RU2598145C1 - Method of forming output information in unit of gyroscopes and three-axis unit of damping gyroscopes - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: invention relates to instrument making. Present invention comprises measurement of rated angular velocities along each measuring axis by means of angular velocity sensors and sending obtained parameters in form of analogue signals, wherein measurement of rated angular velocities is performed using angular velocity sensors, providing generation of output information in digital form, then processing obtained information using preset coefficients for each measuring axis, which are determined as ratio of preset nominal output voltage to preset nominal angular velocity, then obtained data are converted into analogue signals, which are identical values of nominal voltage for all measuring axes.

EFFECT: technical result is increased reliability and longevity of operation, reduced material consumption, power consumption and weight of triaxial unit of damping gyroscopes and simplified upgrading of aircraft.

13 cl, 5 dwg

Description

The invention relates to the field of instrumentation, in particular, to blocks of damping gyroscopes used in aerospace aerobatic control systems, in feedback loops for generating a signal proportional to the rate of change of the angle of rotation of the aircraft [1-3].

Known blocks of damping gyroscopes in which uniaxial angular velocity sensors with a rapidly rotating rotor -DUSU-M are used, which are serially produced by the Temp-Avia Arzamas Scientific and Production Association [4], in which the output information is generated in the form of a DC voltage. Moreover, a given nominal angular velocity corresponds to a certain value of the nominal output voltage.

The main disadvantage of such devices is the low reliability of their work - the technical resource of DUSU-M does not exceed 10,000 flight hours. In addition, to ensure a given measurement accuracy when changing the nominal angular velocity, at the same value of the output rated voltage, it is necessary to change the design of the gyroscope, in particular, the mass of the rotor or its speed of rotation.

The prototype of the invention is a method for generating information output used in a triaxial block of damping gyroscopes BDG-30-1, developed by OJSC MIEA [8], serially manufactured by OJSC Ural Instrument-Making Plant, Yekaterinburg [9], which also used DUSU -M. The known method includes measuring the nominal angular velocities along the measuring axes by means of uniaxial angular velocity sensors and further issuing the measured nominal angular velocities in the form of the same magnitude of the nominal stresses along all the measuring axes (Fig. 1 and Fig. 2).

The main disadvantage of such a block of damping gyroscopes is the lack of the possibility of its unified use for aircraft with different nominal angular velocities along the measuring axes. The uniaxial angular velocity sensors DUSU-M used in it are designed for a certain nominal angular velocity. For each rated speed, it is necessary to use uniaxial angular velocity sensors of various design modifications with a changed mass of rotors or a changed rotation speed. Therefore, such sensors are not unified, which greatly increases the material consumption and the complexity of the modernization of aircraft.

In addition, such uniaxial angular velocity sensors have a low technical resource and increased energy consumption, as their design includes a rapidly rotating massive rotor installed in ball bearings that have a limited technical resource, and to drive a massive rotor into rotation requires significant power consumption - about 12 watts. All this affects the efficiency of the gyroscope unit as a whole and the size of its overhaul interval.

The claimed invention solves the problem of creating a unified block of gyroscopes with an analog information output, while at the same time such technical results as increasing reliability and durability, reducing material consumption, power consumption and mass of the triaxial block of damping gyroscopes, and simplifying the modernization of aircraft are achieved.

The claimed technical results are achieved by the method of generating the output information in the gyroscope unit, including the measurement of the nominal angular velocities on each measuring axis by means of the angular velocity sensors and the generation of the obtained parameters in the form of analog signals, while the nominal angular velocities are measured by means of the angular velocity sensors providing the formation of the output information in digital form, then process the received information using the specified x coefficients for each measuring axis, which is defined as the ratio of a predetermined nominal output voltage to a predetermined nominal angular speed, and then convert the data to analog signals representing the same values for the nominal voltage of the measuring axes.

The gyroscope block is a triaxial block of damping gyroscopes.

They provide power to the gyroscope unit in the event of a short-term loss of voltage from the power source, which is an onboard power source.

The claimed technical results are achieved by a triaxial block of damping gyroscopes, consisting of three uniaxial angular velocity sensors and providing output signals in analog form, while the angular velocity sensors are micromechanical sensors with digital information outputs that are connected to the input or inputs of at least one a microcontroller that processes the received information using the specified coefficients for each measuring axis, which determine is calculated as the ratio of a given nominal output voltage to a given nominal angular velocity, and the output of at least one of the microcontrollers is connected to a three-channel input or three-channel inputs of at least one digital-to-analog converter, which provides output analog signals in the form of the same nominal voltage for all measuring axes.

In addition, due to additional structural elements that are not essential for the implementation of the claimed method and the triaxial block of damping gyroscopes in which the claimed method is implemented, additional positive technical effects can be obtained.

So, to provide the necessary voltage for the power supply of the block elements, a voltage converter is installed in the block of damping gyroscopes, which carries out the necessary voltage source transformations.

In addition, it is possible to install a device that provides power to the triaxial block of damping gyroscopes in the event of a short-term loss of voltage from the power source, which is at least one high-capacitance capacitor, which makes it possible to ensure regular operation of the triaxial block of damping gyroscopes for a short-term loss of on-board power supply for 200 ms. Moreover, the use of a high-capacitance capacitor gives the maximum effect in terms of reliability and durability, but another device can be used that provides power to the triaxial block of damping gyroscopes in the event of a short-term loss of voltage from the power source, for example, a battery or other independent power source or a device capable of storing and give charge.

The combination of the block elements in one housing, with the angular velocity sensors, microcontroller, digital-to-analog converter, voltage converter from the power supply and the device providing power to the triaxial block of damping gyroscopes during a short-term voltage failure from the power supply, is rigidly fixed to ensure the fastening of the elements , due to factory control, thereby increasing the reliability of the unit during operation.

In addition, between the angular velocity sensors and the microcontroller that processes the received information using the specified coefficients for each measuring axis, which are defined as the ratio of the specified nominal output voltage to the specified nominal angular velocity, it is possible to introduce at least one additional microcontroller that provides processing signals from angular velocity sensors and further issuing the received signal to a microcontroller that processes n radiation information using a predetermined coefficient for each measuring axis, which is defined as the ratio of a predetermined nominal output voltage to a predetermined nominal angular velocity. This will improve the reliability of the block of damping gyroscopes due to duplication, and it is advisable to carry out the above processing using different software for each microcontroller.

The invention is illustrated by drawings.

FIG. 1 is a structural and functional diagram demonstrating a method for generating information output in a BDG-30-1 (prototype).

FIG. 2 - design of a triaxial block of damping gyroscopes BDG-30-1 (prototype).

FIG. 3-design of the claimed triaxial block of damping gyroscopes with the cover removed.

FIG. 4 is a structural and functional diagram showing a method for generating output of the claimed invention.

FIG. 5 is a graph of the output information in the claimed triaxial block of damping gyroscopes.

The invention is as follows.

In a preferred embodiment (Fig. 3), the claimed gyroscope unit is structurally composed of a housing 1 closed by a cover, to the inner surface of which are rigidly attached: an angular velocity sensor unit 2, an analogue conversion unit 3, including a microcontroller and a digital-to-analogue converter, as well as block 4 comprising a voltage converter from an on-board power source with high-capacity capacitors 5, providing power to the triaxial block of damping gyroscopes during short-term disappearance voltage from the power source. The block of angular velocity sensors 2 consists of three uniaxial angular velocity sensors, which are orthogonally mounted micromechanical sensors with digital information outputs (MMG), which are connected to the input or inputs of at least one microcontroller that processes the received information using the specified coefficients for each measurement axis, which are defined as the ratio of a given nominal output voltage to a given nominal angular velocity. The output of at least one of the aforementioned microcontrollers is connected to a three-channel input or three-channel inputs of at least one digital-to-analog converter, which provides output analog signals in the form of the same nominal voltage for all measuring axes.

The use of sensors of this type (MMG), for example, MSG 1100D, STIM 210, or µΙΜU-I sensors [5-7], allows for the universality of the gyroscope unit, since it is not necessary to replace the sensors for a certain nominal angular speed of the aircraft, which is necessary during the modernization, as a result of which the technical characteristics of the damping gyroscopes unit are improved. This is due to the fact that such sensors (MMG) can be used on a wide range of nominal angular velocities. However, a simple replacement of the known sensors (DUSU-M) with micromechanical sensors (MMG) in the already created system does not allow ensuring the compatibility of the gyroscope unit with the existing control system in which this unit is used. In this regard, it is necessary to ensure the possibility of converting digital information from sensors (MMG) into an analog signal in the form of the same nominal voltage for all measuring axes. To implement such a combination, it is proposed to use the claimed method, in which the information received from the sensors (MMG) is processed in the microcontroller using the specified coefficients for each measuring axis, which are defined as the ratio of a given nominal output voltage to a given nominal angular velocity, and then using digital -analog converter provide the output of analog signals in the form of the same nominal voltage for all meter axes, after which the received analog signals are sent to the consumer in the aircraft control system.

The tests showed that the claimed design of the triaxial block of damping gyroscopes, in which the claimed method is implemented, allows to ensure the universality of the block for all existing types of aircraft, in which the blocks of gyroscopes with an analog information output are used, can increase the mean time between failures from 10,000 hours to 40,000 hours significantly reduce material consumption, reduce the energy consumption by an order of magnitude - from 45 W to 4.5 W and reduce the weight of the device 2.5 times - from 2.6 kg to 1 kg.

In addition, the claimed triaxial block of damping gyroscopes can use either one microcontroller or a digital-to-analog converter, or several, which will increase the reliability of the block of gyroscopes, for example, in the case of installing duplicate microcontrollers or digital-to-analog converters.

Technical implementation of the claimed invention is as follows.

,

,

), скомпонованные, например, в виде трехосного блока 2; микроконтроллер (МК) и трехканальный цифро-аналоговый преобразователь (ЦАП), скомпонованные, например, в виде блока 3; преобразователь напряжения от источника питания 4 с устройством поддержания электропитания при кратковременном отключении напряжения от бортового источника питания, выполненным, например, в виде высокоемкостного конденсатора 5; U_x, U_y, U_z - выходные напряжения трехосного блока.In FIG. 4 shows a structural-functional diagram of the claimed method for generating output information in analog form in a triaxial block of damping gyroscopes, where: ω _x , ω _y , ω _z are measured angular velocities; (MMG) _X , (ΜΜΓ) _Y , (ΜΜΓ) _Z , are uniaxial micromechanical sensors orthogonally mounted along the measuring axes with a digital information output (

,

,

) arranged, for example, in the form of a triaxial block 2; a microcontroller (MK) and a three-channel digital-to-analog converter (DAC), arranged, for example, in the form of block 3; a voltage converter from a power source 4 with a power supply maintaining device for a short-time voltage disconnection from an on-board power source, made, for example, in the form of a high-capacity capacitor 5; U _x , U _y , U _z - output voltage of the triaxial block.

,

,

.The measurement of angular velocities (ω _x , ω _y , ω _z ) is carried out using three uniaxial uniaxial micromechanical angular velocity sensors (MMG) _X , (ΜΜΓ) _Y , (ΜΜΓ) _Z , which form digital output information

,

,

.

The sensor information (MMG) is sent to the microcontroller, where it is converted to voltage U _x , U _y , U _z using scale factors k _x , k _y stored in the microprocessor memory; k _z . The values of the scale factors for each measuring axis k _x , k _y , k _z , which are defined as the ratio of a given nominal output voltage to the nominal angular velocity for each measuring axis - k _x = U _нх / ω _нх , k _y = U _нy / ω _well , k _z = U _нz / ω _нz , are determined and recorded in the microprocessor memory in the factory during debugging of the triaxial block of damping gyroscopes. Then digital information is converted into analog signals, representing the same magnitude of the nominal voltage for different values of the nominal angular velocities along the measuring axes.

In FIG. 5 shows graphs of output information in a triaxial block of damping gyroscopes, in which the proposed method for their formation is implemented. Where: 1 - graph of the output characteristic U _y = f (ω _y ) along the measuring axis Y; 2 is a graph of the output characteristic U _z = f (ω _z ) along the measuring axis Z; 3 is a graph of the output characteristic U _x = f (ω _x ) along the measuring axis X; ω _well = ± 60 ⁰ / s is the nominal measured angular velocity along the оси axis; ω _нz = ± 90% - nominal measured angular velocity along the оси axis; ω _nx = ± 180 ⁰ / s is the nominal measured angular velocity along the оси axis; U _нx = U _нy = U _нz = ± 5V - rated output voltages along the measuring axes Χ, Y, Z.

,

,

. Полученные в микроконтроллере значения напряжений в цифровом виде передаются в цифро-аналоговый преобразователь, где они преобразуются в аналоговые выходные сигналы U_x, U_y, U_z. При этом при неодинаковых номинальных угловых скоростях по измерительным осям ω_нx≠ ω_нy≠ ω_нz выходные значения номинальных напряжений будут равны друг другу U_нx=U_нy=U_нz=±5В.To ensure the same value of the output rated voltage at different measured nominal angular velocities during debugging of unit 1, in the factory, the necessary values of the scale factors for each sensor (MMG) are determined in the form: for the measuring axis Yk _y = 5/60 = 0.0833 B / ⁰ / s; for the Ζ-k axis _z = 5/90 = 0.055 V / ⁰ / s: for the Xk axis _x = 5/180 = 0.277 V / ⁰ / s. These values of the scale factors are recorded in the memory of the microcontroller, where during the normal operation of the gyroscope unit, the angular velocities measured by sensors (MMG) are converted in digital form to the output voltage in digital form:

,

,

. The voltage values obtained in the microcontroller are transmitted in digital form to a digital-to-analog converter, where they are converted into analog output signals U _x , U _y , U _z . Moreover, at different nominal angular velocities along the measuring axes ω _{nx н} ω _ny ≠ ω _{nz, the} output values of the nominal voltages will be equal to each other U _nx = U _ny = U _nz = ± 5V.

The claimed method is easily implemented using known structural elements in the design of a triaxial block of damping gyroscopes.

INFORMATION SOURCES

1. Gyroscopic systems, h. II Gyroscopic systems and devices, under. Edited by D.S. Pelpora, M., high school, 1971, 488 pp.

2. Braslavsky D.A., Logunov S.S., Pelpor D.S. Aviation devices and automation, M., Mechanical Engineering, 1978, 427 p.

3. Galkin V.I. Perspective Aircraft Gyroscopes, ISBN: 978-3-659-47948-9, LAP LAMBERT Academic Publishing, Saarbrucken, Deutschland, 2013, 146 c.

4. DUSU-M - uniaxial angular velocity sensor, http://www.temp-avia.ru/index-24.htm.

5. Technical description of a uniaxial micromechanical angular velocity sensor with digital information output MSG 1100D of Chinese company MT Microsystems, www.cetcmems.com.

6. Technical description of the triaxial micromechanical angular velocity sensor STIM 210 of the Norwegian company Sensonor - with digital information output, www.sensonor.com.

7. Technical description of a triaxial micromechanical angular velocity and linear acceleration meter µIΜU - I from Northrop Grumman, www. northropgrumman.litef.com.

8. Integrated control system KSU-130 for the aircraft Yak-130, JSC "MIEA", http://aomiea.ru/complexsystemupr.html.

9. Block of damping gyroscopes BDG-30-1, OJSC Ural Instrument-Making Plant, Yekaterinburg, http://upz.ru/ru/avia.html#.

10. Block of damping gyroscopes BDG-30-1, http://snkplus.ru/produktsiya/blok-dempfiruyushchikh-giroskopov-bdg-30-1.html.

Claims (13)

1. A method of generating output information in a block of gyroscopes, including measuring the nominal angular velocities on each measuring axis by means of angular velocity sensors and generating the obtained parameters in the form of analog signals, characterized in that the measurement of nominal angular velocities is carried out by means of angular velocity sensors, providing the formation of output information in a digitalized form, then the received information is processed using the given coefficients for each axis, which are defined as the ratio of a given nominal output voltage to a given nominal angular velocity, and then convert the received data into analog signals, which are the same values of the nominal voltage for all measuring axes. 2. The method according to p. 1, characterized in that the block of gyroscopes is a triaxial block of damping gyroscopes. 3. The method according to p. 1, characterized in that they provide power to the block of gyroscopes with a short-term disappearance of voltage from the power source. 4. The method according to p. 3, characterized in that the power source is an onboard power source. 5. A triaxial block of damping gyroscopes, consisting of three uniaxial angular velocity sensors and providing output signals in analog form, characterized in that the angular velocity sensors are micromechanical sensors with digital information outputs that are connected to the input or inputs of at least one microcontroller processing the received information using the specified coefficients for each measuring axis, which are defined as the ratio of the given nominal output voltage to a given nominal angular velocity, and the output of at least one of the microcontrollers is connected to a three-channel input or three-channel inputs of at least one digital-to-analog converter, which provides output analog signals in the form of the same nominal voltage for all measuring axes. 6. Three-axis block of damping gyroscopes according to claim 5, characterized in that the power supply of the block elements is carried out from the power source through a voltage converter. 7. The triaxial block of damping gyroscopes according to claim 6, characterized in that the converter is installed in the block of damping gyroscopes. 8. The triaxial block of damping gyroscopes according to claim 5, characterized in that an additional device is installed that provides power to the triaxial block of damping gyroscopes in the event of a short-term loss of voltage from the power source. 9. The triaxial block of damping gyroscopes according to claim 8, characterized in that the device providing power to the triaxial block of damping gyroscopes in the event of a short-term loss of voltage from the power source is at least one high-capacity capacitor. 10. The triaxial block of damping gyroscopes according to claim 5, characterized in that the power source is an onboard power source. 11. The triaxial block of damping gyroscopes according to claim 5, characterized in that the angular velocity sensors are mounted orthogonally to each other. 12. The three-axis block of damping gyroscopes according to claim 5, characterized in that the block consists of a housing that closes with a lid, to which are rigidly attached: a block of angular velocity sensors, an analog conversion unit, including a microcontroller and a digital-to-analog converter, as well as a block including a converter voltage from a power source with high-capacitance capacitors that provide power to the triaxial block of damping gyroscopes during a short-term loss of voltage from the power source. 13. The triaxial block of damping gyroscopes according to claim 5, characterized in that between the angular velocity sensors and the microcontroller that processes the received information using the specified coefficients for each measuring axis, which are defined as the ratio of the specified nominal output voltage to a given nominal angular velocity, additionally at least one microcontroller is installed, providing processing of signals from angular velocity sensors and further issuing the received signal to ikrokontroller performing processing the received information using predefined coefficients for each measuring axis, which is defined as the ratio of a predetermined nominal output voltage to a predetermined nominal angular velocity.

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