JPH03246414A - Oscillation angle coordinate transforming device - Google Patents

Abstract

PURPOSE:To convert the angles of oscillation of two orthogonal axes into angles of oscillation of other two orthogonal axes by finding orthogonal coordinates of a position for which the three-axial coordinates of a deck surface are turned by a certain angle and calculating the angle of crisscrossed oscillation at the position. CONSTITUTION:The values of the angles chi and psi of oscillation of the two standard orthogonal aces of a table T are transformed by groove cam computers G1 and G2 into tanchi and tanpsi, which are inputted to receivers 159 and 158 and a cosine computer A1. The computer A1 puts levers 29a and 30a in motion corresponding to the tanchi and tanpsi about rotary disks 27a and 28a and a lead-in shaft 3A1 gives rotary disks 32a and 33a an angle thetad of rotation (swivel angle of table S). At this time, members 34a-37a are put in motion proportional to tanchi and costhetad, tanchi and sinthetad, tanpsi and costhetad, and tanpsi and sinthetad. Those values are added by differential gears 41a and 40a according to a specific expres sion, so that a shaft 4A1 is put in motion proportional to tanchi1, i.e. the tangent of the lateral oscillation angle and a shaft 5A1 is put in motion proportional to tanpsi1, i.e. the tangent of the longitudinal oscillation angle.

Description

[Detailed description of the invention]

[0001]

[Industrial application field]

TECHNICAL FIELD The present invention relates to a sway angle coordinate conversion device that is applied to a sway stabilizing device for a sway body such as a ship whose azimuth is controlled. [0002]

[Conventional technology]

In order to enable optical devices such as sighting telescopes and television cameras installed on moving bodies such as ships to continuously capture targets against the shaking, it is necessary to adjust the elevation and rotation mechanisms of these devices to avoid shaking. Accordingly, corrective driving is required. [0003]

[Problem to be solved by the invention]

However, until now, such an azimuth-controlled vibration stabilization device had not been put into practical use. [0004] Accordingly, an object of the present invention is to provide a coordinate conversion device that is suitable for practical use and is applied to an azimuth-controlled vibration stabilizing device. [0005]

[Means to solve the problem]

The present invention is configured to convert the swing angle of the moving body with respect to two arbitrary orthogonal axes on the floor surface into the swing angle with respect to two other orthogonal axes forming arbitrary angles with respect to these two axes. [0006]

【Example】

Detailed Description of the Present Invention First, the principle of the oscillation angle coordinate conversion device of the present invention will be explained using FIGS. 11 and 2. [0007] FIG. 1 is an explanatory diagram of a oscillation angle coordinate conversion device handled by the present invention. FIG. 2 is an explanatory diagram regarding the relationship between the functions of related equipment of the device and the oscillation and inclination. [0008] Floor surfaces that cause shaking and tilting include dynamic ones such as the deck surfaces of ships and vehicles, and static ones such as the ground of buildings.
Figure 12 Figure 2 takes up the deck surface (D surface) of a ship as a typical example. Therefore, the related equipment shown in FIG. 2 has a pendulum-type electronic inclinometer as an input sensor, and an optical axis OT of an optical device mounted on the turning/elevating board as an output device. [0009] In FIG. 1, it is assumed that the deck surface (D surface) is in the position shown in the figure with respect to the horizontal surface (H surface). In the orthogonal ○-XYZ coordinate system on plane 0, OX is the vertical axis (tail axis) of the ship, oY is the horizontal axis (normal horizontal axis), and ○Z is the mast axis. Assume that the OX line rotates around the oY line in a plane perpendicular to the D plane and coincides with the OX' line on the fourth plane.The angle until then is ψ, and this is the ship's pitch angle (pitch angle). ). Also, suppose that the oY line on the floor rotates around the OX line and coincides with the oY' line on the horizon, and the angle up to that point is χ, which is called the lateral oscillation angle (roll angle). [0010] In FIG. 2, the OX line and oY line, which are the same as the OX and oY axes in FIG.
, χ is a plan view in which a oscillating surface having an oscillating angle of χ is projected so as to match the plane of the paper. Therefore, ○X/, ○ on the horizontal plane in Figure 1
The projection line of the Y' line coincides with ox and oy. The pendulum needle of the onboard equipment is also shown in side view, indicated by a pitch meter p and a roll meter r. In this case, the pitch meter and the roll meter's pendulum pointers rotate in a plane perpendicular to the deck surface including the Y-Y' axis, with the pitch meter as the center of rotation, and the roll meter rotates at x
Since the -x' axis is rotated in a plane that includes the axis center and the X-X' axis and is perpendicular to the deck surface, the side views of p and r will eventually show the pointer scale plane of p and r, respectively. The pointers coincide with the projection W' of the power lines onto the respective scale planes, the pitch meter shows the pitch angle ψ, and the roll meter shows the roll angle χ. In addition, a rotating elevation platform with an optical axis ○T is indicated by T, and the swivel base rotates in a plane parallel to the floor surface. Look down in a perpendicular plane. When the D plane is horizontal, the optical axis OT line points toward the horizontal plane, and the position where the horizontal line coincides with the center of the visual field is set as the zero elevation angle position. In FIG. 2, the swivel table base line is aligned with the OX line and the elevation angle is 0. The figure shows the telescope field of view in that case. In this case of pitch angle ψ, the horizontal line is deviated from the center of the field of view, and the deviation corresponds to the pitch angle ψ. If the turning/elevating plate is rotated with the swing angles χ and ψ to align the optical axis with the direction OY, the horizontal line deviated from the center of the field of view corresponds to the roll angle χ. Therefore, in the former case, if the elevation angle of the OT is corrected using the output ψ of the pitch meter, the optical axis will point to the horizon and the horizontal line will coincide with the center of the field of view, and in the latter case, the output of the roll meter will correct the χ oscillation. This is why it is possible. This relationship is based on the ship's two standard orthogonal axes XX',
If the oscillation angle in any direction other than YY' is determined, the oscillation of the optical axis of the rotating elevation/elevation board that has turned in that direction can be similarly corrected. [0011] On the other hand, since the oscillation plane is determined by the oscillation angle of two orthogonal axes, if the relative posture relationship due to the inclination of the D plane and the H plane is constant, then the oscillation angle with respect to the two orthogonal axes in any direction is determined by the oscillation angle between this and the two orthogonal axes. Therefore, it is possible to determine the oscillation angle with respect to the other two orthogonal axes.

Next, an analysis of this relationship will be described. [0013] Here, at a position where the ○-XYZ coordinates have rotated by σ on the deck surface, the orthogonal coordinates are ○X, OY, and the swing angle at this position is χ1. Let ψ1. Given σχψ, 1 χ1. The device that calculates ψ1 is called a oscillation angle coordinate conversion device. [0014] In the figure, the direction cosine of the line ○X' on the horizontal plane with respect to the three axes of the deck surface ○-XYZ is cosψ, 0. -5inψ
The direction cosine of the ○X' line is CO8ψ, 0. -5
inψ and the direction cosine of the OY' line is 0. cosχ, s
Since inχ, the horizontal plane includes both page lines, so this plane is [0015]

[Math 1] X C05(i) 15inψ 0 From this, the equation of the horizontal plane is

[Formula 2] and 11jψ, an χ y −2, −τ O . [0016] Next, if we find the equation of the plane ZOY1 to calculate the swing angle χ1, we get

[Formula 3] CI:')S σ, ° y, -'-゛s,;in
6 + 'i' ・,. becomes. [0017] Also, ○Y'1 is the intersection line of the plane ZOY1 and the horizontal plane, so O
The equation of Y' line is obtained from equation (2) and equation (3),

[Math 4] × t+ becomes. [0018]

[Math 5] X becomes. [0019] Also, the equation of the straight line ○Y1 is

[Math 6] \ ■ Therefore, the straight line ○Y1 It is found as the intersection angle,

[Math 7] and OY′ The angle χ1 between teeth (Math. 5) and (Math. 6) becomes. sort this out

[Math. 8] i,;3nχ

[ 1'-'tanχ COSσ ■ 12 tanψ SI rlσ1 becomes. [00201 [Math. 9] S1nσ1 -COS σ ~” Find 0X'1 as the intersection line between the horizontal plane and the ZOX1 plane. [0021]

[Number 101 Also, the straight line OX1 is [Math. 11] \・1 The angle ψ1 between the straight line OX1 and ○X’1 is

[Math. 12] Than this

[Formula 13] Lanψ1 °Lcsnψ' C086I-f, arl
χ' Sjn 6 H[0022] According to formula (13), in the case of Fig. 1○The inclination angle ψ of the X-0Y line
. 0X1-OY1 line inclination angle ψ1. which has an arbitrary angle σ with OX-〇Y from χ. χ1
was calculated. Therefore, no matter where the horizontal telescope of the swinging/elevating board shown in Fig. 2 is placed at any position on the deck surface, as long as the rotation angle from the coccyx is known, any swing angle can always be calculated, and swing correction can be performed. [0023] Up until now, we have been dealing with the correction of the oscillation of the optical axis ○T of a horizontal sighting telescope, but this can be replaced with a table that has the optical axis OT as a virtual optical axis and is supported by the elevation axis. Since this table is given a correction drive of ψ1 from the elevation axis, it becomes a horizontal table with the virtual optical axis directed toward the horizon regardless of the oscillation. [0024] Also, the output of the oscillation angle coordinate conversion device is χ1. With a force plane sighting telescope that can take out two orthogonal directions of ψ1, only one of them can be used, but with a type that has a double gimbal horizontal plate mounted on a rotary table as shown in the first embodiment below, it can be used in both the front and rear directions. If the oscillation corrections of χ1 and ψ1 are applied to both the left and right axes, that surface becomes a stable platform horizontal plate, and it becomes a type that has many uses for ships. [0025] Although ships have been mentioned above as a dynamic application, this orthogonal method can also be used in static applications, such as measuring inclinations for balancing the load of vehicles, measuring the slopes of building floors, and measuring the slopes of roads. Omnidirectional tilting method with two-axis tiltmeter can be used. In this case, the direction of the maximum slope and the size of the maximum slope are often required. This is the main line O on the floor surface of the intersection line 0M on both sides of the glue and H in Figure 1.
This is the calculation of the angle α with respect to the X-ray and the maximum inclination angle Φ in the direction perpendicular to the 0M line. This can be derived from equation (13). [0026] The maximum inclination angle is

[Formula 14] jan2 φ ,, −″ jan2 z + t
an2ψ from this

[Formula 15] φrl= jan−” (t, an2ψ+tan2z
) The angle α between the 0M line and the main line ○X is

[Math. 17] t2+r+　χ=　tanψH5irlrJFrom this

[Equation 18] Equation 19, which will be described later. Continuous measurement in all directions and (Math. 1
An omnidirectional inclinometer that can switch between measuring Φ and α using equations 4) to (18) is described in the second embodiment below. [0027] First Embodiment As a first embodiment of the oscillation angle conversion device of the present invention, an example applied to oscillation correction of a double gimbal stabilizing plate will be described with reference to FIG. [0028] Mechanical sway angle coordinate conversion calculation tool P of the present invention is used to correct the sway of a double gimbal type stable plate T on a model hull S mounted on a Scorbysky table (compound sway test stand) for ship sway simulation. This is an example. In this case, since the shaking period of the target model hull is low, the response of the mechanical calculation tool is sufficient, and in fact, it is considered to be superior in terms of accuracy and stability compared to the comparable electric analog calculation tool. . [0029] A pitch meter p and a roll meter r are attached to the model hull S to measure the swing angle of two orthogonal axes, ie, the main axis x-x'. The bottom surface of the outer circumferential wall (2) of the stable plate T serves as a hull platform, and the entire body rotates on the floor of the hull S. If the coordinates of the floor surface of the hull S are 0-XY and the coordinates of the rotating base of the stable plate are 〇-ξη, and the orthogonal z-axes of both sides coincide at the beginning, the state shown in the figure is that the stable plate T rotates by an angle of σ. This shows a state where ○-ξη matches the hull coordinates ○-X1Y1. For turning, the motor 10 on the floor moves to the azimuth angle θ6 of the compass r.
The receiver gives rotation to the stable plate through a gear connection, and its turning angle θ6 is also transmitted to the transmitter 38 through a gear connection. [0030] The stable plate T has a double gimbal structure, and the outer peripheral wall 1 is ξ-ξ
The outer ring part 2 is supported by the 'shaft, and rotation is applied to the outer ring part by a motor A2 on the outer periphery. The inner ring part is supported by an axis perpendicular to the ξ-ξ' axis of the outer ring part, and the inner ring part is driven by a motor t on the outer ring part. The inner ring has a horizontal stabilizer. [0031] In the test, the azimuth control gives a similar azimuth signal θ6 to the motor 0 and turns around the stable plate T in the simulation. At the same time, the compound movement given to table S is measured by pitch meter p. It is detected by the roll meter r and sent to the oscillation angle coordinate conversion calculation point P. Further, the transmitter 38 sends a similar orientation signal θ6 to P. At P, the orthogonal two-axis swing angles ψ and χ of the main axis
I X i Axial vertical and horizontal swing angle ψ1. χ1 and sends it to the table S receiver 39.40. 39
．． 40 ψ, χ signals control motor A2. t controls the inner and outer rings and keeps the inner ring part 1 stable plate always pointing north (pseudo) and horizontally. [0032] Next, the oscillation angle coordinate conversion calculation device using P will be explained. The motor 3.12 provided in the calculation tool P receives and rotates the standard orthogonal two-axis swing angles χ and ψ of T obtained from the table T, and the motor 1 receives the turning angle θ6 of S, respectively. [0033] The values of χ and ψ are determined by the groove cam calculator G1. Due to the action of O2, ta
It is converted into nχ, tanψ. This calculator G1. O2
have a known structure, and the axes IG and IG2, which rotate according to the swing angles χ and ψ, are branched axes 13a and 13b.
The worms 19a and 19b1 are rotated through the worm wheels 21a and 21b, and the grooved curved rotating bodies 23a and 23b are rotated.
and the shafts 15a and 15b are rotated in proportion to tan χ-χ and tan ψ-ψ via rocker arms 25a and 25b with pointed tips that fit into the grooves and slide. These derived values are added to the values of χ and ψ of the axes 11a and llb at the differential gears 17a and 17b, respectively, to obtain tanχ and t, respectively.
It is converted to the value of anψ. [0034] These values are directed to receivers 159 and 158 and are introduced into sine and cosine calculator A 1 via axes IA1 and 2A1. In addition to the axes IA1 and 2A1, the calculator A1 also has one introduction axis 3A1, which introduces the value of the rotation angle θ6 from the motor 1. The calculator A1 has a known structure and mechanizes the equation (13). That is, the levers 29a and 30a sliding through the centers of the rotating discs 27a and 28a are given movements corresponding to tanχ and tanψ, and the shaft 3A1 is giving a rotation angle of θ6 to the rotating discs 32a and 33a. . then,
A member 34a that is allowed to slide only orthogonally to each other and has grooves that are perpendicular to the sliding direction. 35a, 36a, and 37a are the pins 38a and 3 of the levers 29a and 30a that fit into the intersections of the respective orthogonal grooves.
9a, tanχ' cosθd, tanχ・Si
nθd and tanψ・COSθ tanψ・5ino
performs a movement proportional to d. Therefore, d. If these values are added according to a predetermined formula in the differential gears 41a and 40a, the shaft 4A1 moves in proportion to tanχ1, that is, the tangent of the lateral vibration angle, and the shaft 5A1 moves in proportion to tanψ
1, that is, the movement is proportional to the tangent of the vertical oscillation angle. [0035] Second Embodiment Next, as a second embodiment of the present invention, an example applied to an orthogonal two-axis inclinometer will be described with reference to FIGS. 4 and 5. [0036] By attaching an inclinometer to the two orthogonal axes of the floor surface, it is possible to electronically measure the vertical and horizontal inclinations in the directions of the other orthogonal two axes at arbitrary angles. FIG. 4 shows an orthogonal two-axis inclinometer with such a configuration. [0037] This is formed by a sensor unit set on the floor and a portable computer unit. The outer casing of the sensor unit is box-shaped, with vertical and horizontal inclinations inside, and the inclinometer is a small electronic type with a built-in battery.
It has a compass that shows °. [0038] The computer unit has a potentiometer for setting the azimuth angle having an 0 to 360° azimuth dial on its outer surface, and a 4-channel digital display panel that displays the set inclination and azimuth in two orthogonal directions. The built-in microcomputer receives two vertical and horizontal signals from the sensor unit. A direction signal from a potentiometer is also input. The computer unit is portable, portable, and compact enough to be installed in any location. [0039] In this configuration, the computer unit and the sensor unit are connected to the inclinometer output, and the azimuth dial of the sensor unit and the azimuth dial of the potentiometer of the computer unit are precisely calibrated and matched. The positions and postures of the blades are unrelated, and there is no electrical connection between them. Therefore, the sensor unit is
-X', Y-Y', the computer unit can freely set the orientation and position in a posture convenient for measurement, and if the potentiometer is rotated 61 times, the computer will make an angle of σ with the X and Y axes. The image inclination angles in the X1-axis and Y1-axis directions are generated using equation (13), and the inclinations and orientations of each axis are digitally displayed. [0040] The above is the case of mode 1, which measures the inclination in the azimuth direction on a continuous floor surface. As already mentioned, as shown in FIG. 1, the position and maximum inclination angle of the H plane to the intersection line MM' are ( By switching to mode 2 shown by Equation (13), Equation (14), and Equation (15), the vertical and horizontal display panels will show that the maximum inclination angle on one side and the zero value on the other side correspond to each azimuth plane. Is displayed. [0041] With reference to FIG. 5, computer programs for mode 1 and mode 2 will be explained. In mode 1, the slope angle χψ is calculated as tanχ, ja through the function conversion program FT.
It is converted to nψ, and the oscillation angle coordinate conversion program RPT is used together with the input σ1 from the potentiometer.

[Formula 19] L,]1)ψ, ”-tanψ 00Sj7 I゛-
22Jr χ ':':1n 61

[Formula 20] ta+1χ1 "tanχ' coSL5. -+-
The calculation of tanψ°Sinσ1 is performed and tanχ and t
anψ1, and σ is the coordinate transformation program CT
The direction 90°-σ of the Y axis is determined by χ1. ψ1
．． 14 outputs of σ, 90°-σ are displayed on the display. The above is mode 1, but if you switch to mode 2, tanχ of input χ, ψ, t
Conversion to anψ is performed using the program F T as in mode 1.
1, but in mode 2, the maximum inclination angle Φ is calculated by calculating the formula (15) using the maximum value calculation program FΦT, and the other is the output from the main axis OX line and the intersecting line ○
By the intersection angle α calculation program FαT with the M line (Equation 18)
The formula is calculated and the α value is calculated, Φ, and α becomes 4 outputs along with the intersection angle 90-α of the 0M line and the OY line by the coordinate conversion program CT2.The display is switched to the remote 1 display and output to the display. . [0042] Mode 1. Since there is no need to take the attitude of the computer unit into account during measurement in mode 2, the measurement can be performed quickly and accurately. [0043] Furthermore, as shown in FIG. 4, the direction actually indicated by the azimuth line on the azimuth scale of the sensor unit corresponding to the azimuth display of the computer and the actual azimuth are exactly the same as the ``nogisu'' that is measured by applying it to the actual object.
It corresponds to the level of angle gauge. Therefore, this measuring device can be efficiently used for measuring actual buildings, road slopes, slope measurements, etc. [0044]

【Effect of the invention】

According to the present invention, the following effects can be obtained. [0045] (1) The calculation principle is accurate and there are no omissions. [0046] (2) The program is simple. [0047] (3) As a dynamic application, it is used to correct the oscillation of ships. It responds well to the ever-changing vibrations. [0048] (4) For static applications, accurate measurements are required for testing the effects of cargo on ship and vehicle bodies. [0049] (5) In addition to the above-mentioned examples, factory floors, architecture, construction,
Suitable for setting slopes and slopes in civil engineering work sites and road construction.

[Brief explanation of drawings]

FIG. 1 is a route map for explaining the oscillation angle coordinate conversion device of the present invention.

[Figure 2] FIG. 2 is a principle diagram of the oscillation angle coordinate conversion device of the present invention.

[Figure 3] FIG. 1 is a configuration diagram of a first embodiment of the present invention.

[Figure 4] It is a block diagram of the 2nd Example of this invention.

[Figure 5] It is a block diagram which shows the principal part of the 2nd Example of this invention.

[Explanation of symbols]

P　Sway angle coordinate conversion calculation tool p Pitch meter r Connomous S Hull T Stable board t Motor

【Document name】

[Figure 1] drawing

[Figure 2]

[Figure 3]

[Figure 4]

[Figure 5]

Claims (1)

[Claims] 1. A oscillation angle coordinate conversion device for converting a oscillation angle about two arbitrary orthogonal axes on a floor surface of a moving body into a oscillation angle about two other orthogonal axes forming an arbitrary angle with respect to the two axes.