JP3185114B2 - Gyro compass - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyrocompass suitable for use on, for example, ships.

[0002]

2. Description of the Related Art Conventionally, a gyrocompass is often used for measuring a course of a ship. FIG. 5 shows a gyrocompass according to a conventional example disclosed in Japanese Patent No. 428317 related to the same applicant as the present applicant.

The gyro compass A has a gyro case 1 in which a gyro rotor is built, and the gyro rotor is rotated at a high speed at a constant rotational speed by an induction motor. The gyro rotor or gyro has a horizontal spin axis, and its rotation vector is southward (clockwise as viewed from the north side). The gyro case 1 has a pair of vertical axes 2, 2 'projecting up and down.
2 ′ is a ball bearing 4 attached to a corresponding position of a vertical ring 3 arranged outside the gyro case 1,
4 ′ is fitted to the inner ring. The upper vertical shaft 2 is attached to the suspension line mounting stand 5 ′ via the suspension line 5, and such suspension line mounting stand 5 ′ is supported on the vertical ring 3.

[0004] The total weight of the gyro case 1 is borne by the hanging wire 5 or the hanging wire mount 5 '.
The thrust load is not applied to the ball bearings 4 and 4 'of the vertical shafts 2 and 2', and the friction torque of the ball bearings 4 and 4 'can be reduced. A pair of liquid ballasts 6 and 6 ′ are mounted on both sides of the vertical ring 3 on the east and west sides, and a damping weight 7 is mounted on the west side of the gyro case 1. As described in detail below, the liquid ballasts 6 and 6 ′ function as a fingering device for moving the gyro case 1 to the finger, and the damping weight 7 controls the finger movement of the gyro case 1 to the finger. Function as a vibration damping device.

The vertical ring 3 has a pair of horizontal axes 9, 9 ',
The horizontal axes 9, 9 'are perpendicular to both the vertical axes 2, 2' and the spin axis of the gyro and project outward from the east-west position, and the ends of the horizontal axes 9, 9 'are vertical rings. 3 are respectively fitted to inner rings of ball bearings 11 and 11 ′ attached to corresponding positions of a horizontal ring 10 arranged outside. The horizontal ring 10 also has horizontal axes 9, 9 'in the horizontal plane.
And a pair of gimbal axes 12, 12 'orthogonal to. Each of such gimbal shafts 12, 12 'is fitted to the inner ring of a pair of gimbal shaft ball bearings 14, 14' attached to a follower ring 13 disposed outside the horizontal ring 10.

[0006] The follower ring 13 has a pair of follower shafts 15, 15 'projecting up and down.
Reference numeral 5 'is fitted to the inner ring of the following shaft ball bearings 17, 17' attached to the corresponding position of the panel device 16.
A compass card 18 is attached to the shaft end of the upper follow-up shaft 15.
The azimuth angle of the bow is read from the base line 18B fixed at the corresponding bow position. Lower tracking shaft 15 '
An azimuth gear 21 is attached to the, and the azimuth gear 21 is connected via an azimuth pinion 20 to a rotation shaft 19A of an azimuth servomotor 19 attached to a lower portion of the board 16. The rotation shaft 22A of the direction transmitter 22 is engaged with the direction gear 21 via a gear train, and the direction signal of the direction transmitter 22 is converted into an electric signal and transmitted to the outside.

The inside of the horizontal ring 10, that is, the portion including the horizontal ring 10, the vertical ring 3, the gyro case 1, and the like is usually called a sharp part. Such sharp parts are provided on the gimbal axes 12, 12 '.
Below, a heavy physical pendulum is configured so that the horizontal axes 9, 9 'are always kept in a horizontal plane regardless of the inclination of the hull.

A tracking pickup 8 is mounted on the east side of the gyro case 1. The tracking pickup 8 is a primary coil 8 # 1 of a differential transformer disposed in the gyro case 1 and a vertical ring opposed thereto. And a secondary coil 8 # 2 of the differential transformer arranged at position 3. If there is a difference between the direction of the gyro case 1 and the direction of the vertical ring 3,
Such a difference is detected by the follow-up pickup 8 provided on both, and the azimuth difference is converted into an electric signal 8A and supplied to the external servo amplifier 23. The electric signal 8A is amplified by the servo amplifier 23 and supplied to the azimuth servomotor 19, whereby the azimuth servomotor 19 is controlled.

The rotation of the azimuth servomotor 19 is controlled by the rotation axis 1
9A, the gear train, and the azimuth gear 21, the power is transmitted to the follower ring 13, and further transmitted to the vertical ring 3 via the horizontal ring 10, the horizontal shafts 9, 9 ′, and so on.
Is always kept at zero. Thus, an azimuth servo system for controlling the azimuth servomotor 19 is configured.

Due to the operation of the azimuth servo system, the horizontal axis 9,
9 ′ and the spin axis of the gyro always maintain an orthogonal relationship, and the torsional torque of the suspension wire 5 is not applied to the gyro case 1. That is, the gyro case 1 is completely shut off from angular motions such as rocking of the hull by the action of the three axes of the vertical axes 2, 2 ', the horizontal axes 9, 9' and the gimbal axes 12, 12 'having the servo system. Thus, a gyroscope is formed.

The above-described liquid ballast 6 provides the gyroscope with a fingering force to provide a function as a compass.
It is.

Next, the structure and function of the liquid ballast 6 will be described with reference to FIG. The liquid ballast 6 is a kind of communication pipe, and is provided with a first pot 6 arranged on the north and south sides of the gyro case 1.
1st and 2nd jars 6 # 1 'and such two jars 6 # 1, 6 #
1 ′ is composed of an air pipe 6 # 3 communicating on the upper side and a liquid pipe 6 # 4 communicating on the lower side.
6 The liquid 6 having a high specific gravity so that the liquid level is arranged in 1 '
$ 2 has been satisfied. FIG. 6 shows a case where the spin axis of the gyro is inclined by an angle θ with respect to the horizontal plane and the north end of the finger is raised with respect to the horizontal plane. When the hull is stopped, the liquid level of the liquid 6─2 is orthogonal to the direction of the gravitational acceleration g. As compared with the case where the gyro case 1 is not inclined, the liquid in the hatched portion in the figure decreases in the first pot 6 # 1 on the north side and increases in the second pot 6 # 1 ′ on the south side.

Here, from the horizontal axis 9, 9 ', the two jars 6 # 1, 6
The distance to the center of ─1 'is r ₁ , both pots 6─1, 6─1'
Is the cross-sectional area of S, and ρ is the density of the liquid 6─2, the weight G of the liquid in the hatched portion is

[0014]

G = S × r ₁ sin θ × ρg

## EQU1 ## The imbalance due to the changing weight G of the liquid generates a moment about the horizontal axis 9, 9 '. The moment arm from the horizontal axis 9, 9 'is r ₁
And the change in the weight G of the liquid is the two jars 6
The horizontal axis 9 created by the liquid ballast 6,
9 'torque T _H of around, approximately when the tilt angle θ is small,

[0016]

[Number 2] ^{_{T H = 2S × r 1 2}} θ × ρg

## EQU1 ## here,

[0018]

[Number 3] ^{_{2S × r 1 2 × ρg =}} K

In the following, K is called a ballast constant or a finger constant. Rewriting the equation of Equation 2 using the northern constant K,

[0020]

## EQU4 ## T _H = Kθ

In this way, a torque proportional to the inclination angle θ of the gyro spin axis with respect to the horizontal plane is generated in the liquid ballast 6, and the torque is applied to the gyro case 1 by the horizontal axis 9,
Acting to rotate about 9 ', the gyro case 1 has a northern force, thus forming a gyrocompass.

The case where the hull is stopped has been described above. Next, the case where the hull accelerates or decelerates or turns in a voyage state and thereby the hull has acceleration will be described. If the north-south component of the acceleration of the hull and alpha _N, torque T _H1 generated in the liquid ballast 6 becomes the following equation.

[0023]

T _H1 = K (θ + α _N / g)

The above-described damping weight 7 functions to dampen the finger north movement of the gyro case 1 provided by the liquid stabilizer 6. Here, the structure and function of the damping weight 7 will be described with reference to FIG. The damping weight 7 is mounted in the gyro case 1 and includes a vertical axis 2, 2 'on a plane including the vertical axes 2, 2' and perpendicular to the gyro spin axis (perpendicular to the paper).
It is attached to the gyro case 1 at a position separated by a distance r ₂ (in the direction perpendicular to the paper surface). FIG. 7 shows a state in which the spin axis of the gyro case 1 or the gyro is inclined by an angle θ with respect to the horizontal plane and the north side of the finger rises above the horizontal plane when viewed from the west side of the gyro case 1.

Assuming that the mass of the damping weight 7 is m and the gravitational acceleration is g, a force of mg acts in the vertical direction. Such a vertical force mg is defined as two components perpendicular to each other:
It is considered that the component is divided into a component mgcos θ parallel to the vertical axes 2 and 2 ′ and a component mgsin θ parallel to the spin axis of the gyro. The component mgcos θ in the vertical axes 2 and 2 ′ only acts as a load on the vertical axis ball bearings 4 and 4 ′, whereas the component mgsin θ in the gyro spin axis direction generates a moment about the vertical axes 2 and 2 ′. As a result, a torque is generated to rotate the gyro case 1 about the vertical axis 2, 2 '. If the torque generated by the damping weight 7 is expressed as Tφ, the distance from the damping weight 7 to the vertical axis 2, 2 ′ is r ₂ ,
Tφ is approximately as follows:

[0026]

Equation 6: Tφ = mgr ₂ θ

Here,

[0028]

## EQU7 ## mgr ₂ = μ

Μ is called a damping constant. Using such a damping constant μ, the equation of Equation 6 can be rewritten as follows.

[0030]

[Equation 8] Tφ = μθ

The torque Tφ generated by the damping weight 7 is the inclination angle θ of the gyro spin axis with respect to the horizontal plane.
And acts to rotate the gyro case 1 about the vertical axis 2, 2 '. Thus, the damping weight 7 has a function of damping the finger movement of the gyro compass.

Taking into account the acceleration caused by the motion of the hull when the hull is in a sailing state, the torque Tφ ₁ generated by the damping weight 7 is expressed by the following equation as in the equation (5).

[0033]

## EQU9 ## Tφ ₁ = μ (θ + α _N / g)

FIG. 8 is a block diagram showing the movement of the gyro spin axis of the gyro compass.
In each block, a transfer function represented by a Laplace operator S having variables of the azimuth error φ from the true north of the north end of the finger of the gyro spin axis and the tilt angle θ of the spin axis is shown. In FIG. 8, the time constant when the north-south component of the acceleration of the gyro case 1 due to the motion of the hull is α _N , the gravitational acceleration is g, and the motion of the liquid level of the liquid stabilizer 6 is approximated as the first-order delay is τ _G , the northern constant of liquid ballast 6 is K,
The angular momentum of the gyro is H, the rotational angular velocity of the earth is Ω, the latitude of the point where the hull is located is λ, the damping constant of the damping weight 7 is μ, the north-south component of the hull velocity is V _N , and the radius of the earth is R And

The north-south direction acceleration of the gyro case 1
Minute α_NDivided by the gravitational acceleration g _N/ G and gyro
The sum of the tilt angle θ of the source 1 and the liquid 6─2
Acts on the first-order lag transmission element 50 (time constant) due to the liquid level
Is formed. When the liquid surface slope ξ
Multiply by the value K / H divided by the gyro angular momentum H (51)
Precession angle about the vertical axis 2, 2 '
The speed ξ × K / H is obtained. Such precession angular velocity
Degree Ω × K / H and the vertical component Ω sin of the earth's rotation angular velocity Ω
acts on the vertical axis 2, 2 'of the gyro case 1.
(52), the orientation around the vertical axis 2, 2 '
A motion occurs and an azimuth error φ occurs. Earth in azimuth error φ
Is multiplied by the horizontal component Ω cosλ of the rotation angular velocity Ω of (5).
3), the value of which is the north-south component V of the hull speed_N
Divided by the radius R of the earth, the equivalent angular velocity V_NWith / R, corner
Gyro element 5 around horizontal axis 9, 9 'as speed input
4 and thereby the tilt angle of the gyro case 1
θ is generated. This is the finger loop of the gyro compass
Or a part called an azimuth loop, within such a loop
Has two poles represented by 1 / S, so the oscillation solution
Will be obtained.

The north-south direction acceleration of the gyro case 1
Minute α_NDivided by the gravitational acceleration g _N/ G and gyro
The sum θ + α with the inclination angle θ of the source 1_N/ G damping constant
Multiplied by μ, the torque about the vertical axis 2, 2 '
μ (θ + α_N/ G).
(71) by dividing by the angular momentum H of (71) _N
/ G) μ / H is obtained. Such a value is the equivalent angular velocity V_N/
Together with the gyro element 54 around the horizontal axis 9, 9 '.
And the inclination angle θ of the gyro case 1 is reduced.
The finger north movement described above is attenuated. Therefore, such
The loop is called a damping loop or a damping loop.

[0037]

As shown in FIG. 5, a conventional gyrocompass A has ball bearings 4 and 4 'for supporting vertical shafts 2 and 2'. The ball bearings 4, 4 'have an inner ring and an outer ring that carry a plurality of balls, and the inner and outer rings have radii to minimize friction torque and to allow play due to manufacturing errors. Direction can be relatively slightly deviated. There is also a slight play between the inner races of the ball bearings 4, 4 'and the vertical shafts 2, 2' fitted to such inner races, and the inner races and the vertical shafts 2, 2 'are radially opposed to each other. Can be slightly biased.

FIG. 9 shows in an exaggerated manner the case where such a radial play or gap exists between the inner rings of the ball bearings 4, 4 'and the vertical shafts 2, 2' fitted thereto. It is. Vertical shafts 2, 2 'attached to the upper and lower sides of the gyro case 1 are fitted to inner rings 4 # 1, 4 # 1' of ball bearings 4, 4 ', respectively. Vertical axis 2
The lower end of the suspension line 5 is fixed to the upper end of the suspension line 5, and the upper end of the suspension line 5 is attached to the suspension line mounting base 5 ′ supported by the vertical ring 3.

When a horizontal (rightward in FIG. 9) acceleration α acts on the gyro case 1, the ball bearings 4,
The gyro case 1 moves by the distance δ in the direction of the acceleration α due to the presence of the gap between the inner ring 4′1, 4′1 ′ of the 4 ′ and the vertical axis 2, 2 ′.

In the ordinary gyrocompass for a ship, the deviation δ of the vertical axes 2 and 2 ′ due to the gap is small, and the error caused by the deviation does not affect the performance of the gyrocompass. Then, such an error may become a problem.

As is apparent from FIG. 9, when the gyro case 1 having the mass M moves by the distance δ, an error torque T _HE expressed by the following equation (10) is generated.

[0042]

T _HE = Mg δ

The error torque T _HE is the gyro case 1
To rotate around the horizontal axes 9, 9 ', causing a gyro compass heading error.

The present invention has been made in view of the foregoing, and has given consideration to the play caused by the play of the ball bearings 4, 4 'or the play between the ball bearings 4, 4' and the vertical shafts 2, 2 'mounted thereon. An object of the present invention is to provide a high-precision gyro compass configured to be able to correct an error.

[0045]

According to the present invention, a gyro case 1 having a built-in gyro having a substantially horizontal spin axis is provided.
And a vertical ring 3 arranged on the outer periphery of the gyro case 1 for supporting the gyro case rotatably around the vertical shafts 2 and 2 ′.
And a vertical axis 2, 2 ′ with respect to the gyro case 1 in response to an input signal provided on the gyro case 1 and the vertical ring 3.
Vertical axis torquer 110 for applying surrounding torque from vertical ring 3
A gyro compass comprising: a finger unit 6, 6 'for applying a torque proportional to the tilt angle of the spin axis with respect to the horizontal plane to the gyro case 1 about a horizontal axis 9, 9' orthogonal to the spin axis; Detector 10 for detecting movement of gyro case 1 in the direction of the spin axis with respect to vertical ring 3
8 and an arithmetic unit 12 that sends an output signal to the vertical axis torquer 110 in response to the output signal from the detection device 108.
0, and the inclination of the gyro case 1 is given by the output signal from the arithmetic unit 120 in response to the torque around the horizontal axes 9 and 9 ′ caused by the movement of the gyro case 1 with respect to the vertical ring 3 in the spin axis direction. The torque is generated in the finger north devices 6 and 6 ′ so that the influence of the movement of the gyro case 1 in the spin axis direction on the vertical ring 3 is offset.

In the gyro compass of the present invention, the arithmetic unit 120 is configured as a differentiator having a differentiation time _Td . In the gyrocompass of the present invention, the arithmetic unit 120 is configured as a differentiator having a differentiation time _Td with a first-order delay of a time constant _Tf added.

In the gyro compass of the present invention, the differential time T _d of the arithmetic unit 120 is M for the mass of the gyro case 1, g for the gravitational acceleration, H for the angular momentum of the gyro, and the pointing of the finger units 6 and 6 ′. T _d = MgH / K, where K is a constant
Is set to the value determined by In the gyro compass of the present invention, the time constant _Tf is set to several seconds to several hundred seconds.

[0048]

According to the present invention, the gyro case 1 is inclined to cause the fingering devices 6, 6 'to generate torque, and the effect of the error torque generated by the movement of the gyro case 1 with respect to the vertical ring 3 in the spin axis direction. In the gyro compass in which the ball bearings 4 and 4 'are mounted on the vertical shafts 2 and 2' of the gyro case 1, the azimuth error caused by the backlash in the ball bearings 4 and 4 'can be reduced. Can be removed.

[0049]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the gyro compass of the present invention will be described below with reference to FIGS. 1 to 4
, Parts corresponding to FIGS. 5 to 9 are denoted by the same reference numerals, and a detailed description thereof will be omitted.

FIG. 1 shows an example of a gyro compass A according to the present invention. A gyro case 1 has a pair of vertical shafts 2 and 2 ′ projecting up and down. The gyro case 1 is attached to the suspension line mounting stand 5 'through the
Carried by The suspension line mounting base 5 'is attached to a vertical ring 3 extending around the gyro case 1, and the vertical ring 3 has horizontal axes 9, 9' projecting in the east-west direction. The horizontal shafts 9, 9 'are mounted on horizontal rings 10 via ball bearings 11, 11', such horizontal rings 10 being perpendicular to the horizontal shafts 9, 9 'and co-planar with the gimbal shafts 12, 9'. 12 '. The gimbal shafts 12 and 12 ′ are mounted on a tracking ring 13 via ball bearings 14 and 14 ′. The tracking ring 13 is mounted on an azimuth gear 21 operated by an azimuth servomotor 19 at a lower portion thereof. I have.

A tracking pickup 8 is mounted on the east side of the gyro case 1, and the deflection angle around the vertical axis 2, 2 ′ between the gyro case 1 and the vertical ring 3 is detected by the tracking pickup 8. .

Next, the gyro compass A of the present embodiment shown in FIG.
Are different from the conventional gyrocompass A shown in FIG. In the gyro compass A of this example, a change pickup 108 is attached to the west side of the gyro case 1 on the side opposite to the follow-up pickup 8. Such a change pickup 108 is a vertical ring 3 of the gyro case 1.
The primary coil 108 # 1 of the differential transformer attached to the gyro case 1 and the secondary coil of the differential transformer attached to the vertical ring 3 are configured to detect the amount of deviation in the spin axis direction with respect to The coils 108 # 2 are arranged so as to face each other.

On the upper side of the gyro case 1, a ToruCa 110
The torquer 110 is configured to apply a torque around the vertical axis 2, 2 ′ of the gyro case 1 to the vertical ring 3. By the operation of the torquer 110, the gyro case 1 is inclined by the angle θ.

Further, an arithmetic unit 120 for receiving an output signal from the change pickup 108 and supplying the output signal to the torquer 110 is provided. Such a computing device 120
An input signal representing the amount of deviation δ of the gyro case 1 is received, and a command signal is supplied to the torquer 110 to generate a desired torque from the input signal.

FIG. 2 shows an example of such an arithmetic unit 120. The arithmetic unit 120 may be a differentiator having a transfer function as shown in FIG. 2A. In the case where the capacity of the torquer 110 is so small that the differentiator having the transfer function shown in FIG. 2A may be saturated, as shown in FIG. 2B, 1 / (T
_f S + 1) may be configured to mitigate the saturation of the differentiator and to have a filter characteristic that. In FIG. 2, T
_d is the differentiation time, T _f is the time constant of the filter, and S is the Laplace operator. The time constant _{Tf of the} filter is preferably set to several seconds to several hundred seconds.

FIG. 3 is an explanatory diagram of the operation when the arithmetic unit 120 is a differentiator having a transfer function as shown in FIG. 2A. FIG. 3A shows a temporal change of the deviation amount δ of the vertical axes 2 and 2 ′. At time t = t ₀ , a horizontal acceleration α is applied to the gyro case 1 and the deviation amount δ increases. Time t =
At t ₁ , the amount of deviation δ reaches a maximum value δ = δ ₀ . The error torque T _HE is given by Equation 1 where M is the mass of the gyro case 1.
0, and as shown in FIG. 3B, changes according to the change in the deviation amount δ, and at time t = t
_{At 1} the maximum value Mgδ ₀ is reached.

The arithmetic unit 120 is a differentiator, and its output V _D is proportional to the differential amount Δδ / Δt of the deviation amount δ. FIG. 3C
As shown in the following, the output signal from the differentiator is supplied only from time t = t ₀ to t = t _{1 at which} the amount of deviation δ increases, and the value is

[0058]

V _D = K _P T _d Δδ / Δt

Is as follows. Where _Kp is the displacement pickup 1
The gain of 08, _Td is the differentiation time of the differentiator. An output signal from such a differentiator is supplied to the torquer 110, and the gyro case 1 is turned by the angle
Only be tilted. The inclination angle θ of the gyro case 1 is shown in FIG.
And the horizontal axis torque K determined by the equation (4)
θ is shown in FIG. 3E. Assuming that the angular momentum of the gyro case 1 is H,

[0060]

H Δθ / Δt = K _T K _P T _d Δδ / Δt

Here, K _T is the gain of the torquer 110. Integrating and arranging both sides of this equation,

[0062]

Equation 13: θ = K _T K _P T _d δ / H

Assuming that the finger constant of the liquid ballast 6 is K, the horizontal axis torque T _H 'obtained by the equation (4) is given by the following equation (13).
Substituting the expression of

[0064]

T _H ′ = Kθ = KK _T K _P T _d δ / H

Here, the horizontal axis torque T _H ′ and Equation 1
If the error torque T _{HE in} the equation of 0 is equal,

[0066]

Equation 15] _{Mgδ = KK T K P T d} δ / H

From this,

[0068]

T _d = MgH / KK _T K _P

In this way, the differential time _{Td represented} by the equation (16) may be set. In the above description, the torquer 110 is configured to be mounted on the gyro case 1. However, when a vertical axis torquer for a damping device for finger north motion is already provided, the torquer 110 is used instead of the special torquer 110. Such existing vertical axis torquers may be used. The change pickup 108 may be an electromagnetic type, a capacitance type, an optical type, or the like, and a desired type is used according to required performance.

Although the embodiments of the present invention have been described in detail above, it will be appreciated by those skilled in the art that the present invention is not limited to the above-described embodiments and may adopt various other configurations without departing from the spirit of the present invention. It will be easily understood.

[0071]

According to the present invention, in the gyro compass in which the ball bearings 4, 4 'are mounted on the vertical shafts 2, 2' of the gyro case 1, the ball bearings 4, 4 'are provided.
In the case where the play of the gyro case 1 is relatively deviated due to the play between the backlash or the ball bearings 4, 4 'and the vertical shafts 2, 2' mounted on the gyro case 1, and an azimuth error occurs due to such a displacement, There is an advantage that such an orientation error can be removed.

According to the present invention, in a gyrocompass in which ball bearings 4, 4 'are mounted on the vertical shafts 2, 2' of the gyro case 1, azimuth errors caused by backlash in the ball bearings 4, 4 'are eliminated. Therefore, there is an advantage that a gyrocompass with high accuracy can be obtained.

According to the present invention, the ball bearing 4
A change pickup 108 is provided on the gyro case 1 and the vertical ring 3 in order to remove an azimuth error caused by backlash in the 4 'portion, and an output signal of the change pickup 108 is supplied to a calculation device 120 and an output signal from the calculation device 110 is provided. Is supplied to the vertical torquer 110 and the gyro case 1 is tilted by the vertical torquer 110, thereby generating a reverse torque in the liquid ballast 6, so that an expensive mechanism such as a magnetic bearing is used. There is an advantage that a gyrocompass with high accuracy can be obtained without any problem.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of a gyro compass of the present invention.

FIG. 2 is a block diagram illustrating an example of an arithmetic device.

FIG. 3 is an explanatory diagram illustrating an operation of a gyro compass of the present invention.

FIG. 4 is an explanatory diagram illustrating the operation of the gyrocompass of the present invention.

FIG. 5 is a diagram showing a conventional example of a gyrocompass.

FIG. 6 is a diagram showing an example of a liquid ballast.

FIG. 7 is an explanatory diagram illustrating the principle of a damping weight.

FIG. 8 is a block diagram showing the movement of the gyrocompass.

FIG. 9 is a partial view showing a state in which a ball bearing is mounted on a vertical axis of the gyro case.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gyro case 2, 2 'Vertical axis 3 Vertical ring 4, 4' Ball bearing 5 Suspension wire 5 'Suspension wire attachment stand 6, 6' Liquid ballast 7 Damping weight 8 Following pickup 9, 9 'Horizontal axis 10 Horizontal ring 11 , 11 'ball bearing 12, 12' gimbal shaft 13 follower ring 14, 14 'ball bearing 15, 15' follower shaft 16 board unit 17, 17 'ball bearing 18 compass card 18B base line 19 azimuth servomotor 19A rotary shaft 20 azimuth pinion Reference Signs List 21 azimuth gear 22 azimuth transmitter 23 servo amplifier 108 change pickup 110 torquer 120 arithmetic unit

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kanji Yamamoto 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd. (72) Inventor Kazuki Sato 2--16-46 Minami Kamata, Ota-ku, Tokyo No. In Tokimec Co., Ltd. (56) References JP-A-2-193011 (JP, A) JP-A-1-113610 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 19/00-19/72

Claims (5)

(57) [Claims] A gyro case containing a gyro having a substantially horizontal spin axis; a vertical ring disposed on an outer periphery of the gyro case to rotatably support the gyro case around a vertical axis; A vertical axis torquer for applying the torque around the vertical axis to the gyro case from the vertical ring in response to an input signal provided on the vertical ring, and the torque proportional to the inclination angle of the spin axis with respect to the horizontal plane. A gyro compass having a gyro case with respect to a horizontal axis perpendicular to the spin axis; a detection device for detecting a movement of the gyro case in a spin axis direction with respect to the vertical ring; An arithmetic unit for transmitting an output signal to the vertical axis torquer in response to an output signal from the device, and Corresponding to the torque around the horizontal axis caused by the movement of the spinning case in the direction of the spin axis, the gyro case is tilted by the output signal from the arithmetic unit to generate torque in the fingering device, and the torque for the vertical ring is reduced. A gyro compass characterized in that the effect of the movement of the gyro case in the direction of the spin axis is offset. 2. The gyro compass according to claim 1,
A gyrocompass, wherein the arithmetic unit is a differentiator having a differentiation time _Td . 3. The gyro compass according to claim 2,
The above-described arithmetic unit supplies a differentiator having a differentiation time _Td to a time constant T
A gyrocompass characterized by adding a first-order delay of _f . 4. The gyro compass according to claim 2 or 3,
And the differential time T of the arithmetic unit_dIs the gyro above
The mass of the source is M, the gravitational acceleration is g, and the angular gyro of the gyro is
The momentum is H, the fingering constant of the fingering device is K, and the vertical axis is
Luka's gain is K _T, The gain of the detection device is K_Page
And the formula T_d= MgH / KK_TK_PTo the value determined by
A gyro compass characterized by the following. 5. The gyro compass according to claim 3,
A gyrocompass wherein the time constant _Tf is set to several seconds to several hundred seconds.