JPH06174473A - Automatic return device for gyrocompass - Google Patents

Abstract

PURPOSE:To recover the inclination of a gyro-spin shaft exceeding the allowable value by providing a control means compensating the delay of a tilt angle detector and the like. CONSTITUTION:A hysteresis circuit 58 and a timer circuit 59 are added to a control circuit to compensate the output delay of a tilt angle detector 45. The output of an amplifying circuit 54 is inputted to a gain adjusting circuit 57 and the hysteresis circuit 58. When the tilt angle beta exceeds the maximum tilt angle betamax, for example, the switching signal is outputted to a selector switch SWI after the preset time set in the timer circuit 59 in advance, e.g. 0.5sec, elapses, conducting contacts (a), (b) are cut off, contacts (c), (d) are conducted, and the horizontal plane torque is applied by a servo motor 42 in the direction to move the gyro-spin shaft near the horizontal plane based on the tilt angle signal adjusted by the gain adjusting circuit 57 in the tilt angle control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic return device which can be suitably applied to a gyro compass provided in a ship or the like.

[0002]

2. Description of the Related Art Generally, a gyro compass is equipped with a gyro that is driven to rotate at a high speed. The gyro continues to face in the same direction regardless of the rotation of the earth unless it receives a force from the outside. When a force is applied from the outside, it has a property of turning in a direction perpendicular to the force, that is, a precession motion. Therefore, the gyro compass makes use of these two properties and enables the finger north settling of the gyro spin axis.

FIG. 1 is a perspective view of a gyro compass 30 for explaining a typical prior art. The gyro case 31, which accommodates a gyro (not shown) that is rotationally driven at a high speed, is hung from a top portion 32a of the vertical frame 32 by a suspension wire 33, and a vertical axis Z of the gyro case 31.
The vertical frame 32 is rotatably supported by an upper portion 32b and a lower portion 32c of the vertical frame 32. The vertical frame 32 is axially supported by a horizontal frame 35 outside the vertical frame 32 via a horizontal axis Y orthogonal to the vertical axis Z, and the horizontal frame 35 further has a gyro spin axis X orthogonal to the horizontal axis Y. Through horizontal frame 35
Is rotatably supported by the follower frame 37 on the outer side of. Therefore, the gyro has three degrees of freedom with respect to the vertical axis Z, the horizontal axis Y, and the gyro spin X. Further, a vertical frame 32 is provided with respect to the reference surface 2a provided outside the gyro case 31.
A follow-up sensor 44 for detecting a rotation angle α of the gyro case 31 about the vertical axis Z is provided outside the, and the follow-up servomotor 42 is controlled according to the rotation angle α detected by the follow-up sensor 44. Following servo motor 42
Is transmitted to the reduction gears 43, 41, and the follower frame 37
The rotational force is transmitted to.

In such a gyro compass 30, when the follow-up sensor 44 detects the rotation angle α of the gyro case 31 about the vertical axis Z, the follow-up servomotor 42 is operated to operate the vertical plane formed by the vertical frame 30 and the gyro spin. Axis X
And are controlled so that they are always orthogonal. The rotation angle α output from the tracking sensor 44 is input to the tracking servo motor 42, and the support mechanism is rotated by the rotation from the tracking servo motor 42. This operation is repeated until the vertical frame 32
And the gyro spin axis X are controlled so as to be orthogonal to each other.

In this way, when the gyro spin axis X is fixed in the north direction, the torque exceeding the control capability in the horizontal plane is caused by the yawing of the ship at the time of power failure, the turning speed exceeding the specified value, or the like. When the following servo motor 42 is unable to follow due to the action, relative twisting occurs between the vertical frame 32 and the gyro case 31 due to the gyro's directional holding property, and torque is generated in the horizontal plane. Such torque is combined with the rotational force of the gyro spin axis X,
The gyro spin axis X is tilted with respect to the horizontal plane. When the inclination angle β exceeds the allowable value, it is necessary to give a torque in the opposite direction to the torque acting in the horizontal plane in order to return the inclination angle β to zero.

[0006] As the prior art for applying the torque in the horizontal plane as described above, for example, JP-A-59-163509 (Japanese Patent Application No. 58-38691) and JP-B-59-16350.
9 (JP-A-52-95256).

[0007]

In a normal operating state, some external factors such as yawing of a ship during a power failure or turning of the ship at a speed higher than the gyro compass tracking speed causes torque in the horizontal plane to act on the gyro spin. When the tilt angle β of the axis exceeds the allowable value, it becomes impossible to correct the tilt angle β so that the gyro spin axis X coincides with the horizontal plane, and as a result, the gyro compass 30 loses its original function of stabilizing the finger north. There is a problem that it will end up.

As a prior art for this problem, a minute inclination angle β is controlled, and a control method when β is significantly increased is not specified. There is no prior art that considers the operation delay due to the time constant of the tilt angle detector 45 that detects the tilt angle β.

Therefore, an object of the present invention is to control the tilt of the gyro spin axis to return to the finger north static state even if the gyro spin axis tilts beyond an allowable value, and to control the original finger north to the gyro compass. An object is to provide an automatic restoration device for a gyro compass that restores the static stabilizing function.

[0010]

According to the present invention, a gyro that is rotationally driven at high speed is electrically torqued in a vertical plane including the gyro spin axis, and the gyro is precessed in the horizontal direction. In a gyro compass that detects a precession movement and turns the gyro support mechanism through a tracking servo motor to set the gyro spin axis to the north.
An inclination angle detector for detecting the inclination angle of the gyro spin axis is provided, and when the inclination angle of the gyro spin axis detected by the inclination angle detector exceeds a predetermined angle, the gyro is determined according to the inclination angle. A hysteresis circuit and a timer circuit are added to the control circuit that applies the in-horizontal torque in the direction in which the spin axis approaches the horizontal plane, and a control means that compensates for the output delay of the tilt angle detector is provided. An automatic restoration device for a gyrocompass.

[0011]

According to the present invention, when the tilt angle detected by the tilt angle detector exceeds a predetermined angle, the tracking servomotor is controlled so as to give a torque in the horizontal plane in the direction in which the gyro spin axis approaches the horizontal plane. To be done. If for some reason the gyro spin axis tilts significantly beyond the allowable value, that is, if the gyro compass loses its original function of stabilizing the finger north, the state is automatically detected and corrected, and the original function of the gyro compass is restored. I can recover.

[0012]

1 is a perspective view showing a gyro compass 30 in which the present invention is implemented. A gyro case 31 incorporating a gyro (not shown) that is driven to rotate at a high speed in the direction of arrow A is suspended by a suspension wire 33 on a vertical frame 32, and the vertical frame 32 is rotated around the Y axis by a pair of pins 34. It is rotatably connected to the horizontal frame 35. This horizontal frame 35
Is rotatably connected to the follow-up frame 37 by a pair of pins 36 about the X-axis, and the follow-up frame 37 is a pair of upper and lower pins 38.
Is rotatably connected to the support members 39 and 40 about the Z axis.

A gear 41 for reduction is coaxially fixed to the lower pin of the pins 38, and a gear 43 fixed to the output shaft of the follow-up servomotor 42 meshes with the gear 41. By providing such a follow-up servomotor 42, the torsion torque of the vertical Z-axis, for example, in the arrow B direction can be canceled by rotating the gear 41 in the arrow C direction. Gyro spin axis X and horizontal axis Y
Is rotatably supported by pins 34 and 36, so that the degree of freedom is ensured, but the degree of freedom of the vertical axis Z depends on the suspension line 33 that suspends the gyro case 31.
Is not twisted and the detection signal of the follow-up sensor 44 is always zero, which is maintained by the follow-up servo motor 42 turning the follow-up frame 37. However, when the turning speed of the ship exceeds the following speed of the tracking servo motor 42, or when the power supply inside the ship is stopped, the gyro case 31
When the ship turns while the gyro motor inside is rotating due to inertia and then the power is turned on, as described above,
Due to the gyro's ability to maintain direction, for example, the arrow B on the vertical axis Z
When a twisting torque is generated in the direction, the gyro spin axis X
Holding force V1 and force V2 due to the torsional torque of the vertical axis Z
The resultant force .SIGMA.V is generated upward (downward when the torsion torque is opposite to the arrow B direction), and the gyro case 31 falls.

FIG. 2 shows a control means 29 according to an embodiment of the present invention.
It is a block diagram of. During normal finger north stillness movement,
The rotation angle α detected by the follow-up sensor 44 is amplified by the amplifier circuit 48 and given to the terminal a of the changeover switch SW1 realized by a relay circuit or the like, and this terminal a is the other terminal b of the changeover switch SW1. And the terminals c and d are cut off. The output of the amplifier circuit 48 is converted into an AC signal of, for example, 60 Hz by the DC / AC conversion circuit 49, and amplified by the drive circuit 50 to drive power to control the tracking servo motor 42.

The follow-up servomotor 42 is driven by the driving power of 100V, for example, from the AC power supply 51.
The rotation speed of the tracking servomotor 42 is detected by the tachogenerator 52, and the output is detected by the phase adjusting circuit 5.
The signal is input to the circuit 3, the phase is adjusted, and the result is fed back to the drive circuit 50 again. In this way, the tracking sensor 44
Following servomotor 42 for rotation angle α output from
The responsiveness of is improved.

The tilt angle signal β detected by the tilt angle detector 45 is input to and amplified by the amplifier circuit 54,
A torque proportional to the time derivative of the tilt angle signal β is calculated and added by the differential / proportional circuit 55, and the value of the torque is amplified by the drive circuit 56 and led to the terminal a1 of the changeover switch SW2. At the time of normal operation, the torque motor 46 drives and controls the gyro spin axis X by moving the terminal a1 to the terminal b1 and disconnecting the terminals c1 and d1. To set.

The output of the amplifier circuit 54 is also input to the gain adjusting circuit 57 and the hysteresis circuit 5
8 is input. In this hysteresis circuit 58, the maximum inclination angle βmax is set to, for example, 3 ° as a target value, and when the inclination angle β exceeds the maximum inclination angle βmax, the preset time set in the timer circuit 59 is, for example, 0.
After a lapse of 5 seconds, a changeover signal is output to the changeover switch SW1 to cut off the contacts a and b which are in conduction, and
By making the contacts c and d conductive, and based on the tilt angle signal adjusted by the gain adjusting circuit 57, a torque in the horizontal plane is applied to the servo motor 4 in the direction in which the gyro spin axis approaches the horizontal plane.
The tilt angle control applied by 2 is started. As a result, the inclination angle β gradually decreases, and when the inclination angle β becomes equal to or smaller than the minimum inclination angle βmin preset in the hysteresis circuit 58, the control of the servo motor 42 by the inclination angle β is stopped. However,
The vertical frame continues the pendulum motion and tilts in the opposite direction. Inclination angle β
When exceeds βmax in the reverse direction, the timer circuit 59 is activated again, and after the set time has elapsed, the tilt angle control is started.

FIG. 3 is a waveform diagram showing the movement of the actual inclination angle βac of the vertical frame 32, and FIG. 4 is a waveform diagram showing the change of the inclination angle signal β detected by the inclination angle detector 45.
When βmax is detected at time t2 due to the operation delay T0 of the tilt angle detector from time t1 when the actual tilt angle βac of the vertical frame 32 exceeds the maximum tilt angle βmax, the timer circuit 59 operates and, for example, W0 = 0. Control of the tracking servomotor 42 based on the inclination angle β is started at time t3 after 5 seconds,
This control is performed at time t when the inclination angle β becomes the minimum inclination angle βmin.
Up to 4.

In this way, the vertical frame 32 shifts to the amplitude of the opposite phase while attenuating, and at time t5, the maximum inclination angle -βm again.
When it exceeds ax, the timer circuit 59 operates and W0 = 0.
Five seconds later, at time t6, the tracking servomotor 42 is controlled based on the tilt angle signal β, and the vertical frame 32 is controlled in a direction in which the amplitude is forcibly reduced, that is, the tilt angle β becomes zero.

In this way, the amplitude of the vertical frame 32 is attenuated to a small extent in a short time, and when the minimum tilt angle -βmin is reached at time t7, the servo motor 42 is switched to control by the rotation angle α. In this way, the vibration of the vertical frame 32 is gradually attenuated. Minimum tilt angle β after exceeding maximum tilt angle βmax
Timer circuit 5 has elapsed time until it reaches min
It becomes shorter than the set time of 9 or time t13
When βac does not exceed βmax as described below, the switching mode of the changeover switch SW1 is not switched, and therefore the control by the tilt angle β is not performed, but only the control by the rotation angle α is performed. The vibration of the vertical frame 32 decreases in amplitude due to free damping.

As described above, when the tilt angle signal β of the detector 45 exceeds the maximum tilt angles βmax, -βmax, the timer is operated to rotate after a predetermined set time, in this embodiment, 0.5 seconds. The control by the angle α is switched to the control by the inclination angle β, and then the signals are βmin and −βmin.
The control is switched to the rotation angle α below.

[0022]

As described above, according to the present invention, the detection delay of the tilt angle detector is compensated by the hysteresis circuit and the timer circuit, and the gyro spin axis is automatically adjusted from a large tilt angle which is impossible in the conventional technique. It will be possible to get close to the horizontal plane. As a result, if for some reason the gyro spin axis tilts significantly above the allowable value, that is, if the gyro compass loses its original function of stabilizing the finger north, it automatically detects that condition and corrects the gyroscope. The original function of the compass can be restored.

[Brief description of drawings]

FIG. 1 is a perspective view showing a gyro compass 30 in which the present invention is implemented.

FIG. 2 is a block diagram of control means 29 according to an embodiment of the present invention.

FIG. 3 is a waveform diagram showing the amplitude of a vertical frame 32.

FIG. 4 is a waveform diagram showing a time change of a tilt angle signal β detected by a tilt angle detector 45.

[Explanation of symbols]

 29 Control Means 30 Gyro Compass 31 Gyro Case 32 Vertical Frame 35 Horizontal Frame 37 Tracking Frame 42 Tracking Servo Motor 44 Tracking Sensor 45 Tilt Angle Detector 46 Torque Motor 57 Gain Adjustment Circuit 58 Hysteresis Circuit 59 Timer Circuit SW1, SW2 Change Switch α Rotation Angle β Tilt angle

Claims (1)

[Claims] 1. A gyro that is rotationally driven at high speed is electrically given a torque within a vertical plane including the gyro spin axis, and the gyro is precessed in a horizontal direction to detect the precession. In a gyro compass in which a support mechanism is swung via a tracking servo motor to set the gyro spin axis in the north direction, an inclination angle detector for detecting the inclination angle of the gyro spin axis is provided and detected by the inclination angle detector. When the tilt angle of the gyro spin axis exceeds a predetermined angle, a control circuit configured to give a torque in the horizontal plane to the tracking servo motor in a direction in which the gyro spin axis approaches the horizontal plane according to the tilt angle. A gyro controller characterized by adding a hysteresis circuit and a timer circuit to the control means for compensating the output delay of the tilt angle detector and the like. Scan automatic return device.