CN116164736A - Speed error compensation circuit for gyro compass - Google Patents

Speed error compensation circuit for gyro compass Download PDF

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Publication number
CN116164736A
CN116164736A CN202211726162.4A CN202211726162A CN116164736A CN 116164736 A CN116164736 A CN 116164736A CN 202211726162 A CN202211726162 A CN 202211726162A CN 116164736 A CN116164736 A CN 116164736A
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switch
demodulation circuit
speed
potentiometer
circuit
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沈旻雅
陈杰
李晨浩
杨子健
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Cssc Marine Technology Co ltd
China State Shipbuilding Corp Ltd
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Cssc Marine Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Gyroscopes (AREA)

Abstract

The invention relates to a speed error compensation circuit for a gyrocompass, which comprises a rotary transformer, a speed regulating potentiometer and a demodulation circuit, wherein the input end of a primary winding of the rotary transformer is connected with an alternating current sine wave excitation signal, and the output end of a cosine winding of the rotary transformer is connected with a fixed tap end of the speed regulating potentiometer; one fixed tap end and one sliding tap end of the speed regulating potentiometer are connected to the signal input end of the demodulation circuit, and the speed regulating potentiometer is used for inputting an alternating current signal to the demodulation circuit; the exciting input end of the demodulation circuit and the input end of the primary winding of the rotary transformer are connected in parallel with an alternating current sine wave excitation signal; the demodulation circuit converts an input alternating current signal into a direct current signal; the demodulation circuit inputs a direct current signal to a horizontal torquer of the gyro compass, and the horizontal torquer generates a speed error compensation moment. The invention adopts a mode of combining electromechanics and electronics, thereby realizing the internal compensation of speed errors more simply and reliably, and realizing the purposes of simplifying circuits and improving reliability.

Description

Speed error compensation circuit for gyro compass
Technical Field
The invention relates to the technical field of ship navigation, in particular to a speed error compensation circuit for a gyro compass.
Background
The gyro compass is autonomous navigation equipment independent of external information, can provide accurate and reliable course information for ship navigation, and can also provide azimuth references for other ship equipment.
The gyrocompass are mounted on a vessel and move with the vessel relative to the earth. Velocity component V of ship in north-south direction N The main axis of the gyroscope of the gyro compass is caused to be V relative to the earth level N The angular velocity of R (R is the earth radius) moves, thereby deviating the gyro spindle from the original stable position, and thus a velocity error occurs.
The speed error is the principle error of the gyro compass, is irrelevant to structural parameters of the gyro compass, and is only related to the navigational speed V, the heading K and the geographic latitude phi. The speed error angle Δk can be calculated using formula (1); formula (1):
Figure BDA0004030037020000011
the methods for eliminating errors mainly comprise three methods:
1. table look-up method: firstly, calculating speed error angles delta K under different navigational speeds V, navigational directions K and geographic latitudes phi according to a formula (1), and drawing a table or a chart.
When the ship navigation system is used, the corresponding speed error angle delta K is firstly found out according to the current navigation speed V, the heading K and the geographic latitude phi, then the heading K of the current compass is read, and the speed error angle delta K is deducted, so that the true heading of the ship is obtained.
The method has the advantages that a speed error compensation mechanism is not required to be added in the gyro compass device, and the defects that the heading indicated by the gyro compass and the heading sent to each load device comprise speed error angles, manual table lookup calculation is required, and the true heading of the ship is obtained after the speed error is deducted.
2. Outer compensation method: a speed error compensation mechanism is arranged in a course transmitting link (such as a transmitting box) of the gyro compass, and a speed error angle is calculated by the speed error compensation mechanism according to a formula (1) by using a mechanical simulation calculation method, so that a course transmitting part rotates by an angle value which is equal to the speed error angle and opposite to the speed error angle, and the speed error angle is corrected.
The method has the advantages that manual calculation is not needed, and the course of the gyrocompass sent to each load device is the true course of the ship; the method has the defects that although a course transmitting link (such as a transmitting box) of the gyro compass indicates the true course of the ship, a main shaft of the gyro is not directed to true north, the composition structure of the speed error compensation mechanism is complex, the cost is high, and accurate compensation is difficult to realize.
3. Inner compensation method: from the foregoing, it can be seen that the velocity error of the gyrocompass is due to the velocity component V of the ship in the north-south direction N Such that pitching motion of the gyroscope main axis relative to the earth's level occurs. Therefore, the occurrence of a velocity error can be avoided by only seeking to prevent the pitching motion of the main axis of the gyroscope.
The internal compensation method is also called moment compensation method, a speed error compensation mechanism is arranged in the gyro compass, and an electric calculation method is utilized to calculate and output a proper speed error compensation current I BZ Sending the compensation torque to a horizontal torquer to generate a compensation torque M BZ . At M BZ The main shaft of the gyroscope generates horizontal precession under the action of the (2), and the precession angular velocity of the main shaft can exactly offset V N The angular velocity of the pitching motion of the main axis of the gyroscope is formed relative to the earth level, so that the generation of velocity errors is avoided.
In the internal compensation method, a compensation moment M is required to be applied to the main axis of the gyroscope BZ Calculated by formula (2); speed error compensation current I to horizontal moment BZ Calculated by formula (3):
Figure BDA0004030037020000021
Figure BDA0004030037020000022
in the above formula: h-gyroscope angular momentum, V-vessel speed, K-heading, R-earth radius, L Z -a moment coefficient of the horizontal torquer; in the formula (3), the earth radius R is a constant value, and the angular momentum H of the gyroscope and the moment system of the horizontal torquerNumber L Z And is also constant, has been determined at the time of gyroscope design. Therefore, the required speed error compensation current I can be determined only according to the current navigation speed V and the heading K of the ship BZ Is of a size of (a) and (b).
The internal compensation method has the advantages that the course transmitting link (such as a transmitting box) of the gyro compass not only indicates the true course of the ship, but also the main axis of the gyro is positioned in the meridian plane to point to the true north, and the compensation method has strong operability and is easy to realize accurate compensation.
Currently, the internal compensation method generally adopts the following specific circuits: the gyro compass receives the digital navigational speed V information sent by the external speed sensor (such as GPS, log) through interfaces such as serial port, CAN network, ethernet, etc., and sends the digital navigational speed V information to the microprocessor (such as SCM, ARM, DSP). The microprocessor also receives heading K information in the gyro compass, calculates according to the formula (3), outputs corresponding digital quantity information and sends the digital quantity information to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit applies a required speed error compensation current I to the horizontal torquer according to digital quantity information sent by the microprocessor BZ . The speed error compensation circuit mainly depends on external speed information, and once an external speed sensor cannot output correct speed information, a gyro compass cannot perform accurate speed error compensation; in addition, the analog-digital conversion circuit structure is complex, and the requirements on the precision grade, the temperature drift coefficient and other parameters of the used components are high.
Disclosure of Invention
In order to solve the problems of the existing internal compensation method, the invention provides a speed error compensation circuit for a gyro compass, which adopts a simpler and more reliable circuit combining electromechanics and electronics to complete the internal compensation of the speed error, and does not need to depend on external speed information, thereby achieving the purposes of simplifying the circuit and improving the reliability.
The technical purpose of the invention is realized by the following technical scheme:
a speed error compensation circuit for a gyro compass comprises a rotary transformer, a speed regulating potentiometer and a demodulation circuit,
the rotary transformer comprises a primary winding input end and a cosine winding output end; the speed regulation potentiometer comprises two fixed extraction heads and a sliding extraction head; the demodulation circuit comprises a signal input end, an excitation input end and a demodulation circuit output end;
the input end of the primary winding of the rotary transformer is connected with an alternating current sine wave excitation signal, and the output end of the cosine winding of the rotary transformer is connected with the fixed tap end of the speed regulation potentiometer;
one fixed tap end and one sliding tap end of the speed regulating potentiometer are connected to the signal input end of the demodulation circuit, and the speed regulating potentiometer is used for inputting an alternating current signal to the demodulation circuit;
the exciting input end of the demodulation circuit and the input end of the primary winding of the rotary transformer are connected in parallel with an alternating current sine wave excitation signal; the output end of the demodulation circuit is connected with a horizontal torquer of the gyrocompass; the demodulation circuit is used for converting an alternating current signal input by the speed regulation potentiometer into a direct current signal; the demodulation circuit inputs a direct current signal to the horizontal torquer, and the horizontal torquer generates a speed error compensation torque;
the rotary transformer comprises a rotating shaft, the gyro compass comprises an azimuth ring, the rotating shaft is connected with the azimuth ring of the gyro compass through gear transmission, and the transmission ratio of the gear transmission is 1:1.
Further, the demodulation circuit includes an analog switch circuit N1, an inverter circuit N2;
the analog switch circuit comprises a first switch, a second switch, a third switch and a fourth switch, wherein the first switch, the second switch, the third switch and the fourth switch are respectively provided with a control end, an input end and an output end; the inverter circuit comprises a first path of inverter and a second path of inverter; the output end of the first path of inverter is respectively connected with the input end of the second path of inverter, the control end of the second path of switch and the control end of the fourth path of switch, and the output end of the second path of inverter is respectively connected with the control end of the first path of switch and the control end of the third path of switch; the input end of the first switch and the input end of the second switch are in short circuit connection to serve as one end of the demodulation signal input end, and the input end of the third switch and the input end of the fourth switch are in short circuit connection to serve as the other end of the demodulation signal input end.
Further, the demodulation circuit further comprises a zener diode and a first resistor, one end of the first resistor is one end of an excitation input end of the demodulation circuit, and the other end of the first resistor is simultaneously connected with the negative end of the zener diode and the input end of the first path of inverter; the positive end of the voltage stabilizing diode is the other end of the exciting input end of the demodulation circuit and is connected with signal ground.
Further, the demodulation circuit further comprises a potentiometer, a second resistor, a first capacitor and a second capacitor, wherein the potentiometer comprises a fixed tap end and a sliding tap end; the output end of the first switch and the output end of the fourth switch are connected with signal ground after being short-circuited, the output end of the second switch and the output end of the third switch are connected with one fixed tap end of a potentiometer in a short-circuited mode, the sliding tap end of the potentiometer is simultaneously connected with one end of a first capacitor and one end of a second resistor, the other end of the second resistor is connected with one end of the second capacitor, and one end of the second resistor connected with the second capacitor is also connected with a horizontal torquer; the other ends of the first capacitor and the second capacitor are connected with signal ground.
Further, the rotation angle of the azimuth ring of the gyro compass is the current heading K, the rotation angle of the rotating shaft of the rotary transformer is equal to the ship heading K, the output voltage of the cosine winding output end of the rotary transformer is Uc, uc=B×Uh×cos K, wherein B is the transformation ratio of the rotary transformer, and Uh is an alternating current sine wave excitation signal accessed by the rotary transformer.
Further, the speed regulating potentiometer is a single-circle disc potentiometer, a circle of scale for indicating the navigational speed V is correspondingly arranged outside the handle of the speed regulating potentiometer, the minimum value of the navigational speed V is 0, and the maximum value Vmax is the maximum design navigational speed; the alternating current signal input by the speed regulating potentiometer to the demodulation circuit is Ui,
Figure BDA0004030037020000041
Figure BDA0004030037020000042
further, the alternating current signal input to the demodulation circuit by the speed regulation potentiometer is Ui, and the direct current voltage signal output by the demodulation circuit generates a speed error compensation circuit on horizontal momentFlow of
Figure BDA0004030037020000051
Wherein F is the transfer coefficient of the demodulation circuit, R L Is the resistance of the horizontal torquer.
Let uc=b×uh×cos K,
Figure BDA0004030037020000052
And->
Figure BDA0004030037020000053
Integrating to obtain
Figure BDA0004030037020000054
As can be seen from comparison of formula (3), only +.>
Figure BDA0004030037020000055
The invention can be used for the speed error compensation circuit of the gyro compass to realize the internal compensation function of the speed error.
Compared with the prior art, the invention has the beneficial effects that:
1. the speed error compensation circuit for the gyro compass adopts a mode of combining electromechanics and electronics, so that the internal compensation of the speed error is realized more simply and reliably, and the purposes of simplifying a circuit and improving the reliability are realized.
2. The speed error compensation circuit for the gyro compass of the invention does not need to rely on external speed information, and can output a speed error compensation current I in an electrical resolving mode only by turning the handle of the speed regulating potentiometer to the scale value of the current navigational speed BZ And the horizontal torquer generates compensation torque to finish the internal compensation of the speed error, so that the error compensation caused by the error or loss of external speed information is avoided.
Drawings
Fig. 1 is a schematic diagram of the composition of the velocity error compensation circuit for gyrocompass of the present invention.
Fig. 2 is a schematic circuit diagram of a speed error compensation circuit for gyrocompass according to the present invention.
Fig. 3 is a schematic diagram showing waveform comparison of Uh, uj1, uj2 and Uj3 in the embodiment of the present invention.
Fig. 4 is a waveform comparison schematic diagram of the ac input signal Ui and the excitation signal Uh when they are in phase in the embodiment of the present invention.
Fig. 5 is a waveform comparison schematic diagram of the alternating current input signal Ui and the excitation signal Uh when they are inverted in the embodiment of the present invention.
Fig. 6 is a schematic view of the handle of the adjustable-speed potentiometer RV1 of the present invention.
In the figure, 1, a rotary transformer; 2. a speed regulating potentiometer; 3. a demodulation circuit; 4. a horizontal torquer; 5. a primary winding input; 6. the cosine winding output end; 7. a signal input terminal; 8. an output end of the demodulation circuit; 9. exciting an input end; 10. fixing the extraction end; 11. sliding the tap end.
Detailed Description
The technical scheme of the invention is further described below with reference to the specific embodiments:
the speed error compensation circuit for the gyro compass comprises a rotary transformer 1, a speed regulating potentiometer 2 and a demodulation circuit 3, wherein the speed error compensation circuit is shown in fig. 1, and comprises the following components:
resolver 1 comprises a primary winding input 5 and a cosine winding output 6; the speed regulation potentiometer 2 comprises 2 fixed extraction heads 10 and sliding extraction heads 11; the demodulation circuit 3 comprises a signal input end 7, an excitation input end 9 and a demodulation circuit output end 8;
the primary winding input end 5 of the rotary transformer 1 is connected with an alternating current sine wave excitation signal Uh, and the cosine winding output end 6 of the rotary transformer 1 is connected with 2 fixed tap ends 10 of the speed regulation potentiometer 2;
one fixed tap end 10 and one sliding tap end 11 of the speed regulating potentiometer 2 are connected to the signal input end 7 of the demodulation circuit 3, and the speed regulating potentiometer 2 is used for inputting an alternating current signal to the demodulation circuit 3;
the exciting input end 9 of the demodulation circuit 3 is connected with the primary winding input end 5 of the rotary transformer 1 in parallel to be connected with an alternating current sine wave excitation signal; the output end 8 of the demodulation circuit is connected with the horizontal torquer 4 of the gyrocompass; the demodulation circuit 3 is used for converting an alternating current signal input by the speed regulation potentiometer 2 into a direct current signal; the demodulation circuit 3 inputs a direct current signal to the horizontal torquer 4, and the horizontal torquer 4 generates a speed error compensation torque;
the rotary transformer comprises a rotating shaft, the gyro compass comprises an azimuth ring, the rotating shaft is connected with the azimuth ring of the gyro compass through gear transmission, and the transmission ratio of the gear transmission is 1:1. The rotation angle of the gyro compass azimuth ring is the current heading K, so that the rotation angle of the rotating shaft of the rotary transformer T1 is equal to the ship heading K. The output voltage of the cosine winding output end of the rotary transformer is Uc, uc=B×Uh×cos K, wherein B is the transformation ratio of the rotary transformer, and Uh is an alternating current sine wave excitation signal connected with the rotary transformer.
In this embodiment, as shown in fig. 2, the speed-regulating potentiometer RV1 is a single-ring disc potentiometer, a circle of scale for indicating the navigational speed V is correspondingly arranged outside the handle of the speed-regulating potentiometer RV1, the minimum value of the navigational speed V is 0, and the maximum value Vmax is the maximum design navigational speed; when the handle angle of the potentiometer RV1 is 0 DEG, the scale points to the navigation speed 0 section, and the voltage Ui of the signal input end of the demodulation circuit is 0V; when the handle rotation angle of the potentiometer RV1 is the maximum value, the scale points to the maximum design navigational speed Vmax of the ship, and at the moment, the voltage Ui of the signal input end of the demodulation circuit is the output voltage Uc of the cosine winding output end of the rotary transformer T1. When the handle of the potentiometer RV1 rotates between the 0 section and Vmax, the voltage Ui of the signal input end of the demodulation circuit and the handle rotation angle (i.e. the navigational speed V) of the potentiometer RV1 are in a linear change relation,
Figure BDA0004030037020000071
specifically, the demodulation circuit includes a zener diode V1, a first resistor R1, an analog switch circuit N1, an inverter circuit N2, a potentiometer RW1, a second resistor R2, a first capacitor C1, and a second capacitor C2;
the analog switch circuit N1 comprises a first switch N1A, a second switch N1B, a third switch N1C and a fourth switch N1D, wherein the first switch N1A, the second switch N1B, the third switch N1C and the fourth switch N1D are respectively provided with a control end, an input end and an output end; the inverter circuit includes a first inverter N2A and a second inverter N2B (one inverter circuit generally includes more than 2 inverter gates in its devices).
One end of the first resistor R1 is one end of an excitation input end of the demodulation circuit, and the other end of the first resistor R1 is simultaneously connected with the negative end of the zener diode V1 and the input end of the first path of inverter N2A; the positive end of the zener diode V1 is the other end of the exciting input end of the demodulation circuit and is connected with the signal ground.
The output end of the first path of inverter N2A is respectively connected with the input end of the second path of inverter N2B, the control end of the second path of switch N1B and the control end of the fourth path of switch N1D, and the output end of the second path of inverter N2B is respectively connected with the control end of the first path of switch N1A and the control end of the third path of switch N1C; the input end of the first path switch N1A and the input end of the second path switch N1B are in short circuit connection to serve as one end of a demodulation signal input end, and the input end of the third path switch N1C and the input end of the fourth path switch N1D are in short circuit connection to serve as the other end of the demodulation signal input end.
The potentiometer RW1 comprises a fixed extraction end and a sliding extraction end; the output end of the first switch N1A and the output end of the fourth switch N1D are connected with signal ground after being short-circuited, the output end of the second switch N1B and the output end of the third switch N1C are connected with one fixed tap end of a potentiometer RW1 in a short-circuited mode, the sliding tap end of the potentiometer RW1 is simultaneously connected with one end of a first capacitor C1 and one end of a second resistor R2, the other end of the second resistor R2 is connected with one end of a second capacitor C2, and one end of the second resistor R2 is connected with a horizontal torquer; the other ends of the first capacitor C1 and the second capacitor C2 are connected with signal ground.
The first resistor R1 and the zener diode V1 form a half-wave rectifying circuit, a truncated half-wave signal Uj1 with the same frequency and phase as the excitation signal Uh is formed at the input end of the first path of inverter N2A, a square wave signal Uj2 inverted with the truncated half-wave signal Uj1 is formed at the output end of the first path of inverter N2A, and a square wave signal Uj3 inverted with the square wave signal Uj2 is formed at the output end of the second path of inverter N2B, as shown in fig. 3. The amplitude and the frequency of the square wave signal Uj2 and the square wave signal Uj3 are the same, but the phase difference is 180 degrees, and the on-off of the two paths of analog switches are respectively controlled:
assuming that the value of heading K is at the one, four-quadrant, cosK is a positive number, at which time the AC input signal Ui is in phase with the excitation signal Uh, as shown in FIG. 4. When the waveform of the excitation signal Uh is positive half cycle, the square wave signal Uj2 is low level, and the second switch N1B and the fourth switch N1D are disconnected; the square wave signal Uj3 is at a high level, and the first switch N1A and the third switch N1C are turned on. At this time, the ac input signal Ui is also positive half cycle, and the ac input signal Ui is transmitted backward through the first switch N1A and the third switch N1C, and the voltage signal Uj4 at the fixed tap end of the potentiometer RW1 is turned over to be a negative half cycle sine wave. When the waveform of the excitation signal Uh is a negative half cycle, the square wave signal Uj2 is at a high level, and the second switch N1B and the fourth switch N1D are conducted; the square wave signal Uj3 is low, and the first switch N1A and the third switch N1C are turned off. At this time, the ac input signal Ui is also a negative half cycle, and the ac input signal Ui is transmitted backward through the second switch N1B and the fourth switch N1D, and the voltage signal Uj4 at the fixed tap end of the potentiometer RW1 is still a negative half cycle sine wave. The voltage signal Uj4 at the fixed tap terminal of the potentiometer RW1 is a continuous negative half-cycle sine wave.
On the contrary, assuming that the value of the heading K is in the two-quadrant or three-quadrant, cosK is a negative number, and at this time, the ac input signal Ui is inverted to the excitation signal Uh, as shown in fig. 5. When the waveform of the excitation signal Uh is positive half cycle, the square wave signal Uj2 is low level, and the second switch N1B and the fourth switch N1D are disconnected; the square wave signal Uj3 is at a high level, and the first switch N1A and the third switch N1C are turned on. At this time, the ac input signal Ui is a negative half cycle, and is transmitted backward through the first switch N1A and the third switch N1C, and the voltage signal Uj4 at the fixed tap end of the potentiometer RW1 is turned over to be a positive half cycle sine wave. When the waveform of the excitation signal Uh is a negative half cycle, the square wave signal Uj2 is at a high level, and the second switch N1B and the fourth switch N1D are conducted; the square wave signal Uj3 is low, and the first switch N1A and the third switch N1C are turned off. At this time, the ac input signal Ui is positive half cycle, and the ac input signal Ui is transmitted backward through the second switch N1B and the fourth switch N1D, and the voltage signal Uj4 at the fixed tap end of the potentiometer RW1 is still a positive half cycle sine wave. The voltage signal Uj4 at the fixed tap terminal of the potentiometer RW1 is a continuous positive half-cycle sine wave.
The continuous positive half cycle sine wave or negative half cycle sine wave passes through a pi-type RC filter circuit consisting of a potentiometer RW1, a second resistor R2, a first capacitor C1 and a second capacitor C2, and a direct current voltage signal Uo with small alternating current ripple is generated at the output end of the demodulation circuit. The output end of the demodulation circuit is connected with the horizontal torquer, so that a speed error compensation current I can be generated on the horizontal torquer BZ Ac input signal Ui and speed error compensation current I BZ The two are approximately in linear change relation, the resistance value of the potentiometer RW1 is regulated, and the speed error compensates the current I BZ The expression is variable as follows:
Figure BDA0004030037020000091
wherein F is the transmission coefficient of the demodulation circuit, the resistance F of the adjusting potentiometer RW1 is variable, R L Is the resistance of the horizontal torquer.
In the present embodiment, the gyro angular momentum h=2×10 of the gyro compass 4 (g. Cm. S), the moment coefficient Lz of the horizontal torquer=0.5 (g. Cm/mA). Known earth radius r=6.37×10 8 (cm). According to the original formula
Figure BDA0004030037020000092
Theoretical calculation shows that the compensating current I needs to be applied on the horizontal torquer of the gyro compass BZ The generation of speed error can be avoided by = -0.063 x V x cosK (μa).
According to the method in the embodiment, the rotary transformer T1 is 20XZ20-6, the exciting signal Uh=AC26V/400 Hz is connected to the input end of the primary winding, and the transformation ratio B=0.45. As can be seen from the calculation of the formula (uc=b×uh×cos K), the cosine winding output voltage uc=11.70×cosk (volts) of the resolver T1.
In this embodiment, the speed-regulating potentiometer RV1 is a WX14-12-100R single-ring disk potentiometer, and a digital dial is arranged at the handle part of the speed-regulating potentiometer RV1, as shown in FIG. 6, the number and scale of the dial are used for indicating the navigational speed V, and the navigational speed is designed maximallySpeed vmax=60 knots= 3086.66 (cm/s). When the handle angle of the speed regulating potentiometer RV1 is 0 DEG, the scale points to the navigation speed 0 section, and the voltage Ui of the signal input end of the demodulation circuit is 0V; when the handle angle of the speed regulating potentiometer RV1 is the maximum value, the scale points to 60 knots, and the voltage Ui at the signal input end of the demodulation circuit is the cosine winding output voltage Uc of the rotary transformer T1. According to the formula
Figure BDA0004030037020000101
It is calculated that when the potentiometer handle rotates between 0 and 60 knots, the voltage ui=v×uc/3086.66 =3.79×10 at the signal input of the demodulation circuit -3 X V x cosK (volts).
In this embodiment, the horizontal torquer resistance R of the gyro compass L =600 (Ω). The transmission coefficient f=0.01 of the demodulation circuit can be made by adjusting the resistance value of the potentiometer RW 1. According to the formula
Figure BDA0004030037020000102
It can be seen from the calculation that the speed error compensation current I in the embodiment of the invention BZ ＝-1.67×10 -5 XUi= -0.063 XV XcosK (unit: μA), and the original formula
Figure BDA0004030037020000103
Figure BDA0004030037020000104
Calculated I BZ The theoretical calculation formulas are the same, and the speed error compensation of the gyro compass in the embodiment can be completed.
The present embodiment is further illustrative of the present invention and is not to be construed as limiting the invention, and those skilled in the art can make no inventive modifications to the present embodiment as required after reading the present specification, but only as long as they are within the scope of the claims of the present invention.

Claims (7)

1. A speed error compensation circuit for a gyro compass is characterized by comprising a rotary transformer, a speed regulation potentiometer and a demodulation circuit,
the rotary transformer comprises a primary winding input end and a cosine winding output end; the speed regulation potentiometer comprises a sliding extraction end and two fixed extraction ends; the demodulation circuit comprises a signal input end, an excitation input end and a demodulation circuit output end;
the input end of the primary winding of the rotary transformer is connected with an alternating current sine wave excitation signal, and the output end of the cosine winding of the rotary transformer is connected with a fixed tap end of a speed regulation potentiometer;
the fixed tap end and the sliding tap end of the speed regulating potentiometer are connected to the signal input end of the demodulation circuit, and the speed regulating potentiometer is used for inputting an alternating current signal to the demodulation circuit;
the exciting input end of the demodulation circuit and the primary winding input end of the rotary transformer are connected in parallel with an alternating current sine wave excitation signal; the output end of the demodulation circuit is connected with a horizontal torquer of the gyrocompass; the demodulation circuit is used for converting an alternating current signal input by the speed regulation potentiometer into a direct current signal; the demodulation circuit inputs a direct current signal to the horizontal torquer, and the horizontal torquer generates a speed error compensation torque;
the rotary transformer comprises a rotating shaft, the gyro compass comprises an azimuth ring, the rotating shaft is connected with the azimuth ring of the gyro compass through gear transmission, and the transmission ratio of the gear transmission is 1:1.
2. The speed error compensation circuit for gyrocompass according to claim 1, wherein said demodulation circuit comprises an analog switching circuit N1, an inverter circuit N2;
the analog switch circuit comprises a first switch, a second switch, a third switch and a fourth switch, wherein the first switch, the second switch, the third switch and the fourth switch are respectively provided with a control end, an input end and an output end; the inverter circuit comprises a first path of inverter and a second path of inverter; the output end of the first path of inverter is respectively connected with the input end of the second path of inverter, the control end of the second path of switch and the control end of the fourth path of switch, and the output end of the second path of inverter is respectively connected with the control end of the first path of switch and the control end of the third path of switch; the input end of the first switch and the input end of the second switch are in short circuit connection to serve as one end of a demodulation signal input end, and the input end of the third switch and the input end of the fourth switch are in short circuit connection to serve as the other end of the demodulation signal input end.
3. The speed error compensation circuit for gyrocompass according to claim 2, wherein the demodulation circuit further comprises a zener diode and a first resistor, one end of the first resistor is one end of an excitation input end of the demodulation circuit, and the other end of the first resistor is connected with a negative end of the zener diode and an input end of the first path of inverter at the same time; the positive end of the voltage stabilizing diode is the other end of the exciting input end of the demodulation circuit and is connected with signal ground.
4. The speed error compensation circuit for gyrocompass according to claim 2, wherein the demodulation circuit further comprises a potentiometer, a second resistor, a first capacitor and a second capacitor, the potentiometer comprising a fixed tap end and a sliding tap end; the output end of the first switch and the output end of the fourth switch are connected with signal ground after being in short circuit, the output end of the second switch and the output end of the third switch are connected with a fixed extraction end of a potentiometer in short circuit, the sliding extraction end of the potentiometer is simultaneously connected with one end of a first capacitor and one end of a second resistor, the other end of the second resistor is connected with one end of the second capacitor, and one end of the second resistor connected with the second capacitor is also connected with a horizontal torquer; the other ends of the first capacitor and the second capacitor are connected with signal ground.
5. The speed error compensation circuit for gyrocompass according to claim 1, wherein the rotation angle of the azimuth ring of the gyrocompass is the current heading K, the rotation angle of the rotating shaft of the rotary transformer is equal to the ship heading K, the output voltage of the cosine winding output end of the rotary transformer is Uc, uc=b×uh×cos K, wherein B is the transformation ratio of the rotary transformer, and Uh is the ac sine wave excitation signal to which the rotary transformer is connected.
6. The speed error compensation circuit for the gyrocompass according to claim 5, wherein the speed regulating potentiometer is a single-circle disc potentiometer, a circle of scale for indicating the navigational speed V is correspondingly arranged outside a handle of the speed regulating potentiometer, the minimum value of the navigational speed V is 0, and the maximum value Vmax is the maximum design navigational speed; the alternating current signal input by the speed regulating potentiometer to the demodulation circuit is Ui,
Figure QLYQS_1
Figure QLYQS_2
7. the speed error compensation circuit for gyrocompass according to claim 6, wherein the ac signal input to the demodulation circuit by the governor potentiometer is Ui, and the dc voltage signal output from the demodulation circuit generates the speed error compensation current I on the horizontal moment BZ ,
Figure QLYQS_3
Wherein F is the transfer coefficient of the demodulation circuit, R L Is the resistance of the horizontal torquer. />
CN202211726162.4A 2022-12-30 2022-12-30 Speed error compensation circuit for gyro compass Pending CN116164736A (en)

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Application Number Priority Date Filing Date Title
CN202211726162.4A CN116164736A (en) 2022-12-30 2022-12-30 Speed error compensation circuit for gyro compass

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211726162.4A CN116164736A (en) 2022-12-30 2022-12-30 Speed error compensation circuit for gyro compass

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CN116164736A true CN116164736A (en) 2023-05-26

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