JPS593310A - Arithmetic unit for relative angle - Google Patents

Abstract

PURPOSE:To simplify construction and to improve accuracy by supporting the body and rotor of an angle transmitter freely rotatably on the same axial center and using gears only for inputting of the body and the rotor. CONSTITUTION:The body 201a of an angle transmitter 201 is fitted into a cylindrical housing 205 formed with a gear 207 at one end and is supported freely rotatably. A gear 208 is mounted to a rotor 201b, and angles are inputted to the body 201a and the rotor 201b by means of gears 207 and 208. The transmitter 201 transmits the electric signal corresponding to the added and subtracted values of the two turning angles thereof.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a relative angle calculation device trap suitable for use in, for example, a speed error correction device for Zoyacon and Heisu. It is an object of the present invention to provide a relative angle calculation device that can perform relative angle detection.

<Background of the Invention> Gyroscopes are generally equipped with a speed error correction device. This speed error correction device works when a ship or aircraft equipped with a gyrocon/1st is sailing, the combined movement of the earth's rotation and the movement of the vehicle acts on the gyro, and the course of the vehicle, that is, the gyrocon/1st tm to the azimuth θ indicated by
A speed error of ``''' (Vcme/900 am ψ) degrees (where V is the speed of the vessel in knots and ψ is the latitude) occurs. For this reason, a speed error correction device is generally attached to the gyro controller.

In the speed error correction device, a mechanism is used that adds or subtracts the speed error angle δ to the azimuth angle θ indicated by the zoyaiaconodus. An example using a differential gear mechanism as the angle addition/subtraction mechanism has been proposed.

<Description of the prior art> The present applicant has disclosed the first
We have proposed a speed error correction device for the Zoyairoconnox arm as shown in Figures 2 and 2.

First, the speed error correction device for the gyro controller shown in FIG. 1 will be explained. The example shown in FIG. 1 shows a case in which a speed error correction device is attached to a gyro control system in which a container rotates following a rolling ball trap.

In FIG. 1, reference numeral 101 is a rolling ball with a built-in gyro (not shown), and a container 1 filled with a support liquid 102.
It is floated on mercury 104 in 03, and its center is supported by a center pin 105, and its north end faces north due to its northerly nature. A ship equipped with a gyro compass turns,
When the wheel ball 101 rotates relative to the container 103, the change in resistance RI+R1 of the support liquid 102 between the tracking electrode of the wheel ball 101 and the tracking electrode of the container 103 is detected by the rollers 106. And its resistance R+.

The change in R, is amplified by an amplifier 107, and the follow-up serve motor 108 is driven by the amplified output. The shaft output of the dr motor 108 causes the container 103 to rotate following the rotation of the wheel ball 101 via gears 107 and 111.

Reference numeral 112 indicates a relative angle calculation device. The previously proposed speed error correction device is characterized in that the relative angle calculation device 112 is configured by a differential gear. One input shaft 1121k of the relative angle calculation device [1' 12 is fixed to the gear 111, and when the follow-up serve motor 108 rotates, the container 103 and the gear 111 rotate following the rolling ball 101, the relative angle is calculated. One input shaft 112a of the arithmetic device 112 also rotates by the same angle, and the input shaft 112
a rotates in relation to the azimuth angle θ of the gyro compass.

Reference numeral 113 is an angle transmitter such as a synchro transmitter, which is connected to a follow-up motor 108K via gears 114 and 109.
T! tied. Therefore, when the serve motor 108 rotates the container 103 following the wheel ball 101, the angle transmitter 113 also rotates by the same angle to correspond to the azimuth angle θ.
(2) Output a voltage signal of θ (K is a proportional constant). Here, assuming that the azimuth angle θ is 0° due east and 180° due west, the output of the angle transmitter 113 is zero when the ship is sailing eastward or westward. The transmission signal Kl (9) of the angle transmitter 113
) θ is supplied to the speed error correction signal transmitting means 115, and the speed error correction signal transmitting means 115 outputs the speed error correction signal K1. Obtain Kt・K1・V'QIIIθ/(9)ψ.

The speed error correction signal transmitting means 115 is the first. The 17th. When the boat speed V is set by the tenator 116, the output of the angle transmitter 113 is multiplied by V (K is a proportional constant), and the output voltage is increased by 1. K1. V(11θ, the second attenuator 11
If the latitude ψ is set in 7, the 17th. The output of the tenator 116 is multiplied by Kg/ccsψ (Kl is a proportional constant), and the second
The output voltage of attenuator 117 is K1. Kg, K
g Vcosθ/csysψ. Reference numeral 118 denotes a serve motor, which is connected to the other input shaft 112b of the relative angle calculation device 112 via gears 111'9 and 121. Further, 122 is an angle transmitter such as a potentiometer, which is connected to the serve motor 118 via gears 119 and 123.
1- to the output voltage of the second attenuator 117.
When 1·K3Vamθ/μsψ is applied to the amplifier 124, the serve motor 118 rotates, the angle generator 122 rotates, and the output voltage becomes the siryl?
Negative feedback is provided to the input side of the amplifier 124, and the relative angle calculation unit f
The other input shaft 112b of t112 is the 27th. Tenator 1
Angle δ = Ks ・K ・Kg in proportion to the discharge pressure of 17
Vccwiθ/CQ191 (K is a constant) is rotated so that the product of proportional constants -+'Kt·K becomes 1/900. Therefore, when the angle transmitter 113 rotates in relation to the azimuth angle θ from the
= V (2) θ/900 (2) ψ rotation. Reference numeral 125 denotes a contour 9 skirt, and 126 denotes its finger floating.
When 12C rotates, the flat skirt 125 rotates by the same angle, and the con! The angle is indicated by the skirt 125 and the index 126. Further, 131 is an angle transmitter such as a synchro transmitter, and is connected to the output shaft 112 of the relative angle calculation device 112.
(!), and when the output shaft 112c rotates, it outputs a voltage signal according to the rotation angle. By supplying this output signal to a synchro receiver (not shown), speed errors are corrected. The angle can be specified.

Therefore, when a ship equipped with this gyro controller turns and the container 103 rotates by the motor 108 via the gear 111, the container 103 follows the wheel ball 101.
One input shaft 112a of the relative angle calculation device 112 rotates in relation to the azimuth angle θ of the gyro console. On the other hand, the angle transmitter 113 is rotated by the same angle as the input shaft 112a of the relative angle calculation family ff1l12 by the following motor 108, and the first. @2 attenuator 116, 117,? −
71? Amplifier 124 and sir via motor 118
The other input shaft 112b of the relative angle calculation device 112 rotates by an angle δ=VctsO/900cmψ, and the output shaft 112c of the relative angle calculation device f112 rotates by an angle θ'=θ+δ.
Rotate. As a result, the compass card 125 and the angle transmitter 131 rotate by an angle θ'=θ+δ, and the compass card 125 and index 126 can indicate the true azimuth angle θ' with the speed error δ corrected.

Furthermore, by connecting a synchro receiver to the angle transmitter 131, the true orientation θ' can be indicated even in a remote location. Therefore 2gl, 27th. By setting the ship speed V and latitude ψ using tenators 116 and 117, the true heading θ'
can be instructed.

<Disadvantages of the prior art> As mentioned above, in the speed correction device of the gyro controller arm 2 proposed earlier, the repair angle δ is converted into the azimuth angle θ using the relative angle operation group [1112] configured by the differential gear. I'm trying to add it up. As is generally well known, differential gears have a complicated structure and are expensive. Furthermore, since a large number of gears are used, backlash between the gears is relatively large, which causes errors. To reduce errors due to backlash, serve motors 10B and 1
It should be used at a position close to 19. However, at positions near the serve motors 108 and 118, the rotational speed is high and the wear of the differential gear is significant. For this reason, play becomes large early during practical use, deteriorating reliability.

Furthermore, the moment of inertia of the differential gear itself is large, and the moment of inertia converted to the shaft of the serve motor is inevitably large. This significantly deteriorates the control performance of the system.

On the other hand, if the relative angle calculating device is used near the CON-9 skirt 1250, the rotation speed is slow, so wear on the gears can be reduced and durability can be improved. However, the differential gear has a surprisingly large force, and this force directly acts as an error. Therefore, accuracy is significantly degraded.

<Objective of the invention> This invention proposes a relative angle calculating device for compressing differential gears, and its purpose is to provide high durability,
However, the present invention aims to provide a relative angle calculation device with high accuracy.

<Summary of the Invention> In the invention, an angle transmitter consisting of a male di and a rotor is rotatably supported with respect to a fixed part, and by relatively rotating the gedi and the rotor, two It is configured so that the value obtained by adding and subtracting the rotational input angle can be transmitted as an electrical signal.

<Embodiment of the invention> An embodiment of the invention is shown in the second review. In Figure 2, 2
01 indicates, for example, a synchro transmitter, a resolver, an inductor, and also an angle transmitter such as a detent or a meter. As is well known, the angle transmitter 201 consists of a gedi 201a and a rotor 201b, and the gedi 201a is usually attached to a fixed part and used to transmit an electric signal corresponding to the relative angle with the rotor 201b. It will be done.

In this invention, the dedi 201a of the angle transmitter 201 is
is rotatably attached to the fixed part 202. For this purpose, a hole 203 is formed in the fixing part 202, and an outer ring 204atl of the bearing 204 is inserted into the hole 203.
- Fit into place. Inner ring 204bK of bearing 204
is cylindrical) and the housing 205 is fitted. A flange portion 206 is formed at one end of the cylindrical housing 205, and a gear 207 is formed on the outer periphery of this flange portion 206. 201 m of angle transmitter 201 on cylindrical body 205
are fitted to support the dead body 201a rotatably with respect to the fixed part 202. Rotor 201bK of angle transmitter 201
gear 208 is attached, and by gears 207 and 208? The rotor 201b is configured to input an angle to the rotor 201b.

Normally, the power input and transmission output of the angle transmitter 201 are taken out directly from the pedi 201a with the electric wire 209, but in this invention, since the gi dī 2011 is rotatably supported, the power input and the transmission output are taken out through the pickpocket and the sill 211. is.

Reference numeral 212 indicates a bearing for a pickpocket 211, and this example shows a case in which this bearing 212 is attached to the cylindrical housing 205 via a support piece 213.

With this configuration, by inputting two rotation angles through the gears 207 and 208, the angle transmitter 20
1 can transmit electrical signals corresponding to the addition and subtraction values of the two rotation angles.

<Effects of the Invention> Therefore, according to the present invention, the number L of gears is zero except for gears 207 and 208 used as input means. Therefore, since there is no gear in the part where relative angles are added and subtracted, highly accurate addition and subtraction can be performed.

<Application Example of the Invention> FIG. 3 shows a speed error correction device for a gyro controller using the relative angle calculation device according to the present invention.

In FIG. 3, parts corresponding to those in FIG. 1 are designated by the same reference numerals.

That is, in the figure, 101 is a rolling ball, and 103 is a container. The rolling ball 101 is housed in a container 103, and the supporting liquid 10
2 and floating on mercury 104 with center pin 105
The north end of the υ finger is held facing north due to the north direction of the gyro. Conte+103tj near 7pal lJ:/
1" 301a and aoib are supported by a stand 302. A slirag ring 304 is attached to the support shaft 303 of the container 103, and the resistance of the support liquid 102 in the container 103 and the external resistance R are through this slirag ring 304.
s.

R4 is connected to form a tree and a tree. Detection ends of the front and rear wheels are connected to a sub amplifier 107 to detect a deviation in the relative rotation angle between the rolling ball 101 and the container 103. This rotation angle deviation is amplified by the serve amplifier 107 and drives the follow-up servo motor 108. Follow-up serve motor 108
is gear 109 and 305.306.307.308.30
9, the support shaft 3 of the container 103 is decelerated by Tanabe.
03, and a closed loop is configured so that the direction of the rolling ball 101 and the direction of the container 103 are always aligned.

A connoisseur card 1 is attached to the support shaft 303 of the container 103.
25 is attached, and the structure for indicating the azimuth angle θ using the con/f skirt 125 and index 126 is the same as in the first case.

In this example, by moving the position of the index 126, the speed order difference angle δ is
The following shows the case where the . Therefore, index 126
is rotatably supported on the support shaft 303 of the container 103,
A gear 311 is formed on the supporting portion. This gear 311
is the servo motor 11 for speed error correction explained in Fig. 1.
8 are connected through gears 119, 312, 123, and an angle transmitter 122 such as a synchro transmitter or a potentiometer is attached to the gear 123, and the output signal of this angle transmitter 122 is transmitted to the input side of an amplifier 1240. Negative 4i! and the serve amplifier 124 and serve motor 11
8 and the angle transmitter 122 constitute a closed loop,
In this closed loop, the speed error correction signal Kl- is sent from the speed error signal transmitting means 115 to ·K, ·VQI! Is index 126 a sir sequence given +θ/cap ψ? motor 118
The position is corrected by the angle δ corresponding to the speed error pressure. The azimuth angle θ output from the follow-up serve motor 108 and the speed error angle δ output from the motor 118 are
is electrically processed by the diagonal angle calculation device 310 proposed by the present invention, and an electrical signal corresponding to the true azimuth θ' is outputted to the output terminal 313.

In the example shown in drawing 3, the rotor side input of the relative angle calculating device 310, that is, the rotation of the gear 305 is slowed down and transmitted to the support shaft 303 of the container 103. Therefore, when the rolling ball 101 rotates, for example, by 1 degree, the rotor side input of the relative angle calculation device 3100 rotates once. Therefore, it is necessary for the speed error signal transmitting means 115 to generate the IX signal from the 360X signal. 314.315.316.317 are circuits provided for this purpose. Angle transmitter 2 provided in the relative angle calculation device 310 with 314 rotation direction discrimination circuits
Every time the IF pulse rotates by a certain angle, a pulse with a polarity corresponding to the direction of rotation is generated, and the pulse is applied to an up/down counter 315, which counts up and down according to the polarity of the IF pulse. When the angle transmitter 201 is a synchro transmitter, its output is output as two-phase signals 501, 502, and 503, as shown in FIG. Therefore, when the three-phase signals 401, 402, and 403 cross the zero point, a pulse is generated. The 9 pulses are made to have positive polarity and negative polarity depending on the direction of rotation, and the positive and negative polarity / pulses are given to the up/down counter 315, and the up/down counter 315 is turned up and down depending on the polarity of the 9 pulses. Make it count. Therefore, the up/down counter 313 counts the number of pulses corresponding to the rotation angle. , the count value of the up/down counter 315 is applied to a function generator 316 constructed of, for example, a ROM, and this function generator 316 generates a digital signal (2) θ corresponding to the IX signal. N to the digital-to-analog converter 317, and the f4 digital to analog converter 31
An analog voltage signal corresponding to 7 to 1θ is output.

This analog signal is used as the first. @2 Atte (Coefficient K of ship speed V and latitude ψ through Noeta 116 and 117
is multiplied by 1 from the second annotator 117 to Kl-.
・K1 ・Output Vccmθ/tuft ψ.

As described above, the relative angle calculation device of the present invention has a greatly simplified structure and can be manufactured at low cost compared to a differential gear type relative angle calculation device. However, apart from the human-powered gears 207 and 208, no other gears are required. Therefore, angle addition and subtraction operations can be performed with high precision without the influence of play caused by gears. Therefore, a highly accurate gyro compass can be provided.

In the above, the case where the relative angle calculating device according to the present invention is used as a speed error correcting device in a gyro controller/base has been explained, but other examples include the case where the relative position of a moving bed of 2"-) is detected, etc. It is easy to understand that it can also be used for

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram for explaining a conventional relative angle calculation device, Fig. 2 is an exploded perspective view showing an embodiment of the present invention, and Fig. 3 is a block diagram showing an example of application of the invention. be. 201: Angle transmitter, 201a: Dedi, 201b two rotors, 202: Fixed part, 204: Means for rotatably supporting the dedi on the fixed part, 207: Means for inputting the angle to the dei, 208: Angle on the rotor; W Means of entering patent information Agent of Hokushin Electric Works Co., Ltd.
Takashi No49

Claims (1)

[Claims] (1) A. An angle transmitter in which a rotor and a rotor are rotatable on the same axis, and which transmits an electrical signal corresponding to their relative rotation angles; and B. What about this angle transmitter? A relative angle calculating device comprising: means for rotatably supporting the I-day on a fixed part; means for applying a rotational input to the I-day; and means for applying a rotational input to the rotor.