RU2142643C1 - Wide-range bed to test angular velocity meters - Google Patents

Abstract

FIELD: measurement technology. SUBSTANCE: wide-range bed includes frame, shaft mounted in frame for rotation, platform to fasten meter on shaft. D C motor, ring commutator, source of calibrated voltage. Three tangential accelerometers are placed on additional platform so that their sensitivity axes are perpendicular to radii of additional platform and three centrifugal accelerometers are fixed on additional platform so that their sensitivity axes are oriented along proper radii of additional platform. Gyroscopic transmitter of angular velocity is so positioned on additional platform that its sensitivity axis is parallel to axis of shaft. Two hermetically sealed reed relays are anchored on elastic current lead so that angle of 6 deg is secured between contacts of mentioned relays. Magnet is secured in center position between contacts of hermetically sealed reed relays. Cylindrical bushing is suspended in frame of bed from ball bearing supports uniaxially to shaft passing inside cylindrical bushing. Shaft is hollow in one section of its length and band torsion bar is placed into internal space of shaft. Bed also has mechanism tracking axis of shaft. Personal computer is employed to control bed and to process obtained information. EFFECT: enhanced precision and stability of preset angular velocity, expanded functional capabilities of and increased sensitivity of bed. 6 dwg

Description

 The invention relates to measuring equipment, and in particular to means of monitoring angular velocity meters (ICS).

 Known stands for monitoring the angular velocity sensor.

 Such stands include a DC motor, equipped with a gearbox, the output link of which is designed to rotate the platform, on which the checked angular velocity sensor is mounted so that its sensitivity axis is parallel to the axis of rotation of the bench platform. A collector is installed on the platform axis for supplying power to the monitored device. A scale for counting angular velocity is plotted on the stand platform. The PS-1 stands (technical description 6360 / OZZOTO) that are widely used have such a design.

The disadvantages of the stand of this design are:
- a large error in setting the angular velocity (at speeds from 1 ^o / s and above ± 1%, and in the range from 0.1 to 1 ^o / s within ± 10%).

- the instability of the specified angular velocity due to vibrations and shocks created by mechanical gears of the stand, equal to ± 1.5%,
- the impossibility of setting small angular velocities of 0.01 ^o / s, as well as harmoniously varying angular velocities.

 A well-known stand of the Massachusetts Institute of Technology, containing a rotary platform for securing a controlled TLS mounted on it, mounted on the axis of the stand, a sensing element, an electric motor and an amplifier (G. Slomyansky, Yu.N. Pryadilov, Float gyroscopes and their application. M., 1958 ., pp. 178-190) / 1a /.

 As a sensitive element, the stand contains an integrating gyroscope, quite rough in terms of its technical characteristics. The input axis of the controlled TLS is parallel to the axis of rotation of the platform.

 The stand was not used to control the scale factor of precision TLS due to its rather low technical characteristics.

 Known stand for monitoring angular velocity sensors on.with. N 476516 from 05/28/73, which contains a base that can rotate around the axis of the stand, designed to fix on it a controlled angular velocity sensor having an angle sensor, a torque sensor connected through a feedback amplifier, a stand drive motor, reduction, a collector for supplying power to the controlled CRS, an information angle sensor, made in the form of a zero-contact mounted on the axis of rotation of the stand, and a measuring system.

 The zero-contact sensor is designed to read an integer number of revolutions of the rotating axis (with a controlled TLS), which allows you to determine the average angular velocity set per revolution and thus compensate for its fluctuations due to the uneven rotation of the axis of the bench.

 The measuring system contains a capacitor connected in series to the feedback circuit of the controlled TLS between the output of the feedback amplifier of the TLS and its torque sensor, and a key connected in parallel with the capacitor.

 Thus, during control, the device under test is connected to the elements of the measuring system of the stand. In addition, the measuring system contains two sources of reference voltage and a self-recording millivoltammeter. In this case, one reference source is connected in parallel to the key and the capacitor, and the reference resistance is connected in parallel to the second reference source.

 The devices described above, having as a basis an electromechanical stand with reduction, do not allow to control the amplitude-frequency (AFC) and phase-frequency (PFC) characteristics of the TLS, also related to the main controlled parameters. When controlling the frequency response and phase response, it is not mechanical vibrations that are set around the sensitivity axis of the TLS, as is the case in operation, but the oscillations of its precession axis, excited by a generator connected to the torque sensor of the TLS. Thus, inadequacy of the test conditions to the operational conditions takes place.

 Closest to the claimed stand is a device according to copyright certificate SU 459735 A, 05.02.75, G 01 P 21/00, containing a DC motor, an annular collector with brushes for power supply, a platform for mounting angular velocity meters, mounted on a shaft mounted in the body with the possibility of rotation. The specified device is taken as a prototype.

The described device SU 459735 A, 05.02.75, G 01 P 21/00 has the following disadvantages:
1. Insufficient accuracy of control of the scale factor of the precision TLS due to the error and instability of the bench setting of a constant angular velocity in magnitude and direction;
2. Low sensitivity of the stand, ie the impossibility of accurately setting angular velocities from 0.01 to 0.1 ^o / s during the certification of precision TLS by the scale factor;
3. The impossibility of setting with the help of a bench of harmonic oscillations around the sensitivity axis of the TLS in the control of frequency response and phase response.

The objective of the invention is to expand the functionality of the stand while ensuring high accuracy and stability of the task of angular velocities. The problem is solved by the fact that in the stand for monitoring angular velocity meters (IMS), comprising a housing, a shaft mounted in a housing rotatably mounted on a shaft, a platform for installing an angular velocity meter, a DC motor, a ring collector, consisting of a collector bushings and brushes for power supply, an additional platform mounted on the shaft, six quartz pendulum accelerometers, a gyroscopic angular velocity sensor, a cylindrical sleeve, a rod, a tape torsion, an elastic end current lead, two reed switches, a magnet, a tracking mechanism, a summing two-channel amplifier, a personal computer, an analog-to-digital converter having four inputs, a digital input-output port card, a two-position relay and a transistor switch, an amplifier of the stabilization system with the adder included in it, a calibrated voltage source and a control unit for the tracking mechanism, while the gyroscopic angular velocity sensor and accelerometers are mounted on an additional platform For example, the sensitivity axes of three accelerometers for measuring tangential acceleration are perpendicular to the corresponding radii of the additional platform, and the sensitivity axes of three accelerometers for measuring centrifugal acceleration are oriented along the respective radii of the additional platform, each accelerometer contains a quartz plate, a capacitive angle sensor and a magnetoelectric moment sensor connected in series through the corresponding feedback amplifiers having a second output from the load a resistor, a gyroscopic angular velocity sensor contains an angle sensor and a torque sensor connected in series through a feedback amplifier having three outputs, and the sensitivity axis of the gyroscopic angular velocity sensor is parallel to the shaft axis, the elastic end current lead contains the upper and lower getinax blocks and gold conductors for power supply, attached to the pads, two reed switches are fixed on the lower block with an angle of 6 ^o between the contacts of the reed switches, the magnet is fixed on the upper block on average and between the contacts of the reed switches, the cylindrical sleeve is suspended in the housing on ball-bearing bearings coaxially with the shaft passing inside the cylindrical sleeve, the upper block of the elastic end current supply is mounted on the shaft, and the lower block on the cylindrical sleeve, the shaft is hollow on one section of its length, the tape torsion bar placed in the cavity of the shaft and attached with the lower end to the end of the hollow shaft portion, and the upper end to the middle of the rod, which is perpendicular to the axis of the shaft, passes through the holes of the cylindrical a hollow portion of the shaft and attached at both ends to the ends of the cylindrical sleeve rigidly connected to the collector sleeve, the tracking mechanism comprises a pulsed stepper motor and a gear transmission, while the stepper motor is attached to the housing through a shock absorber, the output gear link is fixed to the cylindrical sleeve coaxially with it, the summing two-channel amplifier has three inputs and one output in each channel, and its transfer coefficient for each input is 1/3, an analog-to-digital converter, and a digital port board I / O are built into the slots of the personal computer, the input of the transistor key is connected to the output of the I / O port board, and the output is connected to the winding of a two-position relay with two inputs, the stabilization system amplifier with an adder is mounted on an additional platform, and the adder has three inputs and one the output, the control unit of the tracking mechanism has two inputs connected to the reed switches, and four outputs connected to the windings of the pulsed stepper motor, the second output of the feedback amplifier of the gyro sensor the global speed is connected to the third input of the analog-to-digital converter, the fourth input of which is designed to connect to the output of the angular velocity meter, the third output of the feedback amplifier of the gyroscopic angular velocity sensor is connected to the first relay input, three inputs of the first channel and three inputs of the second channel of the summing two-channel amplifier connected respectively to the outputs of the load resistors of accelerometers for measuring centrifugal accelerations and accelerometers for measuring tangential accelerations The first output of the summing two-channel amplifier is connected to the first input of the analog-to-digital converter and the second input of the relay, the second output of the summing two-channel amplifier is connected to the second input of the analog-to-digital converter and the first input of the adder of the amplifier of the stabilization system, the output of the switched relay lines is connected to the second input of this the adder, its third input is connected to the output of the calibrated voltage source, and its output is connected to the first input of the stabilization system amplifier, the first, second and the third outputs of the amplifier of the stabilization system are connected to the first, second and third inputs of the DC motor, the first and second outputs of which are connected to the second and third inputs of the amplifier of the stabilization system, while the DC motor is made non-contact.

The set of essential features characterizing the claimed technical solution allows, in comparison with the prototype, to achieve a technical result, which consists in the following:
1. The sensitivity of the proposed stand, i.e. the minimum angular velocity that can be set when checking the scale factor of the controlled IMS is determined not by the friction moments along the axis of rotation of the stand and the friction coefficient in reduction, as is the case in the prototype, but by the sensitivity of the gyroscopic angular velocity sensor, tangential and centrifugal accelerometers, which corresponds to angular velocity, several orders of magnitude lower than in the prototype.

2. Improving the accuracy and stability of the specified angular velocity is provided by:
- due to the presence of a dual-circuit control system in the stand. This allows one system (the feedback loop of the gyroscopic TLS and quartz accelerometers) to ensure the stability of the system, while increasing the gain of the stabilization amplifier controlling the contactless motor in the second circuit to the value necessary to achieve the specified accuracy and stability,
- due to the presence of a mechanism for tracking the collector and the torsion bar for unloading ball-bearing bearings of the axis of rotation of the shaft from the weight of the tested device. This allows an order of magnitude to reduce friction along the axis of the shaft suspension and, accordingly, increase the accuracy and stability of the angular velocity set by the bench. The decrease in friction moment occurs due to:
- the complete exclusion of the influence on the shaft axis of rotation of the frictional moment of the collector, since the collector sleeve has its own suspension axis, and the friction moment in the collector is “fenced off” by the stepping motor of the tracking mechanism, and a small moment of elastic mechanical current leads is applied to the shaft axis,
- unloading the ball bearings of the axis of rotation of the shaft from the weight of the device under test by "weighing" the platform with the device to be tested on a tape torsion, which experiences tension and transfers the weight of the platform with the device to be tested to the ball bearings of the axis of rotation of the collector.

 3. The ability to control the frequency response and phase response at the stand, ie expansion of functionality, which is provided, in contrast to the prototype, gearless execution of the drive shaft axis.

 4. The proposed device allows you to measure the scale factor of the device when you rotate the shaft axis at any angle, significantly less than a turn, which reduces the test time. This is ensured by high-precision reference and measurement of the angular velocity of rotation of the platform.

 5. In the proposed device, the engine is controlled not only by the angular velocity measured by the sensitive elements of the bench - gyroscopic TLS and centrifugal accelerometers, but also by the angular acceleration measured by tangential accelerometers, which improves the quality of regulation and reduces the errors of the control system.

6. The proposed device provides a wide range of angular velocities due to the use of sensitive elements of the engine control system of the gyroscopic TLS and quartz accelerometers - tangential and centrifugal, connected in an automated PC mode depending on the angular velocity set. The stand can provide a range of preset angular velocities from 0.01 to 1260 ^o / s, practically for monitoring most modern angular velocity meters, a range of preset angular velocities from 0.01 to 200 ^o / s is sufficient.

 7. The proposed device provides output information not only on the angular velocity, but also on the angle of rotation of the platform, as well as on the angular acceleration of rotation of the platform.

 8. The device is docked with the PC. Thus, the claimed technical solution is a new set of features in comparison with the known solutions to the problem, it is not obvious from the prior art and can be recognized as meeting the criterion of "inventive" level ".

 The technical nature of the proposed device is illustrated by drawings of FIG. 1, 2, 3, 4, 5, 6.

 In FIG. 1 presents a functional kinematic diagram of the proposed stand.

 In FIG. 2 is a structural diagram of a quartz accelerometer.

 Figure 3 is a structural diagram of the mechanism for tracking the collector, the device for unloading the bearings of the suspension of the shaft using a tape torsion bar.

 In FIG. 4 is a block diagram of an amplifier of a stabilization system and a non-contact direct current motor.

 In FIG. 5 is a functional block diagram of the control mechanism of the tracking mechanism.

In FIG. 6 is a diagram of the supply of pulses to the windings of a stepper motor of the tracking mechanism. The proposed device comprises a housing (not shown in Fig. 1), a shaft 1 having an axis of rotation relative to the housing, implemented on ball bearings 2, which is the output axis of the stand. A platform 3 is fixed on the shaft 1, intended for installation of the device under test 4. Sensitive elements of the stand are fixed on the shaft 1:
linear acceleration accelerometers 5, 6 and a gyroscopic float sensor of angular velocity - ДУС 7. Structurally, this fastening is made so that an additional platform 8 is fixed on the shaft 1, on which all sensitive elements are located. In this case, accelerometers 5 in the amount of three are fixed on the platform 8 so that they measure the tangential acceleration of rotation of the platform. (For these three accelerometers 5 in FIG. 1, the additional designation 1t, 2t, 3t is introduced). In the future, accelerometers 5 (1t, 2t, 3t) are called tangential. The sensitivity axis of each accelerometer 5 is perpendicular to the radius R1 of the platform 8. The radii R1 of the accelerometers 5 (1t, 2t, 3t) are located at angles of 120 ^o . Accelerometers 6 in the amount of three are mounted on the platform 8 so that they measure the centrifugal acceleration of rotation of the platform (for these three accelerometers 6, the additional designation 1c, 2c, 3c.). In the future, accelerometers 6 (1c, 2c, 3c) are called centrifugal. The sensitivity axis of each accelerometer 6 is located along the radius R2 = R1 of the platform 8. The radii R2 of the accelerometers 6 (1c, 2c, 3c) are located at angles of 120 ^o . ДУС 7 is fixed on the platform 8 so that the axis of its sensitivity is parallel to the axis of rotation of the stand (axis of the shaft 1), the kinetic moment vector H is parallel to the plane of the platform 8.

The sensitive element of the accelerometers 5.6 is a quartz plate 9, in which the central part (the pendulum itself - Fig. 2) is connected to the outer ring of the plate 9 — a torsion bar made of the same plate in the form of local thinning up to a = 0.06 mm . The outer ring of the plate 9 is sandwiched between two cases 10 of the accelerometer. The accelerometer angle-capacitive differential sensor 11 is made in the form of gold spraying on the pendulum of the plate 9 and the surfaces of the housings 10. The torque sensor 12 is magnetoelectric, consists of coils mounted on the pendulum of the plate 9, and permanent magnets engaged on the housings 10. Electrical connection between the plates angle sensor 11, torque sensor coils 12 and external circuits is carried out using gold spraying on plate torsion 9. Accelerometer 5 mounted on platform 8 so that its sensitivity axis is perpendicular on the radius R1 of the platform 8, while having the location of the plane of the plate perpendicular to the plane of the platform. The accelerometer 6, mounted on the platform 8 so that its sensitivity axis is located along the radius R2 of the platform 8 (with R1 = R2), has the location of the plane of the plate 9 perpendicular to the radius R2, the plane of its plate 9 is also perpendicular to the plane of the platform 8. Feedback amplifiers 13 of both accelerometers 5 and 6 are absolutely identical, each made in the form of a frameless hybrid film assembly on a ceramic substrate. The housing of the feedback amplifier 13 is mounted directly on the housing of the corresponding accelerometer 5 and 6. The structure of the amplifier 13 includes, in addition to the feedback amplifier itself, the SLD, a load resistor made in the form of a series connection of the resistors R ' _n and R'' _n and connected in series with a winding of the torque sensor 10 - (whose resistance is R _dm ).

The resistors R ' _n and R'' _{n are} soldered to the terminals of the microassembly of the amplifier 13. The output signal of the accelerometer 5 (6) is removed from the resistor R' _n . The connection of the angle sensor 11 of the accelerometer 5 (6), the amplifier 13, the moment sensor 12 forms a feedback loop of the quartz accelerometer 5 (6). (Fig. 2 shows, in addition to the structural design of the elements of the accelerometers 5, 6, their functional circuits and communication with the feedback amplifier 13).

 The design of the quartz accelerometer was developed by the MIEA Institute, has serial production of AK-6 (6V2.781.278 TU) [1], and is currently being upgraded to improve the accuracy of the Corpus software in Saratov).

 The sensing element of the stand - ДУС 7 is a gyroscopic float sensor of angular velocity, comprising a gyromotor 14, an angle sensor 15 and a torque sensor 16 connected to a feedback amplifier 17. The output of the angle sensor 15 is connected to the input of the feedback amplifier 17, the first output of the latter is connected to the input of the torque sensor 16. This connection forms the feedback of the angular velocity sensor KX79-060, developed by KB P.O. "The case" [KX4.012.060 TU] [2]. Designed by design bureau P.O. "Corps" УОС-071 [КХ2.549.071].

 On the axis of the shaft 1 is fixed the movable part of the DC motor 18, made according to the scheme "Position sensor - non-contact motor" (DP-DB). The stationary parts of the DP-DB are connected in one housing, rigidly fixed to the housing of the proposed device. The DP position sensor is a sine-cosine rotating transformer (Fig. 4) with a windingless rotor (winding C1-C2 - field winding; C3-C4, C5-C6 - sine and cosine windings). The design of such a rotating transformer is described, for example, in the book of A. A. Akhmedzhanov. "Angle transmission systems of increased accuracy", M.- L., "Energy", 1966 [3]. The second part of the motor, the DB non-contact motor itself, has a double-winding stator (windings C1-C2, CЗ-C4) and an eight-pole rotor. Such motors are described, for example, in the book by A. A. Dubensky, “Contactless DC Motors,” M., “Energy,” 1967 [4].

 In FIG. 3 shows a detailed structural diagram of the connection of the shaft 1 with the elements mounted on it (below the DC motor 18).

 The shaft 1 is made in the form of a pipe at a length of 1, which is connected in a single strictly coaxial system with the upper and lower parts of the shaft 1 having a continuous section.

To the end face “A” of the hollow shaft portion 1, the lower end of the torsion 19 is rigidly attached, the upper end of which is rigidly connected to the shaft 20 located horizontally and rigidly connected to the sleeve 21. The shaft 20, lying horizontally, passes through two cylindrical holes of the hollow shaft section 1, the axis of which is perpendicular to the axis of the shaft 1, and the diameter of the holes allows a relative rotation of the rod 20 and the shaft 1 by angles ± 3 ^o . The tape torsion bar 19 has a length of -200 mm and a cross section of b = 4 mm, h = 0.2 mm. The sleeve 21 is hollow, suspended in the housing of the stand on two ball bearings 22. Inside the sleeve 21 there is an end elastic current lead 23 (in Fig. 1, the location of the current lead 23 is shown conditionally, in Fig. 3 this placement corresponds to a specific design).

 The current lead 23 consists of two getinax blocks having "n" holes (n = 48) located on circles of the same radius against each other, gold wires (0.05 mm in diameter) pass through the holes, the ends of which are fixed at the end each pad. The designs of such end elastic current leads are widely used in gyroscopic instrumentation for supplying power to elements on the axes of the cardan suspension of gyro devices [Gyroscopic systems, part III, Elements of gyro devices, ed. Pelpora D. S., M., "Higher School", 1972, p. 432] [5]. In KB P.O. "Case" has a developed design of such a current lead on 48 lines [KX6.629.091].

The upper block of the current supply 23 is rigidly connected to the shaft 1, the lower block of the current supply 23 is rigidly connected to the sleeve 21. The sleeve of the ring multi-track collector 24 is rigidly connected to the sleeve 21, on which gilded ring contact tracks are made. The brushes of the collector 24 are rigidly connected to the housing of the stand. The design of the collectors is described in the literature [5]; in KB P.O. "Housing" collectors 6В4.833.005 (number of circuits 50), 6В4.833.007 (number of circuits 46) are used. A gear wheel is connected to the sleeve 21 — an output link of the tracking mechanism 25, comprising one gear transmission with a gear ratio i = 10 and a stepper motor. The DSHI-200-1 Ya2MZ.595.030-01 Ya2.MZ.595.057 TU stepper motor, reversible with electronic control, high torque on the shaft (2500 gsm without reduction) and magnetic fixation of a given angular position (used the scheme and operation of the stepper motor are discussed below). The design and operation principle of such stepper motors are described in the literature [V. V. Khrushchev. "Electric machines of automation systems", L., "Energoizdat", 1985, p. 324, p. 4-11] [6]; [F.M. Yuferov. "Electric machines of automatic devices", M., "Higher School", 1976, p. 302] [7]. The tracking mechanism 25 is attached to the bench body through a shock-absorbing rubber gasket 26. Two reed switches (sealed contacts) 27 are fixed on the bottom block of the current supply 23, a magnet 28 is fixed on the top block of the current supply 27. The reed switches 27 are located so that the contacts are located along the radius of the circle, the angle between the contacts equal to 6 ^o . The magnet 28, mounted on the upper block of the current supply 23, is in the middle position between the contacts. Magnet 28 and a pair of reed switches 27 are designed to record the angle of the mismatch of the positions of the upper and lower pads of the power supply 23 within ± 3 ^o . In addition to tangential accelerometers 5 with feedback amplifiers 13, three centrifugal accelerometers 6 with feedback amplifiers 13, DUSA 7 - on the platform 8 there is a dual-channel summing amplifier 29, designed to additionally amplify the output signals of the accelerometers and perform the operation of averaging information of centrifugal accelerometers (in channel I ) and tangential accelerometers (in channel II). In the amplifier 13, the load resistor R ″ has two outputs. The output "2" of the resistor R '' and from each of the three tangential accelerometers 5 is connected to the corresponding input: 1t (for 1t tangential accelerometer), 2t input (for 2t tangential accelerometer), 3t input (for 3t tangential accelerometer) amplifier 29 (channel eleven).

The output "2" of the resistor R '' _{n of} each of the three centrifugal accelerometers 6 is connected to the corresponding input of the amplifier 29 (channel 1); namely, with an input 1c (for a centrifugal accelerometer 1c), with an input 2c (for a centrifugal accelerometer 2c), with an input 3c (for a centrifugal accelerometer 3c). The amplifier 29 is located on the platform 8 so that small output signals of the accelerometers 5.6 are transmitted through the collector 24.

 (The output signals of accelerometers 5, 6 are of the order of 10 μV-10 mV). All other electronic units of the stand are located outside the moving part — platform 8. Two-channel amplifier 29 is built on two summing amplifiers based on an operational amplifier with an input signal transmission coefficient equal to 1/3, i.e. with the provision of summing and averaging the output signals of 3 tangential accelerometers 5, similarly, summing and dividing into 3 output signals of 3 centrifugal accelerometers 6, i.e. summing and averaging the output information of centrifugal accelerometers. Amplifier 29 has 6 inputs (two channels) and two outputs. To collect information from accelerometers 5, 6 and process it, relays 30, a transistor switch 31, an input / output port board 32 inserted into a PC slot 33, an analog-to-digital converter 34, also made in the form of a card inserted into a PC slot 33, were introduced.

 Relay 30 has two pairs of contacts, switching lines connected to its inputs 1 and 2; the input 1 of the relay 30 is connected to the output 3 of the feedback amplifier 7, the input 2 of the relay 30 is connected to the output 1 of the amplifier 29. The input 3 of the relay 30 (for supplying control voltage) is connected to the output of the transistor switch 31. The relay RES is used as the relay 30 55. The transistor switch 31 is designed to generate a voltage supply to the relay 30. The input of the transistor switch 31 is connected to the output of the I / O port board 32, which is, for example, three 8-bit I / O ports (one port is used) of digital information.

 As board 32, an LA-55D board developed by Rudnev-Shilyaev may be used, development materials and description are published: Rudnev I., Shilyaev S. "Data acquisition boards", M., Mir, PC, 1993, N3 [ten]. The LA-55D board is inserted in the IBM AT / PC type 33 PC slot.

 The output 1 of the amplifier 29 is connected to the input 1 of the ADC 34, the output 2 of the amplifier 29 is connected to the input 2 of the ADC 34, the output 2 of the feedback amplifier 17 of the CRS is connected to the input 3 of the ADC 7. The output of the test device 4 is connected to the input 4 of the ADC 34. The ADC 34 thus has 4 inputs and 4 outputs: it is a 24-bit ADC with 4 synchronous differential channels. As an ADC 34, the LA-I24 board developed by Rudnev-Shilyaev (see Shilyaev S. et al. "Dynamic parameters of an analog-digital channel in real conditions of its use", "Metrology", an appendix to the journal "Measuring equipment" was used) 1993, N5 [11]). The LA-I24 board is inserted into the IBM AT / PC-33 PC slot.

 To control the engine 18 is the amplifier of the stabilization system 34, which includes an adder 35 having 3 inputs and 1 output. The adder 35 is made on the basis of an operational amplifier. In FIG. 4 shows the structure of the amplifier of the stabilization system 34 and its connection with the engine 18. The amplifier contains a converter 36 and two identical power amplifiers 37, 38. The converter 36 is a device for modulating and amplifying a constant signal, made on the basis of an operational amplifier using as key elements field effect transistors. An example of such a converter is given in the book of E.A. Fabricant, L.D. Zhuravleva. "The dynamics of the servo drive", M., "Mechanical Engineering", 1984, p. 73 [12].

 Each of the amplifiers 37, 38 is a combination of devices for detecting, correcting, and amplifying signals, i.e. consists of a modulator, a correction device, and a power amplifier, implemented on operational amplifiers with negative feedback. Such schemes are described in the same book [12].

The amplifier stabilization system 34 and the engine 18 are connected as follows. The input of the converter 36 is connected to the output of the adder 35. The input of the converter 36 is the first input of the stabilization amplifier 34. The outputs of the stabilization amplifier 34:
the first output is the output of the converter 36, which is connected to the excitation winding C1-C2 of the DP of the motor 18 (the first input of the motor 18);
the second output is the output of the power amplifier 37, which is connected to the sine winding C1-C2 of the DP of the motor 18 (second input of the motor 18);
the third output is the output of the power amplifier 38, which is connected to the cosine winding of the DB of the motor 18 (the third input of the motor 18).

 The second input of the stabilization amplifier 34 is the input UM1-37. This second input of the stabilization amplifier 34 is connected to the first output of the motor 18, namely, the sine winding CZ-C4 DP of the motor 18.

 The third input of the stabilization amplifier 34 is the input of UM2-38. This third input is connected to the second output of the motor 18, namely, with the cosine winding C5-C6 DP of the motor 18.

 The first input of the adder 35 is connected to the output 2 of the amplifier 29, the second input of the adder 35 is connected to the output of the relay 30 (i.e., connected to the switched lines of the 1st and 2nd inputs of the relay 30), the third input of the adder 35 is connected to the output of the calibrated source voltages 39 (TSC).

 IKN 39 is designed to set the input reference voltage, which determines the angular velocity set by the stand.

 The output of the adder 35 is connected to the input of the Converter 36, which is part of the UST 34, the connection of which with the motor 18 is explained above. Thus, the output of the adder 35 is connected to the motor 18.

 To control the stepper motor of the tracking mechanism 25, the tracking mechanism control unit (BUMO) 40 is used, having 2 inputs and 4 outputs. The inputs of the block BUMO 40 are connected, respectively, with the left reed switch (LGK) and the right reed switch (PGK). The outputs of the block BUMO 40 are connected to the windings of the stepper motor of the tracking mechanism 25.

 In FIG. 5 is a structural diagram of a control unit of the tracking mechanism 25.

 The tracking mechanism control unit (BUMO) 40 contains a rotation direction trigger 41, both inputs of which are connected, respectively, to the left and right reed switches 27. At the inputs of the trigger 41, shunt resistors 42 (R1 and R2) are connected to prevent false triggering of the trigger 41 when the reed switches are open . The trigger 41 is designed to hold in time the impulse from the reed switch 27 until the arrival of the next reset pulse. As a trigger, an L-trigger is used with a reset and installation, for example, КР1533ТВ9 (see. "Logical IS Reference КР1533, КР1534, part 2, edited by Petrovsky I. Kh., M.," Binom ", 1993, p. 308 [13]).

 The outputs of the trigger 41 are connected to the inputs of the phase pulse former 43, another input of which is connected to the output of the pulse generator 44. The pulse generator 44 is based on the KR1006VI1 chip. The phase pulse generator 43 is made on the reversible counters of the 530 series, the power amplifier 45 is made on the KT807 transistor.

Design Bureau “Korpus” developed circuits of a phase pulse shaper, a power amplifier, a pulse generator, and a rotation direction trigger integrated into the control unit of the IUNE-E5376 tracking mechanism. Four outputs of the phase pulse former 43 are connected to four inputs of the power amplifier 45, four outputs of the latter are connected to the windings A _n , B _n , V _n , G _{n of the} stepper motor of the tracking mechanism 25. Resistors R3, R4 are balancing. The proposed stand works as follows.

DUS scale factor control mode
From the calibrated voltage source 39, a voltage U proportional to the angular velocity ω _o , which must be set, is supplied to the third input of the adder 35. Since the voltage on the first and second inputs of the adder 35 has not yet been received, the same voltage U from the output of the adder 35 is supplied to the input of the converter 36, which generates modulating voltages supplied to the input of the motor 18, namely, the winding C1-C2 of the DP.

When a voltage appears on the C1-C2 winding in the output windings CЗ-C4 and C5-C6, the voltages U _dp1 = U _max sinQ and U _dp2 = U _max cosQ, Q = n φ are induced, where φ is the relative rotation angle of the DP rotor relative to the stator; n is the number of pole pairs.

где k - коэффициент крутизны характеристики ДБ, Φ_max- максимальное значение магнитного потока, J - средняя величина тока в ДБ 18.These voltages are amplified and corrected by amplifiers 37, 38, after which they are fed to the windings C1-C2 and CZ-C4 DB. The total moment acting on the rotor of the motor 18 is equal to the sum of the moments developed by both windings of the DB:

where k is the slope coefficient of the DB characteristic, Φ _max is the maximum value of the magnetic flux, J is the average current in DB 18.

The engine 18 develops a moment, the rotation of the shaft 1 begins with an angular velocity ω. The angular velocity ω acts along the axis of the shaft 1. If ω is constant, that is, ω = ω _o , then the angular acceleration is e = 0, the tangential linear acceleration is zero, and the voltage U _aτ at all three outputs 1t, 2t, 3t of the amplifier 13 the feedback of tangential accelerometers 5 is zero. In this case, the correction voltage at the first input of the adder 35 is not supplied. At the outputs 1c, 2c, 3c of the feedback amplifier 13 of the centrifugal accelerometers 6, a voltage U _{cb appears} , which is proportional to the square of the angular velocity ω _o . Indeed, the sensitivity axes of centrifugal accelerometers 6 are oriented along the radius R2 of the platform 8, i.e. The centrifugal linear acceleration a _cb = ω ² R ₂ acts on the sensitive element of the accelerometers 6 (the acceleration of gravity does not give an output signal due to the accepted orientation of the accelerometer). In accordance with the well-known principle of operation of a pendulum accelerometer with feedback, we have:
m _l = K _dm I _os (1),
where m _l is the pendulum (g • cm), K _dm is the steepness of the characteristic of the moment sensor 12 of the accelerometer, I _os is the feedback current.

From where I _OS = m _l / K _dm - under the action of one g.

Откуда ω² R₂=(U_цбK_дмg)/m_lR''_н (4)
Напряжения U_цбi (i = 1ц, 2ц, 3ц) поступают с выходов трех центробежных акселерометров 6 на входы канала 1 усилителя 29, в котором за счет использования схемы суммирующего усилителя с коэффициентом передачи 1/3, осуществляется операция усреднения информации трех центробежных акселерометров 6 и формируется выходное напряжение U_цб=(U_цб1+U_цб2+U_цб3/3, которое подается на вход 1 АЦП 34 и далее в ПЭВМ, а также на вход 2 реле 30, на котором эта информация готова к использованию, но само использование начинается только после выполнения ПЭВМ следующих функций. ПЭВМ вычисляет угловую скорость ω по информации, поступившей с АЦП 34, и через плату ввода-вывода 32 и транзисторный ключ 31 формирует команду в виде напряжения, подаваемого на обмотку реле 30, реализующего алгоритм:
если ω ≤ 30^o/с, то цепь реле по входу 2 разомкнута, а по входу 1 замкнута, информация центробежных акселерометров не используется,
если ω ≥ 30^o/с, то цепь реле по входу 2 замкнута, по входу 1 разомкнута, информация центробежных акселерометров используется.Under the action of a _CB = ω ² R ₂ feedback current is equal to:
I _oc = (m _l ω ² R ₂ / K _dm g) (2)
The output voltage U _cb removed from the outputs 1c, 2c, 3c is equal to:

Whence ω ² R ₂ = (U _cb K _dm g) / m _l R '' _n (4)
The _voltages U _cbi (i = 1c, 2c, 3c) are supplied from the outputs of three centrifugal accelerometers 6 to the inputs of channel 1 of amplifier 29, in which, by using a summing amplifier circuit with a transmission coefficient of 1/3, the operation of averaging information of three centrifugal accelerometers 6 and the output voltage U _cb = (U _cb1 + U _cb2 + U _cb3 / 3 is formed, which is fed to input 1 of the ADC 34 and then to the PC, as well as to input 2 of relay 30, on which this information is ready for use, but the use itself begins only after performing the following functions of the PC. The computer calculates the angular velocity ω from the information received from the ADC 34, and through the input-output board 32 and the transistor switch 31 generates a command in the form of a voltage supplied to the relay coil 30, which implements the algorithm:
if ω ≤ 30 ^o / s, then the relay circuit at input 2 is open, and at input 1 is closed, the information of centrifugal accelerometers is not used,
if ω ≥ 30 ^o / s, then the relay circuit at input 2 is closed, at input 1 is open, the information of centrifugal accelerometers is used.

To control the motor 18, the inputs of the adder 35 receive control actions: in the range 1 (up to 30 ^o / s) from the gyroscopic angular velocity sensor 7 and tangential accelerometers 5, in the range 11 (over 30 ^o / s) - from tangential 5 and centrifugal 6 accelerometers. Thus, the PC commutes the sensitive elements depending on the magnitude of the angular velocity of rotation of the platform.

 In range 1, control is carried out according to the signals of the CRS 7 and tangential accelerometers, in the range 11, according to the signals of centrifugal and tangential accelerometers 5 and 6.

Gyroscopic angular velocity sensor (DLS) 7 measures the angular velocity ω acting along its sensitivity axis parallel to the axis of rotation of shaft 1. A current proportional to the effective angular velocity ω flows through the feedback circuit of DUS 7.
Ω = K $\genfrac{}{}{0ex}{}{\text{doos}}{\text{dm}}$ I _oc .
(EA Nikitin, AA Balashova. "Designing differentiating and integrating gyroscopes and accelerometers", M., "Mechanical Engineering", 1969, p. 39 [15]). The outputs 2 and 3 of the feedback amplifier 17 of the CRS 7 are removed voltage proportional to the feedback current and, therefore, the angular velocity of rotation of the platform
U _DOS = I _OS R _n where R _n - load resistance at the outputs 2, 3 of the ASL 17.

The voltage U of the _DCS is supplied to the input 3 of the ADC 34 and then to the PC 33, where the value ω is calculated in accordance with (8) and information is provided on the value of the effective angular velocity and, depending on its value, is generated according to the algorithm described above, the command for relay 30 Thus, in the PC, the calculation of the angular velocity value necessary to select the speed range in which the work is carried out, which corresponds to the choice of sensitive elements of the control system, is carried out according to the output information received (after conversion to ADC 34), from centrifugal accelerometers 6 and from the remote control system 7. After switching the inputs of the relay 30 is carried out, the voltage U measured by the sensing elements is supplied to the adder 35, which is compared with a given voltage proportional to the desired (set) angular velocity U _ass ≡ ω _o .
In the adder, the measured voltage is compared with the set one, the differential signal is fed to the input of the motor 18. The control process ends when the set and measured voltages become equal to each other, while the process does not depend on whether work is performed in range 1 (according to the TLS 7 and tangential accelerometers 5) or in the range 11 (according to the signals of tangential accelerometers 5 and centrifugal accelerometers 6). Suppose that when assigning voltage U to the third input of adder 35, the voltage _{ass зад} ω _o due to interference, such as: the moment of resistance along the shaft axis, the variable component of the output signal of the TLS, or the noise component of the output signal of the accelerometers 5 and 6, the angular velocity of rotation of the shaft 1 will be inconstant, i.e. there will be an angular acceleration ε = ω ^° equal to the first derivative of the angular velocity ω. A linear acceleration equal to a = eR ₁ acts on the sensitive element of the tangential accelerometer 5, and a current proportional to this linear acceleration flows in the feedback circuit of each tangential accelerometer 5.

The outputs 1t, 2t, 3t of amplifiers 13 of the tangential accelerometers 5 are removed voltage U _τi , 1t, 2t, 3t. These stresses are proportional to the same value of ω ^° , i.e. the angular acceleration of rotation of the platform, measured by three tangential accelerometers, is fed to the three inputs of channel II of the summing amplifier 29 with a transmission coefficient of 1/3, as a result of which the average voltage proportional to the angular acceleration of rotation of the platform platform is removed from output 2 of the same amplifier. This signal from the output of amplifier 29 goes to input 1 of adder 35, and in any mode of operation of the stand it is in range 1 and range II, while amplifier 29 provides a sign of the applied voltage so that the deviation of the actual value of the angular velocity from its predetermined (desired ) values. The same signal from the output of amplifier 29 goes to the ADC and then to the PC and generates information about both angular acceleration and the instantaneous value of the measured angular velocity of rotation of the platform. Thus, the role of the tangential accelerometers 5 involved in the control system in all operating modes of the stand is to improve the quality of regulation by providing regulation not only in terms of the mismatch between the measured and given values of the angular velocity, but also in the magnitude of the angular acceleration. In addition, tangential accelerometers generate information issued by the PC about the value of the angular acceleration of rotation of the platform.

According to the information, output signals generated by the PC 33, we have: 1) information about the value of the angular velocity of rotation of the platform, obtained from:
- information of TLS 7 (at ω ≤30 ^o / s),
- information of centrifugal accelerometers 6 (at ω> 30 ^o / s and up to 200 ^o / s).

- information of tangential accelerometers 5 (in the entire range of angular velocities), i.e., there is redundant information on angular velocity that increases the reliability of the bench;
2) information on the angular acceleration of rotation of the stand platform;
3) information about the angle of the turn of the platform platform, obtained at each step of the survey by appropriate calculations in the PC.

 From the output of the tested device 4 through the ADC 34, the PC receives the current output information, which allows the PC to calculate the values of the scale factor of the device 4 as the ratio of its output information to the given angular velocity ω.

 Consider the operation of the tracking mechanism 25, introduced in order to reduce the impact on the stability of the angular friction speed of the ball-bearing bearings 2 and friction in the collector 24 set by the stand.

 Studies conducted in KB “Housing”, showed that a significant role in ensuring high stability of the specified angular velocity is played by the moment of friction in the bearings of the suspension axis of rotation of the shaft 1 and, especially, the moment of resistance of the collector 24; the latter, in the presence of ~ 50 chains, is of the order of ~ 40-50 g • cm; the friction moment of ball-bearing bearings when the platform 3 is loaded by the tested device 4 weighing 10-15 kg also has an order of 20-30 g • cm, which reduces the stability of the specified angular velocity.

 In the proposed stand, the total moment of resistance along the axis of rotation of the platform 3 does not exceed 2-3 g • cm.

 The decrease in the moment of resistance of ball bearings 2 is achieved due to their unloading by introducing a tape torsion bar 19.

The exclusion of the influence of the moment of resistance of the collector 24 is achieved due to the fact that the power to the movable elements of the stand, mounted on the shaft 1, is through an elastic end current lead 23 having an angle of relative relative rotation of the movable block relative to the fixed ± 3 ^o , which corresponds to the twisting of gold conductors, giving total moment having the order of tenths of the fuel.

 The collector 24 is mounted on its bearings 22, the moment of resistance of the collector brushes when moving relative to the current-carrying rings of the collector and the moment of resistance of the supports 22 are overcome by a stepping motor of the tracking mechanism 25 and are not applied to the shaft 1.

The following moments are applied to the shaft 1: the friction moment of ball bearings 2, completely unloaded from the weight of the device 4 (order of magnitude of the moment <0.5 g • cm);
the moment of twisting of the gold conductors of the current lead 23 with mutual rotation of the blocks by ± 3 ^o (order of magnitude of the moment <0.2 g • cm), the moment of twisting of the tape torsion bar, for example, with parameters b = 4 mm, h = 0.2 mm, L = 200 mm, G (shear modulus) = 8-10 ³ kg / mm ² and twisting angles ± 3 ^o having an order of ≤ 0.9 g • cm.

 The total moment of resistance along the axis of rotation of the shaft 1 does not exceed 2-3 g • cm.

The operation of the tracking mechanism 25 is as follows. Let the motor 18 apply to the shaft 1 the moment M (upon receipt of the output of the adder 35) of the corresponding control signal. The shaft 1 is rotated, as a result of which the end "A" of the tubular part of the shaft 1 with the lower end of the tape torsion rigidly fixed to the end "A" is rotated; the end of the torsion bar, rigidly connected to the rod 20, is still stationary, i.e. torsion is twisted at an angle of not more than 3 ^o .

When the shaft 1 is turned through an angle of ± 3 ^{o, the} left or right reed switch 27 closes, due to the fact that the magnet 28, mounted on the upper block of the current supply 23, rotating together with the shaft 1, is above the contacts of the corresponding reed switch, which causes the contacts of the reed switch to close (LCG or PCG, see Fig. 5).

 The rotation direction trigger 41 (FIG. 5) “holds” the reed switch pulse in time, which is the input for the phase pulse shaper 43. The operation of the pulse generator 44, phase pulse shaper 43 and power amplifier 45 is illustrated by the diagram in FIG. 6.

Their role is to form and applied to the winding A _n, B _n, B _n, T _n a stepper motor (DSHI-200-1) the tracking device 25 is a specific sequence of pulses shifted in time with respect to clock pulses (Y _t) formed by a generator 44 . Depending on the sequence of pulses to the windings of the stepper motor, its rotation in the corresponding direction is provided, i.e. tracking the angular position of the master axis.

The master axis is shaft 1 (with all elements attached to it). The tracking axis is the axis of rotation of the sleeve 21 with all the parts attached to it (the bottom block of the current supply 23 with reed switches 27, the output link of the tracking mechanism, the collector sleeve 24). Thus, the "tracking" mode is ensured for the coincidence of the angular position of both axes: the axis of the shaft 1 (in ball bearings 2) and the axis of rotation of the collector sleeve 24 (in ball bearings 22). This allows you to provide power to the elements mounted on the shaft 1 through a torqueless elastic current supply 23, allowing an angle of mutual rotation of the pads no more than ± 3 ^o , i.e. to exclude the influence of the moment of resistance of the collector 24 on the axis of rotation of the shaft 1. In the process of "tracking" the axis of the shaft 1, the tape torsion 19 is twisted at the beginning of the movement of the axis 1 and untwisted during the rotation of the axis of rotation of the collector. This point, as shown above, is insignificant. The unloading of the bearings 2 of the shaft 1 is ensured by the tension of the torsion bar 19, which transfers the weight of the platform 3 with the device under test 4 through the rod 20 to the ball bearings 22 of the axis of rotation of the collector. The additional resistance moment of ball bearings 22 arising in this case is “countered” by the same stepping motor of the tracking mechanism 25. An electronically controlled stepping motor is selected as the engine in the tracking mechanism 25, because such engines have a large moment on the shaft, high accuracy and, very importantly, they stop at the moment the control pulse ends, and they have a magnetic fixation of this position. For any other type of drive motor tracking mechanism there is a problem of its stop. At a frequency f _g equal to, for example, 1000 Hz, such stepper motors operate without significant vibrations. Nevertheless, to completely eliminate the influence on the stand of vibrations of the stepper motor, the tracking mechanism 25 is mounted on a shock-absorbing pad 26.

Let us evaluate the range of set angular velocities of the bench and the minimum recorded angular velocities and accelerations. For a serial AK-6 quartz accelerometer, the sensitivity threshold is 0.5 • 10 ^-6 g; limit of measurement 7 g. For a centrifugal accelerometer, we obtain: The sensitivity of the accelerometer is 0.5 • 10 ^-6 g or the minimum measured linear acceleration is a ~ 0.0005 cm / s ² . When R ₂ = 15 cm ω $\genfrac{}{}{0ex}{}{\text{2}}{\text{o}}$ R = a _min = 0.0005 cm / s ² , whence ω _min = 0.3 ^o / s. For the maximum acceleration measured by the accelerometer of 7g, or 7000 cm / s ² , the maximum angular velocity, which can be set and measured by the bench and which turns out to be 21.4 ¹ / s, or 1200 ^o / s, is determined by similar calculations. In the sample stand, implemented on the software "Housing", provided 200 ^o / s. The sensitivity of the tangential accelerometer as a measure of the angular acceleration of rotation of the platform is determined based on the values of 0.5 • 10 ^-6 g - the threshold value for the AK-6 accelerometer and the radius of fixation of 15 cm, the minimum measured value of the angular acceleration is 2 • 10 ^{-3 o} / s ² .

This means that tangential accelerometers are capable of recording a minimum acceleration of 0.002 ^o / s ² , or an instability of the angular velocity of 0.0002 ^o / s per polling cycle t _t = 0.1 s. For a precision stand this is enough. The device KX79-060 with K _dm = 2 mA / ^o / s and a range of measured angular velocities of ± 36 ^o / s were used as a TLS 7 in the stand. Therefore, in the stand, the maximum angular velocity measured by channel I of the amplifier 29 is defined as 30 ^o / s.

Control mode of zero signals of the tested device
In this case, the test device 4 is still mounted on the platform 3 of the stand, which does not set the movement. The output information of the device 4 through ACI 34 enters the PC 33, where it is recorded and processed.

Control mode of the frequency response and phase response of the tested device
In this mode, the operation of the stand is similar to that described for the control mode of the scale factor of the device. The difference is that at the input 3 of the adder 35, instead of a constant voltage, a sinusoidal voltage with fixed frequencies in the range of 1-20 Hz is supplied. Platform 3 performs sinusoidal oscillations.

Claims (1)

A wide-range stand for monitoring angular velocity meters, comprising a housing, a shaft mounted rotatably in the housing, a platform for mounting an angular velocity meter mounted on a shaft, a direct current electric motor, an annular collector consisting of a collector sleeve and brushes for supplying power, characterized in that introduced an additional platform mounted on the shaft, six quartz pendulum accelerometers, a gyroscopic angular velocity sensor, a cylindrical sleeve, a rod, a ribbon torsion bar, elastic end current lead, two reed switches, magnet, tracking mechanism, summing two-channel amplifier, personal computer, analog-to-digital converter with four inputs, digital input-output ports board, on-off relay and transistor switch, stabilization amplifier with adder, included in it, a calibrated voltage source and a control unit for the tracking mechanism, while the gyroscopic angular velocity sensor and accelerometers are mounted on an additional platform, the axis senses The three accelerometers for measuring tangential acceleration are perpendicular to the corresponding radii of the additional platform, and the sensitivity axes of three accelerometers for measuring centrifugal acceleration are oriented along the corresponding radii of the additional platform, each accelerometer contains a quartz plate, a capacitive angle sensor and
a magnetoelectric torque sensor connected in series through respective feedback amplifiers having a second output from the load resistor, the gyroscopic angular velocity sensor contains an angle sensor and a torque sensor connected in series through a feedback amplifier having three outputs, and the sensitivity axis of the gyroscopic angular velocity sensor is parallel to the axis shaft, an elastic end current lead contains upper and lower getinaksovye blocks and gold conductors for power supply, attached to pads, two reed switches are fixed on the bottom block to provide an angle of 6 ^o between the contacts of the reed contacts, the magnet is fixed on the upper block in the middle position between the contacts of the reed switches, the cylindrical sleeve is suspended in the housing on ball-bearing bearings coaxially with the shaft passing inside the cylindrical sleeve, the upper block of the elastic end the current supply is fixed on the shaft, and the lower block is on the cylindrical sleeve, the shaft is hollow in one section of its length, the tape torsion is placed in the cavity of the shaft and attached to the lower end m to the end face of the hollow shaft portion, and the upper end to the middle of the shaft, which is perpendicular to the axis of the shaft, passes through the holes of the cylindrical hollow shaft portion and is attached with two ends to the ends of the cylindrical sleeve rigidly connected to the collector sleeve, the tracking mechanism contains a pulse stepper motor and gear transmission, while the stepper motor is attached to the housing through a shock absorber, the output link of the gear transmission is fixed to the cylindrical sleeve coaxially with it, summing the two-channel drive rer each channel has three inputs and one output, and its
the transmission coefficient for each input is 1/3, the analog-to-digital converter and the digital input-output port board are built into the slots of the personal computer, the input of the transistor key is connected to the output of the input-output port card, and the output is connected to the winding of a two-position relay with two inputs the stabilization system amplifier with the adder is mounted on an additional platform, and the adder has three inputs and one output, the tracking mechanism control unit has two inputs connected to the reed switches, and four outputs connected to the pulse windings of the second stepper motor, the second output of the feedback amplifier of the gyroscopic angular velocity sensor is connected to the third input of the analog-to-digital converter, the fourth input of which is designed to connect to the output of the angular velocity meter, the third output of the feedback amplifier of the gyroscopic angular velocity sensor is connected to the first input of the relay, three the input of the first channel and the three inputs of the second channel of the summing two-channel amplifier are connected respectively to the outputs from the load resistors of the accelerometers To measure centrifugal accelerations and accelerometers for measuring tangential accelerations, the first output of the summing two-channel amplifier is connected to the first input of the analog-to-digital converter and the second input of the relay, the second output of the summing two-channel amplifier is connected to the second input of the analog-to-digital converter and the first input of the adder of the stabilization system amplifier, the output of the relay switched lines is connected to the second input of this adder, its third input is connected to the output of the calibrated voltage source niya, and his exit is
with the first input of the stabilization system amplifier, the first, second and third outputs of the stabilization system amplifier are connected to the first, second and third inputs of the DC motor, the first and second outputs of which are connected to the second and third inputs of the stabilization system amplifier, while the DC motor is non-contact .

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