accelerometer circuit of a nonlinear link, which is the comparator, leads to a self-oscillating mode of motion of the sensitive element of the accelerometer [3].

Known accelerometers operating in self-oscillating mode, carry out pulse-width modulation of the measured parameter and have increased sensitivity [4], which allows the gyro stabilizer to be used to measure the parameters of the compass movement using an additional measuring unit,
which contains: a second electronic key 7, a pulse generator 8, three reversible counters 9, 10, 11, a digital-to-analog converter 12 and a summing amplifier 13. Through a key 7, the control input of which is connected to the output of the comparator 4, the output of the generator 8 is connected to the differential input of the first reverse counter 9, the output of which, like the outputs of the second 10 and third 11 reverse
counters connected in series to the first are connected via a digital-to-analog converter 13 to the inputs of a summing amplifier 13, the output of which is connected to a torque sensor DM _{1 of a} vertical gyroscope G ₁ .

The principle of measuring the compass motion of the platform is illustrated by the graphs depicted in FIG. 2, with the help of which it was possible to combine the spatiotemporal motion of the sensitive element of the accelerometer γ (t), I _γ (t) and the platform α ₃ (t), the latter being tied to the self-oscillating motion of the SE and the measuring channel that forms the counting pulses.

где

число импульсов на выходе первого реверсивного счетчика 9, пропорциональное углу α_3y-α₃₁, на который отклонилась платформа за период автоколебаний T₀;

числа импульсов за первый и второй полупериоды первого периода автоколебаний, ml и
К_дм - маятниковый момент и коэффициент датчика момента акселерометра; f_т и К_f - частота счетных импульсов от генератора 8 и коэффициент передачи; I_ср - среднее значение тока в датчике момента за период T₀; g - ускорение силы тяжести,

- коэффициент передачи акселерометра, устанавливающий связь между числом импульсов и углом отклонения платформы (проекцией ускорения силы тяжести на ось чувствительности акселерометра).With the compass movement of the platform, t = t ₁ , the angle α ₃ will decrease from α _3y and over the period T _{0 of} self-oscillations it will decrease to α ₃₁ . Then, by analogy with the well-known relation [3], we have

Where

the number of pulses at the output of the first reversible counter 9, proportional to the angle α _3y -α ₃₁ , by which the platform deviated during the period of self-oscillations T ₀ ;

the number of pulses for the first and second half-periods of the first period of self-oscillations, ml and
To _dm is the pendulum moment and the coefficient of the accelerometer moment sensor; f _t and K _f - the frequency of the counting pulses from the generator 8 and the transmission coefficient; I _cf - the average value of the current in the torque sensor for the period T ₀ ; g is the acceleration of gravity,

- transfer coefficient of the accelerometer, establishing a relationship between the number of pulses and the angle of the platform deviation (projection of the acceleration of gravity on the sensitivity axis of the accelerometer).

Во втором счетчике 10 происходит сложение результатов счетчика 9 последовательно по парам, что будет соответствовать изменению угла α₃ за время 2T₀, т. е. информация на выходе счетчика 10 будет пропорциональна угловой скорости

но на измеренных участках:

Изменение угловой скорости в единицу времени будет соответствовать величине углового ускорения. Если вычитать результаты второго счетчика 10 в третьем счетчике 11, то на выходе его получим информацию об угловом ускорении, т.к. выражения (3) отличаются по времени формирования на величину периода T₀. Тогда на выходе третьего счетчика будем иметь:

Полученные электрические сигналы в виде импульсов на выходах счетчиков 9, 10, 11, величины которых отражают компасное движение платформы, т.к. измерение их начинается при включении компасного режима, а сами величины соответствуют, приращению угла α₃, угловой скорости

и угловому ускорению

платформы, что следует из выражений (2), (3) и (4), не могут быть использованы для формирования момента коррекции. Поэтому необходимы цифроаналоговый преобразователь 12 и суммирующий усилитель 13, например магнитный усилитель, которые позволят сформировать на датчике момента вертикального гироскопа момент коррекции в виде

где
К₁₁, К₁₂, К₁₃ - соответствующие коэффициенты момента коррекции.For each subsequent period of self-oscillations at the output of the first counter 9, it will be similarly obtained: Δn ₁₂ , Δn ₁₃ , Δn ₁₄ , etc., proportional to the deviation of the platform by the angles: α ₃₁ -α ₃₂ , α ₃₂ -α ₃₃ , α ₃₃ -α ₃₄ , i.e. for four periods T _{0 of} measurements, the platform will deviate by an angle α _3y -α ₃₄ , which will be measured sequentially and in each period:

In the second counter 10, the results of the counter 9 are added sequentially in pairs, which will correspond to a change in the angle α ₃ during 2T ₀ , i.e., the information at the output of the counter 10 will be proportional to the angular velocity

but in the measured areas:

A change in the angular velocity per unit time will correspond to the magnitude of the angular acceleration. If you subtract the results of the second counter 10 in the third counter 11, then at the output it will receive information about angular acceleration, because expressions (3) differ in formation time by the value of the period T ₀ . Then at the output of the third counter we will have:

The received electrical signals in the form of pulses at the outputs of the counters 9, 10, 11, the values of which reflect the compass movement of the platform, because their measurement begins when the compass mode is turned on, and the values themselves correspond, to the increment of the angle α ₃ , of the angular velocity

and angular acceleration

platforms, which follows from expressions (2), (3) and (4), cannot be used to form the correction moment. Therefore, a digital-to-analog converter 12 and a summing amplifier 13, for example a magnetic amplifier, are required, which will allow the correction moment to be formed on the vertical gyroscope sensor in the form

Where
K ₁₁ , K ₁₂ , K ₁₃ - the corresponding coefficients of the correction moment.

Mathematical modeling of the equations of the compass mode, similar to the equations on page 598 [2], but taking into account equality (5), showed that the introduction of the measured first and second derivatives of the angle α ₃ into the law of correction of the vertical gyroscope helps to increase the speed of the gyrocompassing mode TGS.

During the simulation, it was possible to choose the optimal ratio of the coefficients of the correction moment, which allowed the platform to be brought in the direction of the meridian from the initial deviation equal to α _1y = 90 ^o , with an error of Δα ₁ = 10 angles. min for the time t _ol = 20 sec. Known devices / 2 / to perform a similar operation require at least 980 s time, which was also obtained on the model of the known device, ceteris paribus, including the current limit of the torque sensor.

Sources of information
1. Nazarov B.I. et al. Command and measuring devices. -MO USSR, 1987, p. 588.

 2. Ibid., P. 592-605.

 3. Skalon A. I. A generalized analysis of the characteristics of precision sensors of mechanical quantities operating in the mode of self-oscillations. Measured Technique, N 3, 1990, p. 7-8.

 4. Skalon A. I. et al. Optimization of the structure of sensors for dynamic measurements. - Metrology. N 2, 1987, p. 20-26.

Claims (1)

 A three-axis gyrostabilizer self-orientating in azimuth, containing three gyroscopes and two accelerometers, the sensitivity axes of which are horizontal, mounted on a stabilized platform and together with stabilization, correction, and stabilizing motors forming stabilization and correction systems relative to two horizontal axes, and for orientation in the azimuth, the accelerometer output is through the third correction amplifier is connected to the vertical gyro moment sensor, the angle sensor of which is stable through the amplifier The device is connected with a stabilizing engine of the vertical axis of the platform, characterized in that an accelerometer sensitivity increasing unit and a measuring unit are additionally introduced, the first of which contains a comparator, an electronic key and a current source electrically connected to each other, the comparator input is connected to the accelerometer output, and the current source is connected through a key to the accelerometer moment sensor, the measuring unit includes a second electronic key, a pulse generator, three reversible counters, a digital the log converter and the summing amplifier, while the second electronic key is connected by the control input to the output of the comparator and connects the output of the pulse generator and the input of the first reversible counter, the output of which and two other counters connected in series to the first, through the digital-analog converter is connected to the inputs of the summing amplifier, the output of which connected to the moment sensor of a vertical gyroscope.

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