JPH0278961A - Angular velocity detecting device - Google Patents

Abstract

PURPOSE:To make temperature corrections automatically and to accurately measure an angular velocity by detecting temperature nearby a detector and then switching the gain and bias value of the output signal of a current detector. CONSTITUTION:A thermistor 9 is arranged nearby the detector 1, whose temperature is detected through a constant current circuit 10 and a detecting circuit 11. Further, the output of the detecting circuit 11 is digitized by an A/D converter 12 and connected to the address line of a ROM 13. The contents of this ROM 13 are data which are measured and calibrated by a ground test and a gain switching circuit 7 and a bias adding circuit 8 are so selected as to minimize an error by adding a proper gain and a proper bias to the output signal of the current detector 6 at each temperature point. Thus, the bias adding circuit 8 outputs the accurate angular velocity regardless of the temperature variation of the torquer 3 and pickoff 4 of the detector 11.

Description

[Detailed description of the invention] [Industrial application field] This invention can be mounted on flying objects such as artificial satellites.

The present invention relates to an angular velocity detection device that detects angular velocity.

[Conventional technology]

A conventional device of this type is shown in FIG. In the figure, (1) is a detector, +21ij gyro.

(3) is a torquer, (4) is a pickoff, (51 is an amplifier, and (6I is a current detector).

When an angular velocity is applied to the detector port (in the figure), the gyro (2) fixed with a gimbal or the like is displaced. Pickoff (
After detecting the amount of movement with 41 and amplifying it with an amplifier (5), the torquer (31 with a gyro (2)) configures a servo loop so that it stops at the origin, and the drive current of the torquer 131 is detected with a current detector (6). The detector (1
) is measured.

[Electricity charges that the invention attempts to solve]

However, with conventional devices of this type, accurate measurements could not be made due to changes in the characteristics of the detector (the torquer 131 in the detector 11 and the pickoff (4), etc.) due to temperature changes. It was so wide that precise measurements could not be made.

The present invention has been made in order to solve the problem I mentioned above, and provides an angular velocity detection device that can perform accurate measurement even if there is a temperature change of the detector etc. using a simple method.

[Means for resolving down payment]

The angular velocity detection device according to the present invention detects the temperature near the detector (1), and thereby obtains an output signal that is independent of temperature changes by switching the gain and bias value of the output signal of the current detector (6). It is something.

[Effect]

The angular velocity detection device 1d of the present invention can accurately measure angular velocity by automatically performing temperature correction.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. In the figure, (7) is a gain switching circuit, (8) is a bias addition circuit μ, (9) is a thermistor, flG is a constant current port μ, α11 is a temperature detection circuit, α2 is an A/D converter, (1 (is a ROM) It is.

Gyro in detector (1) +21. Toluca (3),
In the figure, the angular velocity is detected by a pickoff (41) and an amplifier (51) and a current detector (61), as in the conventional device.

Thermistor +91 is installed near the detector (1),
Since the resistance value of the detector (1) changes due to a change in temperature near the detector (1), the temperature of the detector (1) is detected by the constant current circuit α[I'EI and the detection port gfll+. In addition, the output signal of the temperature detection circuit 011 is converted into a digital signal by the A/D converter (IX5), and is connected to the address line of the ROM (13). is called from ROMα3.The content of the data in ROM+13 is the calibration data measured in the ground test, and an error signal is generated by adding appropriate gain and bias to the output signal of the current detector (6) at each temperature. If you input the data for selecting the gain switching circuit (7 + EI and bias addition circuit A 8) so that the bias addition circuit (8
) always indicates an accurate angular velocity regardless of temperature changes of the torquer (31, pickoff +41) in the detector flG.

In addition, in the above gr example, the temperature is detected using a thermistor, but the temperature sensor is not limited to the thermistor.

〔Effect of the invention〕

As described above, according to the present invention, the temperature of the detector (1) is
An angular velocity detection device that can perform accurate measurements without depending on the environmental temperature can be obtained by correcting the illumination using a simple circuit using a ROM.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of an angular velocity detecting device according to the present invention, and FIG. 2 is a block diagram showing a conventional angular velocity detecting device. In the figure, (1) is a detector, (2) is a gyro, and (3) is a torquer. (4) is a pickoff, (51 is an amplifier, (6) is a current detector. (7) is a gain switching circuit, 181 is a bias addition circuit, (91 is a thermistor, aa is a constant current circuit, a11 is a temperature detection circuit, (12 is A/D converter, α3 is R
It's OM. Note that the same or corresponding parts in FIG. 1 are designated by the same reference numerals.

Claims (1)

[Claims] A sensor mounted on a flying object such as an artificial satellite that detects the angular velocity of the flying object includes a gyro that detects the angular velocity of the flying object, a pickoff that measures the displacement of this gyro, and an amplification of the output of this pickoff. An amplifier that
A torquer that corrects the displacement of the gyro using the output current of this amplifier, a current detector that detects the current of this torquer, a temperature measuring device that measures the surrounding temperature, and an A that converts the output of the temperature measuring device into a digital signal. /D converter and A/D
An angular velocity detecting device comprising: a ROM having the output of the converter as an address input; and a circuit having the output of the current detector as the input and performing gain switching and bias addition according to the contents of data in the ROM.