RU2829634C1 - Method of controlling change in angular position of rotor of dynamically tuned gyroscope operating in mode of angular velocity sensor, caused by change in zero signals of its angle sensors - Google Patents

Abstract

FIELD: instrumentation.

SUBSTANCE: invention relates to instrument making, mainly gyroscopic, and can be used when adjusting the change in the angular position of the rotor of a dynamically tuned gyroscope (DTG) operating in the mode of an angular velocity sensor (AVG), caused by a change in the zero signals of its angle sensors. In order to eliminate static angles of inclination of the rotor of the DTG, which operates with isodromic feedbacks, by currents of torque sensors of its two channels, inputs of the regulator of inclination setpoints of the rotor of the gyroscope are preliminary connected to outputs of pre-amplifiers of sensors of angles. Further, the gyroscope is adjusted at resonance frequency of the rotor rotation speed with closed feedbacks and the rotor inclination angles caused by errors in setting the zero signals of the angle sensors are eliminated. Then, rotor turn angle is determined from its zero angular position to angular position when rotor touches rotating stop. For this purpose, the gyroscope rotor is deflected in the positive direction along the input axis of its first channel from the initial zero angle of the rotor inclination to the rotating stop, then this procedure is repeated for the second channel. In the operating mode, at each start of the gyroscope, operating at the resonant frequency of the rotor rotation speed with closed feedbacks along the channels, before the time of achieving the accuracy readiness of the gyroscope, the rotor is first deflected along the input axis of the first channel from the initial angle of inclination of the rotor along the first channel in the start-up to the rotating stop, then a similar operation is performed for the second channel. After that, the zero angular position of the rotor of the DTG is provided in the start-up in the presence of zero signals of its angle sensors.

EFFECT: high accuracy of gyroscopic systems based on DTG-AVG.

1 cl, 8 dwg

Description

The invention relates to the field of instrument making, primarily gyroscopic, and can be used in the creation of gyroscopic instruments and devices.

An angular velocity sensor based on a dynamically tuned gyroscope (DNG-DUS) is known, formed by closing its two channels with feedback (see, for example, the book by V.A. Matveev "A Gyroscope is Simple". - Bauman Moscow State Technical University. - Moscow, 2012. - Pp. 249-252), each of which contains an angle sensor, an amplifier and a torque sensor.

In practice, the DNG-DUS feedback system includes (see the book by V.P. Burmistrov, N.A. Temlyakov "Methods of Adjustment and Testing of Dynamically Tuned Gyroscopes. Design of DNG for Platform and Strapdown Inertial Navigation Systems" Moscow, Technopolis Moscow. - 2018. - 98-99) a gyroscope angle sensor (AS), a preamplifier (PA), a phase demodulator (PD), a direct current amplifier (DCA), a power amplifier (PA) and a gyroscope torque sensor. The feedback provides compensation for the moments acting along the gyroscope axes. To reduce various types of errors, the zero signal of the AS is matched to the position of the rotating rotor of the gyroscope when its axis of rotation coincides with the axis of the drive shaft. This is achieved by an adjustment operation to set the zero signals of the AS. The method of setting the zero signals of the DU is based on the fact that at a sufficiently large value of the residual rigidity of the elastic suspension, the rotor tends to take an angular position at which its axis of rotation coincides with the shaft axis, and in this position, the zero signals of the DU are set. To obtain a large value of residual rigidity, the zero signals of the DU are set when the gyroscope rotor rotates at speeds below the resonant rotation speed by 20-50%. The zero signals of the DU are measured with an open feedback. The decrease in zero signals in the DU is carried out by adjusting the bridge circuits on the basis of which they are made. To eliminate the effect on the accuracy of the setting of the Earth's rotation speed, the vector of the kinetic moment of the gyroscope is set vertically, and the measuring axes of the set DU are in the plane of the horizon and oriented along the West-East line. In the literature noted above, the feedback of the DNG presented has a proportional control law. The application of this law causes static errors in the rotor tilt angle during regulation, which leads to errors in the DNG-DUS when disturbances act on it.

The prototype is an angular velocity sensor based on a dynamically tuned gyroscope (see patent RU 2734277 C1, 14.10.2020) with isodromic feedback. The use of an isodromic control law reduces errors caused by static deflection angles of the DNG rotor under disturbances. Thus, when a stepped type of angular velocities, moments, and drift of zero signals of the final amplifiers appear along the input axes of the gyroscope in the steady-state mode with isodromic control, there are no static errors in the angular position of the rotor. In a DNG with isodromic feedback, preliminary adjustment is also carried out to match the zero angular position of the rotor with the zero signals of the control unit.

In the known angular velocity sensor based on a dynamically tuned gyroscope, the adjustment operation to match the zero angular position of the rotor with the zero signals of the channel angle sensors is performed once during manufacture. When operating the DNG-DUS under conditions of temperature changes, vibration, and impacts, a change in the zero signals of the angle sensors may occur due to the deformation of the structural elements, a change in the position of the drive shaft in the housing, aging of the structural materials with a change in their physical properties, and a change in the electrical characteristics of the elements of the bridge circuits of the DU. The change in the zero signals of the DU during operation of the DNG-DUS is not monitored or regulated in the known method. The use of isodromic regulation does not eliminate the tilts of the gyroscope rotor when changes in the zero signals in the angle sensors appear. This property of the DNG-DUS with isodromic feedback can be shown by obtaining its transient response caused by the appearance of a step zero signal of the DU. Let us consider the operation of the DNG-DUS with the functional diagram shown in Fig. 1. The functional diagram of the DNG-DUS with a regulator of the tilt setting of its rotor contains: a dynamically adjustable gyroscope 1, electronics 2 of the first channel of feedback on the current of the gyroscope torque sensor, electronics 3 of the second channel of feedback on the current of the gyroscope torque sensor, a regulator of the settings 4 of the tilt of the rotor. The dynamically adjustable gyroscope 1 has: a rotor 5, angle sensors 7, 8 respectively on the first and second channels, torque sensors 6, 9 respectively on the first and second channels. The angle sensors contain zero signal sources 10, 11. The electronic devices included in the feedbacks 2, 3 are identical and are: preamplifiers 12, 18, demodulators 13, 19, integrators 14 and 20, DC amplifiers 15 and 21, power amplifiers 16 and 22, reference resistances 17 and 23. The rotor tilt setting controller 4 includes: programmable control microcontroller 24, input demodulators of the setting controller 25 and 28 of the first and second channels, output integrators of the setting controller 26 and 27 of the first and second channels. The precession equations of motion of the DNG-DUS with isodromic feedbacks in the Laplace transforms in the coordinate system associated with its body can be represented as follows

where in Laplace transforms:

Q _x (s), Q _y (s) - rotation angles of the gyroscope rotor relative to the housing in the coordinate system associated with the housing;

- harmful moments acting on the rotor in projections onto the axes of the coordinate system associated with the housing;

- projections of the absolute angular velocity of the gyroscope body onto the axes of the coordinate systems associated with the body;

U ₀₁ (s), U ₀₂ (s) - zero signals from angle sensors on the first and second channels;

I ₀₁ (s), I ₀₂ (s) - currents in feedback circuits from zero signals of amplifiers;

U _yст11 (s), U _ycт12 (s) - signals of settings at the outputs of channel demodulators;

P ₁ (0), P ₁ (0) - zero initial conditions for the gyroscope channels;

K ₁₁ W ₁₁ (s), K ₁₂ W ₁₂ (s) - transfer functions of the feedback of the first and second channels according to the proportional control law;

polynomials in powers of a complex variable S, having constant terms equal to one;

K _dU11 , K _dU12 - scale factors of the angle sensors of the first and second channels of gyroscopes;

K _y11 , K _y12 - general gain factors of electronic devices of the first and second channels;

K _pu11 , K _pu12 - gain factors of the pre-amplifiers of the first and second channels;

K _d11 , K _d12 - gain factors of the first and second channel demodulators;

K _dn11 , K _dn12 - gain factors of the first and second channel DC amplifiers;

K _um11 , K _um12 - gain factors of the power amplifiers of the first and second channels;

W ₁₁ ^* (s)=W _upt11 (s)W _yм11 (s);

W ₁₂ ^* (s)=W _upt12 (s)W _mind12 (s);

A ₁ (s)=δ ₁ s+K _l1 ; B ₁ (s)=-(Hs+λ ₁ ); C ₁ (s)=Js; D ₁ (s)=-N(J+C+J _s )=H ₁ ;

J is the component of the moment of inertia of the rotor of the gimbal frames relative to the axis lying in the equatorial plane of the rotor;

λ ₁ =nD, where

D - damping coefficient of cardan frames,

n - number of gimbal frames;

K _ж1 - residual rigidity of the elastic suspension of the DNG;

C is the main moment of inertia of the DNG rotor around the axis of its own rotation;

A _n is the principal moment of inertia of the n-th gimbal frame around its equatorial axis;

λ ₁ - coefficient characterizing the damping of the suspension and the moment of gas-dynamic resistance to rotation of the rotor and suspension of the DNG;

N - angular velocity of the DNG shaft;

Where

A, B - the main moments of inertia of the DNG rotor around its equatorial axes,

C _n , B _n - the principal moments of inertia of the n-th gimbal frame around the axis of its own rotation and the equatorial axis;

τ _и1 , τ _и2 are the time constants of the integrators of the DNG feedback channels.

Resolving equations (1) with respect to the rotation angles of the DNG rotor caused by disturbing effects, we obtain

In the following we assume that the feedback electronics of the DNG is inertialess, for which W ₁₁ (s) = W ₁₂ (s) = W ₁₁ ^* (s) = W ₁₂ ^* (s) = 1.

With stepwise disturbing effects, their images have the form U _ycт12 (s)=U _ycт12 S ^-1 . We substitute these images of step effects into (2). Then, according to the finite value theorem, the steady-state values of the rotation angles of the DNG rotor can be represented as follows:

The steady-state values of the rotor rotation angles obtained in expressions (3) show that the use of isodromic feedback in the DNG-DUS eliminates static errors in the rotor rotation angle caused by constant angular velocity, harmful moments, zero signals from the final amplifiers, and setpoint signals at the inputs of the integrators of isodromic feedback channels. However, there are static errors in the rotor rotation angles caused by zero signals from the angle sensors. From expressions (2), we will isolate the errors caused by zero signals from the angle sensors U ₀₁ (s), U ₀₂ (s)

Expressions (3), (4) show that the errors in the channels have the same nature and the same magnitude with the same disturbances. Therefore, in the future we will consider the error of one channel. For the first equation of the system (4), we will find the original using residues. With a stepwise change in the zero signal of the angle sensor U ₀₂ =Const we obtain

a ₁ a ₂ are the real parts of the roots S _{i of} the characteristic equation n ₁ s ⁴ +n ₂ s ³ +n ₃ s ² +n ₄ s+n ₅ =0, which determine the attenuation;

β ₁ , β ₂ are the imaginary parts of the roots S _i of the characteristic equation, which are the circular frequency.

Using the numerical values of the DNG-DUS parameters with the help of the Matlab system, a computer calculation was obtained based on the relationship (5) of the change in the tilt angle Q _x (t) _U02 of the DNG rotor operating in the feedback mode under the influence of a step zero signal of the angle sensor U ₀₂ = 0.001 V, which is shown in Fig. 2. From the dependence in Fig. 2 it is evident that when a step zero signal of the angle sensor of 0.001 V appears, the established tilt angle of the gyroscope rotor operating with isodromic feedback deviates by 6.5 radians (13.41''), which exceeds the typical requirements for the tilt angles of the rotor when adjusting the zero signals of the angle sensors. In the known method, the adjustment of the DNG zero signals is performed once at the stage of its manufacture. When operating the DNG-DUS under conditions of temperature changes, vibration, impacts, aging of the angle sensor construction materials, changes in the electrical parameters of the bridge circuits in which the angle sensor stators are included, the zero signal values of the angle sensors change. These changes in the zero signals are processed by the feedback system by tilting the rotor from the zero angle values achieved during adjustment, which leads to the appearance of additional harmful moments proportional to the rotor tilt angles and associated with the residual rigidity of the elastic suspension, rotor braking in a gas environment, gas-dynamic effects due to changes in the gaps between the rotating and stationary parts of the gyroscope. The use of isodromic feedback in the DNG-DUS does not eliminate the rotor tilt caused by a change in the zero signals of its angle sensors during operation, which leads to deterioration in the accuracy characteristics of the gyroscope.

The technical result that can be obtained by implementing the present invention is a feedback system for a dynamically tuned gyroscope with isodromic regulation, which does not have static errors in the angle of inclination of the rotor, including those caused by zero signals from angle sensors, due to the use in the feedback of an additional regulator of the setpoint signal, which is formed in it and then fed to the inputs of the isodromic feedback integrators, which makes it possible to ensure regulation with the exclusion of changes from start to start of the zero angular position of the DNG rotor.

The technical result is achieved in that in the known method for regulating the change in the angular position of the rotor of a dynamically tuned gyroscope operating in the angular velocity sensor mode caused by a change in the zero signals of its angle sensors, including isodromic regulation via two analog feedback channels, each of which has a rotor angular position sensor, an angle sensor preamplifier, a demodulator, an isodromic feedback channel integrator, a DC amplifier, a torque sensor current signal power amplifier, a torque sensor, preliminary adjustment of the zero signals of the angle sensors at zero angles of deviation of the rotation axis of the gyroscope rotor from the rotation axis of the drive shaft, performed in the open feedback mode at a non-resonant rotation frequency of the rotor, additionally pre-connecting to the outputs of the angle sensor preamplifiers the inputs of the gyroscope rotor tilt setpoint controller, including a programmable regulating microcontroller, input demodulators and output integrators, the outputs of which are connected to the integrators isodromic feedback of the gyroscope, and after adjusting the zero signals of the angle sensors in the open feedback mode at the non-resonant frequency of rotation of the rotor, the achieved values of the settings of the zero signals of the angle sensors from the demodulators of the setpoint controller are measured in the setpoint controller and store their values in the memory of the control microcontroller, perform the control launch of the gyroscope at the resonant speed of rotation of the rotor with closed feedback loops and eliminate the angles of inclination of the rotor caused by errors in adjusting the zero signals of the angle sensors , for which the values of the signals that form the setpoints are calculated in the control microcontroller

which are fed to the inputs of the integrators of the first and second channels of the setpoint regulator, respectively, and receive setpoint signals at its outputs

directed to the inputs of the integrators of the isodromic channels of the gyroscope feedback, then the angle of inclination of the rotor from its obtained zero position to the rotating stop is determined, for which purpose the values of the signals forming the setpoints are calculated in the control microcontroller, with the help of which the rotor is deflected to the rotating stop,

and store them in the memory of the control microcontroller, deflect the gyroscope rotor in the positive direction along the input axis of its first channel from the initial zero angle of inclination of the rotor by sending a signal from the control microcontroller to the input of the integrator of the first channel of the setpoint controller and after the rotor touches the rotating stop in the setpoint controller, the value of the maximum signal is measured from the demodulator of the first channel of the settings controller and store this signal in the memory of the microcontroller, turn off the signal from the input of the integrator of the first channel of the settings controller, the gyroscope rotor is deflected in the positive direction along the input axis of the second channel from the initial zero angle of inclination of the rotor, for which a signal is sent from the control microcontroller to the input of the integrator of the second channel of the settings controller and after the moment the rotor touches the rotating stop in the settings controller, the signal is measured from the demodulator of the second channel of the settings controller, they memorize this signal in the microcontroller memory, and turn off the signal from the input of the integrator of the second channel settings controller, and in the operating mode, at each i-th start of the gyroscope operating at the resonant frequency of the rotor rotation speed with closed feedback loops along the channels, the change between the angular position of the rotor at the operating zero signal from the angle sensors and the angular position of the rotor when it touches the rotating stop is determined for this, until the time of reaching the accuracy readiness of the gyroscope, the rotor is first deflected along the input axis of the first channel from the initial angle of inclination of the rotor for this they give a signal from the control microcontroller to the input of the integrator of the first channel of the settings controller and after the moment the rotor touches the rotating stop in the settings controller, the value of the maximum signal is measured from the demodulator of the first channel of the settings controller, store this signal in the microcontroller memory, turn off the signal from the input of the integrator of the first channel of the setpoint controller, the rotor of the gyroscope is deflected in the positive direction along the input axis of the second channel from the initial angle what is the signal for from the control microcontroller to the input of the integrator of the second channel of the settings controller and after the moment the rotor touches the rotating stop, the signal is measured in the settings controller from the demodulator of the second channel of the settings controller, they memorize this signal in the microcontroller memory, and turn off the signal from the input of the integrator of the second channel settings controller, after which the zero angular position of the rotor of the dynamically tuned gyroscope is ensured in the i-th start in the presence of zero signals from its angle sensors, for which the signals that form the settings are calculated in the microcontroller

which are fed to the inputs of the integrators of the first and second channels of the setpoint controller before the end of the i-th start and receive setpoint signals at the inputs of the integrators of the isodromic channels of the gyroscope feedback, setting the rotor to the zero angular position, in the following form

Where

K _d11 , K _d12 - gain factors of demodulators for the first and second channels of gyroscope feedback;

K _dr11 , K _dr12 - gain factors of the demodulators of the setpoint regulator for the first and second channels:

K _dU11 , K _dU12 - scale factors of the gyroscope angle sensors for the first and second channels;

K _pu11 , K _pu12 - gain factors of the preliminary amplifiers of the angle sensors for the first and second channels of the gyroscope;

- maximum values according to design documentation of the angles of inclination of the rotor to the rotating stop along its axes;

τ _и1 , τ _и2 are the time constants of the integrators of the first and second isodromic feedback channels of the gyroscope;

τ _ir1 , τ _ir2 - time constants of the integrators of the setpoint regulator for the first and second channels.

Let us consider the operation of a dynamically tuned gyroscope with isodromic feedback, to which a rotor tilt setpoint controller is connected, as shown in Fig. 1. Let us analyze the operation of one channel of the gyroscope, since both channels have the same structure, and the results obtained for one channel will also apply to the other channel. According to expression (2), for the second channel of the DNG-DUS we will have the following dependence in the Laplace image of the rotor tilt angle Q _x (s)U _ycт12 on the setpoint signal U _ycTl2 (s) supplied to the input of the isodromic feedback integrator

With a linear change in the setpoint signal U _set12 (t) = K _set12 t, U _ycт12 (s) = K _set12 s ^-2 expression (11) is represented as

For expression (12), we find the original using subtractions, which will have the form

From the obtained expression (13) it is evident that when a setpoint signal is fed to the input of the isodromic feedback integrator DNG in the form of a linear dependence U _yст12 (t)=K _yст12 t a constant angle of inclination of the gyroscope rotor appears

the value and sign of which can be changed by changing the sign and value of the proportionality coefficient K _set12 . A similar change in the rotor tilt angle occurs via another channel when the setpoint signal U _yst11 (t)=K _yst11 t is fed to the input of its integrator, which can be represented as

Let us obtain the previously presented relations (6), (7), (8), (9), (10), using expressions (14), (15). Let us use the proposed DNG-DUS feedback circuit shown in Fig. 1, which has a rotor tilt setting controller, in the open feedback mode at the non-resonant rotor rotation frequency to measure the achieved values of the zero signal settings of the angle sensors in the setting controller in the form of signals from the setpoint controller demodulators. We will determine the setpoint signals that must be fed to the inputs of the feedback integrators of the first and second channels of the DNG-DUS in order to eliminate the rotor tilt associated with the signals when the gyroscope is already operating at the resonant frequency of the rotor speed and closed feedback. Signals The following zero signals from the bridge circuits of the angle sensors correspond

When the DNG operates in closed-loop mode, these zero signals from the angle sensors will determine the following rotor tilt angles:

Taking into account (16), we represent (17) in the form

These gyroscope rotor tilt angles according to (14), (15) can be eliminated using the settings

which also according to (14), (15) will ensure the tilt of the rotor

To eliminate corners the condition must be met

To determine let's substitute expressions (18), (20) into (21)

We substitute into (22) the values for t ₁₁₁₃ , t ₂ ц, п ₅ from (2) and after transformations we obtain

From (23) we define

Then the required values of the settings according to (19) will have the form

which define expression (7).

Because are the output signals of the setpoint controller integrators, then the input signals of these integrators will be

which define expression (6) and ensure the elimination of angles To generate signals at the inputs of the setpoint regulator integrators, which ensure the tilt of the rotor to the rotating stop, the maximum values of these angles are taken from the design documentation for the DNG. Let us determine the setpoint signals with which it is possible to turn the rotor by angles According to (20)

From (27) we obtain

The settings in this case will look like this:

Because are the output signals of the setpoint controller integrators, then the input signals of these integrators will be respectively

which determine expression (8) and ensure the tilt of the rotor to the rotating stop.

In the operating mode, at each i-th start of the gyroscope, the rotor is deflected from its initial angular position to the rotating stop sequentially for each channel and measure the signals from the demodulators of the setpoint controller after the rotor touches the rotating stop.

In the preliminary control start-up, signals were determined from the setpoint demodulators characterizing the angles of inclination of the rotor from the zero position to the rotating stop. The angles from the rotor position in the i-th run to the rotating stop are determined as

The difference between the rotor angles to the rotating stop in the i-th start and the adjustment start

Using (20) we define

Taking into account (18), (31), (32)

Substituting into (34) the values for t ₁₁₁₃ , t ₂ c ₃ , n ₅ from (2) and transforming, we obtain

Because are the output signals of the setpoint controller integrators, then the input signals of these integrators will be respectively

Expressions (35), (36), (37) characterize expressions (10), (9) and are generated in the microcontroller.

Computer studies of the proposed method for regulating the change in the angular position of the DNG-DUS rotor caused by a change in the zero signals of its angle sensors were carried out. For this, the expression was used

or taking into account (5) and (13)

Based on expression (39), a program for numerical calculation of Q _x (t) _{U02,Uуст12} was developed in the Matlab system. A step zero signal of the angle sensor of the second channel of the gyroscope was set U ₀₂ = 0.001 V. When the gyroscope was operating in the closed-loop feedback mode, this signal caused a deviation of the gyroscope rotor by an angle of Q _x = 0.6448⋅10 ^-4 rad. Using the value of Q _x, the coefficient K _уст12 and the setpoint signal U _yст12 were determined using expressions (28), (29). Fig. (5) shows the change in the inclination angle of the DNG-DUS rotor calculated on a computer under the influence of the step zero signal of the angle sensor U ₀₂ = 0.001 V and the supply to the input of the isodromic feedback integrator of the setpoint signal changing according to the linear law U _yст12 = 0.059t. Comparison of the results presented in Fig. 2 and 5 dependencies show that the proposed method allows eliminating the rotor tilt in the DNG-DUS with isodromic feedback, caused by the appearance of a zero signal from the gyroscope angle sensor. Similarly, the rotor tilt caused by a zero signal from the angle sensor and on another gyroscope channel is eliminated.

Thus, the proposed method for regulating the change in the angular position of the rotor of a dynamically tuned gyroscope operating in the angular velocity sensor mode, caused by a change in the zero signals of its angular sensors, has the following differences from the known method:

1. The following new actions have been introduced in preparatory operations:

- an additional rotor tilt setting regulator is connected to the outputs of the gyroscope feedback preamplifiers, generating setting signals fed to the inputs of the isodromic feedback channel integrators;

- provide automatic regulation of setpoint signals depending on the zero signals of angle sensors;

- use a microcontroller, regulator demodulators and regulator integrators in the setting regulator;

- measure the values of the errors in the settings of the zero signals of the angle sensors, using the signals of the demodulators of the setpoint controller in the open feedback mode of the gyroscope at the non-resonant frequency of rotation of its rotor;

- calculate signals in the microcontroller that generate settings corresponding to the values of the errors in the settings of the zero signals of the angle sensors, for which they use signals from the demodulators of the setting controller;

- send forming signals from the microcontroller to the inputs of the setpoint regulator integrators to obtain linearly changing setpoint signals at their outputs;

- send linearly changing setpoint signals to the inputs of the integrators of the isodromic feedback of the gyroscope to set its rotor to the zero position in the presence of errors in setting the zero signals of the angle sensors;

- calculate in the control microcontroller the signals fed to the inputs of the setpoint controller integrators, ensuring the tilt of the gyroscope rotor from the zero position to the rotating stop, using the maximum values of the angles to the rotating stop from the technical documentation for the gyroscope;

- store the values of signals that ensure the tilt of the rotor from the zero position to the rotating stop in the microcontroller memory;

- send a signal, ensuring the tilt of the rotor from the zero position to the rotating stop, from the control microcontroller to the input of the integrator of the first channel of the setting controller;

- measure the maximum signal from the demodulator of the first channel of the settings controller after the rotor touches the rotating stop;

- store in the microcontroller memory the maximum signal from the demodulator of the first channel of the settings controller after the rotor touches the rotating stop;

- turn off the signal that ensures the tilt of the rotor from the zero position to the rotating stop from the input of the integrator of the first channel of the settings controller;

- send a signal from the control microcontroller to the input of the integrator of the second channel of the setting controller, which ensures tilt from the zero position to the rotating stop;

- measure the maximum signal from the demodulator of the second channel of the settings controller after the rotor touches the rotating stop;

- remember the maximum signal in the microcontroller memory from the demodulator of the second channel of the settings controller after the rotor touches the rotating stop;

- turn off the signal that ensures the tilt of the rotor from the zero position to the rotating stop from the input of the integrator of the second channel of the settings controller;

2. In the DNG-DUS operating mode, the following new actions have been introduced for each gyroscope start:

- the gyroscope rotor is deflected in the positive direction first along the first channel from the initial tilt angle determined by the zero signals of the angle sensors, for which a signal is supplied from the control microcontroller to the input of the integrator of the first channel of the setpoint controller, ensuring the tilt of the rotor to the rotating stop;

- measure the maximum signal from the demodulator of the first channel of the settings controller after the rotor touches the rotating stop and store it in the microcontroller memory;

- disconnect the signal that ensures the tilt of the rotor to the rotating stop from the initial position, determined by the zero signals of the angle sensors, from the input of the integrator of the first channel of the setting controller;

- the gyroscope rotor is deflected in the positive direction along the second channel from the initial tilt angle, determined by the zero signals of the angle sensors, for which a signal is sent from the control microcontroller to the input of the integrator of the second channel of the setpoint controller, ensuring the tilt of the rotor to the rotating stop;

- measure the maximum signal from the demodulator of the second channel of the settings controller after the rotor touches the rotating stop and store it in the microcontroller memory;

- disconnect the signal that ensures the tilt of the rotor to the rotating stop from the initial position, determined by the zero signals of the angle sensors, from the input of the integrator of the second channel of the setting controller;

- calculate the signals for generating the settings in the microcontroller, using the signals from the settings controller demodulators stored in the microcontroller memory via channels after the rotor touches the rotating stop;

- signals for generating the settings are fed to the inputs of the integrators of the first and second channels of the setting controller and setpoint signals are received at their outputs, which are fed to the inputs of the integrators of the isodromic feedback channels of the gyroscope to ensure the zero angular position of the rotor in the presence of zero signals from the angle sensors.

Fig. 1 shows a functional diagram of an angular velocity sensor based on a dynamically tuned gyroscope with a regulator for setting the tilt of its rotor.

Fig. 2 shows the change in the tilt angle of the rotor of a dynamically tuned gyroscope operating in the isodromic feedback mode based on the torque sensor currents, under the influence of a stepped zero signal from the angle sensor U ₀₂ - 0.001 V.

Fig. 3 shows the change in the angle of inclination of the DNG-DUS when a linearly changing setpoint signal U _yct12 = -0.0597t is fed to the input of the isodromic feedback integrator of the second channel.

Fig. 4 shows the design diagram of the arrangement of the main units of a dynamically tuned gyroscope.

Fig. 5 shows the change in the tilt angle of the DNG-DUS rotor under the influence of a stepped zero signal from the angle sensor U ₀₂ = 0.001 V in the second channel and the supply to the input of the integrator of the second channel of isodromic feedback of a setpoint signal changing according to the linear law U _yст12 = -0.0597t.

Fig. 6 shows a block diagram of the actions performed during preliminary adjustment operations in the proposed method for regulating the change in the angular position of the DNG-DUS rotor caused by a change in the zero signals of its angle sensors.

Fig. 7 shows a block diagram of the operation of the DNG-DUS rotor tilt setpoint regulator during operating starts when regulating the change in the angular position of its rotor caused by a change in the zero signals of the angle sensors.

Fig. 8 shows a diagram of the composition of a programmable control microcontroller.

Fig. 1 shows a functional diagram of an angular velocity sensor based on a dynamically adjustable gyroscope with a regulator of the tilt setpoint of its rotor, which shows the main electronic units and their interrelationships that make it possible to implement the proposed method. The composition of the electronic units that form feedback on the currents of the torque sensors in the DNG is typical and has practical use. In the functional diagram shown in Fig. 1, a new electronic unit is introduced, which is a regulator 4 of the tilt setpoint of the gyroscope rotor. The regulator of the angular position setpoint of the DNG-DUS rotor must implement the operating algorithms shown in Figs. 6 and 7. Fig. 6 shows a block diagram of the actions performed during the preliminary adjustment operations in the proposed method for regulating the change in the angular position of the DNG-DUS rotor caused by a change in the zero signals of its angle sensors. In Fig. 7 shows a block diagram of the operation of the DNG-DUS rotor tilt setpoint regulator in working starts when regulating the change in the angular position of its rotor caused by a change in the zero signals of the angle sensors. This rotor tilt setpoint regulator can be implemented on the basis of a programmable control microcontroller (recontact) and standard electronic devices - a demodulator and an integrator in each control channel, the same as in the gyroscope feedback channels. The diagram of the composition of the programmable regulating microcontroller is shown in Fig. 8. The regulating microcontroller includes: microprocessor 1, memory 2, input-output device 3, filters 4, 5, analog-to-digital converter with multiplexer 6, digital-to-analog converter with multiplexer 7, monitor 8. In microprocessor 1, it is possible to distinguish a set of functionally related registers, an arithmetic logic unit and control circuits. Arithmetic and logical operations can be performed on the contents of registers and memory cells 2. The microprocessor has the following types of memory: operational, constant, external. The input-output device 3 can have a parallel input-output port, a serial input-output port. The programmable parallel input-output port ensures the exchange of information between the microprocessor 1 and external devices. The serial input-output port is a universal synchronous/asynchronous receiver/transmitter that receives information from the central processor in parallel form via the data bus and converts it into a data stream for transmission in serial format. At the same time, this device can receive data streams in serial and convert them into parallel format. In this case, the serial input-output device notifies the processor of its readiness to receive a new byte of data for transmission or of the reception of a byte for the processor. The analog-to-digital converter 6 converts analog voltages into digital form, and the digital-to-analog converter 7 converts the digital form of the signal into analog voltage. The inputs of filter 6 are continuous signal inputs. And the inputs of filter 5 are discrete signal inputs. The inputs of filter 5 are used to work with the computer, the programmer. The microcontroller has a power source monitor 8, which ensures the reliability of the remicont. Thus, the presented capabilities of the control microcontroller allow you to perform the actions in the proposed method, which are shown in Fig. 6 and Fig. 7, and to implement on its basis a regulator of the rotor tilt setting of the DNG, eliminating tilts caused by a change in the zero signals of the angle sensors. For the practical implementation of the regulator of the rotor tilt setting in the DNG, you can use the ADμC812 microcontroller from Analog Device. The ADηC812 microcontroller consists of four main units: an analog input/output unit, a microcontroller core unit, a memory unit, and a peripheral unit. The analog input/output unit is based on a fast 12-bit ADC operating from a single power source and, in addition to a multichannel multiplexer, contains a sample-and-hold device, a reference voltage source, and a self-calibration function. The built-in precision 2.5 V reference voltage source eliminates the need for external sources when working with analog signals in the range from 0 to 2.5 V. With a larger input signal swing (from 0 to supply voltage), an external reference voltage source can be connected. The maximum throughput of the FDC is 200 thousand measurements per second, which is quite sufficient for use in the proposed method. The integral nonlinearity of the ADC is ±0.5 LSB (least significant digit). The ADC operating mode is set by the microcontroller and can be either "single" or "automatic" with direct recording of measurement results into the microcontroller memory. The crystal has a built-in temperature sensor, which can be used both for independent measurements of the ambient temperature and in the ADC calibration mode. The analog output functions are provided by two 12-bit DACs equipped with output buffer amplifiers. Each DAC can operate in both 8- and 12-bit modes and has a programmable input voltage swing within the range from 0 to 2.5 V or from 0 to the supply voltage. The microcontroller core block is based on the full-fledged architecture of the 8051 family of controllers and is fully compatible with them in terms of the command system. The microcontroller operates at a clock frequency of 12 MHz, has three programmable 16-bit timers/counters, 24 programmable input/output ports, 8 programmable input ports and supports an interrupt system from 9 sources with two priority levels. The memory block consists of 8 KB of internal Flash memory for storing programs, 640 bytes of internal Flash memory for storing data, 256 bytes of RAM for storing data. The data address space is 16 MB. And the program address space is 64 KB. To improve the reliability of the ADμC812, a power supply monitor is integrated on the chip, the response level of which can be selected from five user-defined voltages in the range from 2.6 V to 4.6 V, and a watchdog timer with a programmable reset signal delay from 16 to 2048 ms. The ADμC812 is available in a 52-pin package, specialized in the temperature range from -40 ° C to 85 ° C, and has several power consumption modes when powered from both 3 V and 5 V sources. The presented technical characteristics of the ADμC812 microcontroller are quite sufficient for the implementation of the DNG rotor tilt setting controller in the proposed method.

The use of the proposed method allows to increase the accuracy characteristics of angular velocity sensors based on dynamically adjustable gyroscopes by reducing errors associated with the angular orientation of the rotor relative to the drive shaft and the elements of its housing. The angles of rotation of the rotor relative to the internal elements of the structure cause errors caused by the moments of rotor damping, moments of braking of the rotor during its rotation in the internal gas environment of the sealed housing, torques acting from the side of the drive shaft, moments from the residual rigidity of the elastic suspension, gas-dynamic moments due to asymmetric gaps between the rotor surface and the internal elements of the structure. The proposed method allows to maintain the stability of the angular position of the rotor relative to its internal elements during the operation of the DNG-DUS, thereby reducing the errors of the DNG from the noted harmful moments. The use of the proposed method increases the accuracy of gyroscopic systems based on the DNG-DUS, which ensures the expansion of the area of their use.

Claims (19)

A method for regulating a change in the angular position of a rotor of a dynamically tuned gyroscope operating in the angular velocity sensor mode caused by a change in the zero signals of its angle sensors, including isodromic regulation via two analog feedback channels, each of which has a rotor angular position sensor, an angle sensor preamplifier, a demodulator, an isodromic feedback channel integrator, a DC amplifier, a torque sensor current signal power amplifier, a torque sensor, preliminary adjustment of the zero signals of the angle sensors at zero angles of deviation of the gyroscope rotor from the axis of rotation of the drive shaft, performed in the open feedback mode at a non-resonant frequency of rotation of the rotor, characterized in that the inputs of the gyroscope rotor tilt setpoint controller, including a programmable control microcontroller, input demodulators and output integrators, the outputs of which are connected to the isodromic feedback integrators of the gyroscope, are pre-connected to the outputs of the angle sensor preamplifiers, and after setting the zero signals of the angle sensors in the open feedback mode at the non-resonant frequency of rotation of the rotor, the achieved values of the errors in the settings of the zero signals of the angle sensors from the demodulators of the setpoint controller are measured in the setpoint controller and store their values in the memory of the control microcontroller, perform the control launch of the gyroscope at the resonant frequency of the rotor speed with closed feedback loops and eliminate the rotor tilt angles caused by errors in setting the zero signals of the angle sensors why are the values of the signals that form the setpoints calculated in the control microcontroller which are fed to the inputs of the integrators of the first and second channels of the setpoint regulator, respectively, and receive setpoint signals at its outputs directed to the inputs of the integrators of the isodromic channels of the gyroscope feedback, then the angle of rotation of the rotor is determined from its obtained zero angular position to the angular position when the rotor touches the rotating stop, for which purpose the values of the signals forming the setpoints are calculated in the control microcontroller, with the help of which the rotor is deflected to the rotating stop, and store them in the memory of the control microcontroller, deflect the gyroscope rotor in the positive direction along the input axis of its first channel from the initial zero angle of inclination of the rotor by sending a signal from the control microcontroller to the input of the integrator of the first channel of the setpoint controller, and after the rotor touches the rotating stop in the setpoint controller, the value of the maximum signal is measured from the demodulator of the first channel of the settings controller, and store this signal in the memory of the microcontroller, turn off the signal from the input of the integrator of the first channel of the settings controller, the gyroscope rotor is deflected in the positive direction along the input axis of the second channel from the initial zero angle of inclination of the rotor, for which a signal is sent from the control microcontroller to the input of the integrator of the second channel of the settings controller and after the moment the rotor touches the rotating stop in the settings controller, the signal is measured from the demodulator of the second channel of the settings controller, they memorize this signal in the microcontroller memory, and turn off the signal from the input of the integrator of the second channel settings controller, and in the operating mode, at each i-th start of the gyroscope operating at the resonant frequency of the rotor rotation speed with closed feedback loops along the channels, the change between the angular position of the rotor at the operating zero signal from the angle sensors and the angular position of the rotor when it touches the rotating stop is determined, for this, until the time of reaching the accuracy readiness of the gyroscope, the rotor is first deflected along the input axis of the first channel from the initial angle of inclination of the rotor , for this they give a signal from the control microcontroller to the input of the integrator of the first channel of the settings controller and after the moment the rotor touches the rotating stop in the settings controller, the value of the maximum signal is measured from the demodulator of the first channel of the settings controller, store this signal in the microcontroller memory, turn off the signal from the input of the integrator of the first channel of the setpoint controller, the rotor of the gyroscope is deflected in the positive direction along the input axis of the second channel from the initial angle what is the signal for from the control microcontroller to the input of the integrator of the second channel of the settings controller and after the moment the rotor touches the rotating stop, the signal is measured in the settings controller from the demodulator of the second channel of the settings controller, they memorize this signal in the microcontroller memory, and turn off the signal from the input of the integrator of the second channel settings controller, after which the zero angular position of the rotor of the dynamically tuned gyroscope is ensured in the i-th start in the presence of zero signals from its angle sensors, for which the signals that form the settings are calculated in the microcontroller which are fed to the inputs of the integrators of the first and second channels of the setpoint controller before the end of the i-th start, and receive setpoint signals at the inputs of the integrators of the isodromic channels of the gyroscope feedback, setting the rotor to the zero angular position, in the following form Where K _d11 , K _d12 - gain factors of demodulators for the first and second channels of gyroscope feedback; K _dr11 , K _dr12 ^are the gain factors of the demodulators of the setpoint regulator for the first and second channels: K _dU11 , K _dU12 - scale factors of the gyroscope angle sensors for the first and second channels; K _pu11 , K _pu12 - gain factors of the preliminary amplifiers of the angle sensors for the first and second channels of the gyroscope; - maximum values according to design documentation of the angles of inclination of the rotor to the rotating stop along its axes; τ _и1 , τ _и2 are the time constants of the integrators of the first and second isodromic feedback channels of the gyroscope; τ _ir1 , τ _ir2 - time constants of the integrators of the setpoint regulator for the first and second channels.