RU2011171C1 - Single-axis gyro stabilizer - Google Patents

Abstract

FIELD: gyroscopic engineering. SUBSTANCE: device is characterized in that a signal winding of a precession angle sensor is additionally electrically connected to the input of a circuit for determining a precession velocity sense of gyroscope and forms control signals for a torque sensor of the base of this information so as to produce additional compensating torque around the precession axis which unloads the axis from harmful torques. EFFECT: enhanced accuracy in stabilizing of gyro stabilizer platform. 1 dwg

Description

 The invention relates to gyroscopic technology and can be used in guidance and control systems of aircraft.

 Known uniaxial gyrostabilizer (OGS), which provides a given orientation of the stabilized element (platform) relative to one axis [1].

 A typical scheme of such a gyrostabilizer includes a two-stage gyroscope and a stabilized object located on the platform. The output axis of the stabilizing motor is connected to the platform (usually with the help of a gearbox), which is designed to apply moments to the platform that compensate for the action of disturbing moments relative to the stabilization axis. On the suspension axis of the gyroscope, called the precession axis, a precession angle sensor is installed, the signals from which are fed to the amplifier of the stabilization system. The amplified and converted signal is fed to the control windings of the stabilizing motor. The combination of a precession angle sensor, an amplifier, and a stabilizing motor is commonly called a stabilization system. Such a construction of a gyroscopic device allows stabilization of the platform and the object located on it.

 However, the stabilization process is accompanied by errors, which are understood as the deviation of the platform from the position specified in some reference coordinate system. Moreover, the influence of harmful moments acting along the axis of the precession of the gyroscope leads to an increasing departure (drift) of the platform from its original position.

 Known uniaxial gyrostabilizer, the main elements of which are a two-stage gyroscope, a precession angle sensor, an accelerometer, an amplifier-converter of a power stabilization system, a stabilizing engine, a torque sensor [2]. Moreover, the elements form two systems: a stabilization system and a correction system. In the stabilization system, a precession angle sensor is connected in series to a power stabilization amplifier and a stabilizing engine. In the correction system, an accelerometer, an amplifier-converter, and a torque sensor are connected in series.

 The defining drawback of such a scheme is that from the moment the aircraft starts, the correction system is turned off and the uncompensated systematic departure of the platform relative to the stabilization axis begins to appear.

 The aim of the invention is to improve the accuracy of the uniaxial gyrostabilizer due to the formation of an additional compensating moment along the axis of the precession.

 The purpose of the invention is achieved in that in a uniaxial gyrostabilizer containing a two-stage gyroscope with a precession angle sensor and a torque sensor, a stabilization amplifier and a stabilizing motor connected in series, and an accelerometer and a converter-amplifier connected in series, while the output of the precession angle sensor is connected to the input of a stabilization amplifier and the output of the amplifier-converter is connected to the torque sensor, an additional differentiating element, a non-linear element for selecting the sign the amplifier, the positive signal amplifier, the negative signal amplifier and the adder, while the output of the precession angle sensor is additionally connected to the input of the differentiating element, the output of which is connected to the input of the nonlinear signal sign extraction element, the output of the nonlinear signal sign extraction element is connected to the input of the positive signal amplifier and the input of the negative signal amplifier, the outputs of which are connected to the inputs of the adder, and the input of the torque sensor is additionally connected to the output of the adder.

 The drawing shows a gyrostabilizer.

 The essence of the proposal is illustrated in the drawing, in which a two-stage gyroscope 1 is a common element for the stabilization system and the correction system. The stabilization system is a serial connection of a precession angle sensor 2, stabilization amplifier 3 and a stabilizing motor 4. The correction system is a serial connection of an accelerometer 5, amplifier-converter 6 and a torque sensor 7. A compensation circuit is introduced in parallel to the correction system in a uniaxial gyrostabilizer. Its main elements are a precession angle sensor 2, a differentiating element 8, a non-linear element for extracting a signal sign 9, a positive signal amplifier 10, a negative signal amplifier 11, an adder 12 and a torque sensor 7. Moreover, the output of the precession angle sensor 2 is additionally connected to the input of the differentiating element 8 the output of which is connected to the input of the nonlinear element of the selection of the sign of the signal 9, the output of the nonlinear element of the selection of the sign of the signal 9 is connected to the input of the amplifier of the positive signal 10 and to the input of the amplifier Yelnia signal 11, whose outputs are connected to inputs of an adder 12, and an input torque sensor 7 is further connected to the output of the adder 12. Under the action of the disturbing moment about the stabilization axis gyro precessional motion occurs with respect to the inner frame with the precession axis and the angle sensor 2 is de-energized. This movement of the gyroscope is the cause of the occurrence of the moment of dry friction forces and, consequently, the OGS drift relative to the stabilization axis. In order to reduce this drift, the voltage taken from the precession angle sensor 2 is supplied to the input of the differentiating element 8, the output of which forms a signal proportional to the gyroscope precession velocity. Next, the signal is fed to the non-linear element for selecting the sign of signal 9. The latter determines the sign of the gyroscope precession rate and generates a signal based on this information either to the amplifier of the positive signal 10 if the angular velocity is positive or to the amplifier of the negative signal 11 if the angular velocity of the precession is negative. After amplification, the signal enters the control winding of the torque sensor 7. The torque sensor 7 applies a moment to the OGS precession axis that compensates for the disturbing moment acting on the same axis of the gyroscope, which ultimately reduces the gyro stabilizer’s own drift.

+ μx

+ M

= Mx;
B

+

- H

- K_стβ= M_η , (1) где β,

,

;

,

- углы, угловые скорости и ускорения движения гироскопа относительно оси внутренней и наружной рамок;
А, В - моменты инерции гироскопа и других подвижных частей относительно осей х и η;
Н - кинетический момент гироскопа;
μ_х, μ_η- коэффициенты вязкого трения относительно осей х и η;
К_ст - коэффициент передачи цепи стабилизации.To clarify the principle of operation of the proposed device, we consider the equations of motion of a uniaxial gyrostabilizer. Moreover, these equations after the start of the aircraft (LA) (correction circuit is disabled) have the form
A

+ μx

+ M

= Mx;
B

+

- H

- K _article β = M _η , (1) where β,

,

;

,

- angles, angular velocities and accelerations of the gyroscope relative to the axis of the inner and outer frames;
A, B are the moments of inertia of the gyroscope and other moving parts relative to the x and η axes;
H is the kinetic moment of the gyroscope;
μ _x , μ _η - viscous friction coefficients relative to the x and η axes;
To _article - the transfer coefficient of the stabilization circuit.

=

(2)
Сумма вредных моментов ΣM_возх содержит следующие наиболее характерные слагаемые
ΣM_возх= M_тх+ M_дбх+ M_тпх+ M_прх , (3) где M_тх - момент сил сухого трения по оси внутренней рамки;
M_дбх - моменты сил дебаланса;
M_тпх - моменты тяжения токоподводов;
M_прх - прочие возмущающие моменты.An analysis of the first equation of system (1) shows that as a result of the action of disturbing moments along the axis of the gyro-stabilizer’s internal frame, an uncompensated inherent drift of the device at a speed

=

(2)
The sum of the harmful moments ΣM _up contains the following most characteristic terms
ΣM _{vozh mx} = M + M + M _{DBH mx} + M _RMP, (3) where M _rx - the time the dry friction force of the inner frame axis;
M _dbh - moments of unbalance forces;
M _TPX - moments of tension of current _leads ;
M _prx - other disturbing moments.

The moments of dry friction forces are one of the most significant factors causing the OGS to leave. It has been experimentally established that the moments of dry friction forces do not depend on time or the angular velocity of the relative displacement, but change sign when the direction of the relative displacement velocity changes, moreover, in the general case, M _tx ⁺ ≠ M _tx ^- . It should be noted that the values of M _tx ⁺ and M _tx ^- are constant for this particular device and can be determined at the stage of factory settings and output control.

, τ≫ T и тем самым на его выходе имеет сигнал, пропорциональный скорости прецессии гироскопа

. Затем сигнал поступает на звено, которое реализует уравнение сигнатуры угловой скорости и формирует напряжение единичной амплитуды положительной полярности, если угловая скорость прецессии положительна и наоборот - напряжение единичной амплитуды отрицательной полярности, если

<0. Данное напряжение поступает на усилитель с коэффициентом усиления, равным
K $\genfrac{}{}{0ex}{}{\text{+(}}{\text{ус}}$ ^-)=

, где М_тх ^+(-) - амплитудное значение момента трения при

>(<)0, которое определяется в заводских условиях;
К_дм - коэффициент передачи датчика момента ОГС.Consider the dynamics of the uniaxial gyrostabilizer after the launch of the aircraft. When a disturbing moment of a random nature occurs along the stabilization axis, a precessional motion of the gyroscope relative to the axis of the internal frame occurs, and thus the moment of dry friction forces arises, which causes the main component of the GHS drift. But after the launch of the aircraft, the signal from the precession angle sensor enters the link with the transfer function of the form
W (p) =

, τ≫ T, and thus has a signal at its output that is proportional to the gyroscope precession rate

. Then the signal arrives at the link that implements the equation of the signature of the angular velocity and generates a voltage of unit amplitude of positive polarity, if the angular velocity of the precession is positive and vice versa - voltage of unit amplitude of negative polarity, if

<0. This voltage is supplied to the amplifier with a gain equal to
K $\genfrac{}{}{0ex}{}{\text{+ (}}{\text{mustache}}$ ^-) =

where M _tx ^{+ (-)} is the amplitude value of the friction moment at

>(<) 0, which is determined in the factory;
To _dm - coefficient of transmission of the OGS moment sensor.

The gain factor K _us ^{+ (-) is} calculated and installed at the factory during the setup and testing of the device. Next, the signal through the adder enters the control windings of the torque sensor and the latter creates a compensation moment relative to the axis of the inner frame, equal in magnitude and opposite in direction to the moment of dry friction forces. Thus, the component of the gyro stabilizer’s own departure, due to the moments of dry friction forces, will be largely compensated.

 The positive effect is to reduce the self-drift of the uniaxial gyrostabilizer due to the unloading of the gyro precession axis from the action of harmful moments by determining the sign of the gyro precession speed and forming a compensation moment based on this information. (56) 1. Nazarov B.I. Power gyrostabilizers. The development of the mechanics of gyroscopic and inertial systems. M.: Science, 1973, p. 183-216.

 2. Kargu L.I. Measuring devices of aircraft. M.: Mechanical Engineering, 1988, p. 256.

Claims (1)

 A ONE-AXIAL GYRO-STABILIZER containing a two-stage hydroscope with a precession angle sensor and a torque sensor, a stabilization amplifier and a stabilizing motor connected in series, and an accelerometer and a converter amplifier connected in series, while the output of the precession angle sensor is connected to the input of the stabilization amplifier, and the output of the converter amplifier is connected with a torque sensor, characterized in that a differentiating element, a nonlinear element for isolating the sign of the signal, a positive signal target, a negative signal amplifier and an adder, while the output of the precession angle sensor is additionally connected to the input of the differentiating link, the output of which is connected to the input of the nonlinear signal sign extraction element, the output of the nonlinear signal sign extraction element is connected to the input of the positive signal amplifier and to the amplifier input negative signal, the outputs of which are connected to the inputs of the adder, and the input of the torque sensor is additionally connected to the output of the adder.

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