JPH0218491B2 - - Google Patents

Description

Detailed Description of the Invention The present invention is mounted on a base body (vehicle, aircraft, etc.) that can freely move in an inertial space, detects a disturbance caused by movement of the base body, and moves an object to be controlled relative to the inertial space. This invention relates to a stabilizing device that directs the object in a certain direction.

A body that moves freely in inertial space, such as a tank, requires a stabilizing device to keep the gun barrel directed toward the target. Generally, this stabilizing device is
The deviation of the controlled object from the target direction that occurs in response to the movement disturbance due to the movement of the mother body is detected in terms of the pitch direction component and the yaw direction component, and corrections are made for each direction component to ensure that the controlled object always moves in the same direction. It is controlled so that it is oriented.

Figure 1 shows its configuration, and shows the controlled object 1.
A vibration stabilization detector 12, which forms the core of this stabilization device, is installed integrally with the stabilization device 1. The oscillation stabilization detector 12 has a built-in rate integrating gyroscope for detecting the oscillation disturbance angle and a rate integration gyroscope for detecting the oscillation disturbance angular velocity, and is configured to control the object to be controlled in response to the oscillation disturbance caused by the movement of the base body 13. 11 deviations are detected. The object to be controlled 11 is supported by a pitch shaft 14, and the pitch rotation angle position can be freely controlled by a pitch shaft drive motor 15 connected to the end of the pitch shaft 14. This pitch axis 14 is supported by a pitch gimbal 16, and is freely rotatable by a yaw axis 17 connected to the center of this pitch gimbal 16. This yaw shaft 17 is supported by the base body 13, and the turning angle position is controlled by a yaw shaft driving motor 18. In addition, a pitch axis disturbance speed detector 19 is installed on the pitch gimbal 16, and a yaw axis disturbance speed detector 20 is installed on the base body 13, so that the controlled object 1
The disturbance velocity in the pitch direction and the yaw direction of the vibration disturbance applied to 1 is detected. And each detector 12,
The detected deviation signals from the control circuits 19 and 20 are supplied to a control circuit (not shown) to drive the pitch axis drive motor 15 and the yaw axis drive motor 18, thereby correcting the deviation of the controlled object 11 in the designated direction.

As shown in FIG. 2, the control system of the above-mentioned stabilizing device is composed of a rate integral dial loop and a rate dial loop feedback circuit. First, the direction of the controlled object 11 is specified with respect to the inertial space, and a corresponding specification signal a is supplied to the addition point A. The signal from this addition point A is supplied to the angle control block 21 and output as an angle control signal for the inertial space of the controlled object 11. Furthermore, this angle control signal is supplied to the angular velocity control block 22 via addition point B, and is output as a movement angular velocity control signal to a designated angle. This movement angular velocity control signal is supplied to the drive circuit via the addition point C and the branch point D, and the direction θ〓 _L of the controlled object 11 is specified and controlled.

When an agitation disturbance θ〓 _B occurs in this state, an agitation disturbance signal b consisting of an angle signal and an angular velocity signal of the agitation disturbance detected by the rate integral gyroscope and the rate gyroscope is supplied to the addition point C. At this addition point C, the oscillation disturbance signal b is subtracted from the control signal from the control block 22, and this is output as a moving angular velocity control signal. This signal is also supplied to addition points A and B as a deviation angle signal.

At the addition point A, the deviation angle signal is subtracted from the designated signal a, and the result is supplied to the angle control block 21 as a correction signal ε. Then, the angle control block 21 detects the correction angle from the correction signal ε and supplies it to the addition point B. At the addition point B, the deviation angle signal is further subtracted and the correction signal ε' is sent to the angular velocity control block 22. supply to. Then, it is controlled so that the direction θ _L of the controlled object 11 is always constant by driving it in each direction so that the deviation signal becomes zero.

Furthermore, with the occurrence of the oscillation disturbance θ〓 _B , a deviation angle occurs in the specified direction due to a speed deviation proportional to the disturbance speed. In order to correct the deviation angle due to this speed deviation, a disturbance speed signal is detected by disturbance speed detectors 19 and 20, and positive feedback is provided to addition point A. This feedback signal (boost signal) and the deviation angle signal are added, the amount of addition is appropriately set, and the deviation angle produced as a speed deviation proportional to the disturbance speed is controlled to be zero.

Here, let the coordinates of the inertial space be X, Y, Z, and Z
The coordinates of rotation around the axis (yaw angle), θ rotation around the Y axis (pitch angle), and φ rotation around the X axis (roll angle) are defined as X ₀ , Y ₀ , Z ₀ , and the coordinate system of the controlled object 11 is Set. On the other hand, the coordinates rotated around the Z axis are X ₁ , Y ₁ , Z ₁ and the yaw axis disturbance speed detector 20
At the same time, the coordinate system of the pitch axis disturbance speed detector 19 is set by setting the coordinates rotated by θ around the Y axis as X ₂ , Y ₂ , and Z ₂ . If the angular velocity components of the X ₀ , Y ₀ , and Z ₀ coordinates are P, Q, and R, the relationship with 〓 around the Z axis, θ around the Y axis, and φ around the X axis is as follows: P=φ〓− 〓sinθ (1) Q＝θ〓cosφ＋〓cosθsinθ (2) R＝−θ〓sinφ＋〓cosθcosφ (3) On the other hand, the coordinates rotated by the yaw angle are X ₁ , Y ₁ ,
Letting the angular velocity components at Z ₁ be P ₁ , Q ₁ , and R ₁ , it can be expressed as P ₁ =0 (4) Q ₁ =0 (5) R ₁ =〓 (6). The coordinate X ₂ further rotated by pitch angle θ,
If the angular velocity components at Y ₂ and Z ₂ are P ₂ , Q ₂ , and Z ₂ , then P ₂ =−〓sinθ (7) Q ₂ =θ〓 (8) R ₂ =〓θ (9).

However, although the controlled object 11 is subjected to correction control for the vibration disturbance shown in equations (2) and (3), the boost signal for correction control of speed deviation is shown in equations (6) and (8). For example, when the base body 13 performs rolling and pitching at the same time, the amount generated in the first term of equation (3) due to the influence of roll disturbance is not generated in the yaw axis disturbance speed detector 20, so the speed is Deviations are no longer completely corrected. Similarly, when the mother body 13 performs rolling and yawing,
Since the amount generated in the second term of equation (2) due to the influence of the roll disturbance is not generated in the pitch disturbance speed detector 19, the speed deviation is not completely corrected.

The object of the present invention is to improve the above-mentioned drawbacks, and to provide a stabilizing device that can completely correct speed deviation even when roll disturbance is combined with pitch disturbance or yaw disturbance, and can achieve higher stability and accuracy. .

In other words, the stabilizing device according to the present invention includes a controlled object that is rotatable in the yaw direction and pitch direction with respect to a base body that is freely movable in an inertial space, and a stabilizer that is installed integrally with the controlled object and that prevents oscillation caused by movement of the base body. an agitation stabilizing device that detects a disturbance angle and a disturbance angular velocity of a disturbance; a control circuit that corrects a deviation of the controlled object in a designated direction in response to the disturbance angle and disturbance angular velocity detected by the agitation stabilizing device; means for detecting the oscillation disturbance velocity in the yaw direction and pitch direction of the base body; means for detecting the roll angle and pitch angle of the controlled object in the roll direction and the pitch direction; The present invention is characterized by comprising means for coordinately converting the disturbance velocity obtained by the means for detecting the disturbance velocity, and means for negatively feedbacking the disturbance velocity to the control circuit as a boost signal.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. FIG. 3 shows its configuration, in which a oscillation stabilization detector 12 containing a rate integration gyroscope 23 and a rate gyroscope 24 is installed in the controlled object 11, and detects the rotation angle of the controlled object 11 in the roll axis direction. A roll angle detector 25 is installed. Such a controlled object 11 is supported by a pitch shaft 14. This pitch shaft 14 has a pitch shaft driving motor 15 connected to one end, and a pitch shaft 14 connected to the other end.
A pitch angle detector 26 is attached to detect the rotation angle of. The pitch axis 14 is supported by a pitch gimbal 16 having both sides of the controlled object 11 as fulcrums. This pitch gimbal 16 is
It is supported by a yaw shaft 17 joined to its center, and a pitch shaft disturbance speed detector 19 is installed on the outer periphery of the bottom. The yaw shaft 17 is supported by the base body 13, and its rotation angle position is controlled by a yaw shaft drive motor 18. A yaw axis disturbance speed detector 20 is installed in this base body 13.

In the control circuit of the stabilizing device configured as described above, first, the pitch axis and pitch axis disturbance speed detector 1 are
The disturbance speed detection signals in the pitch direction and the yaw direction detected at 9 and 20 are supplied to the coordinate converter 27.
The coordinate converter 27 further includes a roll angle detector 25 and a pitch angle detector 26 for controlling the object 1 to be controlled.
1 roll angle and pitch angle detection signals are provided. The coordinate converter 27 converts the coordinates of each disturbance velocity from the roll angle and the pitch angle, and outputs boost signals for the pitch axis and yaw axis to the pitch axis control circuit and the yaw axis control circuit.

The pitch axis control circuit is composed of adders 28 and 29, and combines the vibration disturbance angle signal in the pitch axis direction detected from the rate integrating gyroscope 23 with the coordinate converter 2.
The pitch axis boost signal from 7 is supplied to an adder 28. This adder 28 adds both signals to detect a pitch axis correction angle signal. The output signal of this adder 28 and the rate dial loop 24
The vibration disturbance angular velocity signal in the pitch axis direction is supplied to an adder 29, and a pitch axis correction angular velocity signal is detected. This corrected angular velocity signal is supplied from the adder 29 to the pitch axis drive motor 15, and the motor 15 is controlled in accordance with the above corrected signal.

The yaw axis control circuit also includes adders 30 and 31.
Similar to the pitch axis control circuit, the vibration disturbance angle signal in the yaw axis direction detected from the rate integrating gyroscope 23 and the yaw axis boost signal from the coordinate converter 27 are supplied to the adder 30 to control the yaw axis. Detect the correction angle signal. Then, the output signal of the adder 30 and the yaw axis vibration disturbance angular velocity signal from the rate gyro 24 are supplied to an adder 31 to detect a yaw axis correction angular velocity signal. The corrected angular velocity signal from the adder 31 is supplied to the yaw axis drive motor 18 to control the controlled object 11 so that it is always set in a designated direction.

That is, in the control system of the stabilizing device, the yaw axis disturbance speed detector 20 detects the angular velocity component of the disturbance expressed by the above equation (6), and the pitch axis disturbance speed detector 19 detects the angular velocity component of the disturbance expressed by the equation (8). The angular velocity component θ〓 of the disturbance shown in is detected. Even if the disturbance angular velocity components 〓, θ〓 from the respective disturbance velocity detectors 19, 20 are directly used as boost signals and are fed back as positive feedback to the adders 28, 30, the velocity deviation can be calculated as shown in equations (2) and (3). It cannot be completely fixed. Therefore, the roll angle detector 25 detects the roll angle φ, the pitch angle detector 26 detects the pitch angle θ, and the coordinate converter 2 detects the disturbance angular velocity components 〓, θ〓.
Supply to 7. This coordinate converter 27 performs coordinate conversion of the disturbance angular velocity components 〓 and θ〓 using the roll angle φ and the pitch angle θ as shown in equations (2) and (3). The disturbance angular velocity components in the pitch axis direction and the yaw axis direction, which have been coordinate-transformed in this manner, are negatively fed back to adders 28 and 30 as boost signals, respectively.

Therefore, the velocity deviation is completely corrected and the base body 1
It becomes possible to perform complete correction control even for the composite disturbance caused by the roll disturbance of No. 3.

Note that correction of the roll angle inclination here requires correction by calculation of trigonometric functions by coordinate transformation, but for oscillations of the base body such as a vehicle whose movement angle is not large, correction of the pitch angle inclination can be omitted. Trigonometric function operations can be processed by multiplying by simple coefficients. In other words, as shown in equations (2) and (3), if the displacement of the roll angle and pitch angle is small, the coordinate transformation is P≒φ〓−〓θ (10) Q=θ〓+〓φ (11) It can be approximated as R=-θ〓φ+〓 (12), which simplifies the calculation of coordinate transformation. This includes not only the deviation angle from the inertial space due to the vibration disturbance of the controlled object due to speed deviation, but also the deviation angle due to the vibration of the controlled object, such as play, bumps, stiffness, etc., so the detection accuracy of the boost signal This is because, in many cases, there is no need to increase calculation accuracy.

As described above, according to the present invention, a stabilizing device in an inertial space is integrated into a controlled object that is rotatable in the yaw direction and pitch direction with respect to a base body that is freely movable in the inertial space, and this controlled object. A motion stabilization detector is installed at the center and detects the disturbance angle and disturbance angular velocity of the motion disturbance caused by the movement of the mother body, and the designation of the above-mentioned object to be controlled corresponds to the disturbance angle and disturbance angular velocity detected by this motion stabilization detector. a control circuit for correcting the deviation in the direction; a means for detecting the vibration disturbance velocity of the mother body in the yaw direction and the pitch direction;
Means for detecting the roll angle and pitch angle with respect to the roll direction and pitch direction of the controlled object, and means for coordinate conversion of the disturbance velocity obtained by the means for detecting the agitation disturbance velocity from the roll angle and pitch angle. By providing a means for negative feedback to the control circuit using this disturbance speed as a boost signal, it is possible to prevent a complex disturbance of the base body, that is, when a roll disturbance and a pitch disturbance or a yaw disturbance occur simultaneously. It also becomes possible to completely control the object to be controlled in a specified direction.

The present invention can be applied not only to vehicles or aircraft, but also to aiming devices, firearm drive control devices, and the like.

[Brief explanation of drawings]

FIG. 1 is a diagram explaining the configuration of a conventional stabilizing device, FIG. 2 is a block circuit diagram explaining the control system of the stabilizing device, and FIG. 3 is a diagram of a stabilizing device according to an embodiment of the present invention. FIG. 2 is a diagram illustrating the configuration. DESCRIPTION OF SYMBOLS 11... Controlled object, 12... Vibration disturbance stabilization detector, 13... Base body, 14... Pitch axis, 15
...Pitch axis drive motor, 16...Pitch gimbal, 17...Yaw axis, 18...Yaw axis drive motor, 19...Pitch axis disturbance speed detector, 20...
... Yaw axis disturbance speed detector, 21 ... Angle control block, 22 ... Angular velocity control block, 23 ... Rate integral gyroscope, 24 ... Rate gyroscope, 2
5... Roll angle detector, 26... Pitch angle detector, 27... Coordinate converter, 28, 29, 30,
31...Adder.

Claims (1)

[Claims] 1. A controlled object that is rotatable in the yaw and pitch directions with respect to a base body that can move freely in inertial space, and a system that is installed integrally with this controlled object to calculate the disturbance angle and disturbance angular velocity of the vibration disturbance caused by the movement of the base body. A vibration stabilization detector for detecting vibration, a control circuit for correcting the deviation of the controlled object in a specified direction in response to the disturbance angle and disturbance angular velocity detected by the vibration stabilization detector, and a control circuit for correcting the deviation of the controlled object in a specified direction, and means for detecting an oscillation disturbance speed in the direction; and means for detecting a roll angle and a pitch angle with respect to the roll direction and pitch direction of the controlled object;
It is equipped with means for converting the coordinates of the disturbance speed obtained by the means for detecting the vibration disturbance speed from the roll angle and the pitch angle, and means for providing negative feedback to the control circuit by using the disturbance speed as a boost signal. A stabilizing device in inertial space characterized by: