RU2486098C1 - Device for determination of careen and trim of moving structures - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to instrument making, particularly, to instruments that allow determining inclination to horizon of moving objects. Proposed device comprises two accelerometers and two angular speed transducers arranged directly aboard the ship and computation module to compute combinations of low- and high-frequency components of transducer signals in lengthwise and transverses planes.

EFFECT: simplified design, lower weight and smaller overall dimensions.

1 dwg

Description

The invention relates to the field of instrumentation and, in particular, to devices for determining the angle of inclination to the horizon of moving objects, such as hydrofoils.

The gyro-vertical is known (see. Giro-vertical small-sized MGV-5. Manual for technical operation. ISMYA.402164.001 RE, analog), designed to determine the angular position of hydrofoils relative to the vertical of a place, containing a three-stage gyroscope in a gimbal, equipped with an electric pendulum correction relative to the longitudinal and transverse axes, corrective motors and a locking device to ensure ready time when starting the vertical.

The disadvantage of the gyro-vertical is its complexity and the impossibility of its normal operation on a swinging base, which is a hydrofoil vessel, due to the requirement that after disconnecting the power supply for 5 minutes, the product should not be transferred or rotated.

The indicated drawback was partially eliminated in the pendulum roll diffractometer (see USSR author's certificate No. 618286, class G01C 9/12, 1979, prototype), which contains a spatial physical pendulum, on the suspension axes of which roll angle and trim sensors, as well as torque sensors controlled through amplifiers from accelerometers and angular velocity sensors located on the pendulum.

The disadvantage of the prototype is its complexity.

The aim of the invention is to simplify the design of the device for determining the angles of heel and trim, reducing its weight and dimensions.

This goal is achieved in that the device for determining the angles of heel and trim contains two accelerometers, two angular velocity sensors and a computational module. In this case, the sensors are located directly on the body of the object, and the computing module calculates the angles based on a combination of low-frequency and high-frequency components of the sensor signals in the longitudinal and transverse planes, respectively.

A functional diagram of the proposed device for determining the angle of inclination of a moving object relative to one of two identical axes is shown in the drawing.

The proposed device on each axis contains an accelerometer 1, an angular velocity sensor 2 and a computing module 3.

The device operates as follows.

, где он фильтруется от высокочастотных помех, возникающих при действии на корпус судна динамических возмущений от ударов волн при его движении на подводных крыльях. Постоянная времени Т определяется частотным спектром возмущений и полосой пропускания подвижного объекта.When static tilt angles of the object 1 housing an accelerometer measures the component of acceleration of gravity and has a transfer function K _α · sinα, where α - angle of the object body, and K _α - slope of the output signal of the accelerometer 1. At small angles of inclination that actually takes place on the hydrofoil vessels with a stabilization system for roll and trim angles, the transfer function of accelerometer 1 can be taken in the form K _α · α, and as such a tilt angle sensor, accelerometer 1 is used in the proposed device. The output signal of the accelerometer 1 is fed to the first input of the computing module 3 having a transfer function $$\frac{\text{one}}{\text{one}+\text{Tr}}$$

, where it is filtered from high-frequency interference arising from the action of dynamic disturbances on the hull of the vessel from shock waves during its movement on hydrofoils. The time constant T is determined by the frequency spectrum of the disturbances and the passband of the moving object.

Thus, the low-frequency component of the signal of the device for determining the angle of inclination is formed.

где $${К}_{\dot{\alpha }}$$

- крутизна сигнала датчика угловой скорости 2, на основе которого формируется высокочастотная составляющая сигнала устройства определения угла наклона.To compensate for the delay in the output signal of the computing module 3, resulting from filtering interference, the signal of the angular velocity sensor 2 having a transfer function is supplied to the second input of the computing module 3 $${\mathrm{TO}}_{\dot{\alpha }}\cdot p\alpha ,$$

Where $${\mathrm{TO}}_{\dot{\alpha }}$$

- the steepness of the signal of the angular velocity sensor 2, on the basis of which the high-frequency component of the signal of the device for determining the angle of inclination is formed.

The transfer function of the proposed device for determining the angles of inclination of moving objects relative to one of two identical axes shown in the drawing, has the form:

передаточная функция принимает видat

the transfer function takes the form

$$\text{W (p)}={\text{K}}_{\text{α}}\cdot \text{α (1)}$$

From the transfer function (I) it can be seen that the proposed device measures only the static angles of inclination of the object, completely eliminates the dynamic component of the signal of the accelerometers that arise due to disturbances, for example, during sea waves.

With prolonged circulation (turn) of the hydrofoil vessel at the output of the proposed device, an output signal is generated in the roll channel due to centrifugal force. This signal is perceived by the ship’s stabilization system as a stabilization error and forms the tilt of the ship to the inside of the turn, thereby ensuring a coordinated turn.

Thus, the proposed device with a simpler design allows you to determine the angles of inclination of a moving object under the action of perturbations.

Claims (1)

A device for determining the roll and trim angles of moving objects, for example a hydrofoil vessel, containing two accelerometers, two angular velocity sensors and two computing modules, characterized in that, in order to simplify the design, the sensors are rigidly connected to the body of the moving object, and the computing modules tilt angles are calculated based on a combination of the low-frequency and high-frequency components of the sensor signals in the longitudinal and transverse planes, respectively.