JP2004226351A - Method of and apparatus for detecting attitude of flying object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To eliminate a high-precision inertial sensor for roll angle detection by controlling the rotation of a flying object such that the roll angle of an inertial system is canceled by rotating a motor backward. <P>SOLUTION: The method of and the apparatus for detecting the attitude of a flying object rotates a rotary table (11) having the inertial device (10) by a motor encoder (5) comprising a motor (3) and an encoder (4), rotates the motor (3) backward such that the roll angle of the flying object (30) does not rotate, and detects the rotation of the motor by the encoder (4) and a gyro signal (40) with a high precision. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method and a device for detecting the attitude of a flying object, and in particular, a motor is rotated in a direction opposite to the rotation of the flying object so that a roll angle of an inertial device provided on the flying object does not rotate, and the largest in the flying object The present invention relates to a novel improvement for accurately measuring all inertia specification data without using a high-accuracy inertial sensor for detecting a changing roll angle.
[0002]
[Prior art]
Conventionally, as a method of detecting the attitude of this type of flying object, which has been manufactured in-house, patent documents and non-patent documents showing the method are not shown. However, due to its unique motion characteristics, it is difficult to measure the inertial specification data, and no device for accurately measuring the attitude angle has been adopted.
[0003]
[Problems to be solved by the invention]
Since the conventional attitude detection of a flying object is in the above-described situation, the following problems exist.
In other words, because the flying object rotates its roll axis many times larger than the other axes when trying to detect the inertia data of the flying object due to its unique motion characteristics, it is 2 An inertial sensor having an order of magnitude higher detection range is required, and it has been difficult to secure a necessary dynamic range for posture angle calculation and the like.
[0004]
The present invention has been made in order to solve the above-described problems, and in particular, the motor is rotated in a direction opposite to the rotation of the flying object so that the roll angle of the inertial device provided on the flying object does not rotate, and the flying is performed. It is an object of the present invention to provide a method and apparatus for detecting the attitude of a flying object that accurately measures all inertial specification data without using a high-accuracy inertial sensor to detect the roll angle that changes most in the body. I do.
[0005]
[Means for Solving the Problems]
A method for detecting the attitude of a flying object according to the present invention includes a motor provided on the flying object and having a motor shaft in the same direction as the axial direction of the flying object, an encoder provided on the motor, and a rotation provided on the motor shaft. Using a table and an inertial device provided on the rotary table, a gyro signal detecting a roll angular velocity signal obtained from the inertial device is fed back to the motor so that the roll angle of the flying object does not always rotate. A method of rotating the motor in a direction opposite to the rotation of the flying object, detecting the rotation of the motor with the encoder and a gyro signal, and detecting an inertial state of the flying object, and detecting each of the inertial devices. Each of the inertial sensors provided on the shaft is a method having the same detection accuracy, and the flying object attitude detecting device according to the present invention is a motor encoder provided on a base. A rotary table connected to a motor shaft of a motor of the motor encoder body, and an inertial device having an inertial sensor for a plurality of detection axes provided on the rotary table, wherein the encoder of the motor encoder body The configuration is such that rotation of the motor is detected.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of a flying object attitude detection method and apparatus according to the present invention will be described with reference to the drawings.
In FIG. 1, reference numeral 1 denotes a base provided on a case 2. On the base 1, a motor encoder body 5 in which a motor 3 and an encoder 4 are combined is provided with a damper plate 6 and a damper column 7. Is fixed through.
[0007]
A signal processing circuit 8 is provided below the base 1, and a rotary table 11 on which a well-known inertial device 10 is mounted is connected to a motor shaft 9 of the motor 3. The inertial device 10 is configured to be able to rotate in the roll angle direction of the flying object 30.
[0008]
The inertial device 10 includes an X-axis inertial sensor 20 for detecting an angular velocity P and an acceleration Ax about the X-axis, a Y-axis inertial sensor 21 for detecting an angular velocity q and an acceleration Ay about the Y-axis, and Z A Z-axis inertial sensor 22 for detecting an angular velocity (roll angular velocity) r around the axis and an acceleration Az in the Z-axis direction is provided. The sensors 20 to 22 are unitized with the same accuracy.
[0009]
The X, Y, and Z axes are, as shown in the respective axis display portions in FIG. 2, the axial direction 9a of the motor shaft 9 of the motor 3 (that is, the various flying objects 30 in which the case 2 is provided). (Which is the same as the axial direction).
A gyro signal 40 is constituted by the speeds p, q, r, Ax, Ay, and Az, and the gyro signal 40 is processed by the signal processing circuit 8. The inertial device 10 and the signal processing circuit 8 are connected by a slip ring 50.
[0010]
The roll angular velocity r with respect to the roll axis composed of the Z axis is fed back to a drive circuit (not shown) of the motor 3 via the adding / subtracting unit 60, and the rotary table 11 is rotated via the motor 3 in a direction opposite to the rotation of the flying object 30. And the roll angle of the inertial device 10 is controlled so as not to substantially rotate.
[0011]
Next, the operation will be described. First, the inertial device 10 incorporated in the case 2 configured as shown in FIG. 1 is installed inside a flying object 30 such as a rocket in a state where the axial direction 9a matches the axial direction of the flying object 30. When the flying object 30 is fired, the attitude also changes in the X-axis and Y-axis directions, but since the shape is a long cylindrical shape, the attitude changes most in the Z-axis, that is, the roll axis direction.
Therefore, the roll angular velocity r is fed back to the motor 3, the motor 3 is rotated, the rotary table 11 is rotated in the direction opposite to the rotation of the flying object 30, and feedback control is performed so that the Z axis, that is, the roll angle does not always rotate.
[0012]
Since the roll angle is not rotated by the feedback control described above, the movement of the motor shaft 9 of the motor 3 is detected with high accuracy by the encoder signal 4a from the encoder 4 and the gyro signal 40, and the actual roll angular velocity r Is detected by the signal processing circuit 8 using the encoder signal 4a and the gyro signal 40.
Therefore, the gyro signal 40 as the inertia data including the roll angular velocity r, the angular velocity p around the X axis, the angular velocity q around the Y axis, and the accelerations Ax, Ay, Az can be obtained.
[0013]
【The invention's effect】
Since the flying object attitude detection method according to the present invention is configured as described above, the following effects can be obtained.
That is, the roll angular velocity of the roll axis whose attitude change is the largest is controlled by controlling the rotation of the flying object so that the roll angle does not always rotate without using a special sensor whose dynamic range is two orders of magnitude higher than other sensors. Since the roll angular velocity is detected by obtaining the rotation angle of the motor to be performed from the encoder, the inertia data can be obtained with high accuracy using a sensor of the same accuracy.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a flying object attitude detection method and apparatus according to the present invention.
FIG. 2 is a block diagram of a main part of FIG.
FIG. 3 is a perspective view of FIG. 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Base 3 Motor 4 Encoder 5 Motor encoder body 9 Motor shaft 10 Inertial device 11 Rotary table 20-22 Inertial sensor 30 Flying object 40 Gyro signal

Claims (3)

A motor (3) provided on the flying object (30) and having a motor shaft (9) in the same direction as the axial direction of the flying object (30); an encoder (4) provided on the motor (3); Using a rotary table (11) provided on a motor shaft (9) and an inertial device (10) provided on the rotary table (11), a roll angular velocity (r) obtained from the inertial device (10). Is returned to the motor (3), and the motor (3) is rotated in a direction opposite to the rotation of the flying object (30) so that the roll angle of the flying object (30) does not always rotate. ) Is detected by the encoder (4) and the gyro signal (40), and the inertial state of the flying object (30) is detected. 2. The flying object according to claim 1, wherein each of the inertial sensors (20, 21, 22) provided on each of the detection axes (X, Y, Z) of the inertial device (10) has the same detection accuracy. Attitude detection method. A motor encoder (5) provided on a base (1), a rotary table (11) connected to a motor shaft (9) of a motor of the motor encoder (5), and the rotary table (11) An inertia device (10) provided above and having a plurality of inertia sensors (20 to 22) for detection axes, wherein rotation of the motor (3) is detected by an encoder (4) of the motor encoder body (5). A flying object attitude detection device characterized in that the flying object attitude detection device is configured to perform the following.

Images