JPH04297819A - Space stabilizing method and device - Google Patents

Abstract

PURPOSE:To obtain a space stabilizing device which can direct a gimbals in the direction of a target by canceling the influence of rocking of a machine body mounting the gimbals. CONSTITUTION:A space stabilizing unit 9 is fixed to a gimbals control system 2 and the space stabilizing unit 9 comprising an inertia unit 10, a coordinate converting/processing section and a space stabilizing signal calculating section 11 produces a space stabilizing signal which is added to an angle feedback signal of a gimbals. The space stabilizing signal can be calculated utilizing the transfer function between the angular speed of machine body and the gimbals angle while taking account of characteristics of the space stabilizing system and various elements of the gimbals control system. According to the invention, influence of rocking of the machine body onto the gimbals is canceled resulting in sufficient spatial stabilization of the gimbals.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] This invention is intended for use in gimbals that hold antennas, cameras, etc. mounted on flying objects, aircraft, ships, automobiles, etc., when the body, hull, or vehicle body (hereinafter abbreviated as the aircraft body) oscillates. The present invention relates to a space stabilization method and device for stabilizing a certain inertial space without being affected by the space.

0002

2. Description of the Related Art FIG. 7 is a block diagram showing the functions of a conventional space stabilizing device. In the figure, 1 is a simplified model of the gimbal, and 2 is a gimbal control system having an angular velocity and angle feedback loop. Detectors 3 and 4 detect the angle and angular velocity of the gimbal, respectively. Further, 5 and 6 are the control gains of the most simplified form of the angle and angular velocity loops, respectively. 7
8 is a physical integral element, 8 is an integrator, 10 is an inertial device that detects the angular velocity of the aircraft, and 16 is a processing unit that converts the coordinates of the aircraft angular velocity from the aircraft axis to the gimbal axis using the gimbal angle.

A conventional space stabilizing device is constructed as described above. The gimbal control system 2 controls the angle λ of the gimbal in response to the angle command signal λc, but the aircraft attitude angle θm is physically added to the gimbal control system 2, and as a result, the gimbal can be directed to a certain target inertial space angle σ. When the aircraft oscillates, its angular velocity θ·m affects the angular velocity of the gimbal 1 and changes the gimbal angle λ, causing the inertial space angle σ to deviate from the target direction. However, at the same time, the angular velocity θ・m of the aircraft is detected by the inertial device 10, further coordinates are converted to the gimbal axis by the coordinate conversion processing unit 16, and integrated by the integrator 8 to obtain an angle signal, which is converted into a spatial stabilization signal λs.
By adding this to the angle feedback signal λ of gimbal 1 as

0004

[Problem to be Solved by the Invention] In the conventional space stabilization signal calculation method as described above, the space stabilization signal λs is obtained by converting the coordinates of the aircraft's angular velocity θ・m to the gimbal axis, and then integrating it into an angle signal. Since the characteristics of the gimbal control system 2, inertial device 10, and coordinate transformation processing unit 16 are not considered, there is a problem that the influence of the aircraft angular velocity θ・m on the gimbal cannot be sufficiently canceled out. there were.

The present invention was made to solve this problem, and the spatial stabilization signal λs is transmitted through the angular velocity and angular loop gains 5 and 6, which are elements of the gimbal control system 2, and the angular velocity detector 3. By calculating in consideration of the band of the angular velocity detector 4, the characteristics of the inertial device 10, and the influence of the calculation dead time of the coordinate conversion processing section 16,
Completely cancels out the influence of the aircraft's angular velocity θ・m,
The purpose is to allow the gimbal to be sufficiently stabilized in space.

[0006]

[Means for Solving the Problems] In the spatial stabilization signal calculation method according to the present invention, first, each element of the gimbal control system 2, the inertial device 10, the coordinate transformation processing section 16, etc., and the spatial stabilization device according to the present invention are explained. Express the characteristics of with a simple mathematical model. Next, use this to find the transfer function from each speed of the aircraft θ・m to the gimbal angle λ, and calculate the angular velocity of the aircraft θ・m
There is one that calculates the angle signal for spatial stabilization such that the transfer function from to the spatial stabilization signal λs is equivalent to it.

Further, if the above angle signal is the spatial stabilization angle signal λs, in addition to this, a transfer function from the aircraft angular velocity θ・m to the gimbal angular velocity λ・ is calculated, and from the aircraft angular velocity θ・m, the transfer function for spatial stabilization is calculated. The spatially stabilized angular velocity signal λ·s is calculated so that the transfer function up to the angular velocity signal is equivalent to it.

Furthermore, in the space stabilization device according to the present invention, the angular velocity θ of the aircraft whose coordinates have been transformed to the gimbal axis is
It has an integrator that converts m into an angle signal, a multiplier that multiplies it by a constant obtained using the transfer function from the aircraft angular velocity θ・m to the gimbal angle λ, and an adder that adds the result and the above angle signal. It was added.

[0009] Furthermore, when the transfer function from the aircraft angular velocity θ・m to the gimbal angle λ is determined up to a first-order term for the numerator and a second-order term for the denominator, one integrator and a multiplier are required in addition to the above-mentioned integrator. and a first-order filter configured by an adder.

[0010] Furthermore, when the transfer function from the aircraft angular velocity θ・m to the gimbal angle λ is obtained in terms of quadratic or higher order, a transfer function composed of a plurality of integrators, multipliers, and adders is used to realize it. This is a high-order filter added.

[0011] Furthermore, a multiplier that multiplies the aircraft angular velocity θ·m whose coordinates have been transformed to the gimbal axis by a constant determined using a transfer function from the aircraft angular velocity θ·m to the gimbal angular velocity λ·; It has an adder that adds the aircraft's angular velocity.

[0012] Furthermore, when the transfer function from the aircraft angular velocity θ・m to the gimbal angular velocity λ・ is obtained up to the first-order term, a transfer function consisting of one integrator, multiplier, and adder is used to realize it. Add a primary filter.

[0013] Furthermore, when the transfer function from the aircraft angular velocity θ・m to the gimbal angular velocity λ・ is obtained up to quadratic or higher terms, it is constructed of a plurality of integrators, multipliers, and adders to realize it. Add a high-order filter.

[0014]

[Operation] By using the spatial stabilization signal calculation method as described above, the spatial stabilization signal can be calculated taking into account the effects of each element of the gimbal control system, the inertial device, and the coordinate transformation processing section. , it acts to sufficiently cancel out the shaking of the aircraft that is applied to the gimbal.

Furthermore, by using the space stabilization device configured as described above, it is possible to realize the space stabilization signal calculation method according to the present invention, and even if the gimbal is affected by the movement of the aircraft, the effect It acts in such a way that it can sufficiently stabilize the space even if it is canceled out.

[0016]

[Example] Example 1. FIG. 1 is a block diagram showing an embodiment of the spatial stabilization method of the present invention. 1 to 8 and 10 are the same as those of the above-mentioned conventional device. However, 3, 4, and 10 are the transfer functions GSR(s), GSP(s), and GI(s), respectively.
). 9 is a spatial stabilization device using the spatial stabilization signal calculation method according to the present invention. 11 is a part that calculates a gimbal angle signal for spatial stabilization using a transfer function from the aircraft angular velocity to the gimbal angle, and its characteristics are expressed as a transfer function GC (s). 12 is the calculation in the spatial stabilization signal calculation section 11;
The effect of calculating the coordinate transformation of the aircraft angular velocity to the gimbal axis is
This is modeled as a time delay element e-rs.

In the block diagram of FIG. 1, the aircraft angular velocity θ
- The errors in gimbal angular velocity and angle due to the influence of m are expressed as "Equation 1" and "Equation 2", respectively. Therefore, the transfer function from the aircraft angular velocity θ·m to the gimbal angle λ is as shown in “Equation 3”. Also, the aircraft angular velocity θ・
The transfer function from m to the spatial stabilization signal λs is “Equation 4”
It can be expressed as In the spatial stabilization signal calculation method according to the present invention, this GC (s) is expressed as “Equation 5”.
By designing to satisfy ``Math 3'' and ``
4" can be made zero. In this case, the spatial stabilization signal λs is based on the characteristics of the spatial stabilization device 9 according to the present invention, such as the gimbal control system 2, the inertial device 10, and the time delay element 12. This spatially stabilized signal λ
By adding s to the feedback signal of the gimbal angle λ, it becomes possible to almost completely cancel out the error in the gimbal angle due to the influence of the angular velocity θ·m of the shaking aircraft.

[0018]

[Math 1]

[0019]

[Math 2]

[0020]

[Math 3]

[0021]

[Math 4]

[0022]

[Math 5]

Example 2. In “Math 5”, GSR (s), GSP (s), GI
The characteristics of (s) are approximated by “Math. 6” to “Math. 8”, respectively.
It can be expressed by a transfer function like . Further, the time delay element e-rs 12 can be approximated as shown in "Equation 9". GC (s) at this time is as shown in "Equation 10". FIG. 2 is a block diagram showing an example of the configuration of the spatial stabilization signal calculation section 11 in FIG. 1. As shown in FIG. In the figure, 21 indicates a spatial stabilization signal calculation section, 22 an integrator, and 23 to 30 constants. In addition, the symbols a0 to an and b0 to bn are expressed as “Number 10
This is the coefficient when GC (s) of `` is set as in ``Equation 11.'' However, in the transfer function of ``Equation 10'', the order of the numerator is higher than the order of the denominator, and it cannot be realized as is. Therefore, in "Equation 11", terms higher than the order of the denominator in the numerator are ignored.By adding a filter of any order configured to satisfy this block diagram, the angular velocity of the aircraft θ・m can be calculated. It is possible to realize a spatial stabilization device that can sufficiently cancel out gimbal angle errors caused by the influence within a necessary range.

[0024]

[Math 6]

[0025]

[Math 7]

[0026]

[Math. 8]

[0027]

[Math. 9]

[0028]

[Math. 10]

[0029]

[Math. 11]

Example 3. In the second embodiment described above, the spatial stabilization signal calculation unit 11 is a high-order filter having a configuration that satisfies the block diagram of FIG. By realizing this with software and executing it with a computer, a spatial stabilization device that can similarly cancel out gimbal angle errors due to the influence of the aircraft's angular velocity θ·m can be realized. Furthermore, by sharing the computer with another computer that performs calculations, the device can be made smaller.

Example 4. "Math. 12" is a transfer function of "Math. 10" whose denominator is quadratic,
This is the calculation of the numerator up to the first order term. Figure 3 shows this “Math 1”
2" is applied to "Equation 11", it is a block diagram showing an example of the configuration of a filter that realizes it. In the figure, 31 indicates a spatial stabilization signal calculation section, 32 an integrator,
33 and 34 are constants. In the above embodiment 2 or 3, if the transfer function GC (s) of the spatial stabilization signal calculation unit 11 is configured as described above, the configuration becomes simple, and the spatial stabilization signal λS is controlled by the gimbal control system 2 and the spatial stabilization Since all of the most important first-order terms among the characteristics of the conversion device 9 are taken into consideration, similar effects can be sufficiently obtained.

[0032]

[Math. 12]

Example 5. "Math. 13" is a modification of "Math. 12". FIG. 4 is a block diagram showing the configuration of a filter that realizes the application of "Math. 13" to "Math. 11". In the figure, 41 indicates a spatial stabilization signal calculation section, 42 an integrator, and 43 a constant. In the fourth embodiment described above, two integrators are used to realize the transfer function GC (s) that takes into account all the first-order terms, which are the most important among the characteristics of the gimbal control system 2 and the spatial stabilization device 9. However, in this example, only one integrator is required, which simplifies the configuration.

[0034]

[Math. 13]

Example 6. FIG. 5 is a block diagram showing another embodiment of the spatial stabilization method of the present invention. 1 to 8 and 10 and 12 are the same as in Example 1 shown in FIG. 13 is a space stabilizing device in this embodiment, which corresponds to 9 in FIG. 14, 1
5 is a part that calculates gimbal angular velocity and angle signals as spatial stabilization signals using the transfer functions from the aircraft angular velocity to the gimbal angular velocity and angle, respectively, and the characteristics are expressed as transfer functions GCR(s) and GCP(s ).

In the first embodiment, the spatial stabilization signal was only an angle signal, but in this embodiment, it is calculated as two signals: angular velocity and angle. In the block diagram of FIG. 5, the transfer functions from the aircraft angular velocity θ・m to the gimbal angular velocity λ・ and the angle λ are “Equation 14” and “
The transfer functions from the aircraft's angular velocity θ・m to the spatially stabilized angular velocity signal λ・s and the angle signal λs can be expressed as ``Math. 16'' and ``Math. 17'', respectively. .Therefore, this GCR(s), GC
If P(s) is designed to satisfy "Math. 18" and "Math. 19", respectively, then the sum of "Math. 14" and "Math. 16" and the sum of "Math. 15" and "Math. 17" can be can also be made zero. In this case, the spatially stabilized angular velocity signal λ・s
and angle signal λs take into account the characteristics of the gimbal control system 2 and the space stabilization device 13, so by adding them to the feedback signals of the gimbal angular velocity λ and angle λ, respectively, the influence of the aircraft angular velocity θ m can be calculated. It is possible to almost completely cancel out the gimbal angle error due to At this time, the angular velocity component of the error is not limited by the control gain ωp of the angle loop and is generally canceled out in a wider frequency band than the angle loop, so the aircraft can have a greater spatial stabilization effect.

[0037]

[Math. 14]

[0038]

[Math. 15]

[0039]

[Math. 16]

[0040]

[Math. 17]

[0041]

[Math. 18]

[0042]

[Math. 19]

Example 7. GSR (s), GSP (of “Math. 18” and “Math. 19”)
s), GI (s) are expressed by the transfer functions of "Equation 6" to "Equation 8" as in Example 2, then GCR(s), GCP(s)
are "Math. 20" and "Math. 21", respectively. Similar to the second embodiment, by configuring GCR(s) and GCP(s) with filters of arbitrary orders that satisfy the block diagram of FIG. 2, a space where the same or better effect can be expected. A stabilizing device can be realized.

Example 8. In the third embodiment, the spatial stabilization signal calculation unit 11 in FIG.
5 are configured by software to realize the transfer functions of "Math. 20" and "Math. 21", respectively. By running them on a computer, the same or better effects can be expected.

[0045]

[Math. 20]

[0046]

[Math. 21]

Example 9. In the fourth or fifth embodiment, the spatial stabilization signal calculation unit 11 of FIG.
In order to realize "Equation 12", the configuration is as shown in the block diagram of FIG. 3 or FIG. In order to realize “Math. 22” and “Math. 23”, Fig. 6,
It is configured as shown in the block diagram of FIG. Figure 6 shows “Math 2
When applying ``2'' to ``Number 11'', 1 that realizes it
It is a block diagram showing an example of the configuration of a second-order filter, where 61 indicates a spatially stabilized angular velocity signal calculation section, 62 an integrator, and 6
3 and 64 are constants. By adopting such a configuration, equivalent or better effects can be expected.

[0048]

[Math. 22]

[0049]

[Math. 23]

Example 10. "Math. 24" is a modification of "Math. 23". In Example 9, a filter with the configuration as shown in FIG. 3 is used to realize “Math. 23”, but when “Math. 24” is applied to “Math. By configuring a filter that achieves this as shown in the block diagram of FIG. 4, the configuration for obtaining the same effect becomes simple.

[0051]

[Math. 24]

By the way, in the above description, the case where the present invention is used in a gimbal control system having an angle detector and an angular velocity detector has been described, but it goes without saying that it can also be used in a gimbal control system having only an angle detector. Further, the same applies when the characteristics of each element of the gimbal control system or the spatial stabilization device are expressed by a transfer function different from that described above.

[0053]

[Effects of the Invention] Since the present invention is constructed as described above, it has the following effects.

[0054] Since the transfer function from the angular velocity of the aircraft to the gimbal angle is used to calculate the spatial stabilization signal, each element of the gimbal control system and the characteristics of the spatial stabilization device according to the present invention are taken into consideration. This allows the gimbal to be directed in the direction of the target by sufficiently canceling out the effects of the angular velocity of the aircraft due to oscillation.

[0055] Furthermore, if the configuration is configured to directly utilize the transfer function from the angular velocity of the aircraft to the gimbal angular velocity, the angular velocity component of the error caused by the angular velocity of the aircraft is not limited by the frequency band of the angle loop of the gimbal control system. Since it can be canceled out, the effect of spatial stabilization becomes greater.

In addition, in the part that calculates the spatial stabilization signal, by having only one integrator and a first-order filter, the most important characteristics of each element of the gimbal control system and the spatial stabilization device according to the present invention can be calculated. Since all first-order terms can be considered, it not only has a sufficient spatial stabilization effect, but also
The configuration is simple and the device can be made smaller.

In the part that calculates the angular component of the spatial stabilization signal, only one integrator, one multiplier, and one adder are required, and each element of the gimbal control system and the spatial stabilization device according to the present invention are The most important characteristic of
Since all of the following terms can be considered, the configuration can be further simplified and the device can be made smaller.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the overall configuration of Examples 1 to 5 of the present invention.

FIG. 2 is a block diagram showing the configuration of a filter used in a spatial stabilization signal calculation unit in embodiments 2 and 7 of the present invention.

FIG. 3 is a block diagram showing the configuration of a spatial stabilization signal calculation section according to a fourth embodiment of the present invention.

FIG. 4 is a block diagram showing the configuration of a spatial stabilization signal calculation unit in embodiments 5 and 9 of the present invention.

FIG. 5 is a block diagram showing the overall configuration of Examples 6 to 9 of the present invention.

FIG. 6 is a block diagram showing the configuration of a spatially stabilized angular velocity signal calculation section according to a ninth embodiment of the present invention.

FIG. 7 is a block diagram showing an example of a configuration of a space stabilizing device according to a conventional technique.

[Explanation of symbols]

1 Gimbal 2 Gimbal control system 3 Angular velocity detector 4 Angle detector 9 Space stabilization device 10 Inertial device 11 Space stabilization signal calculation unit 12 Space stabilization device time delay element 13
Spatial stabilization device 14 Spatial stabilization angular velocity signal calculation unit 15
Spatial stabilization angle signal calculation section 16 Coordinate transformation processing section 22 Integrator 31 Spatial stabilization signal calculation section 32 Integrator 42 Integrator 62 Integrator

Claims (8)

[Claims] Claim 1: A method for stabilizing a gimbal mounted on a flying object in space, comprising: a gimbal angle and angular velocity detector; an inertial device for detecting the angular velocity of the aircraft;
It has a processing unit that coordinates converts the angular velocity of the aircraft from the aircraft axis to the gimbal axis using the gimbal angle, and uses the transfer function of the gimbal control system, inertial device, and coordinate conversion processing unit to the coordinate-converted aircraft angular velocity signal. A spatial stabilization method characterized in that a signal obtained by processing based on a transfer function from an aircraft angular velocity to a gimbal angle determined using the above is calculated as a gimbal angle command signal. 2. An apparatus using the space stabilization method according to claim 1, further comprising: an integrator for converting the coordinate-transformed aircraft angular velocity signal into an angle signal; Spatial stabilization characterized by having a multiplier that multiplies a constant obtained using a transfer function, an adder that adds the signal and the angle signal, and has a function of adding it to the angle feedback signal of the gimbal control system. Device. 3. An apparatus using the spatial stabilization method according to claim 1, comprising: an integrator for converting the coordinate-transformed aircraft angular velocity signal into an angle signal; and a transfer function from the aircraft angular velocity to the gimbal angle. It has a primary filter composed of an integrator, a multiplier, and an adder to obtain and realize the following terms, and an adder that adds the aircraft angular velocity signal that has passed through the filter and the above angle signal. death,
A spatial stabilization device characterized by having a function of adding to an angle feedback signal of a gimbal control system. [Claim 4] Obtaining the transfer function from the aircraft angular velocity to the gimbal angle up to second-order or higher terms, and having a high-order filter configured with a plurality of integrators, multipliers, and adders to realize this. The space stabilizing device according to claim 3, characterized in that: 5. The space stabilization method according to claim 1, wherein the transfer function from the aircraft angular velocity to the gimbal angular velocity and angle, which is determined using the transfer functions of the gimbal control system, the inertial device, and the coordinate conversion processing section, is provided. A spatial stabilization method characterized in that signals obtained by performing processing based on the above are calculated as an angular velocity command signal and an angular velocity command signal of a gimbal, respectively. 6. An apparatus using the space stabilization method according to claim 5, further comprising: an integrator for converting the coordinate-transformed aircraft angular velocity signal into an angle signal; A spatial stabilization device characterized by comprising a multiplier that multiplies a constant obtained using a transfer function to an angular velocity and a gimbal angle, and a function of adding these signals to the angular velocity and angular feedback signals of a gimbal control system, respectively. 7. An apparatus using the spatial stabilization method according to claim 5, comprising: an integrator for converting the coordinate-transformed aircraft angular velocity signal into an angle signal; and a transmission from the aircraft angular velocity to the gimbal angular velocity and gimbal angle. A first-order filter consisting of an integrator, a multiplier, and an adder is used to obtain up to the first-order term of the function, and the aircraft angular velocity signal and angle signal that have passed through the first-order filter are respectively A spatial stabilization device characterized by having a function of adding to angular velocity and angle feedback signals of a gimbal control system. 8. An integrator for converting the coordinate-transformed aircraft angular velocity signal into an angle signal, and an integrator for determining the transfer function from the aircraft angular velocity to the gimbal angular velocity and gimbal angle up to quadratic or higher order terms, and for realizing it. It has a high-order filter composed of multiple integrators, multipliers, and adders, and has a function of adding the aircraft angular velocity signal and angle signal that have passed through the filter to the angular velocity and angle feedback signals of the gimbal control system, respectively. The space stabilizing device according to claim 7, characterized in that: