JPH0318715A - Space stabilization servo device - Google Patents

Abstract

PURPOSE:To stabilize a servo system and to stabilize control over a space stabilization loop with high accuracy by finding a voltage feedback signal which cancels the counter electromotive voltage of a motor and driving the motor with the voltage deviation based upon this voltage feedback signal. CONSTITUTION:An amplifier 6 outputs a current deviation Ka.DELTAI for driving the motor 8 and a subtracting element 7 calculates the difference from the amplified current feedback signal If and supplies the amplified current deviation DELTAI' to the motor 8. A subtracting element 18 calculates the difference of a stabilization axis angular velocity omegas outputted from a gimbals 12 from a machine axis angular velocity omegam and the difference is inputted as a gimbals angular velocity omegag to a multiplying element 13 and an angular velocity detector 19. The multiplier 13 multiplies the constant of a counter electromotive voltage induced at the motor 8 by the gimbals angular velocity omegag and inputs an ampli fied current feedback signal If' to the subtracting element 7. Further, the angular velocity detector 19 also inputs the voltage feedback signal Vf' based upon the gimbals angular velocity omegag to a subtracter 3. Consequently, the motor 8 is so driven as to cancel the counter electromotive voltage and controlled with high accuracy.

Description

[Detailed Description of the Invention] [Field of Application on Millet] This invention provides a platform for directly detecting and controlling the angular velocity of a stabilizing axis to be controlled using a gyro attached to a gimbal machine ellipse. This paper relates to a spatially stable servo device called a method, and in particular to a spatially stable servo device with improved control accuracy. [Prior Art] Generally, a space stabilization servo device mounted on an aircraft body uses a gyro or the like to achieve stability against angular displacement in absolute space (inertial space) through a position control mode and a space stability mode. ing.

This type of device uses a platform method that uses a gyro attached to a gimbal mechanism, and a high-precision angular velocity detector (gyro, etc.) that performs temporal calculation processing without using mechanical elements such as a gimbal machine ellipse. Although there is a strap-down method in which this method is used, a platform method space stabilization servo device will be described here.

Figure 9 is a block diagram showing the spatial stability loop of a conventional spatial stabilization servo device. In the figure, ωC is the angular velocity command for inertial space, (1
) is a subtractor that takes the difference between the angular velocity command ωC and the angular velocity feedback signal ωf, and (2) is the angular velocity command deviation Δ from the subtractor (1).
A compensation element that integrates ω to obtain a compensation signal C2 corresponding to the angular position command, 3) is a subtractor that takes the difference between the compensation signal c2 and the voltage feedback signal ) Compensation signal C corresponding to the voltage command based on the voltage deviation ΔV from
(5) is a subtracter that takes the difference between the compensation signal C and the current feedback signal If; (6) is the subtracter (5)
(7) is a subtraction element that takes the difference between the current deviation Ka・ΔI passed through the amplifier (6) and the amplified current feedback signal If'; (8) is a subtraction element (7) that amplifies the current deviation ΔI from 〉
A motor driven by an amplified current deviation ΔI′ from (
9) is the motor t flow 1. which flows to the motor (8). A current detector (10) amplifies the current feedback signal If and outputs a current feedback signal If. (11) is a subtraction element that takes the difference between the torque command Tc and the disturbance torque T, and (12) is driven by the torque deviation ΔT from the subtraction element (11). (13) is a multiplication element that amplifies the stabilized shaft angular velocity ωS output from the gimbal (12) and outputs an amplified current feedback signal If';
(14) is an integral element that integrates the stabilizing shaft angular velocity ωS, (
l5) is an angle detector that generates a voltage feedback signal Vf based on the output of the integral element (14), <l6) is a gyro that outputs an angular velocity signal ωg for inertial space based on the stabilized shaft angular velocity ωS, <l7) is a subtraction element that generates an angular velocity feedback signal ωf by taking the difference between the angular velocity signal ωg and the drift angular velocity ωd. In addition, motor (8), gimbal (IZ
> and the gyro (16) form the drive system of the spatial stability loop.

Next, the operation of the conventional space stabilization servo device shown in FIG. 9 will be explained.

Angular velocity command ω generated by the pilot's maneuver command
The difference between C and the angular velocity feedback signal ωr is taken by the subtracter <1), and the result is the angular velocity command error Δω, which is input to the compensation element (2) including an integral element. The compensation element (2) compensates for the angular velocity command deviation Δω and outputs it as a compensation signal C2 that allows the spatial stability loop to operate stably. At this time, the transfer function of the compensation element (2> is expressed, for example, as K P + K I / S + S' K O. However, K is a proportional constant, K is an integral constant, and S
is a Labrasian transformation operator, and Ko is a differential constant. The compensation signal C2 is subtracted by the difference from the voltage feedback signal V' in the subtracter (3), and the voltage deviation ΔV is inputted to the compensation element (4>. The compensation element <4> calculates the voltage deviation ΔV. The compensation signal C4 is outputted so that the spatial stability loop can operate stably.At this time, the transfer function of the compensation element (4>) is expressed as, for example, Kpa(1+S-Tpa)/S. However, Kpa is the gain of the preamplifier included in the compensation element (4), and Tpa is the lead time of the preamplifier.The compensation signal C4 is converted to a current gain by taking the difference from the current feedback signal If in the subtracter (5>). The difference ΔI is further multiplied by Ka in the amplifier (6), and the difference with the amplified current feedback signal If' is taken in the subtraction element (7), resulting in the amplified current leakage ΔI' for driving the gimbal machine IT. is input to the motor (8). This drives the motor (8), but at this time, the value of the motor current (2) flowing through the motor (8) is determined by the admittance of the motor (8). Here, if the DC resistance of the motor winding is R and the inductance is L, the impedance ZH of the motor (7) is Z.=R-1-S-L.However, S・L is the inductance L. represents the time integral. Therefore, the motor current I. is: ■.=(Ka・Δ
I − K 1(1) S)/Z s=(Ka・ΔI
− K1ωs)/(R + S −L). However, K. is a back electromotive force constant of the motor (8) which is a multiplication coefficient in the multiplication element (13).

Motor current I. is multiplied by the current feedback constant Kin in the current detector (9), becomes the current feedback signal If, and is input to the subtracter (5). Also, motor':I:. Style I. is multiplied by the torque constant KT in the multiplication element (10) to obtain the torque command Tc, and further, the difference from the disturbance torque T is taken in the subtraction element (11) to obtain the torque deviation ΔT, which drives the gimbal (12). ．． By driving the gimbal (12), the angular velocity ωS of the stabilizing axis to be controlled is output. Here, if the moment of inertia of the gimbal (12) is J, the stabilizing axis angular velocity ωS is ωS It is expressed as = ΔT/(J-S). The stabilizing shaft angular velocity ωS is multiplied by the motor back electromotive force constant Kg in the multiplication element (13), becomes the amplified current feedback signal If', and is input to the subtraction element (7), and on the other hand, >, then multiplied by the proportionality constant Kp in the angle detector (15) to become the voltage feedback signal Vf and input to the subtracter (3). Also, the stabilizing shaft angular velocity ωS is determined by the gimbal (l2 ) is detected by a gyro (16) provided externally, and becomes an angular velocity signal ωg with respect to inertial space.
), the difference from the drift angular velocity ωd is taken, and the resultant angular velocity feedback signal ωf is input to the subtracter <1>. At this time,
The transfer function Gg of the gyro (16) is G. = K8·ω books”/(S2+2ζω wide·S+ω82) where ω1 is the angular frequency bandwidth of the transfer element, and ζ is the damping factor.

On the other hand, the drift angular velocity ω input to the subtraction element (17)
d is a disturbance angular velocity that potentially exists in the gyro (16), and directly affects the output of the gyro (16). There are various causes of drift, such as speed and temperature. Conventionally, to deal with such drift, ① No countermeasures are taken and the device is used within the permissible range.

■An offset adjustment circuit is installed to suppress drift to zero at the time of adjustment taking into account acceleration and temperature conditions. ■Measure the expected drift in advance and correct it according to the conditions (there are two methods: a software correction method that inputs the correction characteristics into a memory circuit, and a hardware correction method that uses a method such as broken line approximation using an analog circuit). ).

Although the following countermeasures were taken, none of them were sufficient and it was not possible to achieve practical accuracy.

[Problem to be solved by the invention] As described above, the conventional space stabilizing servo device
) By using the value obtained by integrating the stabilizing shaft angular velocity ωS as the voltage feedback signal ■r, the position servo system is constructed and stabilization is achieved. However, no countermeasures have been taken against the back electromotive force of the motor (8), which is the essential cause of hindering the stabilization of the servo system, and the stabilizing shaft angular velocity ωS of the gimbal (12) is simply treated as a phenomenon. , there was a problem that direct effects could not be obtained because only indirect countermeasures were taken against this phenomenon.Furthermore, no countermeasures were taken against the drift angular velocity ωd of the gyro (16), so the stabilization There was a problem in that the servo accuracy deteriorated due to the time deviation of the axes.

This invention was made to solve the above-mentioned problems, and by directly solving the essential causes and by considering countermeasures against drift angular velocity, it is possible to create a highly accurate spatially stable servo. The purpose is to obtain equipment.

[A Thousand Steps to Solve the Problem] The spatial stabilization servo device according to the present invention uses a subtraction method to generate a gimbal angular velocity by taking the difference between the stabilizing axis angular velocity in the gimbal's spatial coordinates and the aircraft axis angular velocity of the aircraft equipped with the gimbal. an angular velocity detector that generates a voltage feedback signal for canceling a back electromotive force of the motor based on the gimbal angular velocity, and a subtractor that generates a voltage deviation for driving the motor based on the voltage feedback signal. and a compensation element for stabilizing the gimbal angular velocity servo loop caused by the voltage feedback signal.

Moreover, a space stabilizing servo device according to another invention of the present invention includes:
An axis angle detection means that generates an axis position signal corresponding to the attitude angle of the aircraft, a subtracter that generates a drift correction signal based on the axis position signal and an axis angle command, and an average drift correction that averages the drift correction signals. It is equipped with an averaging filter that adjusts the signal, and a subtracter that inputs a corrected angular velocity command based on the angular velocity command and the average drift correction signal to the spatial stability loop.

[Operation] In this invention, a voltage feedback signal is obtained to cancel the back electromotive force of the motor, and the motor is driven by the voltage deviation based on this voltage feedback signal, thereby stabilizing the control of the spatial stability loop with high precision. ．． Further, in another aspect of the present invention, the angular velocity command is corrected in advance based on the average drift correction signal, and the drift in the low frequency region is corrected by correcting the temporal deviation due to the software of the gyro in the spatial stability loop. Basically, it can be eliminated to achieve high accuracy.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings. 1st
The figure is a block diagram showing one embodiment of the present invention.
). (3). (5) to (13), (16.) and (17) are the same as above. (2^> is a compensation element for stabilizing the space angular velocity servo loop, (4^
) is a compensation element to stabilize the gimbal angular velocity servo loop.

ωm is the machine shaft angular velocity corresponding to the disturbance of the aircraft on which the gimbal (l2) is mounted, and (18) is the gimbal angular velocity ω by taking the difference between the stabilizing shaft angular velocity ωS and the machine axis angular velocity ωm.

(19) is the gimbal angular velocity ω. This is an angular velocity detector that generates a voltage feedback signal Vr' based on the angular velocity, and includes a tacho generator and a multiplier for angular velocity detection. Further, the multiplication element (13) multiplies the gimbal angular velocity ω0 by the back electromotive voltage constant K1 of the motor (8) and outputs the amplified current feedback signal If'.

Next, the operation of the embodiment of the present invention shown in FIG. 1 will be explained.

As before, the amplifier (6) outputs the amplified current deviation Ka.ΔI for driving the motor (8), and the subtraction element (7) outputs the current deviation Ka.ΔI and the amplified current feedback signal If.
′ and the amplified current deviation Δ■′ is the motor (8)
supply to.

Here, the difference between the stabilizing shaft angular velocity ωS output from the gimbal (12) and the machine shaft angular velocity ω wheel is taken by a subtraction element (18), and the gimbal angular velocity ω is obtained. The multiplication element (1
3) and is input to the angular velocity detector (19).

The multiplier (13) calculates a back electromotive force constant K. induced in the motor (8). and gimbal angular velocity ω. The amplified current feedback signal ■f' is obtained by multiplying by If'=K1ω.

Find it from and enter it into the subtraction element (7). Further, the angular velocity detector <19) detects the gimbal angular velocity ω. is multiplied by the tachogenerator constant Ktg to obtain the voltage feedback signal Vf', V r'
=K Find from Lg・ωG and reduce I. Enter in H(3). In this way, the amplified current feedback signal If' and the voltage feedback signal Vf' are obtained based on the gimbal angular velocity (,,.,) corrected by the machine shaft angular velocity ωm. Therefore, the motor (8) They are driven so as to cancel each other out and are controlled with high precision.Next, a characteristic analysis method for designing the spatially stable loop shown in FIG. 1 will be explained.

If the ellipse from the compensation element (4^) to the gimbal (12) in Fig. 1 (but does not include the subtraction element (7)) is the servo block of the velocity loop (angular velocity servo loop), then this velocity loop The open loop transfer function G II R g is
Gi*g=(KpaKa-Kt/J-L)X [(1
+S −T pa)/S 2(S +(R +Ka
−K i+a)/Ll]. However, in this case, both the disturbance torque T and the disturbance angular velocity (shaft angular velocity) ωm are 0.
It is.

Here, the multiplication element (13) and angular velocity detector <19> in FIG.
・Tpa)), the block diagram of FIG. 1 is expressed as shown in FIG. In FIG. 2, (20) is a velocity loop and (21) is a simplified multiplication element.

Now, let the tacho generator constant Ktg be Ktg=-0
．． 8K1S / Kpa-Ka (1 + S ・Tp
a), the transfer function of the multiplication element (2l) in Fig. 2 is 0.2K 1S / (K pa・K a ( 1
+ S −T pa)). Also, at this time, the transfer function of the compensation element (28) is K c (1 + S = T c) 2 where Kc is a constant, and the one-cycle transfer function G8o of the speed rube (20>) is:
G sc = (K p + K l / S + S 'K
o) x [K pa4C a-G ap8(1+ S
-T pa)÷fK pa-K a(1+S -T p
a) +0.2K 1s -G *R++l]X (Kg
・ωs”/ (S 2+2ζωs−S+ωs2)}.

This round transfer function G. . Figure 3 shows an example of the Bode diagram of the frequency characteristics obtained based on the . In the figure, the transfer function of the compensation element (2^) is assumed to be 1, and the frequency (see broken line) corresponding to the quadratic phase advance (-180°) of the Laplace transform operator S is approximately 500 Hz, and the gain at this time is is about 27 clB (4=i 45.1). Therefore, the optimal transfer function G jc' of the compensation element (2^) is
G gc”= K p+ K I/ S + S −K
o=+1+(S/500))'/45.1
is required.

The frequency characteristics of the angular velocity lube (oven lube) based on the loop transfer function GllCX optimized in this way are as follows:
It becomes ideal as shown in the Bode diagram in the figure.

That is, the phase is constant around -90°, and the gain decreases linearly with the logarithm of the frequency. Further, at this time, the frequency characteristic of the angular velocity loop due to the closed loop becomes as shown in the Bode diagram in FIG.

Next, we will explain the analysis of stability characteristics against machine shaft oscillation. Now, the angular velocity command ωC, disturbance torque TF, and drift angular velocity ωd are each set to 0, and the multiplication element (l3
), the back electromotive force constant K,' of the motor (8) is expressed as Kt'= Ktg+ S-Kt/ Kpa-Ka(1+
S ``Tpa), the servo block for the machine shaft angular velocity ωM is expressed as shown in Figure 6.As is clear from the figure, in terms of spatial stability, if Kt'20, other factors It is possible to always set ωS=0 for the vibration of the machine axis, regardless of the oscillation of the machine axis.
Ideally, S Tpa)). However, in practice, due to variations in constants, etc., K1 = O
Therefore, as mentioned above, the induced voltage constant K. 0.8K. (20% change), K
tg=-0.8K1S/ (Kpa・Ka(1+S
-Tpa)IK. '=0.2K 1S / fK p
Let a-K a(1+S-Tpa)1. Therefore,
Which mode to use for spatial stability loop? (8) is the induced voltage constant K. A small one is desirable.

In addition, the closed-loop transfer function Gsm shown in FIG.
is, GSm-ωS/ωm = K E”G **s/ (1 + K%・G R
It is expressed as RI++Kc'・Gg-GR■). However, K. '=0.2K 1 S/fKpa
− Ka (1+ S − Tpa)) Kc′=(
1+S-Tc)2/Kc Gg-ωKyo2/(S2+2ζω FamilyS+ωKyo2).

At this time, the spatial stability characteristic becomes as shown in FIG. 7, and the stability (gain) becomes -93 dB or less and almost constant over a wide band.

The above description is based on an ideal state in which the disturbance torque T, is O, but in reality, the disturbance torque T, is the main cause of deteriorating the spatial stability performance.

Therefore, the spatial stability performance can be evaluated using the simulation program (
For example, it is necessary to evaluate by T25-6), thereby making the above-mentioned spatial stabilization servo loop practical.

Although it is considered that there is no deficiency in servo theory according to the above embodiment, in practice, the disturbance torque T due to friction etc.
However, there remain problems that impede stabilization due to mass imbalance of the gimbal mechanism, variations in temperature characteristics of various constants, noise, machining precision, etc. However, the spatially stable servo device of the present invention achieves a significant improvement in accuracy compared to conventional devices.

Next, another invention of the present invention aimed at improving the drift angular velocity ωd will be explained.6 Note that the drift in the high frequency range is determined by the sensitivity resolution and servo characteristics of the gyro (14), so it must be canceled out. It is impossible to (eliminate) it.

FIG. 8 is a block diagram showing an embodiment of another invention of the present invention, and in the figure, (30) is (1> to
This is a spatially stable loop consisting of <13) and (16> to (19)).

(31) is the gimbal angular velocity ω. Based on the gimbal position signal θ. Resolver (gimbal angle detection means) that generates
, (32) is I NS (
I nertial navigation system
tem: Inertial navigation system (axis angle detection means)).
(33) is the machine axis position signal θm and the gimbal position signal θ
. The sum signal of θ is θ. An adder (34) generates the gimbal angle command θa. and gimbal position signal θ. (35) is the machine axis angle command θC and the sum signal θ1θ. A subtracter that takes the difference to generate the drift correction signal θd, (
36) is a changeover switch that selects either the drift correction signal θd' or θd, and (37) is an average that averages the drift correction signal θd′ or θd passed through the changeover switch (36>) to generate an average drift correction signal ωd8. filter.

(38> is a subtractor that takes the difference between the angular velocity command ωC and the average angular velocity command ωcx, and (39) is an integrator that delays the output of the subtractor (38) by one order and outputs the average angular velocity command ωc ky. The integrator (38) and the integrator (39) substantially constitute an averaging filter.The transfer function of the integrator (39) is expressed by Kω/S.(40) is the average angular velocity command ωCt and the average drift This is a subtracter that generates a corrected angular velocity command ωC' by taking the difference from the correction signal ωd, and the positive angular velocity command ωC' is input to a spatial stability loop (30).

If the averaging filter (37) is an integral type, the averaging filter (37) is a subtracter (
38) and the integrator (39) (however, the transfer function of the integrator is expressed as K,/S), and in the case of the next-lag type, the transfer function is K o/(1+T.・S) is elliptized from the compensation element represented by .

Next, the operation of another embodiment of the present invention shown in FIG. 8 will be explained. The resolver (31) has a gimbal angular velocity ω. Detect and
A gimbal position signal θ6 corresponding to the angle of the stabilization axis of the gimbal is output. On the other hand, the I N S (32) detects the machine axis angular velocity ω and outputs the machine axis position signal θm corresponding to the aircraft attitude angle, and the adder (33) detects the machine axis angular velocity ω1 and outputs the machine axis position signal θm corresponding to the aircraft attitude angle. and the sum signal θ−+θ of the machine shaft position signal θ.

Output.

Gimbal position signal θ. The subtractor (34) takes the deviation from the gimbal angle command θcc, resulting in a supplementary drift correction signal θd', and the sum signal θ1o+θG uses the subtractor (35) to calculate the deviation from the machine axis angle command θC. is taken, resulting in a drift correction signal θd. One of these drift correction signals θd' and θd is selected by a changeover switch (36) and inputted to an averaging filter (37).6 Normally, a highly accurate signal obtained from I N S (32) is input to an averaging filter (37). A drift correction signal θd based on the position signal θm is selected, but if the aircraft is not equipped with an I N S (32), an auxiliary drift correction signal θd' is selected.Averaging filter (37) outputs an average drift correction signal ωdx based on the drift correction signal θd (or θd').

On the other hand, the subtracter (38) and the integrator (39) average the angular velocity command ωC and output the average angular velocity command ωct, and this average angular velocity command ωC is converted into an average drift correction signal by the subtractor (40). The difference from ωdX is taken and input to the spatial stability loop (30). That is, the angular velocity command ωC
becomes a pre-corrected corrected angular velocity command ωC′ based on the average drift correction signal ωdt, and the spatial stability loop (
30).

Therefore, within the spatial stability loop (30), the temporal deviation due to the drift angular velocity ωd of the gyroc 16) is corrected. At this time, the drift angular velocity ωd is corrected by equivalent position control in a coordinate system (inertial space) that should be spatially stable.

Ideally, if position control in inertial space could be realized, spatial stability and drift correction would be solved at the same time, but this is not realistically possible for the following reasons. A. The axis position signal (attitude angle) θ theory output by the INS (32) has a constant update rate and cannot be processed in real time. B, Gimbal (12〉 and I
Since the mounting position is physically different from that of the N S (32), mechanical errors occur due to twisting or deflection due to the movement of the aircraft.

C. The output of INS<32> includes errors within accuracy such as drift, and is not absolute. However, according to another aspect of the present invention described above, the accuracy is significantly improved compared to the conventional device that does not perform drift correction.

In the above embodiment, I N is used as the aircraft angle detection means.
Although S (32) was used, an inclinometer or the like consisting of a level sensor may also be used.

Also, even without using INS (32) or an inclinometer,
The gimbal position signal <gimbal angle> θ is determined by the averaging filter. By finding the average value of , it is possible to perform equivalent position control and correct the drift in the same manner as described above. In this case, the gimbal position signal θ. Since the average value of is replaced as the position command value in inertial space, there is a high dependence on the movement of the aircraft, making it difficult to identify the oscillation or movement of the aircraft. Therefore, depending on the system, the gimbal position signal θ. Optimal averaging is required. [Effects of the Invention] As described above, according to the present invention, the subtraction element that generates the gimbal angular velocity by taking the difference between the stabilizing axis angular velocity in the gimbal's spatial coordinates and the aircraft axis angular velocity of the aircraft on which the gimbal is mounted, and the gimbal angular velocity an angular velocity detector that generates a voltage feedback signal for canceling the back electromotive force of the motor based on the
A subtracter that generates a voltage deviation for driving the motor based on the To pressure feedback signal and a compensation element that stabilizes the gimbal angular velocity servo loop generated by the voltage feedback signal are provided, resulting in highly accurate spatial stability. This has the advantage of being a servo device.

According to another invention of the present invention, there is provided a machine axis angle detection means for generating a machine axis position signal corresponding to the attitude angle of the machine body, and a subtracter for generating a drift correction signal based on the machine axis position signal and the machine axis angle command. , an averaging filter that averages the drift correction signal to generate an average drift correction signal, and a subtractor that inputs a corrected angular velocity command based on the angular velocity command and the average drift correction signal to the spatial stability loop. Correct the angular velocity command in advance based on the correction signal,
Since the time deviation due to the drift angular velocity of the gyro in the spatial stability loop is corrected, drift in the low frequency region can be basically eliminated, and a highly accurate spatially stable servo device can be obtained.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is an equivalent block diagram when the disturbance torque in Fig. 1 is set to O, and Figs. A Bode diagram for explaining the analytical operation of the example, Fig. 6 is an equivalent block diagram for explaining the stability with respect to the machine shaft angular velocity in Fig. 1, and Fig. 7 shows the stability according to the analysis of Fig. 6. FIG. 8 is a block diagram showing another embodiment of the present invention, and FIG. 9 is a block diagram showing a conventional space stabilizing servo device. (3)...Subtractor that generates voltage deviation (4^)...
Compensation element (8)...Motor (12)...Gimbal (16)...Gyro (18)...
Subtraction element that generates gimbal angular velocity (19)... Angular velocity detector 30)... Spatial stability loop <32)
...I NS (machine axis angle detection means) (35)...Subtractor (37) that generates a drift correction signal...Averaging filter (40)...Subtractor ωC that generates a correction angular velocity command
...Angular velocity command ωS...Stabilizing shaft angular velocity ωm・
... Machine shaft angular velocity ω. ...Gimbal angular velocity Vf'
...Voltage feedback signal ΔV...Voltage deviation θm...
Machine shaft position signal θC...Machine shaft angle command ωd...Drift angular velocity θd...Drift correction signal ωd"...Average drift correction signal ωC'...Correction angular velocity command

Claims (2)

[Claims] (1) In a spatial stabilization servo device using a platform-type spatial stabilization loop including a motor, a gimbal, and a gyro, the difference between the stabilizing axis angular velocity in the spatial coordinates of the gimbal and the axis angular velocity of the aircraft equipped with the gimbal is calculated. an angular velocity detector that generates a voltage feedback signal for canceling a back electromotive force of the motor based on the gimbal angular velocity; and an angular velocity detector that drives the motor based on the voltage feedback signal. 1. A spatially stable servo device comprising: a subtracter for generating a voltage deviation for the voltage feedback signal; and a compensation element for stabilizing a gimbal angular velocity servo loop generated by the voltage feedback signal. (2) A space stabilization servo device using a platform-type space stability loop including a motor, a gimbal, and a gyro, comprising: a machine axis angle detection means for generating a machine axis position signal corresponding to a machine attitude angle; and the machine axis position signal and machine axis angle. a subtracter that generates a drift correction signal based on the command; an averaging filter that averages the drift correction signal to generate an average drift correction signal; and a subtracter that generates a correction angular velocity command based on the angular velocity command and the average drift correction signal. A space stabilizing servo device comprising: a subtracter input to the space stabilizing loop;