KR820001827B1 - Moving coil miniature angular rate sensor - Google Patents

Abstract

The angular velocity detector, mounted on a rotating body, e.g. a missile shell, comprises a base(25) with pivot supports fixed directly to the rotating body, magnetic means(32, 34, 36) fixed to the base and a detection coil carried by the pivot supports. The latter define a geometric pivot axis which is at an angle to the axis of rotation of the body, so that the detection coil rotates about this pivot axis relative to the magnetic means fixed to the base, in a gyroscopic manner, as a function of the orientation variations of the rotational axis. The magnetic means may comprise a permanent magnet or an electromaget.

Description

Miniature angular rate detector using movable coil

1 is a perspective view of a conventional missile using a movable coil detector.

2 is a schematic diagram showing the direction of a missile's sensing device.

3 is a front view of the sensing device with the cover removed.

4 is an elevational view in which part of the sensing device of FIG. 3 is deleted.

5 is a cross-sectional view taken along line 5-5 of FIG.

6 is a front view of the sensing device with the cover removed showing the coil and magnet structure.

The present invention relates to a control mechanism and in particular to a steering rate sensing device for use in rotating aircraft.

Many missiles are designed to intensively guide and maintain the roll rate for their longitudinal axis during flight. Such missiles have important and practical advantages in roll stabilized air frames. This concept of roll vehicle applies to both missiles fired from the air and ground. These missiles maintain a predetermined roll rate using a control surface after the initial departure from the launch pad. At a roll rate of 5 to 15 revolutions per second, one control plane can be used to guide the missile to any of the three coordinate axes on Earth.

Typical applications of this concept include conventional control systems using a pair of variable incidence control surfaces for steering the missile in the selected instantaneous rotational direction from the guidance command signal to the control panel. Can be. Thus, if the missile moves at altitude, the guidance signal must change in amplitude at the same frequency as the missile's roll rate to raise the missile.

For example, in the vertical plane, the command command signal is usually in the form of a sine wave, where a pitch-up is induced when the control panel of the aircraft approaches the surface and the vertical plane, and the control plane rotates to nearly 1 / thest from the pitch-up. When two turns, pitch-down is induced, resulting in an angle of attack.

This angle of attack raises the body and changes the missile course from the horizontal to ascending course. Similarly, right path correction is achieved by a sinusoidal wave that is 90 ° out of phase from the signal required for vertical path change. The present invention provides a simple control system capable of saving cost and increasing reliability in a roll vehicle rather than a conventional safety vehicle.

The present invention has been devised and developed for rolling aircraft in a recently developed autopilot control system in a roll vehicle. To date, no suitable control has been used to roll aircraft systems in autopilot systems.

Therefore, there is a need for a simple and effective appropriate control rate sensing device for roll pilot autopilot systems.

The present invention is angled toward the base frame rotation axis bearing a fixed pivot support means for direct attachment to a rotating body rotating about a rotation axis, the pivot support means defining an extended pivot axis, to the base frame for rotation The pivot support on the base frame for movement and rotation about the pivot axis relative to the magnet means by means of a fixed magnet means, a precession of a gyroscope in response to a change in the axis of rotation upon rotation for rotation and signal generation The present invention relates to a control rate sensing device for a rotating body composed of a pickoff coil which is pivotally mounted to the means.

The present invention further includes a control rate sensing device for a rotating body. The base frame fixed to the vehicle for rotation about a base shaft electric rotation axis, including a trunnion bearing bearing represented by a pivot axis mounted in a roll vehicle having a predetermined guide roll with respect to a vertical axis, the rotation axis, at right angles to the vehicle rotation axis. The pivot axis moves through the pivot axis, the magnet means fixed to the base frame for rotation, and the trunnion bearing bearing on the base frame and moves relative to the magnet means by a gyroscopic precession, so A pickoff coil having a wire wound around a circular spool to generate a.

These and other objects and advantages of the present invention will become apparent from the following description taken in conjunction with the drawings.

In Figure 1 a typical example of a roll vehicle is shown in the form of a missile. The vehicle generally has an elongated cylindrical body 10 having aerodynamically shaped nose portions 12 and tail portions 14 protruding from such as rocket engines. The body is attached with a number of roll guide fins or faces 16 near the tail to hold or guide the roll of the body about its longitudinal axis.

The apparatus also has a pair of fixed angle canard faces 18 and a pair of variable angle canard faces 20. The canard face 20 can be rotated positively and negatively by an appropriate known control system method. The canard face 20 controls the attitude of the face passing through the longitudinal axis of the missile and orthogonal to the axis of rotation of the control surface. The back side is called the control panel. The criteria for the up and down movement in the control panel is related to the direction of the aircraft.

The control system of the vehicle includes a control rate sensor 22 and an accelerometer 24.

The initial missile spin-up and roll guide surface 16 provided at the launch pad caused a roll rate of about 10 revolutions per second about the longitudinal axis. The maneuvering control of the vehicle is accomplished by varying the angle of attack of the control plane in a repetitive manner so that the control plane 20 matches the instantaneous position of the control panel. 20) Positive attack angle is given and the maximum value is when the upper part of the control panel is rotated 180 ° to the left.

Neglecting the delay of the control response, the positive angle of incidence reaches its maximum when the control panel is level with the ground (the gas is to the left of the top of the control panel).

During the next 90 ° of rotation, the positive control plane incident is reduced to zero, and the next 90 ° rotation has a negative attack angle, reaching a maximum when the control plane is again horizontal to the aircraft. The movement of the control surface 20 corresponds to the sinusoidal change in the relative phase determined by the frequency and the desired calibration direction, such as the roll rate.

2 shows an angular rate detector 22 and an accelerometer 24 mounted to the gas. The accelerometer 24 is mounted on the gas and its sensory axis is on the control plane, but is converted vertically to the gas so that the accelerometer produces a signal that matches the acceleration of the control panel but whose sign is opposite.

As can be seen from FIGS. 3 to 5, the angular rate detector 22 (hereinafter referred to as an adjustment rate detector) includes a base frame 25 made of a suitable material according to an embodiment of the present invention. The base frame has a pair of trunion support frames 26 and 28 at regular intervals to mount the support bearings of the axis mounted guide coils labeled 30. The magnet support frame 32 generally has an H-shaped structure with a pair of cuboid slots for receiving the trunnion retaining frames 26 and 28.

The magnet support frame 32 is made of magnetic steel and provides a low reluctance path between the permanent magnets 34 and 36.

The permanent magnets 34 and 36 are coupled by the magnet support frame as shown in FIG. The cover 87 is made of magnetic material to protect the detector

1) provide high flux density in the air gap between the magnet and the cover

2) It acts as a magnetic shield of the detector.

The magnet support frame is fixed to the base frame by a suitable method such as screw 38.

Induction or pickoff coils 30 generally have an annular spool, such as a mold 40 with multiple coils 42. The spool is made of a suitable material such as aluminum.

The overall steering detection device is designed to rotate with the aircraft about an adjuster axis parallel to the aircraft axis of the embodiment described above. Therefore, it can be considered that the pivotal movable coil is a kind of rotor. This coil assembly is pivotally mounted for pivotal motion up to an axis intersecting 90 ° with the control shaft of the rotor.

The coil assembly 30 is mounted to the shaft means on the trunnion support frames 26 and 28 as follows. In other words, the coil assembly 30 is installed by a pair of jewelry bearings 44 and 46 installed in the screw frame 48 and 50 screwed to the trunnion support frame 26 and 28. have. A pair of adjustable pins 56 and 58 having conical end points for conical condensation on the bearings 44 and 46 may be provided with screws 60 and 62 in the spool frame 40 or It is equipped by a suitable screwing frame.

The coil surrounds the magnet so that an electrical current is induced when the coil moves relative to the magnet. The current in the coil is conducted via conductors 64 and 66 to clips 68 and 70 coupled to spacers 72 and 74. Coil-shaped flexible wires 76 and 78 connect the clips 68 and 70 with the clips 80 and 82 in the spacers 81 and 83, The clips 80 and 82 are connected to the conductors 84 and 86 which go out of the housing. Spacers 72, 74, 81 and 83 are screwed together to act as lock nuts for the respective threaded frames. Static equilibrium of the rotor is possible on three sides as it loads the rotor face, and the locks on the flexible lines 76 and 78 are zero by rotating and adjusting the spring clips 68 and 80, 70 and 82. Becomes The mechanism is enclosed in a lid 87 attached to the base frame 25 by screws 88.

The axis coil assembly acts as a rotor that rotates like a missile's aircraft. For a change in the missile's longitudinal and roll axis positions, the axis coil assembly works like a gyroscope in which the coil is precessed or moved relative to the magnet, proportional to the magnetic melodic cut by the coil and is in phase with the rotation of the aircraft. Generate contact pressure. Therefore, the coil assembly oscillates about the axis, such as the rotational frequency of the gas. The detector's EMF output is directly proportional to the gas's input control rate.

Electrical Conductor (Aluminum) The interaction between the rotor and the magnetic field acts to brake the rotor or coil. The parameters of the device can be adjusted to suit the sensitivity required for a particular gas or other application.

6 shows another embodiment of the present invention. There is a base 90 which holds the coils marked with shafts 92 for the relative movement of the stationary electromagnet 94. The electromagnet 94 is protected by the base frame 90 in an appropriate manner and has a common core in which coils 96 and 98 are wound. The electrical currents of the coils 96 and 98 form a magnetic field which is cut by the movement of the coil 92. The coil 92 is generally square or rectangular in structure and, in this embodiment, comprises a coil wound around the framework 100. The frame 100 is made of a suitable material, such as aluminum, which is supported by a pair of trunnion support frames 102 and 104 that project upwardly from the base frame 90 as described above. Coil 100 is supported by pins 106 extending in bearings 108 and 110 mounted in trunnion molds 102 and 104. Current conduction from the coil 100 passes through the conductors 112 and 114 through the conductors 112 and 114, as in the above embodiment, and connects them to the coiled conductors 120 and 122 again. It can be obtained by connecting to the clip (124) and (126) connected to the output line via. The current applied to the electromagnet can vary as a function of acceleration, rate, position, temperature, time, altitude (pressure), etc. for error correction and correction.

Damping is converted by changing the size of the conductor of the coil spool or by changing the material, such as copper. This changes the shorted turn eddy current damping present in the system. As shown in the above embodiment, the entire device is covered by the cover 128, so that the entire sample may be filled with a suitable damping fluid to obtain greater damping.

While the invention has been described and illustrated by way of example, various changes and modifications are possible without departing from the spirit and scope of the invention as defined in the claims.

Claims (1)

On the frame 25, 90 in the angular rate sensor, which is adapted to be attached by means of its fundamentals to a rotating body, such as a missile, comprising a measuring signal generating coil which is adapted to make relative pivotal movements with the magnetic means. It has a coil (30, 92) that is supported to rotate with respect to the axis of rotation of the missile and pivot about the pivot axis, the pivot axis extends toward the axis of rotation at a constant angle, the magnetic means (32, 34, 36, 94, 96, 98 are measured by vibrations of the coils 30, 92 relative to the pivot axis which are fixed to the base frames 25, 90 to rotate together and respond to the simultaneous rotation of the rotating body and the positional change of the rotary axis. Angular rate sensor, characterized in that it is provided with damping means for reducing the pivot movement of the signal and the coil (30, 92).

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