JPS61172009A - Gyrocompass - Google Patents

Abstract

PURPOSE:To enable accurate measurement of a compass direction angle, by installing liquid wedge that can be assumed as absence of pendulum length and photoelectric automatic collimator. CONSTITUTION:A liquid wedge 16 is arranged in parallel light beam baths composed of a reflecting mirror M2 fixed in the 1st symbals frame 3 and an integrally constructed photoelectric automatic collimator 14 and by the collimator 14 and the liquid wedge 16 an inclination of the earth rotation is measured photoelectrically and by amplifying this signal, an electric power proportional to the inclination angle is applied to a torque motor 10 and magnetic exciting coil 9 and by this arrangement a period of the precession is accelerated pronouncedly and the true and false error by the horizontal velocity is removed. When the gyromotor starts the recession, when an output of the collimator 14 exceeds a certain value in the neighborhood of a point where the true ratio compass direction is passed, an instantaneous braking electric current proportional to the inclined output is introduced or the braking electric current of the constant pulse width and the constant current intensity is introduced with a frequency proportional to the angle of inclination to a torque motor for setting the precession to the true ratio direction at one or several trials.

Description

[Detailed Description of the Invention] Conventional marine gyro compasses are large, take a long time to establish a true ratio, and are expensive; however, the gyro compass of the present invention has an extremely quick true ratio measurement or establishment time, and dramatically improves the accuracy of true ratio determination. There is one type that has excellent features such as being small, lightweight, and inexpensive.

The gyro compass of the present invention will be explained as follows with reference to the drawings.

In Figures 1, 2, and 3, the gyro motor (
The gyro motor 1) receives AC power from the inputter el1) around its rotation axis (XX') and rotates at high speed in the direction of the arrow, and the rotation axis (XX') of the gyro motor is connected to the motor frame (2). supported by vertical rotational axes (2s) (2s') perpendicular to the gyro axis and bearings (2B) (2B)
The motor frame body including the gyro motor (1) is rotatably supported in the first gimbal frame (3) by a hanging wire (6) from the hanging fitting (5) on the upper part of the first gimbal frame (3). (2) is hanging.

The first gimbal frame (2) has a horizontal rotation axis (3E+) (as') located approximately on its center of gravity and a bearing (3B) (3S
') is rotatably supported in the second horizontal gimbal frame (4), and the second horizontal gimbal (4) is supported in the same horizontal plane as the first gimbal horizontal axis (3B) (3S'). A second gimbal axis (not shown) perpendicular to this is rotatably supported within the follower frame I in the same manner as the first gimbal axis, and the follower frame αυ is connected to the upper and lower vertical axes (works) (11B ' )
The structure is such that it can freely rotate around the entire circumference between the gyro main body (c) on the lower plate on the stand MC2n) and the upper glass plate (c) by bearings (IIB) (IIB').

There is a direction plate α3 on the upper axis (118) of the following frame <111, and the direction angle can be read by the indicator (2) through the cummer glass (to).

Furthermore, there is a slip ring (I) at the bottom of the direction board on the upper shaft (118) for supplying power to the gyro motor and other control circuits.

There is a follower gear @ on the lower shaft (IIEI) of the follower frame αD that drives the follower frame. The motor gears (2) are meshing.

When configuring a true-ratio type gyro compass, the follower gear @ and the gear C21) on the synchro transmitter are connected to a synchro receiver +411 that remotely transmits the meshing direction angle to drive a repeater.

In the true ratio calculation type gyro compass, a rotating magnetic scale plate α barrel is provided on the lower shaft (11B') of the tracking frame.

Magnetic scale board <II) A magnetic film is coated on the circumference of a perfectly round metal drum and a precise magnetic scale is recorded on it.The pick-up a field and detector (to) instantly change the main scale to 17200. The direction angle can be subdivided up to (3'), the direction angle can be digitally extracted as an electrical signal, and the direction angle can be counted and displayed using a counter ((7)).

In the above structure, the gyro motor (1) is approximately 1
As long as the gyro motor rotates at high speed, the gyro motor axis (X Since it rotates on its axis, the motor frame body (
2) The upper surface of the liquid wedge (1e) attached to the liquid wedge (1e) maintains a horizontal plane, but the lower glass plate αη tilts according to the rotation of the earth. The optical structure and electric circuit for applying a downward torque to the rotating shaft of the gyro to generate precession will be explained with reference to FIG. 4.

Figure 4 shows a side view of the tilt detection device shown in Figure 1. The photoelectric autocollimator α radiation, reflection @(M,) and M (to) are integrated in the photoelectric autocollimator fixed to the first gimbal frame (3). It has a structure of

The autocollimator I is a semi-transparent mirror (M1) placed on the optical axis of the objective lens (L) at an angle of 45° to the optical axis.
), the light emitted by the light emitting diode (straight) arranged at the focal plane on the optical axis bent at right angles is sent out to the reflecting mirror (M2) through the objective lens as a parallel beam.

Light emitting diodes (more) have a point light source with a diameter of α2 to α5ies+, have a semi-permanent life, and have a stable light source position.1 Monochromatic light.
It is small, has low power consumption, and has excellent earthquake resistance, making it extremely advantageous as a light source for use in this device.

If there is no liquid wedge aQ on the optical path of the photoelectric autocollimator a4 mentioned above, the parallel light beam emitted from the objective lens (L□) will be reflected by the reflecting mirror (M2), and will be focused again on the objective lens 1, making it semitransparent. After passing through the mirror (M8), the concave lens (
-2), the focal length is multiplied and the light source image (φ
).

On the focal plane, two photoelectric conversion elements (PD, ) (PD2) are arranged symmetrically on the optical axis, and the light incident on both elements is photoelectrically converted and sent to the torque motor via a differential amplifier (to). The rotation axis (3) of the first gimbal frame is supplied to the excitation coil (9).
The torque motor (R) directly connected to E+' generates rotational force in the ram member, and as a result, it is possible to apply a rolling torque.

However, as mentioned above, if there is no liquid wedge α, the reflected image is formed axially symmetrically, so the outputs of the two photoelectric elements are equal and the output of the differential amplifier is zero, and no rotational force is generated in the torque motor. .

When the liquid wedge αe fixed to the first jet nozzle frame (3) is placed on the parallel optical path of the auto remeter (141) described above, an angle equal to the angle at which the motor axis is tilted from the horizontal plane is given to the liquid wedge, and a tilt signal is generated. Photoelectric detection is possible.

As described above, the liquid frame is a cylinder fixed to the first gimbal frame (3), in which a transparent liquid α having an appropriate viscosity is enclosed in vertically parallel glass plates aηf.

In a device with such a structure, a gyro motor (1)
The gyro rotates at high speed around its axis of rotation (XX), and when it is in operation, the axis of rotation of the gyro points in a fixed direction regardless of the rotation of the earth, but the liquid level always remains horizontal, so the angle of rotation of the earth is 1/6 osee. yields a ratio 1 inclination (0).

When the emitted light from the collimator is incident on a liquid prism having an inclination angle, that is, an apex angle (0), its deflection angle α is α=(n-1)・
The light is polarized by 0 in the direction of the thicker wedge.

Generally, the refractive index n of liquid is 1.51, so α; α5・θ
becomes. When this refracted light is reflected by the reflecting mirror CM2), the direction of reflection is reversed due to the principle of optical leverage, and it is again subjected to a declination of 0.5.0 in the liquid wedge, resulting in a total of 0.5eθ + 0.5・θ. produces an argument of =0.

Assuming that the reflected light that has undergone a polarization angle θ is incident on the objective lens, and this forms a light source image on the focal plane, the displacement position ΔB of the image from the optical axis on the photoelectric element surface is the objective lens i (I+,) and the concave lens (L, )jζ generates a displacement of the product ΔS=F·0 of the combined focal length F and the deflection angle 0, and obtains an electric signal proportional to ΔS, which gives a rolling torque to the torque motor. The amount of reduction torque is determined by the focal length F of the collimator and the degree of amplification of the differential amplification device.

As is clear from the above explanation, by using a liquid wedge, the mechanical pendulum length of the present invention is approximately zero, and a photoelectric output equivalent to that of an inclinometer using a pendulum equivalent to the focal length of the collimator can be obtained. Even if the gyro device is subjected to large oscillations or horizontal accelerations, it will hardly be affected by the pointing action.

In addition, by combining the concave lens (L2) and increasing the composite focal length, S becomes larger and a large reduction torque can be applied without increasing the amplification degree of the differential amplification device. The period of one-difference motion can be greatly shortened.

As described above, in the gyro compass of the present invention, the first gin nozzle frame (3) performs a high speed differential movement due to the method of transmitting the reduction torque by the inclination detection device and the torque motor. In order to minimize the weight of the gyro motor (1) and motor frame (2), it is suspended from the top of the first gin noll frame using a metal hanging wire (6) with sufficient tension to support the weight of the gyro motor (1) and motor frame (2). axis of rotation (
2B) (2E1) and radial Zeel bearing (2B)
(2B) to ensure smooth rotation.

When the motor frame (2) undergoes an angular change due to a sharp movement, it is fixed to the core (7') of the differential transformer attached to the motor frame by a support arm and the first gimbal frame (3). A positional change occurs between the differential coil (7) and an electrical signal corresponding to the angular change is generated as a result.

This angle change signal is amplified by a surge amplifier (to) and a power amplifier (to) via a slip ring a, and is then supplied to the servo starter (2), which drives the follower frame α8 via a gear mechanism. The servo tracks a motion similar to the handwriting motion.

The gyro compass of the present invention has the above-mentioned structure, and can be used to make a sharp stroke motion in a short time by the following method, or to make a precise stroke motion in a short time and with high precision using an automatic calculation system without having to create a sharp stroke motion. It is meaningful to let the ratio be determined.

When configuring a true ratio type gyro compass,
An automatic control circuit (to) as shown in FIG. 3 is provided to establish a skillful handwriting movement in a short time and to aim for true ratio.

In Figure 6, if the rotating shaft (XX') of the gyro motor is hung horizontally facing east and west, the N side of the motor shaft rises at a rate of 15 per minute, so due to the liquid speed ae and the torque motor α [ The reduction torque is applied, producing a sharp stroke motion as shown in S~8', and the inclination angle of the motor axis at the passing point in the N direction is integrated, and the speed of the smooth stroke becomes maximum and f as shown by dotted lines P□~F, Jζ. (After passing through the N direction, the integral inclination angle decreases and stops at the west direction, and now the S end receives the rolling torque and the direction of movement is reversed, performing a so-called slender movement.

In the above-mentioned stroke, the integral value of the inclination angle is always obtained as the output of the liquid wedge1, and if you differentiate it, you will find the point where the differential value is zero, or you can compare the inclination angle moment by moment with the value at the previous time. However, there is a point at which these become equal when the motor shaft passes approximately the N direction, and at that point, if an instantaneous braking current proportional to the inclination angle f is superimposed on the excitation coil (9) of the torque motor (11), the inclination angle becomes P2 to P0, and as a result, the amplitude of precession can be greatly reduced by 1.Also, the residual amplitude P3
Braking is applied to the next N direction passing point 1, and from P4 to P
.

It is possible to establish the N direction in a short time by applying several braking pulses.

The above method may be digitally controlled by adding braking currents with a constant Norse width in a number proportional to the inclination angle of the N direction passing point. As with a marine gyro, when the amplitude of the stroke motion becomes less than 1° after passing through the above-mentioned control means, which is the limit of accuracy that does not pose a practical problem, the braking inolus is stopped and the compass is operated in the same way as a general gyro compass.

As shown in Figure 5, the true ratio calculation type gyro compass detects the direction (YY) of the device or ship whose direction is to be detected.
Let X be the angle that YY') makes with the true ratio ◇ Since the gyro performs a fine stroke movement centering on the true ratio N, from S to d
vibrates sinusoidally.゛The period T of the swivel motion is determined by the gain constant 1 of the detection loop of the rotation speed of the gyro motor, the moment of inertia, and the reduction torque. For example, a gyro motor with a rotor diameter of 52 mm is
When rotating 0ORPM't', the moment of inertia is approximately 700
f −cm”?, the period T is about 4 minutes and shows a constant value.

When the rotation axis of the gyro motor is set in the east-west direction and the clamp is released, the swing width reaches its maximum value, and the value near the true ratio 1 becomes a small value.

As shown in Fig. 5, this type of stroke motion forms a nearly perfect sine motion, and the amplitude at the time 2xΔt advances from time t is a□, and the amplitude at the time Δt advances from time t. a2) Time t″r!a3, conversely, let the amplitude at the time delayed by Δ be a4.2x The time delayed by Δ is as.

These values lie on a sinusoidal waveform on an axis with a period T and a maximum amplitude b1 in an orientation in which the direction of the device is offset by an angle of true ratio and X.

The angle reading signal of this device is emitted from the sequence circuit (2) shown in the electric circuit diagram of Fig. 2 at the time interval 1 of the above-mentioned Δt, and the output of the detector (to) of the rotating magnetic scale cIυ is detected by the counter (b). The angle measurement values read are sent to the computer (
(to) is temporarily stored.

For a gyro system f with a constant period T, the true ratio can be found using the following formula using the sampling angle ax x as + a40 2π a2=X+bsin (Z-; Δt)...
・・・・・・・・・(1) a3=x+ba1nz ・
・・・・・・・・・・・・・・・(2) a,=X+bBi
nZ#「吃t-bsin-mut・aasZT
T ・・・・・・・I1) ・・・・・・・・・16 types and 12cxI2! Multiply Δt (1') (ffit
<If you take the sum of the expressions 1f x= a・−2°・−chit+a・0608.1
10210.14) In the above equation, the period T1Δt is known, a2・
a3. Since a has a measured value of 1, the azimuth X from the true ratio can be immediately displayed on the digital display after solving equation (4) using a computer. Also, in a gyro system where the period T is unknown or has an indefinite f, the period T can be automatically determined using the measured values a1e a2 t a3 r tL4+ as, and the true ratio X can be calculated. Solving for Oa2 and a4 , a2= −Δt2π +bain−Δt 'awaZ......''(6)(
Subtracting equation (6) from equation 5), 2π a2-a4=-2bsin-Δt-cosZ ・River''...(71Similarly, solving for a□ and a, tt SL1=:X+bsin(Z −- -2Δt)K as ;X + 'be in (Z + -・2Δt
) Expanding the above formula, 2π a1=X+bsunzcaIT°2□t2π −bain−1Δt IIaysZ ・……”(8
)2π a, ”X + bainZcm-・2Δt2π +bθ1n-・2Δt-■2・・・・・・・・・(9)
Subtracting equation (9) from equation (8), ゛ 2π (10) - a, knee 2 ebsin -' 2Δtac
a! z...Song...(Divide the 11-membered formula by equation (7): J * ax + aa e as is the measured value and Δt
is strictly determined, so even if the period T is unknown, the upper value can be used to calculate T at any time using equation 69 using a computer (to), and using this, the true ratio direction can be obtained from equation (4).

Furthermore, by substituting equation (11) into equation (4) and rearranging, it is possible to obtain the azimuth X from the true ratio, which is always correct even if the period T is unknown t, by performing measurements at five points.

The sampling time Δt should be less than 1/16 of the period T, and if T is 4 minutes, Δt should be 15 seconds, and the azimuth from the true ratio can be determined within 1 minute with an angular accuracy of 1' to 2'. It has been proven that

Also, since each point on the sine waveform always contains information that has an aftereffect on the N point (the center of amplitude), the above measurement can be performed continuously and the azimuth angle can be indicated sequentially, or the measurement can be performed over a certain period of time (5' to 1 d). ) The accuracy can be further improved by taking the average value of a large number of measurement groups of It is possible to apply a large reduction torque using a torque motor.
Since the precession period can be effectively reduced to less than 1 minute, the true ratio establishment type receiver used in marine gyros can establish the ratio in an extremely short time even if braking control is performed several times. With the true ratio calculation type, it is possible to instantly display the true direction with extremely high accuracy during a short sampling time.
As explained above, the gyro compass of the present invention is suitable for use in ships, etc. because it detects inclination with high sensitivity using a liquid wedge and a photoelectric autocollimator, which allows the gyro motor supported approximately at the center of gravity to be regarded as a pendulum length zero. Then, even when subjected to large pitching or rolling, there is no decrease in accuracy, and the precession cycle is accelerated and the gyro motor is forced to phase, or Mlf-r is instantaneously reduced to less than 1' without establishing this at all!
Not only can the true direction be determined, but even if a gyro system whose period fluctuates due to changes in latitude or voltage is used, it has the great feature of constantly correcting it and finding the correct method. It has great features such as output with value, remote instruction, digital display, recording, and connection to other direction control equipment.

[Brief explanation of drawings]

Fig. 1 is a longitudinal sectional view of one embodiment of the gyro compass of the present invention, Fig. 2 is a block diagram showing the electric circuit of the true ratio calculation type gyro compass, and Fig. 3 is a diagram of the true ratio calculation type gyro compass. A block diagram showing the electric circuit, Fig. 4 is an explanation of the side effects of the inclination detection device, Fig. 5 is an explanatory diagram of sine wave vibration in the process of precession of a true ratio calculation type gyro compass, and an fsG diagram is a diagram of the true ratio calculation type gyro compass. There is an explanatory diagram 1 showing the braking process of the precession of the enactment type gyro compass. Explanation of symbols (1)...Gyro motor, (2)...Motor frame, (2B, 2B)...Motor frame support bearing, (3)...First gimbal frame, (38' )...First shin, 6-hole frame horizontal shaft, (4)...Second horizontal gin noll frame, (6)...Hanging wire, (7)...Differential transformer,
(9)...Torque motor excitation coil, α-torque motor drum, (111...Following frame, (11B')
...Following frame lower rotation axis, A4...Photoelectric autocollimator, αe...Liquid wedge, α ladder...Rotating magnetic recording scale board, Member...Pickup, (M2)...Reflector, T
...Period of precession, Δt...Sampling time interval, (X X')...Gyro motor rotation axis.

Claims (1)

[Claims] 1) Motor frame (2) including a gyro motor (1)
is suspended from above the first gimbal frame (3) by a hanging line (6) so that its axis of rotation (XX') is horizontal, and bearings (2B) are attached to the upper and lower ends to prevent horizontal movement.
(2B), and the first gimbal frame (3) is supported by a second horizontal gimbal frame (4) with two orthogonal axes approximately at its center of gravity. In a gyro compass that makes the tracking frame (11) perform servo tracking by coupling the first gimbal frame (3) to accelerate the period T of precession,
A liquid wedge (16), which is also fixed to the first gimbal frame, is placed in the parallel optical path of a photoelectric autocollimator (14) which has an integral structure with a reflecting mirror (M_2) fixed to the The inclination angle of the earth's rotation is photoelectrically detected by the wedge, and this signal is amplified and sent to the torque motor (10) and excitation coil (9) installed on the horizontal axis (3S') of the first gimbal frame in proportion to the inclination angle. By applying this electric power, a large reduction torque is applied to the motor shaft, supporting the gyro motor almost at its center of gravity, greatly accelerating the period of precession, and eliminating true ratio errors caused by horizontal acceleration, making the gyro motor more efficient. When performing differential motion, the output of the photoelectric autocollimator including the liquid wedge is proportional to the tilt output with an arbitrary time constant only when this value exceeds a certain value near the true ratio azimuth passing point where the output reaches the maximum value. Either apply a constant braking current with a constant pulse width to the torque motor a number of times proportional to the inclination angle to create precession in the true ratio direction once or several times. Features a gyro compass. 2) In the gyro compass shown in claim 1), unlimited precession is allowed to continue without flowing a braking current for instantaneous establishment at the maximum inclination angle point, and the tracking frame (11
) is equipped with an angle encoder (for example, a rotary magnetic recording dial (18)) on the lower (or upper) rotating shaft (11S'), and automatically adjusts the angle at equal time intervals Δt in any section of one cycle of precession. If the period T of the precession is known, the direction angle values at three points are read from the rotary dial (18) one pair or every pair continuously by the pickup (19) and are automatically read out. For a gyro compass whose period is not constant, sample the azimuth angle values at five points at equal time intervals Δt as described above, or
Gating one period of a sine wave at an arbitrary time interval and using the digitally measured value of the period of the precessional movement, the period is sequentially corrected, and the true ratio passing point of the precession is determined by the direction angle of the three-point sampling. Using a functional equation that includes the value, period T, and sampling time Δt, or a functional equation that includes the directional angle value of five-point sampling, an electronic calculation circuit determines the calculation and oscillates the azimuth from the true ratio without suppressing the precession. A gyro compass is characterized by instantaneous and highly accurate measurements on the body and digital display or continuous recording.