CN102155941A - Dynamic start-stop control system of flexible gyroscope on strapdown vertical reference system - Google Patents
Dynamic start-stop control system of flexible gyroscope on strapdown vertical reference system Download PDFInfo
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- CN102155941A CN102155941A CN2011100707131A CN201110070713A CN102155941A CN 102155941 A CN102155941 A CN 102155941A CN 2011100707131 A CN2011100707131 A CN 2011100707131A CN 201110070713 A CN201110070713 A CN 201110070713A CN 102155941 A CN102155941 A CN 102155941A
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Abstract
The invention relates to a dynamic start-stop control system of a flexible gyroscope on a strapdown vertical reference system, comprising a sampling filtering delay circuit, a comparing amplifying state switch circuit, an analog switch control circuit and a force feedback delay variable-K control circuit. The input end of the sampling filtering delay circuit is connected with the output of a subcontrol torquer of a flexible gyroscope. Shown by sampling, the winding of the subcontrol torquer of the flexible gyroscope generates an induced voltage signal when the rotation speed of a rotor changes; and the induced voltage signal is filtered and amplified to control the amplification factor of a force feedback circuit and further control the static and dynamic start and stop of the flexible gyroscope through the force feedback circuit. Due to the adoption of the dynamic start-stop control system, the precision and the service life of the flexible gyroscope on the strapdown vertical reference system can be improved and prolonged. The dynamic start-stop control system adopts simple electronic circuits, is easy to implement and convenient for parameter adjustment and has the advantages of strong interchangeability and the like.
Description
Technical field
The present invention relates to the Navigation Control field, the dynamic start and stop control system of flexure gyroscope on especially a kind of strapdown vertical reference baseline system.
Background technology
Flexure gyroscope is widely used in the inertial navigation in fields such as Aero-Space, boats and ships naval vessels.In the present flexure gyroscope control system, flexure gyroscope and balanced loop again constitute the closed loop gyroscope control system of a precision, the effect of balanced loop is the central authorities that accurately the gyrostatic axis of rotation are stabilized in gyro housing (being connected with the gyro stator base) again, makes the output of gyro signal device keep minimum in real time.
When flexure gyroscope is used for strapdown inertial navigation system, because gyroscope housing and carrier directly are connected, so gyroscope will be in the identical motion state along with carrier, when navigator starts under dynamical state, gyrostatic initial peak signal is to the heavy current impact of gyro master control moment winding, may cause the flexible coupling of gyrorotor to break through the too many and collision backstop of central axis, cause precision of gyroscope to descend fast and shorten rapidly serviceable life.When serious even may cause the flexible coupling fracture, cause gyro to damage.For avoiding producing above-mentioned adverse consequences, when existing flexure gyroscope is used for strapdown inertial navigation system, the general enlargement factor (be called for short time-delay and become K) that adopts the start constant time lag to change rebalancing circuit (being the force feedback loop), but the versatility of this method is poor, and is difficult for adjusting the required dynamic precise time of change K.So carry out delay process in this way, control that can not be good is the synchronism of balance enlargement factor and gyro motor rated speed again, therefore, exists under the dynamic rocking state problem that can not normally start.
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Summary of the invention
At strapdown vertical reference baseline system under the dynamic rocking state, the problem that can not normally start, the purpose of this invention is to provide the accurately dynamic start and stop of control gyroscope of a kind of realization, improve the dynamic start and stop control system of flexure gyroscope on the gyroscope strapdown vertical reference baseline system in serviceable life.
To achieve these goals, the technical solution used in the present invention is as follows: the dynamic start and stop control system of flexure gyroscope on the strapdown vertical reference baseline system, it is characterized in that, comprise that sampling filter delay circuit, comparison magnifying state reverse circuit, analog switch control circuit and control delay of feedback become the K circuit; The output of the secondary control-torque device of sampling filter delay circuit input termination flexure gyroscope, the winding that sampling obtains the secondary control-torque device of flexure gyroscope produces induced voltage signal when rotor speed changes, this voltage signal is the control delay of feedback after filtering, amplification, change the enlargement factor of circuit, more quiet, the dynamic start and stop by force feedback circuit controls flexure gyroscope.
Described sampling filter delay circuit is provided with amplifier, the ac voltage signal that the secondary control of the gyro winding that this amplifier is used for receiving is inducted amplifies, it is dc pulse moving voltage that the ac voltage signal that amplifies carries out rectification through diode, dc pulse moving voltage obtains DC voltage through RC pi type filter filtering and RC time-delay.
Described relatively magnifying state reverse circuit is provided with comparer, and this comparer is used to compare the size of the DC voltage of thresholding reference voltage and the output of sampling filter delay circuit, and exports high/low level signal.
Described analog switch control circuit is provided with on-off controller, this on-off controller receives the high/low level signal of described comparer output, described on-off controller is provided with two signal output parts, one of them signal output part (pin one 4) is connected with the input end in described force feedback loop, the input end in this force feedback loop ground connection behind two divider resistances of also connecting successively, another signal output part (pin one 3) is connected in two wiring between the divider resistance, and two divider resistances that are cascaded constitute the output that described control delay of feedback becomes the K circuit.
Compared to existing technology, the present invention has following beneficial effect:
1. part of the present invention is that the secondary control-torque device with flexure gyroscope uses as a generator, when the rotation speed change of gyro, on the secondary control-torque device of flexure gyroscope, produce the ac voltage that a direct proportion changes, utilize this ac voltage to amplify through amplifier, half-wave rectification, the filtering of RC type, the RC time-delay, the automatic time delay of realizing again the balanced loop becomes K control, adjust force feedback enlargement factor and time relation, reach in static and dynamic rocking process gyrostatic startup and stop not bump backstop, make the gyroscope can be with Qi Suiyong, prolonged gyrostatic serviceable life, changed the history that strapdown system can not normally start under the dynamic rocking state.
2. at single flexure gyroscope, can adjust change K time parameter separately automatically, reach optimum efficiency.Realize the accurately gyrostatic dynamic start and stop of control, improved guarantor's precision of strapdown system; Also improved gyrostatic serviceable life simultaneously.
3. electronic circuit is simple, realizes that than being easier to, interchangeability is strong, adjusts parameter and makes things convenient for.
4. cost is low, and versatility is extremely strong, and stability is high, and the reliability height is easy to maintenance.
Description of drawings
Fig. 1 functional-block diagram of the present invention;
Fig. 2 sampling filter delay circuit schematic diagram;
Fig. 3 is magnifying state reverse circuit schematic diagram relatively;
Fig. 4 analog switch control circuit schematic diagram.
Embodiment
Below in conjunction with specific embodiment the present invention is described in further detail.
As shown in Figure 1, the dynamic start and stop control system of flexure gyroscope on a kind of strapdown vertical reference baseline system comprises that sampling filter delay circuit, comparison magnifying state reverse circuit, analog switch control circuit and control delay of feedback become the K circuit; The output of the secondary control-torque device of sampling filter delay circuit input termination flexure gyroscope, the pair control winding that sampling obtains the secondary control-torque device of flexure gyroscope produces induced voltage signal when rotor speed changes, this voltage signal is through filtering, the enlargement factor of amplifying back control delay of feedback change K circuit, more quiet, the dynamic start and stop by force feedback circuit controls flexure gyroscope.
As shown in Figure 2, the sampling filter delay circuit is provided with amplifier A1, this amplifier A1 inverting input is connected and is connect the voltage signal output end of the pair control winding L of flexure gyroscope after first resistance R 1, the normal phase input end of the amplifier A1 second resistance R 2 back ground connection of connecting, cross-over connection has the 3rd resistance R 3 between the output terminal of amplifier A1 and the inverting input, the output terminal of amplifier A1 also is connected with the positive pole of diode D, connect successively the 4th resistance R 4～the 6th resistance R 6 of dividing potential drop of the negative pole of diode D, line between the 4th resistance R 4 and the 5th resistance R 5 is provided with contact, this contact ground connection behind the first capacitor C1 of connecting; Line between the 5th resistance R 5 and the 6th resistance R 6 is provided with contact, this contact ground connection behind the second capacitor C2 of connecting, the first capacitor C1, the 5th resistance R 5 and the second capacitor C2 form the RC pi type filter jointly, ground connection after the positive pole of diode D is also connected the 7th resistance R 7, the 3rd capacitor C3 respectively, the 7th resistance R 7, the 3rd capacitor C3 constitute the RC delay circuit.
Gyrostatic secondary control-torque device is as a generator, when flexure gyroscope rotor speed changes, the pair control winding L of flexure gyroscope produces the alternating voltage that direct proportion changes, the alternating voltage that amplifier A1 produces pair control winding L carries out signal and amplifies, the voltage signal that output has been amplified, the voltage signal that amplifies is rectified into dc pulse moving voltage through diode D, and pulsating dc voltage is through after time-delay, filtering and the dividing potential drop, and the output galvanic current is pressed.
As shown in Figure 3, relatively the magnifying state reverse circuit is provided with comparer A2, the DC voltage of this comparer A2 positive input reception amplifier A1 output, this comparer A2 positive input ground connection behind the first slide rheostat RW1 of also connecting, the negative input end of comparer A2 connects the slider of the second slide rheostat RW2, this second slide rheostat RW2 one termination high voltage, other end ground connection, the output terminal of comparer A2 is exported high and low level after comparison operation.
Comparer A2 compares to the DC voltage of positive input and the reference voltage signal of negative input end receive threshold, when the DC voltage of positive input is lower than threshold value, comparer A2 output low level, when the DC voltage of positive input was higher than in threshold value, comparer A2 exported high level.By regulating the resistance of the second slide rheostat RW2, the size that can regulate threshold voltage.
As shown in Figure 4, analog switch control circuit is provided with on-off controller U, this on-off controller U receives the high/low level signal of comparer A2 output, first signal output part of on-off controller U (pin one 4) and secondary signal output pin (pin one 3) output control signal, secondary signal output pin (pin one 3) series connection the 9th resistance R 9 back ground connection wherein, cross-over connection has the 8th resistance R 8 between first signal output part (pin one 4) and secondary signal output pin (pin one 3), first signal output part (pin one 4) connects the input end in force feedback loop, by the force feedback loop according to the signal that receives, the output control signal, the rotating speed of control flexure gyroscope.Two divider resistances the 8th resistance R 8 that is cascaded and the 9th resistance R 9 constitute the output that the control time-delay becomes the K circuit.
3 pin of on-off controller U and 4 pin receive the logic high/low level signal of comparer A2 output, when comparer A2 output low level, first signal output part of on-off controller U (pin one 4) and secondary signal output pin (pin one 3) are in off-state, from the signal of putting before the gyro (amplifier A1 output d. c. voltage signal) by handling sending into the force feedback loop after the 8th resistance R 8 and the 9th resistance R 9 dividing potential drops, when comparer A2 output high level, first signal output part of on-off controller U (pin one 4) and all conductings of secondary signal output pin (pin one 3), the backfeed loop of exerting all one's strength output high-amplification-factor signal, the control gyroscope is in steady state (SS), realized that again the automatic time delay of balanced loop becomes K control, adjust force feedback enlargement factor and time relation, reach in static and dynamic rocking process gyrostatic startup and stop not bump backstop, make the gyroscope can be with Qi Suiyong, prolonged gyrostatic serviceable life, changed the history that strapdown system can not normally start under the dynamic rocking state.
System electronic circuit of the present invention is simple, realizes that interchangeability is strong easily, and it is convenient to adjust parameter.At single flexure gyroscope, can adjust change K time parameter separately automatically, reach optimum efficiency.And cost is low, and versatility is extremely strong, and stability is high, the reliability height, and maintenances etc. are all very convenient.
The above embodiment of the present invention only is to be explanation example of the present invention, and is not to be qualification to embodiments of the present invention.For those of ordinary skill in the field, can also make other multi-form variation and changes on the basis of the above description.Here can't give exhaustive to all embodiments.Everyly belong to the row that conspicuous variation that technical scheme of the present invention amplifies out or change still are in protection scope of the present invention.
Claims (4)
1. the dynamic start and stop control system of flexure gyroscope on the strapdown vertical reference baseline system is characterized in that, comprises that sampling filter delay circuit, comparison magnifying state reverse circuit, analog switch control circuit and control delay of feedback become the K circuit; The output of the secondary control-torque device of sampling filter delay circuit input termination flexure gyroscope, the winding that sampling obtains the secondary control-torque device of flexure gyroscope produces induced voltage signal when rotor speed changes, this voltage signal is the control delay of feedback after filtering, amplification, change the enlargement factor of circuit, more quiet, the dynamic start and stop by force feedback circuit controls flexure gyroscope.
2. the dynamic start and stop control system of flexure gyroscope on the strapdown vertical reference baseline system according to claim 1, it is characterized in that, described sampling filter delay circuit is provided with amplifier (A1), the ac voltage signal that this amplifier (A1) is used for receiving amplifies, it is dc pulse moving voltage that the ac voltage signal that amplifies carries out rectification through diode (D), dc pulse moving voltage obtains DC voltage through RC pi type filter filtering and RC time-delay.
3. the dynamic start and stop control system of flexure gyroscope on the strapdown vertical reference baseline system according to claim 1, it is characterized in that, described relatively magnifying state reverse circuit is provided with comparer (A2), this comparer (A2) is used to compare the size of the DC voltage of thresholding reference voltage and the output of sampling filter delay circuit, and exports high/low level signal.
4. the dynamic start and stop control system of flexure gyroscope on the strapdown vertical reference baseline system according to claim 1, it is characterized in that, described analog switch control circuit is provided with on-off controller (U), this on-off controller (U) receives the high/low level signal of described comparer (A2) output, described on-off controller (U) is provided with two signal output parts, one of them signal output part (pin one 4) is connected with the input end in described force feedback loop, the input end in this force feedback loop ground connection behind two divider resistances of also connecting successively, another signal output part (pin one 3) is connected in two wiring between the divider resistance, and two divider resistances that are cascaded constitute the output that described control delay of feedback becomes the K circuit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743399A (en) * | 2014-01-01 | 2014-04-23 | 西安应用光学研究所 | Moment-variable locking/unlocking control circuit for inertial navigation north-seeking system |
| CN113790736A (en) * | 2021-08-03 | 2021-12-14 | 北京自动化控制设备研究所 | Installation error angle compensation method and circuit of dynamically tuned gyroscope |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103743399A (en) * | 2014-01-01 | 2014-04-23 | 西安应用光学研究所 | Moment-variable locking/unlocking control circuit for inertial navigation north-seeking system |
| CN103743399B (en) * | 2014-01-01 | 2016-04-27 | 西安应用光学研究所 | Inertial navigation north-seeking system torque-variable adds solution lock control circuit |
| CN113790736A (en) * | 2021-08-03 | 2021-12-14 | 北京自动化控制设备研究所 | Installation error angle compensation method and circuit of dynamically tuned gyroscope |
| CN113790736B (en) * | 2021-08-03 | 2023-10-13 | 北京自动化控制设备研究所 | Power tuning gyroscope installation error angle compensation method and circuit |
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