JPH0736023B2 - Angular velocimeter of a ship - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an angular velocity meter of a ship for measuring the angular velocity of the ship, and particularly, to achieve high accuracy and high resolution even when the density of angle information is low. The improvement of the angular velocity meter of a ship that can be maintained.

<Prior Art> As a conventionally known technology of this type, for example, Japanese Patent Publication No. 60-32
There is one described in No. 803. FIG. 2 is a diagram for explaining the conventional technique.

In FIG. 2, reference numeral 1 is a gyro compass that outputs angle information. In this gyro compass 1, a roller ball 2 is supported and stored by a supporting liquid 4, mercury 5 and the like in a container 3 which is biaxially supported by two gimbal rings.

When the ship changes its course (turning), this roller ball 2 always faces north, and therefore a relative position difference occurs with the container 3. Therefore, a voltage is generated, and the generated voltage is taken out from the slip ring 6 and guided to the servo amplifier 7. The output of the servo amplifier 7 rotates the servo motor generator 8 whose generator is directly connected to the servo motor. (Since the rotation speed of the servo motor is proportional to the rotation speed of the ship, the output of the generator directly connected to the servo motor is also Proportional to the turning angular velocity of. The mechanical output of the servo motor generator 8 is applied to the transmission sync 10 via the gear mechanism 9. From the transmitter synchro 10, the stator winding sin θsin ωt, sin (θ
+ 2π / 3) sinωt, sin (θ-2π / 3) sinωt (however, ω
Is the power supply frequency, θ is the angle (synchronization format) from the reference position of the synchro axis, and t is the angle information (voltage) proportional to time. This angle information is
Guided by 11, the container 3 is transferred through the gear mechanism 12 to the rolling ball 2
Rotate so that there is no difference with.

By the way, this angle information is introduced to the block diagram of the conventional angular velocity meter of the ship shown in FIG. The conventional technique will be described below with reference to FIG.

The angle information θa from the transmission synchro 10 is guided to the converter 13 and converted into sin and cos, and then compared with a predetermined voltage. Output to the indicator 14.

13a shows the input angle information (voltage) θa as sin θ ・ sin ω
It is a Scott transformer (hereinafter referred to as “ST”) that outputs t, Cos θ · sin ωt. The output of this ST13a is synchronously rectified and smoothed by the synchronous rectifier circuit 13b and the full-wave rectifier circuit 13c, and the sin
θ and cos θ. This signal is obtained from the transmission synchro 10 that makes one rotation per 1 degree of angle information. When designing as a circuit that obtains an output of 80 pulses per synchro rotation (4 times the number of voltage dividing circuits described below), 20 It is guided to an attenuator 13d composed of a voltage dividing circuit A ₁ ... A ₂₀ . In this attenuator 13d, after the ratio between the voltage proportional to sin θ and the voltage proportional to cos θ is obtained, the attenuator 13d is connected to each of the comparators 13e including the comparators C ₁ ... C ₂₀ corresponding to the voltage dividing circuit A ₁ ... A _20. After being compared with each other, they are led to the one-pulse circuit 13f composed of the circuits D ₁ ... D ₂₀ . One-pulse circuit 13f circuit D ₁ … D ₂₀
Each is composed of two types of circuits, a pulse generating circuit that operates at the rising edge of the comparison output and a pulse generating circuit that operates at the falling edge of the output. The outputs of the circuits D ₁ ... D ₂₀ of the _one- pulse circuit 13f are two systems, and are converted into constant pulses by the one-shot multivibrator circuits 13g and 13h, and the synchronous rectification circuit 13i / comparator 13l and the synchronous rectification circuit 13k /
Based on the signal from the comparator 13m, the left turn and the right turn are distinguished and the number per unit time is guided to a gate circuit 13i which outputs a pulse train proportional to the turning angular velocity. The output of the gate circuit 13i is shaped by the clamp circuits 13n and 13p so that the waveform has a constant peak value, and then smoothed by the smoothing circuit 13g.
Positive and negative DC voltages are introduced into the voltage-current converter 13r, converted into current, and output to the indicator 14.

<Problems to be Solved by the Invention> By the way, this conventional technique is configured to obtain an angular velocity that outputs 80 pulses per 1 ° by using the angle information from the transmitting synchro 10 rotating once per 1 °. There is.

However, in some ships, for example, there is one that uses a transmission synchro that transmits a synchro signal with a small angle information density of one rotation per 10 °, and in the conventional technology, 80 pulses per 10 °, that is, Only 8 pulses are output per 1 °. If the output of such transmission sync is guided to the converter 13, the accuracy and resolution are 1 /
It will fall to 10. In order to prevent this, for example, it is possible to increase the angular information density by 10 times with 800 pulses per rotation, but if this is done, the number of constituent elements becomes enormous and it is not practical from various viewpoints. There is a problem.

The present invention has been made in view of the problems of this conventional technique, and it is possible to obtain an angular velocity with high accuracy and high resolution even when the angle information density is small, and the power supply voltage /
It is an object of the present invention to provide an angular velocimeter for a ship that is not easily affected by frequency, phase and temperature.

<Means for Solving Problems> In order to achieve such an object, the present invention is directed to a ship equipped with a converter that converts angle information input from a transmitting sync into an angular velocity signal that can be indicated by an indicator. In the angular velocity meter, the converter includes a solid state control transformer that outputs an AC voltage proportional to a difference angle between the angle information and a digital input angle of the angular velocity that changes per unit time, and an input from the solid state control transformer. The DC voltage proportional to the amplitude of the AC voltage is obtained, and the DC voltage is increased / decreased based on the phase difference of the power source of the solid state control transformer, and the DC voltage is proportional to the voltage input from the synchronous rectification circuit. A voltage-controlled oscillator that outputs a pulse train of a specified frequency, and a count value is counted based on the pulse train that the voltage-controlled oscillator outputs, A first counter that outputs a digital input angle to the state control transformer, and a count value is counted by the pulse train of the voltage controlled oscillator, and the count value is reset based on a pulse input from a clock generation circuit that generates a pulse of a constant cycle. And a second counter, which obtains the angular velocity signal based on the count value before the second counter is reset.

<Embodiment> An embodiment of the present invention will be described below with reference to a block diagram of a vessel angular velocity meter showing a specific embodiment of the present invention in FIG. In FIG. 1, the same parts as those in FIGS. 2 and 3 are designated by the same reference numerals and the description thereof will be omitted.

In FIG. 1, reference numeral 15 is a synchro signal (three-wire voltage signal) input from the gyrocompass 1 or angle information θa ₁ by a format similar thereto (for example, a resolver signal) is input and the angle information θa ₁ is designated. A converter that converts into an angular velocity signal that can be instructed / displayed with a meter (in this case, it does not refer to an instrument that only gives an instruction, but collectively refers to an instrument that uses an angular velocity of a display device, etc.) Is.
This converter 15 includes a first counter 15a, a solid state control transformer (hereinafter referred to as "D / CT") 15b, and a frequency conversion circuit 1
5c, second counter 15d, clock generation circuit 15e, and output unit 15f
It consists of and.

The first counter 15a outputs the angle information up to the previous time (hereinafter referred to as "digital input angle") φ, and the frequency conversion circuit 15
Input the pulse train of frequency from c to increase / decrease (up / down) the count value according to the positive / negative of D / CT15b, eg 14bit
Consists of a configuration up / down counter.

The D / CT 15b receives the angle information θa ₁ and the digital input angle φ and generates a voltage proportional to the difference angle of the angle information. This D / CT15b is basically a synchro control transformer (CT).
Solid state, eg ST15b ₁ , quadrant selection circuit
15b ₂ , cos multiplier 15b ₃ , sin multiplier 15b ₄ ,
It comprises an amplifier 15b ₅ and an output transformer 15b ₆ .

The frequency conversion circuit 15c converts the output of the D / CT 15b into a frequency and outputs it to the first counter 15a, and at the same time, the second counter 15d in the subsequent stage.
Output to, for example, a synchronous rectifier circuit 15c ₁ and a VCO 15c ₂ . At this time, the synchronous rectification circuit 15c ₁ is configured to generate a DC signal that is proportional to the amplitude of the input AC signal and takes positive or negative values depending on the phase. Further, the VCO 15c ₂ is configured to generate a pulse train having a frequency proportional to the input voltage.

The second counter 15d inputs the pulse train of the frequency of VCO15C ₂ and the positive / negative of the D / CT 15b (the positive / negative of the synchronous rectification circuit 15c ₁ )
The clock generation circuit 15e
Reset is repeated at a constant cycle by a clock composed of a pulse train having a constant cycle from to output a count value that means the angular velocity at this time.

The output unit 15f inputs the output of the second counter 15d and outputs an angular velocity signal to the outside. Therefore, the latch circuit 15f ₁ for latching the output of the second counter 15d and the digital value latched by the latch circuit 15f ₁ are input, converted into an analog value and output (analog <DC> output). a digital-to-analog converter (hereinafter referred to as "DAC") 15f _2, multiplication and AC signal E from the output and for example the AC power supply DAC15f ₂ (amplitude modulation)
Then, it is composed of an analog multiplier 15f _{3 which} is converted into an alternating current and output (analog <AC> output).

With this configuration, the operation of each part is as follows.

The D / CT 15b inputs the angle information θa ₁ and the digital input angle φ set in the first counter 15a to obtain the si of the difference angle (θa ₁ −φ).
AC voltage proportional to n (A ・ sin ωt ・ sin (θa ₁ −
φ)) (A: constant that determines the output voltage).

Now, if the angle information θa ₁ and the digital input angle φ are not equal,
The AC signal (voltage) output from the D / CT 15b is proportional to the amplitude of the AC signal in the synchronous rectifier circuit 15c ₁ , converted into a DC signal that takes positive and negative values depending on the phase, and is proportional to the input voltage in the VCO 15c _2. Is converted into a pulse train of the frequency The output of the VCO 15c ₂ is guided to the first counter 15a and the second counter 15d and the count value is increased or decreased respectively.

As a result, the output of the D / CT 15b becomes zero when the digital input angle φ from the first counter 15a and the angle information θa ₁ match, and therefore the counting of the first counter 15a also stops.
From the above, the angle information θa ₁ is always equal to the digital input angle φ, and when the angle information θa ₁ changes, the digital input angle φ changes at the same speed, and the output of the VCO 15c ₂ becomes a pulse train with a frequency proportional to the angular speed. .

Therefore, the second counter 15d inputs the pulse train of the frequency proportional to the angular velocity which is the output from the VCO 15c ₂ and increases / decreases the count value according to the positive / negative of the D / CT 15b (the positive / negative of the synchronous rectification circuit). However, if resetting is repeated at a constant cycle by a clock composed of a pulse train of a constant cycle from the clock generation circuit 15e, the output of the second counter 15d shows an angular change within a unit time, that is, a count value indicating an angular velocity. It will be output.

The output of the second counter 15d is fed to the latch circuit 15f of the output section 15f.
If it is output as it is after being latched by, the digital angular velocity can be obtained as an output signal (that is, the output section 15f may be composed of only this latch circuit 15f). or,
After being latched by the latch circuit 15f and then output via the DAC 15f ₂ , an analog (direct current) angular velocity can be obtained as an output signal. Further, if the output of the DAC 15f ₂ is amplitude-modulated with the AC signal E by the analog multiplier 15f ₃ , an analog (AC) angular velocity can be obtained as an output signal.

Note that the output of the synchronous rectifier circuit 15c _{1 and} the output of the DAC 15f ₂ are of the same dimension as the DC voltage that indicates the angular velocity, so theoretically the output of the synchronous rectifier circuit 15c ₁ should be output as an angular velocity signal to the outside. It is also possible, but :: It is easy to match the output scale factor,: VCO15c ₂ tends to have a dead zone near the zero point, and linearity is poor. Therefore, the gain of the feedback circuit is increased to improve accuracy. In practice, as shown in FIG. 1, the second counter 15
It is better to add circuits after d.

Note that although FIG. 1 mainly describes the case of obtaining the angular velocity of the azimuth, other signals, for example, the inclination signals such as the pitch angle and the roll angle are also output specifications, and the angular velocity related to the inclination can be obtained by the same configuration. . That is, if the system as shown in FIG.
Each angular velocity of the tilt will be obtained.

<Effects of the Invention> As described above in detail with reference to the embodiments of the present invention,
According to the ship angular velocity meter of the present invention, the following effects can be obtained.

: The target angular velocity signal can be obtained with high accuracy and reliability by simply adding it to an existing gyro compass or similar device such as a device that outputs an angle signal.
Since it is a solid state, it can be made small, lightweight and low in power consumption.

: Since the angle information θa ₁ is compared with the digital angle signal φ, it is not affected by voltage and frequency fluctuations, phase shifts and temperature, and therefore, highly accurate and high resolution output can be obtained. The accuracy hardly depends on the characteristics of the frequency conversion circuit, but depends on the number of D / CT bits (usually 14 bits), the frequency stability of the clock, the accuracy of the DAC, etc., but these are all commercially available products. It is possible to easily obtain high precision because there is one.

Therefore, for example, in the case of inputting a highly synchronized signal which makes one revolution per 1 ° and makes one revolution, the resolution is greatly improved (depending on the number of bits of the counter etc.), and therefore the density is higher than this. Even when inputting a synchro signal having a small number, for example, one rotation per 10 °, a sufficiently high angular velocity can be obtained.

Specifically, in the conventional technique, a high-density sync signal that makes one rotation per 1 ° is input, and one rotation makes one rotation.
When outputting 80 pulses, one pulse can be obtained per second
The resolution is limited to 0.75 ° / min, that is, (1/80) ° / sec × 60 sec, but in the present invention, for example, the first counter 15a is set to 1
With 2bit, 0.15 ° / min can be obtained for 1 pulse per second even when inputting a sync signal with low density such as one rotation per 10 °, that is, (10/2 ¹² ) ° / sec × 60sec.
(Where "2 ^12" represents a 12bit) readily apparent from the fact that improving the resolution up.

: Since both digital and analog outputs can be obtained,
Don't worry about the type of terminal. Furthermore, by adopting such a configuration, it is possible to widely provide the angular velocity signal to other measuring instruments and the like.

[Brief description of drawings]

FIG. 1 is a block diagram of a vessel angular velocity meter showing a specific embodiment of the present invention, FIG. 2 is a diagram for explaining a conventional technique, and FIG. 3 is a block diagram of a conventional vessel angular velocity meter. Is. 1 ... Gyro compass, 2 ... Roller ball, 3 ... Container, 4 ... Support liquid, 7 ... Servo amplifier, 10 ... Send sync, 11 ... Receive sync, 14 ... Indicator, 13, 15 ...
…converter.

Claims (1)

[Claims] 1. A vessel angular velocimeter equipped with a converter for converting angular information input from a transmission synchronization into an angular velocity signal that can be indicated by an indicator, wherein the converter is the angular velocity that changes with the angle information and unit time. The solid-state control transformer that outputs an AC voltage proportional to the angle of difference from the digital input angle of the, and the DC voltage that is proportional to the amplitude of the AC voltage input from this solid-state control transformer are obtained, A synchronous rectification circuit for performing the above based on the phase difference of the power source of the solid state control transformer, a voltage controlled oscillator for outputting a pulse train of a frequency proportional to the voltage input from this synchronous rectification circuit, and an output for this voltage controlled oscillator. A first counter for counting a count value based on the pulse train and outputting a digital input angle to the solid state control transformer; A second counter, the count value of which is counted by a pulse train of the voltage-controlled oscillator and which is reset based on a pulse input from a clock generation circuit which generates a pulse of a constant cycle; An angular velocity meter for a ship, which is characterized by obtaining an angular velocity signal based on a count value before being reset.