JPH08159773A - Gyrocompass - Google Patents

Abstract

PURPOSE: To correct the mass unbalance error caused by the disagreement of the position of the center of gravity of a gyrocompass rotor and the central position of the rotation of a flex hinge by correcting and supplying respective torquing signals, which are supplied to Y and Z torquers. CONSTITUTION: A mass unbalance error is generated by a moment mgσ, where (m) is the mass of a gyrocompass rotor, (g) is gravitational acceleration and σis the distance between the position of the center of gravity of the gyrocompass rotor and the central position of a flex hinge circuit, and acts around the Y axis. When the gyrocompass attaching face is inclined by an angle δ(the output signal of an east-west accelerometer 23) in the east-west direction at this time, mgσ is decomposed into the Y-direction component of mgσcosδ and the Z-direction component of -mgσsinδ, and correcting torques are added so as to offset the components. Thus, the error can be corrected. Then, a compass operating part 5 operates torquing signals TY and TZ by TY=(Kθ-mgσ) cosδ and TZ=-(Kθ-mgσ)sinδ, where (k) is the north directing constant and θis the output signal of a south-north accelerometer 21) and supplies the signals to Y to Z torquers of a TDG 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyro compass suitable for use in measuring the course of a navigation body such as a ship or an automobile.

[0002]

2. Description of the Related Art As a conventional gyro compass, for example, by the same applicant as the applicant of the present application, 1986 12
There is an example disclosed in Japanese Patent Application No. 60-125867 (Japanese Patent Application Laid-Open No. 61-283813) filed on March 13. Referring to FIGS. 7 and 8, the Japanese Patent Application No. 60-12
An example disclosed in No. 5867 will be described.

FIG. 7 shows a front sectional structure of a conventional gyro compass, and FIG. 8 shows a plan structure thereof. As shown, the Z axis is taken in the vertical direction, and the X axis and the Y axis which are orthogonal to each other are taken in the horizontal plane. The gyro compass has a gyro case 111 having a liquid-tight structure, and a gyro rotor (not shown) that rotates at high speed is built in the gyro case 111. Such a gyro case 111 is arranged in a tank 115 filled with a highly viscous fluid such as Dan Pink oil, and is supported by a suspension line 113 extending below the upper end of the tank 115.

As shown in FIG. 8, an annular horizontal ring 117 is provided so as to surround the outside of the tank 115 and be spaced apart from it.
Are horizontally arranged, and the horizontal ring 117 has horizontal shafts 115A and 115B on both sides in the diametrical direction along the Y-axis direction. On the other hand, the tank 115 has bearings 119A and 119B on both sides in the diametrical direction along the Y-axis direction.
The seven horizontal shafts 115A and 115B are fitted to the inner rings of the corresponding bearings 119A and 119B of the tank 115.

The horizontal ring 117 has bearings 123A and 123B on both sides in the diametrical direction along the X-axis direction. Horizontal ring 11
A fork-shaped follower ring 121 is arranged so as to surround the outer side of 7 and is spaced therefrom.
1 is a gimbal shaft 117 on both sides in the diametrical direction along the X-axis direction.
A, 117B. Gimbal axis 11 of follower ring 121
7A and 117B are bearings 123 of the corresponding horizontal ring 117.
It is fitted to the inner rings of A and 123B.

Thus, the tank 115 rotates about the central axis of the horizontal shafts 115A and 115B along the Y-axis direction,
Further, it rotates with the horizontal ring 117 around the central axis of the gimbal shafts 117A and 117B along the X-axis direction.

As shown in FIG. 7, the follower ring 121 is mounted on the follower shaft 125 in the Z-axis direction. A board 127 is arranged below the gyro compass.
Reference numeral 27 has a center hole 127A and a cylindrical protrusion 127B. A bearing 129 having a smaller radius is mounted around the central hole 127A of the board 127, and the cylindrical projection 1
A bearing 131 having a larger radius is attached to the upper end of 27B. The follower shaft 125 is fitted to the inner ring of the inner bearing 129, and the cylindrical wall 121A of the follower ring 121 is fitted to the inner ring of the outer bearing 131.

Thus, the follow-up shaft 125 and the follow-up ring 121.
Is rotatably supported by two bearings 129 and 131.

A horizontal servomotor 141 is mounted on one horizontal shaft 115B of the tank 115. The horizontal servomotor 141 causes the tank 115 to move to the horizontal shaft 115.
It is driven to rotate around A and 115B. The horizontal servomotor 141 is a pancake type direct-acting type that does not use gears and pinions, and is attached to the inner rotor 141A attached to the horizontal shaft 115B of the tank 115 and the horizontal ring 117 corresponding thereto. And an outer stator 141B.

An azimuth servomotor 143 is mounted on the follow-up shaft 125, and the follower ring 121 is driven to rotate around the follow-up shaft 125 by the azimuth servomotor 143.
The azimuth servo motor 143 is a pancake type direct-acting type that does not use gears and pinions, and has an inner rotor 143A attached to the follower shaft 125 and an outer fixed portion attached to the board 127 corresponding thereto. Child 143B.

The follower ring 121 further has a cylindrical skirt portion 121B adjacent to the cylindrical wall 121A, and a slip ring 145 is provided along the skirt portion 121B. Electric power is supplied to the gyro rotor and the horizontal servomotor 141 via the slip ring 145. The slip ring 145 is an inner current collecting ring 145 attached to the skirt portion 121B of the follower ring 121.
A and the outer brush 145B attached to the board 127
And

A mounting portion 135 is mounted on the lower side of the board 127, and an azimuth encoder 147 is mounted in the mounting portion 135. The azimuth angle of the follower ring 121 with respect to the board 127 is detected by the azimuth encoder 147. The azimuth encoder 147 includes an inner shaft portion 147A attached to the coupling 133 attached to the lower end of the follower shaft 125 and an outer stator 147B corresponding to the inner shaft portion 147A attached to the board 127.

The follower shaft 125, the coupling 133 attached thereto, and the shaft portion 147A of the azimuth encoder 147.
And a rotor 143A of the azimuth servomotor 143, and
Follower ring 121 and slip ring 1 attached to it
The 45 collector rings 145A form an integral assembly. The assembly, the horizontal ring 117, and the tank 115 form an integral rotating unit that is rotatable around the center axis of the follow-up shaft 125.

Gyro case 11 for the tank 115
In order to detect the displacement of No. 1, a non-contact displacement detection device is provided. Such non-contact displacement detection devices are installed on both sides of the gyro case 111 along the X-axis direction. The non-contact displacement detection device includes a pair of coils on the equator on the north side and a pair of coils on the south side. Each pair of coils has a primary coil arranged in the gyro case 111 and a secondary coil corresponding to the primary coil mounted on the inner surface of the tank 115.

The tank 115 is equipped with a non-contact displacement detection device.
The amount of movement of the gyro case 111 in the X-axis direction and Y
The angular displacement about the axis and the angular displacement about the Z axis are independently detected. The detected angular displacement around the Y axis is
It is supplied to the horizontal servomotor 141 with or without an amplifier. Horizontal servo motor 14
1 is driven so that the tank 115 becomes the tank 1
It rotates about 15 horizontal axes 115A, and thereby the angular displacement of the tank 115 around the Y axis is controlled to be zero.

Similarly, the detected angular displacement about the Z-axis is supplied to the azimuth servomotor 143 with or without an amplifier. The azimuth servomotor 143 is driven to rotate the follower ring 121 and the horizontal ring 117, and thereby the angular displacement of the tank 115 about the Y axis is controlled to be zero.

In this way, no matter what direction the gyro case 111 is oriented, the suspension system 1 can be operated by such a servo system.
No twist occurs in 13. That is, the gyro is Z
It is not subject to any disturbance torque about its axis, ie about its vertical axis.

The pointing action of the gyro will be described with reference to FIG. FIG. 9 is a schematic diagram showing a state in which the gyro case 111 is arranged in the tank 115.
The inside of 15 is filled with damping liquid 116, and the gyro case 111 is suspended by the suspension wire 113 while being immersed in the damping liquid 116.

Here, the position of the center of gravity of the gyro case 111 is O ₁ , and the center position of the tank 115 is O ₂ . The connection point between the suspension line 113 and the tank 115 is P, and the connection point between the suspension line 113 and the gyro case 111 is Q. Tank 11
The central axis of 5 passes through the line PO ₂ . Gyro rotor 110
A is the point at which the spin axis of intersects the gyro case 111.
Let B be the points on the tank 115 that correspond to these two points A and B, and are A ′ and B ′. Further, the horizontal plane is H-H '.

When the spin axis of the gyro rotor 110 is horizontal (θ = 0 °), the position O ₁ of the center of gravity of the gyro case 111 coincides with the center position O ₂ of the tank 115.
It is assumed that the spin axis of the gyro rotor 110 is inclined by the inclination angle θ with respect to the horizontal plane H-H '. The finger north end A side of the gyro case 111 is elevated with respect to the horizontal plane.

Since the suspension line 113 has a slight rigidity,
At this time, a bending curve is actually drawn as shown by the broken line. The movement amount ξ (O ₁ −O ₂ ) of the gyro case 111 in the direction along the spin axis with respect to the tank 115 also slightly decreases. However, the suspension line 113 is sufficiently flexible, the change in the amount of movement is small, and the effect is small in a practical design. Therefore, here, description will be made by ignoring such a change in the movement amount.

As described above, by the servo system, the tank 1
15 also inclines so that a straight line passing through the two points A ′ and B ′ on the tank 115 passes through the two points A and B on the gyro case 111. That is, the central axis PO ₂ of the tank 115 is inclined by the inclination angle θ with respect to the vertical line.

If the acceleration does not act from the outside, the force does not act in the spin axis direction of the gyro case 111.
The suspension line 113 coincides with the vertical line. Due to the tension T of the suspension line 113, a moment M about the center of gravity O ₁ of the gyro case 111 is generated. Center of gravity of gyro case 111 O
_If the distance between ₁ and the point Q is r, and the residual weight of the gyro case 111 excluding the buoyancy due to the damper liquid 116 is mg, the moment M is expressed as follows.

[0024]

## EQU1 ## M = Trsin θ = mgr sin θ

The moment M acts as a gyro torque around a horizontal axis (a line passing through the center of gravity O ₁ and perpendicular to the paper surface). In this way, "the torque proportional to the inclination angle of the spin axis with respect to the horizontal plane can be applied around the horizontal axis of the gyro", so that the finger north force is generated and the gyro compass can be obtained. By selecting the distance r, the weight mg, and the angular momentum of the gyro, the finger north movement cycle can be set to several tens of minutes to several hundreds of minutes.

A gyro (gyro case 111) used for the gyro compass described with reference to FIGS. 7 and 8.
And a gyro rotor incorporated therein, for example, a flex gyro or a TDG (Tuned Dr)
y Gyro) is known.

FIG. 10 shows an example of the structure of a flex gyro or TDG. For details of the flex gyro or TDG, refer to, for example, Japanese Patent Application No. 60-103083 (Japanese Patent Laid-Open No. 61-260117) filed on May 15, 1985 by the same applicant as the present applicant. .

As shown, the XY of the flex gyro
Take the Z axis. The X axis is taken along the spin axis of the gyro rotor, and the Y axis and the Z axis perpendicular to each other are taken perpendicularly thereto. Such a coordinate system is aligned with the X-axis, Y-axis and Z-axis of the XYZ axes taken by the gyro compass in FIGS. 7 and 8.

The flex gyro includes a housing 151 and an upper cap 1 mounted on the upper side of the housing 151.
53 and a lower cap 155 attached to the lower side. Housing 151 and upper and lower caps 153,
A gyro case is constituted by 155. An upper chamber is formed between the upper surface of the housing 151 and the upper cap 153, and the lower surface of the housing 151 and the lower cap 15 are formed.
A lower chamber is formed between 5.

A gyro rotor 159 is arranged in the upper chamber, and the gyro rotor 159 is elastically supported by a flex hinge 161. A shaft 165 is attached to the flex hinge 161, and the shaft 165 is supported by a center hole of an inner cylindrical protruding portion 151A of the housing 151 via a ball bearing 157.

A motor 167 is arranged in the lower chamber, and the motor 167 has a stator 167-1 and a rotor 167-2 corresponding thereto. The stator 167-1 is mounted on the inner wall of the outer cylindrical protrusion 151B of the housing 151, and the rotor 167-2 is mounted on the lower end of the shaft 165 so as to be surrounded by the stator 167-1.

The gyro rotor 159, the flex hinge 161, the shaft 165, and the rotor 167-2 form an integral assembly, and are configured so that they can rotate at high speed around the central axis of the shaft 165. The central axis of the shaft 165,
That is, the axis of rotation of such an assembly is the spin axis of the gyro rotor.

When an alternating voltage is applied to the winding of the motor stator 167-1, the rotating magnetic field generated thereby acts on the rotor 167-2 of the motor. Thereby,
Torque is generated and the rotor 167-2 of the motor is
Rotate with respect to 7-1. Thus, the assemblies 159, 1
61, 165, 167-2 rotate around the X axis, and the gyro rotor 159 rotates at high speed around the spin axis.

The upper chamber is provided with a torquer 171 for applying a torque around the Y axis and the Z axis to the gyro rotor 159. The ToruCa 171 is a gyro rotor 159.
Ring-shaped permanent magnet 171-1 mounted on the housing and corresponding Toruca coil 1 mounted on the upper surface of the housing 151.
71-2 is included. The Toruca coil 171-2 is arranged in the annular groove 159A of the gyro rotor 159 and at a distance from the annular groove 159A.

As shown by the arrow in the figure, the permanent magnet 171-1
A magnetic circuit Φ is formed along the annular groove 159A of the gyro rotor 159. By the cooperation of such a magnetic circuit and the magnetic field generated by the Toruca coil 171-2,
Torque is generated.

A pickup 173 is further arranged in the upper chamber. The pickup 173 is mounted on the upper surface of the housing 151 adjacent to the Toruca 171. The pickup 173 includes a horizontal pickup and a direction pickup.

Consider a case where the angular velocity about the Y axis or the Z axis orthogonal to the spin axis acts on the housing 151 while the gyro rotor 159 is rotating at a high speed. The gyro rotor retains its position relative to the inertial space by virtue of its orientation retention. Therefore, the gyro rotor 159 is rotationally displaced relative to the housing 151 about the Y axis or the Z axis. The amount of rotational deviation of the gyro rotor 159 around the Y axis or the amount of rotational deviation around the Z axis is detected by the pickup 173.

The mass imbalance error of the flex gyro or TDG will be described with reference to FIGS. 11 and 12.
11 and 12 are views showing only the gyro rotor 159, the gyro rotor 159, the flex hinge 161, and the shaft 165 of the flex gyro described in FIG. 10, and the rotor 167-2 mounted on the shaft 165. Is omitted.

In FIG. 11, the center of gravity of the gyro rotor 159 is G and the center of rotation of the flex hinge 161 is O.
The Y-axis and the Z-axis pass through the hinge rotation center point O. As described above, when an external force acts on the flex gyro, the gyro rotor 159 is rotationally biased around the Y axis and the Z axis passing through the hinge rotation center point O.

Generally, the center of gravity G of the gyro rotor 159 is manufactured so as to coincide with the hinge rotation center point O of the flex hinge 161. However, in reality, the two do not match and are slightly biased. Therefore, depending on the position of the center of gravity G, a moment about the Y axis is generated. The moment ΔM is represented by the following equation, where δ is the distance between the center of gravity G and the hinge rotation center O. The distance δ is + on the gyro rotor 159 side from the hinge rotation center point O. In FIG. 11, the left side of the hinge rotation center point O is +.

[0041]

(2) ΔM = mgδ

As shown in FIG. 12, such moment Δ
M acts to rotate the gyro rotor 159 about the Y axis, thereby causing an azimuth error in the gyro compass.

[0043]

In a conventional gyro compass using a flex gyro or TDG, an error occurs because the center of gravity G of the gyro rotor 159 does not coincide with the hinge rotation center point O of the flex hinge 161. Such an error is proportional to the moment ΔM in the equation (2).

Therefore, there is a drawback that a highly accurate gyro output cannot be obtained unless such a mass unbalance error is corrected.

The mass unbalance error can be eliminated by manufacturing the gyro compass so that the center of gravity G of the gyro rotor 159 coincides with the hinge rotation center point O of the flex hinge 161. It had the drawback of becoming expensive.

In view of such a point, the present invention provides a gyro compass using a flex gyro or a TDG,
An object of the present invention is to provide a gyro compass that can eliminate a mass unbalance error with a simple configuration and that is highly accurate.

[0047]

According to the present invention, for example, as shown in FIG. 1, a gyro rotor having a spin axis in the X-axis direction and a flex for rotatably supporting the gyro rotor about the Y-axis and the Z-axis. A flex gyro having a hinge, a Y torquer that torques the gyro rotor about the Y axis, and a Z torquer that torques the gyro rotor about the Z axis, and a base that supports the flex gyro rotatably around the Y axis. In the gyro compass having a follow-up ring having a follow-up axis perpendicular to the axis of rotation and rotatable about a vertical axis passing through the follow-up axis, and a finger north device for applying a finger north force to the gyro, By correcting the Y torque signal supplied to the Z torquer and the Z torque signal supplied to the Z torquer, the center of gravity of the gyro rotor and the flux can be corrected. Wherein the mass unbalance error due to the mismatch between the rotation center position of the Kkusuhinji configured to correct.

According to the present invention, in the gyro compass, the Y torquer signal supplied to the Y torquer and the Z torque signal are supplied.
The Z torqueing signal supplied to the torquer is characterized by the following equation. T _Y = (Kθ-mgδ) cosσ T _Z =-(Kθ-mgδ) sin σ T _Y , T _Z : Torquering signal supplied to the above Y Toruca and Z Toruca K: Finger north constant m: Mass of the above gyro rotor g : Gravity acceleration δ: Distance between the center of gravity of the gyro rotor and the center of rotation of the flex hinge (+ is on the gyro rotor side from the center of rotation of the flex hinge) θ: Mounting of gyro compass on horizontal surface Face Y
Rotational inclination angle around the axis (+ for southward rise) σ: X of the mounting surface of the gyrocompass with respect to the horizontal plane
Rotational tilt angle around the axis (+ for westward rise)

[0049]

According to the present invention, a correction torque corresponding to the mass unbalance error moment ΔM is calculated, and the torqueing signal is corrected by the correction value.

According to the present invention, when the mounting surface of the gyro compass is tilted in the north-south direction and the east-west direction, the Y supplied to the Y-toruca of the flex gyro or the TDG 11
The torqueking signal and the Z torqueing signal supplied to the Z torquer are expressed by the equation (5). In equation (5),
The second terms ΔT _Y and ΔT _Z of each equation are correction values of the torqueing signal.

The rotation tilt signal θ output from the north-south accelerometer 21 and the rotation tilt signal σ output from the east-west accelerometer 23 are supplied to the compass calculator 35. The compass calculator 35 calculates the torque signals T _Y and T _Z according to the equation (5).
Is calculated. The torqueing signals T _Y and T _Z are supplied from the compass calculator 35 to the Y torquer and Z torquer of the flex gyro or the TDG 11 via the horizontal torqueing circuit 36 and the direction torqueing circuit 37, respectively.

[0052]

Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 shows a conceptual diagram of a gyro compass according to the present invention. The gyro compass of this example is a flex gyro or a TDG (Tuned Dry Gyr).
o) 11 and such TDG 11 is mounted on the block 13.

As shown in the figure, the XYZ coordinate system fixed to the block 13 is considered, and the Z axis is taken in the vertical direction, and the X axis and the Y axis which are orthogonal to each other are taken in the horizontal plane.

The spin axis of the gyro is arranged along the X-axis, and when the north end of the finger of the gyro is set in the positive direction of the X-axis as shown in the figure, the Y-axis is arranged along the east-west direction. The block 13 is supported by a follower ring 15 so as to be rotatable around the Y axis, and the follower ring 15 follows the follower axis 1 along the Z axis.
7, the follower shaft 17 is mounted on the base 10 so as to be rotatable around the Z axis. Thus, block 13 is Y
It is rotatably supported around two axes, the axis and the Z axis.

A block 13 includes a north-south inclinometer or a north-south accelerometer 21 for detecting a tilt in the north-south direction, that is, a rotation tilt θ around the Y-axis, and an east-west inclinometer for detecting a tilt in the east-west direction, that is, a rotation tilt σ around the X-axis, or The east-west accelerometer 23 is attached.

Further, a horizontal servomotor or a horizontal DST (direct servo torquer) 27 is attached along the Y axis of the follower ring 15, and an azimuth servomotor or direction DST (direct servo torquer) is attached along the follower axis 17. ) 2
9 is attached. An azimuth encoder 31 is attached below the tracking shaft 17, and the azimuth encoder 31
The rotation angle of the follow-up shaft 17 around the Z axis is detected by.

The TDG 11 is equipped with a pickup (not shown) for detecting the displacement of the gyro rotor with respect to the gyro case. Such pickup detects the angular displacement of the gyro rotor about the Y axis and the Z axis. Are arranged as follows. A pickup that detects the angular displacement of the gyro rotor about the Y axis is called a horizontal pickup, and a pickup that detects the angular displacement of the gyro rotor about the Z axis is called an azimuth pickup.
In addition, the TDG 11 has a gyro rotor around the Y-axis and Z-axis.
Torque around the axis (not shown) Y Toruca and Z
ToruCa is provided.

When an angular displacement around the vertical axis (Z axis) occurs between the gyro case and the gyro rotor, the angular displacement is detected by the azimuth pickup, and the angular displacement signal is supplied to the azimuth servo calculation unit 61. It A drive signal is supplied from the azimuth servo calculation unit 61 to the azimuth servo motor 29 via the commutator control circuit 63. As a result, the TDG 11 is rotationally driven around the Z axis, and is controlled so that the angular displacement around the vertical axis (Z axis) between the gyro case and the gyro rotor becomes zero.

Similarly, when an angular displacement around the horizontal axis (Y axis) occurs between the gyro case and the gyro rotor, the angular displacement is detected by the horizontal pickup, and the angular displacement signal is detected by the horizontal servo calculating section 65. Is supplied to. A drive signal is supplied from the horizontal servo calculator 65 to the horizontal servo motor 27. As a result, the TDG 11 is rotationally driven about the Y axis, and is controlled so that the angular displacement between the gyro case and the gyro rotor about the horizontal axis (Y axis) becomes zero.

Due to this action, no disturbance torque around the horizontal axis (Y axis) and the vertical axis (Z axis) is applied to the gyro.

Next, the finger pointing action of the gyro compass of this example will be described. The finger pointing action of the gyro compass is TD when the mounting surface of the gyro compass is on a horizontal plane.
G11 Y Toluca turns the gyro rotor around the Y axis,
That is, it is obtained by applying a torque Kθ (K is a ballast constant or a finger north constant) around the horizontal axis.

However, when the mounting surface of the gyro compass is tilted in the east-west direction, the support mechanism of the gyro compass of this example does not have the east-west system freedom (the freedom around the X axis), so the Y trocar causes the gyro rotor to move. The torque Kθ to be applied needs to be divided and applied.

A torqueing signal for torqued the gyro rotor about the Y axis by the Y torquer is set to T _Y0 ,
A torqueing signal for torqued the gyro rotor about the Z axis by the Z torquer is represented by T _Z0 . The torqueing signals T _Y0 and T _Z0 are expressed by the following equation.

[0064]

## EQU3 ## T _Y0 = Kθ cosσ T _Z0 = −K θ sin σ

Here, θ is the output signal of the north-south accelerometer 21 (the rise on the south side is +), and σ is the output signal of the east-west accelerometer 23 (the rise on the west side is +). K is the Shihoku constant.

The torqueing signals T _Y0 and T _Z0 are supplied to the Y torquer and the Z torquer of the TDG 11 so that the gyro rotor is torqued around the Y axis, that is, around the horizontal axis. This torqueing amount is “to apply a torque proportional to the inclination of the spin axis with respect to the horizontal plane about the horizontal axis of the gyro”. In this way, a moment equivalent to the moment M shown in the equation of Formula 1 is generated, the finger north force is applied to the gyro case, and the gyro compass is configured.

Next, the mass imbalance correction according to the present invention will be described with reference to FIG. The mass unbalance error is, as described with reference to FIGS.
It is caused by the moment ΔM = mgδ represented by the equation. Such a moment ΔM acts around the horizontal axis, that is, the Y axis.

Therefore, it is sufficient to correct the torque that cancels out the moment ΔM. Similarly to the above, when the mounting surface of the gyro compass is inclined in the east-west direction, the correction torque is decomposed and applied.

As shown in FIG. 2, when the mounting surface of the gyro compass is inclined in the east-west direction by the angle σ, the Y axis and the Z axis are inclined by the inclination angle σ to become the Y ′ axis and the Z ′ axis. To do. When the moment mgδ about the Y-axis is decomposed into the Y′-axis direction and the Z′-axis direction, the component mgδc in the Y′-axis direction
os σ and Z′-axis direction component −mg δ sin σ are obtained. The correction torque may be applied so as to cancel them.

Therefore, assuming that the correction value of the torqueking signal supplied to the Y torquer is ΔT _Y and the correction value of the torqueing signal supplied to the Z torquer is ΔT _Z , the correction value Δ
T _Y and ΔT _Z are expressed as follows.

[0071]

## EQU4 ## ΔT _Y = −mg δ cos σ ΔT _Z = mg δ sin σ

The torqueing signals T _Y and T _Z supplied to the Y torquer and Z torquer of the TDG 11 are represented by the following equations instead of the torqueing signals T _Y0 and T _Z0 represented by the equation (3).

[0073]

T _Y = T _Y0 + ΔT _Y = Kθ cos σ-mg δ cos σ = (K θ-mg δ) cos σ T _Z = T _Z0 + ΔT _Z = −K θ sin σ + mg δ sin σ = − (K θ-mg δ) sin σ

The rotation inclination signal θ output from the north-south accelerometer 21 and the rotation inclination signal σ output from the east-west accelerometer 23 are supplied to the compass calculator 35. The compass calculator 35 calculates the torque signals T _Y and T _Z according to the equation (5).
Is calculated. These torqueing signals T _Y and T _Z are passed from the compass calculation unit 35 through the horizontal torqueing circuit 36 and the direction torqueing circuit 37, respectively, and are output from the Y of the TDG 11.
Supplied to Toluca and Z Toluca.

An example of the gyro compass of the present invention will be described with reference to FIGS. FIG. 3 shows the front structure of the gyro compass of this example, and FIG. 4 shows the plan structure of the gyro compass of this example. The gyrocompass of this example has a board 41 and a cylindrical cover 43 attached to the board 41. In the cover 43, the TDG 11 is in the block 13
The block 13 is supported by a follower ring 15 so as to be rotatable around the Y axis.

As shown in FIG. 3, the block 13 has horizontal axes 13A and 13B on both sides in the east-west direction.
3A and 13B are fitted to the inner rings of the bearings 19A and 19B of the follower ring 15 which are arranged correspondingly. The block 13 includes a north-south inclinometer or north-south accelerometer 2 along the X-axis.
1 is attached. The follower ring 15 has an east-west inclinometer or east-west accelerometer 23 and a horizontal servomotor 27 along the Y-axis.
Is installed.

The horizontal servomotor 27 may be a pancake type direct-acting type that does not use gears and pinions similar to the horizontal servomotor 141 described with reference to FIGS. 7 and 8, and the horizontal shaft 13A of the block 13 may be used. , 13B attached to the inner rotor 27-1 and the follower ring 15 corresponding thereto.
And an outer stator 27-2 attached to the.

A platform 49 is provided below the follower ring 15.
Is mounted on the platform 49, and the azimuth axis, that is, the tracking axis 17, is mounted on the platform 49.

Below the platform 49, a rotary transformer 45, a direction servo motor 29, and a direction encoder 31 are arranged. The rotary transformer 45 has a lower stator 45-1 mounted on the board 41 and an upper rotor 45-2 mounted on the platform 49. According to the present example, by using the rotary transformer 45 instead of the slip ring, the drawbacks of the slip ring are eliminated.

The azimuth servomotor 29 has an outer stator 29-1 mounted on the board 41 and an inner rotor 29-2 mounted on the platform 49. The azimuth encoder 31 may have the same structure as the azimuth encoder 147 described with reference to FIGS. 7 and 8, and the inner shaft portion 31- attached to the coupling 47 attached to the lower end portion of the follow-up shaft 17. 1 and a corresponding outer stator 31-2 attached to the board 41.

Follower ring 15, platform 49, follower shaft 17, rotor 45-2 of rotary transformer 45, rotor 29-1 of direction servomotor 29, and direction encoder 3.
The first shaft portion 31-1 constitutes a rotating portion, and the rotating portion is rotatably supported by the bearing 53A mounted on the platform 49 and the bearing 51 mounted on the follow-up shaft 17.

The signals transmitted and received via the rotary transformer 45 and the control loop will be described with reference to FIGS. 5 and 6. FIG. 5 shows the rotor 45 of the rotary transformer 45-
6 shows the control circuit arranged on the first side, and FIG. 6 shows the control circuit arranged on the stator 45-2 side of the rotary transformer 45.

First, a signal transmitted / received via the first channel CH1 will be described. A power supply circuit 82 is arranged on the stator 45-2 side of the rotary transformer 45,
The AC power source from the power source circuit 82 is supplied to the rectifier circuit 81 on the rotor 45-1 side via the first channel CH1. The DC power source obtained by the rectifier circuit 81 is used as a power source for the horizontal servo motor 29, a power source for driving the gyro rotor of the TDG 11, a power source for the north-south accelerometer 21 and the east-west accelerometer 23, and a power source for a control circuit.

An AC power supply is used for the gyro rotor, azimuth pickup, and horizontal pickup of the TDG 11, but by using the AC power supply frequency from the power supply circuit 82 as the gyro rotor power supply frequency and the pickup excitation frequency, the platform 49 is used. It is not necessary to provide a power supply for the gyro rotor and a power supply for pickup excitation on the top.

Next, a signal transmitted / received via the second channel CH2 will be described. Rotary transformer 45
Azimuth servo calculator 6 arranged on the stator 45-2 side of the
The azimuth angle φ of the navigation vehicle is calculated by 1. The azimuth signal φ, the speed signal V of the navigation vehicle, and the latitude signal λ are supplied to the digital serial communication circuit 77 on the stator 45-2 side via the interface unit 78.

Such a signal is further supplied from the digital serial communication circuit 77 to the digital serial communication circuit 75 on the rotor 45-1 side via the second channel CH2 of the rotary transformer 45. The digital signal supplied from the digital serial communication circuit 75 is supplied to the compass calculator 35. By making the frequency for digital serial communication about 2 to 100 times the frequency for power supply, the power supply circuit 82 and the digital serial communication circuit 7
Interference between 7 is avoided.

On the other hand, the output signals of the two accelerometers 21 and 23 are supplied to the AD converter 72, converted into digital signals, and supplied to the compass calculator 35. As described above, the compass calculation unit 35 calculates the equation (2). The torqueing signals T _Y and T _Z obtained thereby are supplied to the torquer circuits 36 and 37.

Finally, a signal transmitted / received via the third channel CH3 will be described. The output signals of the horizontal pickup and the azimuth pickup mounted on the TDG 11 are converted into digital signals by the AD converter 71.
The horizontal pickup digital signal is used by the horizontal servo calculation unit 6
It is supplied to the horizontal servo motor 29 via 5. On the other hand, the azimuth pickup digital signal is supplied to the digital serial communication circuit 74, and the third channel CH
3 is supplied to the digital serial communication circuit 76 on the stator 45-2 side of the gyro rotor. The azimuth pickup digital signal is supplied from the digital serial communication circuit 76 to the azimuth servo calculation unit 61.

On the other hand, the azimuth servo calculation unit 61 inputs the rotation angle signal LSB output from the azimuth encoder 31 to calculate the absolute rotation angle, that is, the azimuth angle φ, and supplies it as a gyro signal to the outside. Incidentally, the direction servo calculation unit 61
Is output to the azimuth servomotor 29 via the commutator control circuit 63.

According to the present example, as shown in FIG. 5, the rectifying circuit 81, the torqueing circuits 36 and 37, the compass calculating section 35, the horizontal servo calculating section 65, and the AD converting circuit are provided on the rotor 45-1 side of the gyro rotor. 71 and 72 and digital serial communication circuits 74 and 75 are arranged, and these may be mounted on the platform 49, for example.

Further, as shown in FIG. 6, the power supply circuit 82 arranged on the stator 45-2 side of the gyro rotor, the digital serial communication circuits 76 and 77, the interface section 78, the direction servo operation section 61, and the commutator control circuit. 63 and the like may be attached to the board 41, for example.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-mentioned embodiments, and it is apparent to those skilled in the art that various other configurations can be adopted without departing from the gist of the present invention. Easy to understand.

[0093]

According to the present invention, a gyro compass using a flex gyro or a TDG is configured to correct a mass imbalance error caused by a discrepancy between the center of gravity of the gyro rotor and the center of the flex hinge. Therefore, even if the center of gravity of the gyro rotor does not coincide with the center of the flex hinge, there is an advantage that the mass imbalance error can be eliminated.

According to the present invention, a gyro compass using a flex gyro or TDG is configured to correct a mass imbalance error caused by a discrepancy between the center of gravity of the gyro rotor and the center of the flex hinge. There is an advantage that the manufacturing cost of the flex gyro or TDG can be reduced.

According to the present invention, in a gyro compass using a flex gyro or TDG, the compass calculator calculates the torqueing signals T _Y and T _Z supplied to the Y and Z torquers of the flex gyro or TDG. Therefore, there is an advantage that a gyro output that does not include a mass unbalance error can be obtained.

[Brief description of drawings]

FIG. 1 is a conceptual diagram of a gyro compass according to the present invention.

FIG. 2 is an explanatory diagram for explaining correction of a mass unbalance error according to the present invention.

FIG. 3 is a cross-sectional view showing a front structure of an example of a gyro compass according to the present invention.

FIG. 4 is a sectional view showing a planar configuration of an example of a gyro compass according to the present invention.

FIG. 5 is an explanatory diagram illustrating a rotor-side circuit of a rotary transformer.

FIG. 6 is an explanatory diagram illustrating a stator side circuit of a rotary transformer.

FIG. 7 is a front sectional view of an example of a conventional gyro compass.

FIG. 8 is a plan sectional view of an example of a conventional gyro compass.

FIG. 9 is a diagram showing an outline of the inside of a conventional TDG tank.

FIG. 10 is a cross-sectional view showing a configuration example of a conventional flex gyro or TDG.

FIG. 11 is an explanatory diagram for explaining a mass imbalance error of a conventional flex gyro or TDG.

FIG. 12 is an explanatory diagram for explaining a mass imbalance error of a conventional flex gyro or TDG.

[Explanation of symbols]

 10 base 11 TGD 13 block 13A, 13A 'horizontal axis 15 follower ring 17 follower axis 19 bearing 21 north-south inclinometer or north-south accelerometer 23 east-west inclinometer or east-west accelerometer 27 horizontal servomotor 27-1 rotor 27-2 fixed Child 29 Direction servo motor 31 Direction encoder 35 Compass calculation unit 36 Horizontal torqueing circuit 37 Direction torqueing circuit 41 Board device 43 Cover 45 Rotary transformer 47 Coupling 49 Platform 51, 53A Bearing 61 Direction servo calculation unit 62 Start sequence unit 63 Commutator control circuit 65 Horizontal Servo Calculation Unit 110 Gyro Rotor 111 Gyro Case 113 Suspended Wire 115 Tank 115A, 115B Horizontal Axis 116 Liquid 117 Horizontal Ring 117A, 117B Gimbal Axis 119A, 11 9B bearing 121 follower ring 121A cylindrical wall 121B skirt part 123A, 123B bearing 125 follower shaft 127 follower plate 127A center shaft 127B protrusion 129, 131 bearing 133 coupling 135 mounting part 141 horizontal servomotor 141A rotor 141B stator Motor 143A Rotor 143B Stator 145 Slip ring 145A Current collector ring 145B Brush 147 Direction encoder 151 Housing 153 Upper cap 155 Lower cap 157 Ball bearing 159 Gyro rotor 161 Flex hinge 161A Center hole 161-1 Ginval 161-2 Boss 161-2 -3 Outer peripheral ring 161-4 Inner hinge part 161-5 Outer hinge part 165 Shaft 167 Motor 167-1 Stator 167-2 Rotation 171-1 permanent magnet 171-2 Torukakoiru 173 pickup

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kanushi Yamamoto 2-16-46 Minami Kamata, Ota-ku, Tokyo Within Tokimec Co., Ltd.

Claims (2)

[Claims] 1. A gyro rotor having a spin axis in the X-axis direction, a flex hinge for rotatably supporting the gyro rotor about the Y-axis and the Z-axis, a Y-torquer for torqueing the gyro rotor about the Y-axis, and the gyro. A flex gyro having a Z torquer that torques the rotor around the Z axis, and the flex gyro is rotatably supported around the Y axis,
A gyro compass having a follow-up axis perpendicular to the base, and a follow-up ring rotatable around a vertical axis passing through the follow-up axis, and a finger north device for applying a finger north force to the gyro, By correcting the Y torquer signal supplied to the Y torquer and the Z torquer signal supplied to the Z torquer, the mass unbalance error caused by the discrepancy between the center of gravity of the gyro rotor and the center of rotation of the flex hinge is corrected. A gyro compass characterized by being configured to. 2. The gyro compass according to claim 1, wherein the Y torquer signal supplied to the Y torquer and the Z torque signal are supplied.
A gyro compass characterized in that the Z torqueing signal supplied to the ToruCa is represented by the following equation. T _Y = (Kθ-mgδ) cosσ T _Z =-(Kθ-mgδ) sin σ T _Y , T _Z : Torquering signal supplied to the above Y and Z torquers K: Finger north constant m: Mass of the gyro rotor g : Gravity acceleration δ: Distance between the center of gravity of the gyro rotor and the center of rotation of the flex hinge (+ is on the gyro rotor side from the center of rotation of the flex hinge) θ: Mounting of gyro compass on horizontal surface Face Y
Rotational inclination angle around the axis (+ for southward rise) σ: X of the mounting surface of the gyrocompass with respect to the horizontal plane
Rotational tilt angle around the axis (+ for westward rise)