DD209288A1 - ARRANGEMENT FOR DETERMINING THE ANGLE SPEED AND ACCELERATION - Google Patents

Abstract

The invention relates to an arrangement for determining the angular velocity and acceleration by levitating a mass of traction in a spatial arrangement by means of attitude control systems for measurement and control. This arrangement is particularly applicable to measurements of the pathway navigation. The object of the invention is to design a triaxial accelerometer such that a small amount of measuring and control systems is necessary for its operation, this being achieved by floating the traction mass by six attitude control systems at the ends of a three-dimensional, symmetrical cross each having opposite direction of attitude control systems have the same direction of movement and are arranged perpendicular to the corresponding axis of the three-dimensional cross.

Description

- iitel ·

for determining the angular velocity and

acceleration

Field of application of the invention:

The invention relates to an arrangement for "determining the angular velocity" and acceleration, by keeping a mass of questioning in a spatial arrangement floating by means of Xageregelungssysteme, which serve for the measurement and control *

This arrangement is particularly applicable for navigation gyros for inertial navigation ·

Characteristics of the known technical solutions: For the determination of the angular velocity and acceleration, arrangements are known which make it possible to measure all three components of the acceleration vector and which are referred to as three-axis accelerometers * In the SE-QS 1673 412 an accelerometer is described in which a By means of the photodetectors the position of the particle is measured and the three electric pelders are controlled so that the particle always remains in the middle of the chamber. The required voltage in all three components is a measure of acceleration.

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From Hr-OS 2204 533 a three-dimensional electrostatic MeQ device for very small accelerations is "known and" relates to an accelerometer in which a ball in an electrostatic JeId is kept floating · These accelerometers did not allow, in addition to the linear accelerations yet It is also known from PS-PS 2107 847 to measure angular velocities or accelerations by arranging six accelerometers by arranging in each case two accelerometers in an axis © perpendicular to this axis. The objection of this arrangement is that six linear accelerometers must be exactly aligned with each other, adjusted and calibrated, and the six individual masses of inertia be measured in linear motion. accelerometers, generally of pedicels. be held and thus the individual spring forces as Dehler can be included in the measurements ·

In the case of a cube, an inertial mass in Fora of a cube is held floating by twelve attitude control systems acting along the edges of the cube. The salient part of this arrangement is that there is a high overdetermination by the twelve attitude control systems high effort is required to puncture the twelve MeQ and control systems and to calculate

Object of the ^{invention::; :} '

The invention has the goal of designing a three-axis accelerometer s ©, that the mentioned subjects are eliminated and a low cost of MeQ and control systems is necessary ·

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Explanation of the essence of the invention:

The invention is based on the object with only one inertial mass, which is held in a spatial arrangement by six attitude control systems floating, wherein the attitude control systems are used for measurement and control, angular velocities and accelerations. In accordance with the invention, this object is achieved in that the inertial mass is levitated by six attitude control systems at the ends of a three-dimensional, cross-shaped structure such that two opposing attitude control systems have the same direction of motion and the direction of motion is perpendicular to the corresponding axis of the three-dimensional, is arranged torteilhaft when the inertial mass is arranged in a three-dimensional, symmetrical cross and tie six attitude control systems each consisting of a measuring system with Differenzphoto- receiver and a control system with a arranged on the inertial mass magnet and two coils · The measuring system capacitive or inductive sensors are included. It is also possible to keep the inertial mass floating at the ends of an octahedron by means of six position control systems. "By means of the invention, it is possible to use only one - Inertia mass and six attitude control systems to measure the three components of angular velocity and acceleration with low Mei3- and Steuerarnfwand «

The invention will be explained in more detail below with reference to the schematic drawings.

1 ± S * "1 An arrangement for determining the angular velocity and acceleration with a cruciform, three-dimensional inertial mass

Pig 2 shows a second embodiment for arranging the inertial mass

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1 4 ι ι

Pig · 3 electronic circuit for operating a magnet

Pig * 4 an electronic circuit for operating an accelerometer ·

In the arrangement according to Pig. 1, an accelerometer is shown, consisting of an inertial mass, which is held floating by 6 position control systems at the ends of a three-axis, symmetrical cross 1. Meβ Xagerege sungs systerne exist on the magnets 2-7, which {each are mounted in pairs on the ends of the three-axis cross-shaped structure 1, wherein the magnets 2 and 3, the x-axis with the files x. and ^ ₂ limit the magnets 4 and 5 the y-axis with the files j ^ and y "and the magnets β and 7 the z-axis with the files ζ ^ and ζ ₂ · the magnets 2-7 and the triaxial, cross-shaped structure 1 together form the mass of inertia of the accelerometer · each magnet 2-7 are each associated with 2 coils, between which it moves 33er magnet 2 is located between the coil 8 and §, the magnet 3 between the coils 10 and 11, the Magnet 4 between the coils 12 and 13> the magnet 5 between the coils 14 and 15, the magnet β between the coils 16 and 17 and the magnet 7 between the coils 18 and 19 · "

Sesh's light sources 20-25 and six Mfferenzphotoempfanger 26-31 are perpendicular to the direction of movement of the magnets 2 - 7 arranged so that the light sources 2Θ - 25 the lifferenzphotoempfanger 26 - 31 s © beleuehten that the file χ ,, ^X 2> ^ 1 » ^? ' ^ζ ί ^tmä · ^Z 2 cast ^a shadow on the Bifferphotöempfanger 26 - 31 and this shadow see the movement of the magnets 2-7 on the • ifferenzphot © receivers 26 - 31 with moved · Me electronic circuit for the operation of the magnets 2 - 7 is 2 shows a second embodiment of the spatial arrangement, the inertial mass. The magnets 2-7 can be used in this embodiment in an octahedral.

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The octahedron performs the same function as the three-axis, cross-shaped structure in Pig. U

Lichtπ Pig ·3 the electronic circuit for the function of the magnets 2-7 is shown in Pig × 1. The light source "illuminates the differential photo-receiver 2β × 2". "The x-axis of the three-dimensional cross-shaped stage gate 1 generates a switching aiii the differential photoreceiver 26 "The difference signal is then amplified in a known manner in a Yerstärker 33 and used to operate the coils 8 and 3 , so daJS example, the one coil 8 on which see the magnet 2 moves toward repels, the other coil 9 the magnet 2 anzielit ^ In the state 45, a signal 39 proportional to the acceleration of the magnet 2 can be obtained. Each magnet 2-7 (as shown in Pig. 1) has a solo position, which is the deviation of the respective axis (x, 7, 2) corrects the three-dimensional, cross-shaped structure 1 from the desired position and supplies an acceleration-dependent signal · All S behaves cause the inertia mass, consisting of the three-dimensional, cross-shaped structure 1 and the magnets 2-7 freely in the PeId the coil pairs § 1 S floats · Ia Pig · 4, the electronic circuit for operating an accelerometer is shown · The Terstärker 33-38 are shown only schematically · This 39-44 denote the respective outputs for the Besehieunigungssignal · A Summenrerstärker 4β, 47, 48 or a differential amplifier 49, 50, 51 is always connected to both outputs of the Terstärker an axis (2, j or z) of the three-dimensional, cross-shaped structure 1 Thus, the Yerstärker 46 is supplied with the signals 39 and 40 · The sum signal of these signals is the acceleration along the y-A · PSr the other two axes, the arrangement is analogous · The difference signal of 39 and 40 is formed in the amplifier 49, for the

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analogous to other axes "From the difference signals the proportions of the centrifugal force and the angular acceleration are obtained, and it can be determined in a known manner from the rotation rate of all three axes (p, q, r are the three components of the eotation vector w) Embodiment of the "described arrangement is not bound to the above embodiment * So capacitive or inductive sensors can be used instead of photoelectric · The coil kSnnen be attached directly to the cross-shaped structure 1 and the magnets are fixed, which, however, requires wire connections to the inertial mass · Is the three-dimensional, cross-shaped structure 1 at least in the middle part of non-conductive material, an electrostatic laughing control is possible · Furthermore, for partial or complete compensation of gravity, the inertial mass also in a suitable carrying liquid floating · The inertial mass can also ei Any other embodiment (eg, octahedron), if only ^ ensures that the 6 sensors and the 6 Xagesteuerungseinheiten can be mounted according to Mg * 1 · You evaluation of the signals can also by. Digital circuits take place ·

The determination of the three components of the translation acceleration (x, y, z) as well as of the three components of the hot-state velocity w (p, q, r) results from well-known transformation formulas for arbitrarily moved soerdinate systems for the Pig * 1 and 4 example given applies:

y Sensors on the χ axis: Sum: j Difference: pq. - r ζ Sensors on the y axis: Sum: ζ Difference: qr - ρ χ Sensors on the ζ axis: Sum: χ Difference: rp - q

Claims (1)

Invention claim: An arrangement for determining the angular velocity and acceleration with an inertial mass, which is suspended in a spatial arrangement by attitude control systems, which serve for measurement and control, characterized in that an inertial mass by six Lageregeluagssysteme at the ends of a three-dimensional, cross-shaped structure is kept floating, that in each case two opposing position control systems have the same direction of movement and that the direction of movement is arranged perpendicular to the corresponding axis of the three-dimensional, cross-shaped structure * 2 «Arrangement according to item 1, characterized in that the inertial mass is arranged in Jonah of a three-dimensional, symmetrical symbol« 3 arrangement according to point i, characterized in that the inertial mass is arranged in Torrn of an octahedron 4. Arrangement according to item 1, characterized in that the position control systems each consist of a measuring system with a differential photoreceptor and a control system with a magnet with two coils attached to the inertial mass. 5 «Arrangement according to item 1, characterized in that the measuring system may contain capacitive or inductive sensors« 15 "Oct" 1982/10 For this pages drawings