JPH04168318A - Induction apparatus - Google Patents

Abstract

PURPOSE:To obtain an apparatus capable of removing influences of the torque change of a torque motor or the friction torque by detecting the acceleration of a detector provided in a frame of gimbals thereby to obtain the angular acceleration, and correcting a gimbals driving signal by the use of the angular acceleration. CONSTITUTION:A gimbals frame 7 rotates drawing a circle in the horizontal plane around the axis of gimbals. Therefore, an acceleration detector 28 detects the acceleration in a tangential direction. The frequency of the detector 28 is input to a correcting circuit 30 of a gimbals controlling device. The correcting circuit 30 is provided with an angular acceleration signal generator 29. The acceleration detected by the detector 28 is converted to the angular acceleration by the generator 29, so that an angular acceleration signal 31 is obtained. The correcting circuit 30 subtracts the angular acceleration signal 31 from a gimbals driving signal 32 and outputs to a servo amplifier gain setter 17. Accordingly, influences of the torque change corresponding to the angle of the gimbals frame 7 of a torque motor 6 and the friction torque resulting from the binding of a wire 10 can be removed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a guidance device that is mounted on a flying object and guides the flying object so as to track a target.

(Prior Art) A guidance device includes a gimbal section 9, as shown in FIG. 2, for example.
and a gimbal control device 25, and a wiring 1 is connected between the two.
It is connected with 0. For ease of explanation, the illustrated example of the gimbal section 9 shows a case where a detector is mounted on a gimbal mechanism with one axis of freedom. That is, the gimbal support frame 8 in the shape of a rectangular window frame is fixed to the flying object, and the gimbal shafts protruding from both opposing sides of the cylindrical gimbal frame 7 are attached to the upper and lower frames of the gimbal support frame 8. The gimbal frame 7 is rotatably supported, so that the gimbal frame 7 can rotate within the gimbal support frame 8 in a horizontal plane about the gimbal axis. In this gimbal frame 7, a detector 3 that uses an infrared sensor or the like is placed inside the gimbal frame 7.
Similarly, an angular velocity detector (rate sensor) 4 is arranged, for example, on the outer circumferential side surface so as to coincide with the axis. The rate sensor 4 detects the angular velocity of the detector 3 relative to the inertial space, and rotates integrally with the gimbal frame 7 in a horizontal plane. Also, the angle detector 5 is the detector 3.
This detects the rotation angle of the gimbal support frame 8.
For example, the gimbal shaft is disposed on the outer surface of the upper suspension body so as to be engaged with a gimbal shaft protruding therefrom. Further, the torque motor 6 is composed of a so-called limit angle DC motor, and is used to rotate the gimbal frame 7 within a specified angle range. The shaft is disposed in engagement with the shaft. Each of these detectors and the torque motor 6 are connected to a gimbal control device 25 via a wire 10 connected to the east.

Note that the gimbal mechanism having two-axis degrees of freedom has the above-described configuration in each of the two mutually orthogonal axes directions.

Next, in the gimbal control device 25, the error angle detector 11 receives the output of the detector 3, detects the angular difference between the detector center direction 1 and the target direction 2, and sends the error angle signal 14 to the tracking gain setter 15. Output against. The tracking gain setter 15 receives the error angle signal 14, determines the operating characteristic for tracking the detector 3 in the target direction 2, and outputs an angular velocity command signal 16 representing the content thereof.
is output to one switching terminal of the switch 23.

The angle signal generator 12 receives the output from the angle detector 5 and generates an angle signal 19 in the direction 1 of the center of the detector as seen from the gimbal support frame 8 . In the initial state where the target is not captured within the field of view of the detector 3, an angle command 18 is supplied from the outside in order to orient the detector 3 so as to capture the target within the field of view. The angle signal 19
is applied to the position amplifier gain setter 20, where the angle signal 19 for the angle command signal 18 is
The operating characteristics are determined, and an angular velocity command signal 22 representing the contents thereof is output to the other switching terminal of the switch 23.

The switch 23 performs a switching operation in response to a mode switching signal 21 which is an external control signal, but in the initial state it selects and outputs the angular velocity command signal 22 which is an input signal to the other switching terminal, and after target capture, it selects and outputs the angular velocity command signal 22 which is the input signal of the other switching terminal. The angular velocity command signal 16, which is an input signal, is selectively output.

The angular velocity signal generator 13 receives the output of the rate sensor 4 and generates an angular velocity signal 24 for the detector 3. This angular velocity signal 24 is subtracted from the output of the switch 23 and input to the servo amplifier gain setter 17 as a gimbal drive signal 32. The servo amplifier gain setter 17 generates a torque command signal 27 in response to the gimbal drive signal 32 which is an input signal, so that target acquisition can be performed quickly in the initial state, and rapid tracking can be performed in the post-acquisition tracking mode. The torque motor 6 is controlled as follows.

Here, the angular velocity of the detector 3 and the angular velocity detected and output by the rate sensor 4 match, and the angular velocity signal 24 outputted by the rate sensor 4 matches the target angular velocity seen from the detector 3. Since the signal of the angular velocity of the target seen from this detector 3 is used to guide the flying object, the rate sensor 4
The angular velocity signal 24, which is the output of the guidance device, becomes the guidance signal 26, which is the output of the guidance device.

(Problems to be Solved by the Invention) In the conventional guidance device described above, the output torque of the torque motor 6 that operates according to the torque command signal 27 varies depending on the angle of the gimbal frame 7, so that the gimbal control performance deteriorates and This deteriorates the performance of tracking the target and reduces the accuracy of the guidance signal 26. This is an essential problem due to the fact that the torque motor 6 is a so-called limit angle DC motor.

In addition, since the wiring 10 connecting the gimbal section 9 and the gimbal control device 25 is east-wired, the wires rub against each other and generate frictional torque, which acts to move the detector 3 integrally with the flying object. This friction torque tends to increase as the number of wires increases with the imaging of the detector 3, and the vibration of the flying object during flight appears in the guidance signal, reducing the accuracy. Then, the servo amplifier gain (KA
) has been dealt with by increasing the value. However, due to the relationship with the frequency characteristics of the rate sensor 4, the servo amplifier gain (
KA) cannot be made too large, and drastic measures are desired.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a guidance device equipped with means for eliminating the influence of torque fluctuations of a torque motor and friction torque.

(Means for Solving the Problems) In order to achieve the above object, the guidance device of the present invention has the following configuration.

That is, in the guidance device of the present invention, a detector for detecting a target and a rate sensor for detecting the spatial angular velocity of this detector are provided in the gimbal frame of a gimbal mechanism having two degrees of freedom, and a torque for rotationally driving the gimbal frame is provided. In a guidance device in which a torque command signal for a motor is formed according to a gimbal drive signal generated from an error angle with a target and a detected spatial angular velocity; an acceleration detector is provided in the gimbal frame; a correction circuit that receives the output, generates a signal indicating the angular acceleration of the gimbal frame, and corrects and outputs the gimbal drive signal based on the angular acceleration signal;
It is characterized by having the following.

(Function) Next, the function of the guiding device of the present invention configured as described above will be explained.

In the present invention, the acceleration of the gimbal frame, that is, the acceleration of a detector provided on the gimbal frame is detected, the angular acceleration is determined from the acceleration, and the gimbal drive signal is corrected based on this.

Torque is proportional to angular acceleration, but if the gimbal drive signal is made to match the angular acceleration of the detector, the influence of torque fluctuations on the gimbal frame angle of the torque motor and frictional torque caused by wiring being aligned can be removed.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a first embodiment of a guidance device according to an embodiment of the present invention.
In the figure, the same reference numerals are given to the same components as in FIG. 2. Hereinafter, parts related to the present invention will be mainly explained.

In FIG. 1, in the gimbal section 9, an acceleration detector 28 is provided on the gimbal frame 7. Since the gimbal frame 7 rotates in a circle in a horizontal plane around the gimbal axis, the acceleration detector 28 detects acceleration in the tangential direction of the circle. The frequency of this acceleration detector 28 is input to a correction port B 30 provided in the gimbal control device.

The correction circuit 30 includes an angular acceleration signal generator 29 in which the acceleration detected by the acceleration detector 28 is converted into angular acceleration by the angular acceleration signal generator 29, and an angular acceleration signal 31 is generated.
becomes. The correction circuit 30 further subtracts the angular acceleration signal 31 from the gimbal drive signal 32 and outputs it to the servo amplifier gain setter 17.

Here, since torque is proportional to angular acceleration, when the gimbal drive signal 32 matches the angular acceleration signal 31, the target is at the desired position, and there is no need to drive the torque motor 6.

Thus, by the above measures, it is possible to eliminate the torque fluctuation of the torque motor 6 with respect to the angle of the gimbal frame 7 and the influence of friction torque due to the wiring 10 being east-lined.

(Effects of the Invention) As explained above, according to the guidance device of the present invention, focusing on the fact that torque is proportional to angular acceleration, an acceleration detector is provided in the gimbal frame, and the gimbal drive signal is converted to the angular acceleration of the detector. This makes it possible to eliminate the influence of torque fluctuations caused by the angle of the torque motor's gimbal frame and the frictional torque caused by wiring being routed to the east, improving gimbal control performance and improving the output of the guidance device. This has the effect of improving the accuracy of a certain guidance signal.

[Brief explanation of drawings]

FIG. 1 is a block diagram of the configuration of a guidance device according to an embodiment of the present invention, and FIG. 2 is a block diagram of the configuration of a conventional guidance device. 1...Detector center direction, 2...Target direction, 3...Detector, 4...Angular velocity detector, 5... Angle detector, 6...
・Torque motor, 7...Gimbal frame, 8.
...Gimbal support frame, 9 ...Gimbal part, 10 ...Wiring, 14 ...Error angle signal, 15 ...Tracking gain setting device , 1
6... Angular velocity signal, 17... Servo amplifier gain setter, 24... Angular velocity signal,
25...Gimbal control device, 26...
・Guidance signal, 27...Torque command signal, 2
8... Acceleration detector, 29... Angular acceleration signal generator, 30... Correction circuit, 31
...Angular acceleration signal, 32...Gimbal drive signal. Agent Patent Attorney Yoshihiro Hachiman

Claims (1)

[Claims] A detector for detecting a target and a rate sensor for detecting the spatial angular velocity of this detector are installed on the gimbal frame of a gimbal mechanism having two-axis degrees of freedom, and the torque command signal of the torque motor that rotationally drives the gimbal frame is set to match the target. In a guidance device configured to form a gimbal drive signal according to a gimbal drive signal generated from an error angle and a detected spatial angular velocity; the gimbal frame is provided with an acceleration detector; generates a signal indicating
A guidance device comprising: a correction circuit that corrects and outputs the gimbal drive signal based on the angular acceleration signal.