RU2577175C1 - Method to determine angular speed of rotation of facility stabilised by rotation - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: method to determine an angular speed of rotation of a facility stabilised by rotation (FSR) consists in the fact that they observe the change of a physical parameter in time, which is functionally related to the variation of the angular position of the FSR, they determine the period of the facility rotation, by which they calculate the angular speed of the facility rotation. During observation of the change of the physical parameter value they fix many current values of output signals of the meter of physical parameters in the interval of time within the order of one and a half periods. On the fixed set they build a function of regression on the condition of achievement of the minimum mean square deviation of a deficiency between the values of the regression function and multiple fixed values of the observed physical parameter. For the period of FSR they take the period of variation of the regression function.

EFFECT: high-accuracy detection of the angular speed of FSR rotation with small observation time, within the order of one and a half periods.

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Description

The invention relates to measuring equipment, and in particular to a method for determining the angular velocity of rotation of an object stabilized by rotation (SBS) and can be used in on-board traffic control systems for aeroballistic SBS.

When determining the angular position of the WWS by integrating the angular velocity of rotation, the accumulated error with the currently achieved accuracy of measuring the angular velocity and a significant observation time (t> 10 ³ s) significantly exceeds the permissible error in solving the problems of controlling the movement of aeroballistic objects. When solving problems in the field of creating aeroballistic objects with controlled movement, this position defines knowledge with high accuracy of the angular velocity of rotation as an objective necessity.

Improving the accuracy of determining the angular velocity of rotation of the WWS is possible by moving to the observation of a physical parameter, the current value of which is functionally related. with the angular position of the WWS, on the basis of which the period of rotation of the object and, accordingly, the angular velocity of rotation of the WWS are determined.

A known method for determining the angular velocity of rotation of an object [article "Improving the accuracy of determining the angular velocity of rapidly rotating objects", Gyroscopy and navigation, L.V. Vodicheva, E.L. Alievskaya et al., St. Petersburg, State Scientific Center of the Russian Federation OJSC Concern Central Research Institute Elektropribor OJSC, 2012, issue 1 (76), pp. 27-41], which consists in the fact that a change in time of a physical parameter, functionally associated with a change in the angular position of the WWS, is observed, the rotation period of the object is determined, and the angular velocity of rotation of the object is calculated from the rotation period.

где J - общее количество измеренных T_j; j - последовательность (1, 2, 3 и т.д.) всех измеренных T_j. А угловую скорость вращения ω определяют по соотношению:

. Длительность времени наблюдения сигнала по прототипу достигает порядка 200 периодов. По существу, данным способом определяют среднее значение угловой скорости вращения объекта на интервале всего времени наблюдения.In this method, an output sinusoidal signal from a transverse angular velocity sensor (TLS) is used as a physical parameter. When observing the output signal, the reference points of the signal transition through “zero” are distinguished, taking into account the change of sign with the measurement of the current time value at each reference point t _j , t _{j + 1} . In this case, the reference points coincide with the moments of the CRS survey, i.e. multiples of the frequency of polling DUS. Consistently measure the duration of each j-th interval between the moments of transition, taking into account the change of sign, namely, the rotation period T _j according to the formula T _j = t _{j + 1} -t _j . For the period of rotation of the WWS take the average value of the measurement results of all intervals T _j . Averaging is performed according to the expression:

where J is the total number of measured T _j ; j is the sequence (1, 2, 3, etc.) of all measured T _j . And the angular velocity of rotation ω is determined by the ratio:

. The duration of the observation signal of the prototype reaches about 200 periods. Essentially, this method determines the average value of the angular velocity of rotation of an object over the interval of the entire observation time.

This method is the closest in technical essence to the claimed and therefore adopted as a prototype.

When using this method, the accuracy of determining the angular velocity of rotation substantially depends on the stability of the angular velocity of rotation of the WWS, the frequency of the TLS polling and the time of observation of the signal.

The disadvantage of the prototype is that the significant observation times of the signal necessary to achieve the required accuracy of determining the rotation period of the object, and the question of the consistency of the obtained accuracy estimates with instability of the rotation speed limit the possibility of using it for a short observation time of the signal, of the order of one and a half rotation periods.

The technical result, the achievement of which the claimed invention is directed, is to provide high-precision determination of the angular velocity of rotation of the WWS with a short observation time, of the order of one and a half periods.

The technical result is achieved by the fact that in the method for determining the angular velocity of rotation of an object stabilized by rotation (OCS), which consists in observing a change in time of a physical parameter functionally associated with a change in the angular position of the OCS, determining the rotation period of the object and calculating from the rotation period of the object the angular velocity of rotation of the object according to the invention during observation of a change in the value of a physical parameter fixes the set of current values of the output signal of the meter of the parameters on a time interval of the order of one and a half periods, on a fixed set, the regression function is constructed from the condition that the minimum standard deviation of the residual between the values of the regression function and the set of fixed values of the observed physical parameter is reached; by the relation: ω = 2π / Τ, where Τ is the period of the regression function change.

Differences of the proposed technical solution from the known, namely:

- fixing during the observation of changes in the value of the physical parameter of the set of current values of the output signal of the meter of physical parameters on a time interval of the order of one and a half periods,

- the construction of the regression function on a fixed set from the condition of achieving a minimum standard deviation of the residual between the values of the regression function and the set of fixed values of the observed physical parameter,

- adoption of the period of rotation of the regression function for the period of rotation of the OCS, from which the angular velocity of rotation of the object is calculated, makes it possible to increase the accuracy of determining the angular velocity of rotation of the object at small intervals of signal observation, of the order of one and a half rotation periods.

The presence in the claimed invention of signs that significantly distinguish it from the prototype, allows it to be considered appropriate for the condition of "novelty."

New features that contain a distinctive part of the claims are not identified in technical solutions for a similar purpose. On this basis, we can conclude that the claimed invention meets the condition of "inventive step".

The method is as follows.

During the movement of the SIS, a change in time of the physical parameter is observed, which is functionally related to the change in the angular position of the SIS (for example, the magnitude of the projections of the magnetic induction vector on the axis of the coupled coordinate system of the object or the magnitude of the angular velocity along the three axes of the connected coordinate system of the object).

During observation, on a time interval of the order of one and a half periods of rotation of the OCB, a plurality of current values of the output signal of the physical parameter meter are recorded.

The regression function is built on a fixed set from the condition of achieving the minimum standard deviation of the residual between the values of the regression function and the set of fixed values of the observed physical parameter.

где Τ - период изменения функции регрессии.For the period of rotation of the object take the period of change of the regression function, and the angular velocity of rotation of the object is determined by the ratio:

where Τ is the period of change of the regression function.

The practical possibility of achieving the desired technical result when using the invention is confirmed by the data presented in the table.

In the iteration column (0, 1, 2, 3, etc.) of the table, a sequence of repeated recalculations of the standard deviation for each new (next) value of the period is given.

These tables clearly demonstrate the dynamics of increasing the accuracy of determining the period of the regression function with a decrease in the standard deviation, and therefore, increasing the accuracy of determining the angular velocity of rotation of the WWS achieved using the proposed method.

Thus, the information presented indicates the fulfillment of the following set of conditions when using the claimed invention:

- providing high-precision determination of the angular velocity of rotation of the WWS with a small observation time of the order of one and a half period;

- this method is designed to determine the angular velocity of rotation of an object stabilized by rotation (SBS), and can be used in airborne motion control systems for aeroballistic SBS;

- for the proposed method in the form in which it is described in the claims, the possibility of its implementation using the means and methods described in the application and known prior to the priority date is confirmed.

Therefore, the claimed invention meets the condition of "industrial applicability".

Claims (1)

A method for determining the angular velocity of rotation of an object stabilized by rotation (OCS), which consists in observing a change in time of a physical parameter functionally associated with a change in the angular position of the OCS, determining a rotation period of an object and calculating an angular rotation speed of an object from a rotation period, characterized in that during the observation of changes in the value of the physical parameter, a set of current values of the output signal of the meter of physical parameters is recorded on a time interval of the order of chime periods into a fixed set of building a regression function of the conditions for achieving the minimum residual standard deviation between the values of regression function and a plurality of fixed values of the observed physical parameter for the period of rotation of take SALT modification period regression function and the angular velocity of the object is determined by the relation:

where Τ is the period of change of the regression function.