RU2625643C1 - Gyrostabilizer of optical elements - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: claimed gyrostabilizer of optical elements, containing a three-stage gyroscope, in which an gyro node with which the optical element is kinematically connected and a correctional motor are mounted in the outer frame. The optical element represents two mirrors mounted in the outer frame of the gyro symmetrically relative to the axis of the gyroscope suspension, and springs are introduced into the kinematic articulated links. The axes of rotation of the mirrors are parallel to the axis of the gyroscope suspension, on which, on the one hand, in the direction of the axis of the gyromotor rotor, a rod with a ball bearing fixed to its end is mounted, and at the opposite end a guide for the mechanical lock is fixed. The ball bearing of the rod can move along the yoke guide, which has an U-shaped cross-section and an average radius equal to the length of the rod from the center of the gyroscope suspension to the ball bearing. The axis of rotation of the yoke is located in the body of the device and is perpendicular to the axis of suspension of the outer frame.

EFFECT: increasing the viewing angle and angular tracking speeds with increasing accuracy of control of optical elements with decreasing mass and dimensions.

3 cl, 7 dwg

Description

The invention relates to a gyroscopic technique, and specifically to biaxial gyroscopic stabilizers of optical elements operating on moving objects and designed to stabilize and control optical elements, and may find application in the creation of systems such as binoculars, periscopes, laser rangefinders.

A device for stabilizing the line of sight (US Pat. RF No. 2260773, IPC ⁷ G01C 21/18), comprising a frame, a mirror, Executive engines of the azimuth and altitude channels mounted on the axes of rotation of the frame and the mirror, amplifying and correcting devices of the azimuth and altitude channels, output each of which is connected to the input of the actuator of the corresponding channel, an angle sensor mounted on the axis of rotation of the mirror, a gyroscopic sensor of the angular velocity of the azimuth channel and a gyroscopic sensor of the angular velocity of the height channel.

A device for stabilizing an optical image (Pat. RF No. 2091843, IPC ⁶ G02B 27/64), consisting of a two-mirror periscope system, of which the first mirror is fixedly connected to the body of the device, and the second mirror has the ability to rotate around an axis lying in the plane of the mirror and perpendicular to the optical axis of the device and simultaneously around an axis lying in a plane perpendicular to the same optical axis, the device includes two two-stage gyroscopes, one of which measures the angular velocity of rotation around the horizon the axis of the instrument, and the second - the angular velocity of rotation around the optical axis.

The disadvantage of these devices is the presence of position sensors stabilized mirrors, drive motors located on a rotating frame, which complicates the design of the device. In turn, the location of the sensors on a platform with a stabilized mirror creates the problem of calculating the position of the center of mass and the moments of inertia of the frame.

The closest in technical essence is a device for stabilizing the optical image of a movie camera (USSR Author's Certificate No. 1048318, G01C 19/00; G01C 21/18), containing an optical element articulated to the inner frame of a three-stage gyroscope, an engine and a rotating friction disk in contact with the spring emphasis, the engine is connected to the inner frame of the gyroscope by means of a friction disk mounted on its shaft, and a spring-loaded friction stop rigidly connected to the inner frame of the gyroscope, The optical element is pivotally connected to the outer frame of the gyroscope, while the lengths of the hinge arms are in a 1: 2 ratio.

The disadvantage of this device is the large size and weight arising from the presence of a separate cardan suspension in which the optical element is installed. The disadvantage is the small angles and angular viewing speeds caused by the limited size of the friction disk. The disadvantage is the low accuracy of the optical element control caused by the presence of a friction disk and a spring-loaded stop, with the help of which control actions are created.

The technical result consists in increasing the viewing angle and angular tracking speeds with increasing accuracy of control of optical elements with a decrease in mass and dimensions.

In a gyrostabilizer of optical elements containing a three-stage gyroscope, in which there is a gyro node in the outer frame, with which the optical element is kinematically pivotally coupled, and a correction motor, it is new that the optical element represents two mirrors mounted in the outer frame of the gyroscope symmetrically with respect to the axis of the gyro suspension and springs are introduced into the kinematic articulated joints, the axes of rotation of the mirrors being parallel to the axis of suspension of the gyro node, on which, on the one hand, in the direction of the axis of the gyro rotor and a rod is installed with a ball bearing fixed at its end, and a mechanical arrestor guide is fixed at the opposite end, while the ball bearing of the rod can move along the yoke guide, which has a U-shaped cross-section and an average radius equal to the length of the rod from the center of the gyro suspension to the ball bearing, the yoke rotation axis is located in the device body and is perpendicular to the suspension axis of the outer frame. In the gyrostabilizer of optical elements, the correction motor consists of two sensors consisting of stators made in the form of two half-ring magnets, the working gaps of which are mutually perpendicular, and the rotors are made in the form of coils, the first rigidly fixed respectively on the yoke, and the second on the bracket of the outer frame, and the planes of the coils are mutually perpendicular, and the active parts are in the working clearances of the magnets. In the gyrostabilizer of optical elements, it is new that the mechanical arrestor contains a housing, a catcher, an elastic ring, a return spring located between the protrusion in the housing and the catcher, and on the gyro side the catcher has a conical shape that goes into a cylindrical hole, and on the outer cylindrical surface there is a groove in which the elastic ring is placed.

The invention is illustrated by the drawings shown in FIG. 1-7, where:

- FIG. 1 is a kinematic diagram of a gyrostabilizer of optical elements;

- FIG. 2 is a diagram of a mechanical arrestor for:

a - arrested position of the gyro;

b - the uncovered position of the gyro;

in - uncovered and deviated position of the gyro.

- FIG. 3 - dependence of the arm of the moment on the position of the gyro for:

a - the neutral position of the gyro;

b - the deviated position of the gyro.

- FIG. 4-7 - photographs of a laboratory model of a gyrostabilizer of optical elements.

Here:

1 - gyro (inner frame with gyromotor;

2, 3 - mirrors (optical elements);

4 - outer frame;

5, 6 - springs;

7-12 - levers;

13 - hinges;

14 - yoke;

15 - ball bearing;

16 - rod;

17 - mechanical arrestor;

18 - semicircular magnets of the first torque sensor;

19 - coil of the first torque sensor;

20 - semi-ring magnets of the second torque sensor;

21 - coil of the second torque sensor;

22 - an arm;

23 - guide mechanical arrestor;

24 - gyro stabilizer body;

25 - body mechanical arrestor;

26 - a return spring;

27 - catcher;

28 - an elastic ring;

29 - the axis of the suspension of the outer frame;

30 - suspension axis of the gyro;

31, 32 - axis of the suspension of the mirrors;

33 - axis of rotation of the yoke.

H is the kinetic moment of the gyroscope;

I ₁ , I ₂ - current flowing along the first and second coil, respectively;

B - magnetic induction in the gap of semicircular magnets;

, F₂,

- силы, действующие на катушку первого и второго датчика момента соответственно;F_one,

, F₂,

- forces acting on the coil of the first and second torque sensors, respectively;

ω ₁ - the angular velocity of the precession of the outer frame;

ω ₂ - the angular velocity of the precession of the gyro;

M ₁ - moment created by the first torque sensor;

M ₂ is the moment created by the second torque sensor;

L ₁ , L ₂ - the shoulders of the action of forces.

The gyrostabilizer of the optical elements (Fig. 1) consists of a three-stage gyroscope, the gyro node 1 of which is installed in the outer frame 4, in which the mirrors 2, 3 are installed, the rotation axes 31 and 32 of which are in the same plane with the suspension axis 30 of the gyro node 1 and are parallel to it and which are connected with gyro 1 by a kinematic connection consisting of springs 5, 6, levers 7-12 and hinges 13, and the axis of the hinges (cylindrical) 13 are parallel to the axis of the suspension 30 of the gyro 1. The suspension axis 29 of the outer frame 4 rotates in the gyrostabilizer body 24. A yoke 14 is fixed in the gyrostabilizer body, the axis of rotation 33 of which is perpendicular to the axis of suspension of the outer frame 4. At the end of the rod 16 there is a ball bearing 15, which is located in the U-shaped cavity of the yoke 14. A coil 19 of the first torque sensor is fixed on the yoke 14. The stator of the first torque sensor consists of two semi-ring magnets 18, mounted on the housing. The coil 21 of the second torque sensor is mounted on an arm 22, which is rigidly connected to the outer frame 4. The stator of the second torque sensor, similar to the first, consists of two semi-ring magnets 20 and is mounted on the housing. The working gaps formed by semicircular magnets are mutually perpendicular. Moreover, each pair of semi-ring magnets has two working gaps, induction B in which is opposite in direction and in which the working parts of the coils are located.

The mechanical arrestor 17 of the gyrostabilizer (Fig. 2) contains a housing 25, inside which a return spring 26 is located, a catcher 27, the spring has an elastic ring 28 located in a groove on the outer cylindrical surface. On the gyro node 1, a cylindrical guide 23 of the arrestor 23 is rigidly fixed.

The presence of springs 5 and 6 in the kinematic connections of the gyro 1 with mirrors 2 and 3 makes it possible to compensate for the backlash in the hinges 13, which is a design feature of the suspension of gyro stabilizer mirrors.

An important feature of the design of this gyrostabilizer is that the yoke 14, the ball bearing 15 and the rod 16 are made of non-magnetic metal, because if they are made of magnetic material, there will be pulling forces created by the magnets 18 of the first torque sensor, which can lead to jamming ball bearing 15 in the yoke cavity 14.

The gyrostabilizer of optical elements has three operating modes: the arresting-sizing mode, the observation mode for a stationary object, and the tracking mode for a moving object.

The mode of arresting and uncaring is necessary for the initial exposure of the gyro-gyrostabilizer of the optical elements to the initial position. It should be noted that for the convenience and safe transportation of the gyrostabilizer, it should be in the arrested state, since in this state the movement of the moving parts of the structure is excluded.

The locking mode is carried out as follows (Fig. 2): by clicking on the catcher 27 it moves towards the gyro node 1, at this moment the guiding of the arresting 23 enters the cavity of the catcher 27, as a result of which the gyro node 1 takes its neutral position. At the moment of pressing the catcher 27 and the arresting process, the elastic ring 28 falls into the groove in the body 25 of the arrestor, thus, the catcher 27 is fixed. The catcher 27 from the side of the gyro node 1 has the shape of a cone, which goes through a cylindrical hole for fixing the locking guide 23.

To decouple the gyro 1, it is necessary to press the catch 27, thereby squeezing the return spring 26, and release the catch 27, due to the compression force, the return spring 26 will push the catch 27 to the extreme position, as a result of which the gyro 1 will be uncovered.

In the observation mode for a stationary object, the gyrostabilizer in the caged is pointed at the object and pressed on the catcher 27 (Fig. 2).

In the observation mode for a stationary object (Fig. 1), the gyrostabilizer works as follows (while power is supplied to the gyromotor and it has gained nominal speed). Angular vibrations of the device body (due to tremor of the operator’s hands on a fixed base) create periodic moments due to the moments of dry friction in the suspension axes 29-32. The action of these moments is largely averaged by the presence of the kinetic moment H of the gyrostabilizer, and the oscillation amplitude of gyro 1 and the kinematic connections (levers 7-12 and springs 5, 6) of mirrors 2, 3, can be limited by the corresponding tolerances due to the selection of parameters ( kinetic moment, moments of inertia of moving parts, friction moments in bearings).

However, due to the systematic components of the moments in the suspension axes and kinematic relationships, as well as the residual unbalance, the image in the field of view will also begin to disappear. To compensate for the losses, it is necessary to supply currents of the corresponding direction and magnitude to coils 19 and 21. For example, with the help of two switches that connect current sensors to the coils (they are not shown in the diagram). Correction works according to the following rule: azimuth switch to "left" - the image moves to the left; azimuth switch to the "right" - the image moves to the right; height switch “up” - the image moves up; height switch “down” - the image moves down. Thus, the image will be held in the center of the field of view with acceptable amplitudes.

In the observation mode for a moving object, the gyrostabilizer in the caged is pointed at the object and pressed on the catcher 27.

In the tracking mode for a moving object, an operator using a gyrostabilizer provides a control signal to the torque sensor he needs to rotate the optical elements around the corresponding axis.

в левой части катушки и сила

правой части катушки:In the tracking mode for a moving object (Fig. 1), the gyrostabilizer operates as follows, when a control signal (current) I _{1 is} supplied to the coil 19 of the first torque sensor, the current I ₁ interacts with magnetic induction B created by two half-ring magnets 18, as a result of which there is a force

the left side of the coil and the force

right side of the coil:

,

,

- активная длина проводника, В - магнитная индукция, I₁ - управляющий первого датчика момента.where W is the number of turns of the coil,

is the active length of the conductor, B is the magnetic induction, I ₁ is the control of the first torque sensor.

The resulting force created by the first torque sensor will be equal to:

The moment acting on the gyro is calculated as follows:

.

.

The angular velocity of the precession of the gyro:

.

.

в верхней части катушки и сила

в нижней части катушки:Like the first torque sensor, the moment is created on the second torque sensor, when a control current I _{2 is} supplied to the coil 21 of the second torque sensor, the current I ₂ interacts with the magnetic induction B generated by two half-ring magnets 20, as a result of which a force

at the top of the coil and strength

at the bottom of the coil:

,

,

- активная длина проводника; B - магнитная индукция; I₂ - управляющий ток второго датчика момента.where W is the number of turns of the coil;

- active length of the conductor; B - magnetic induction; I ₂ is the control current of the second torque sensor.

The resulting force created by the second torque sensor will be equal to:

The moment acting on the gyro is calculated as follows:

.

.

The angular velocity of the precession of the gyro:

.

.

It should be noted that the switches that control the currents in the moment sensors not only change the direction of the currents I ₁ , I ₂ , but their value, which is determined by the angular velocity of the line of sight.

, так как бугель 14 имеет форму дуги определенного радиуса. Плечо силы F₁ равно радиусу дуги бугеля 14 в том случае, когда внешняя рамка 4 имеет нейтральное положение.A feature of the operation of this gyrostabilizer is that when the position of the outer frame 4 is deviated, as shown in FIG. 3, the shoulder L _{1 of the} force F ₁ will change and take on a value

, since the yoke 14 has the shape of an arc of a certain radius. The shoulder of the force F ₁ is equal to the radius of the arc of the yoke 14 in the case when the outer frame 4 has a neutral position.

The presence of optical elements (mirrors) in the outer frame of the gyroscope favorably distinguishes it from the prototype, since the dimensions and weight of the device are significantly reduced, the design is greatly simplified, due to the absence of a second cardan suspension for the optical element, the stabilization accuracy is increased, since there are no additional kinematic connections.

The introduction of two torque sensors that form a correction motor into the design increases the accuracy of controlling the optical element.

The presence of a mechanical arrestor allows you to display the gyro in the initial position, which the prototype does not have. A feature of this arrestor is its ease of use, since the process of arresting and snapping is carried out with one click on the catcher without the use of electrical signals, which would lead to additional leading moments.

To test the performance of the gyrostabilizer, a laboratory model was made, which is shown in the photographs (Figs. 4-7), which show the main nodes in the same positions as in Figs. one.

A small-sized synchronous gyromotor GMS-1 with a kinetic moment N = 0.1 Nms, fed from a static three-phase secondary source with a voltage of U = 36 V, frequency f = 1000 Hz, was used as a gyromotor of the gyro-node. Semicircular permanent magnets are made of UNDK alloy and complete with coils allowed to create a maximum precession speed of 10 ° / s at a current of 50 mA. In principle, to monitor a stationary object (when compensating for the gyrostabilizer drift in azimuth and elevation angle), you can enter a control range switch and, in this case, make control speeds exceeding the angular drift velocity by 2–3 times. In this mode, the maximum precession rate will be about 2-4 ° / min.

To evaluate the stabilization accuracy, an AK-1 autocollimator with a division price of 10 arc seconds was used.

When observing a stationary object, the stabilization accuracy during drift compensation was 20-30 arc seconds.

Claims (3)

1. A gyrostabilizer of optical elements, containing a three-stage gyroscope, in which there is a gyro unit in the outer frame, with which the optical element is kinematically pivotally coupled, and a correction motor, characterized in that the optical element represents two mirrors mounted in the outer frame of the gyroscope symmetrically with respect to the axis of the gyro suspension and springs are introduced into the kinematic articulated joints, the axes of rotation of the mirrors parallel to the axis of suspension of the gyro node, on which, on the one hand, in the direction of the axis of the rotor of the gyro a torus, a rod is mounted with a ball bearing fixed at its end, and a mechanical arrester guide is fixed at the opposite end, while the ball bearing of the rod can move along the yoke guide, which has a U-shaped cross section and an average radius equal to the length of the rod from the center of the gyro suspension to the ball bearing, the yoke rotation axis is located in the device body and is perpendicular to the suspension axis of the outer frame. 2. The gyrostabilizer of optical elements according to claim 1, characterized in that the correction motor consists of two sensors, consisting of stators made in the form of two half-ring magnets, the working gaps of which are mutually perpendicular, and the rotors are made in the form of coils, respectively, the first one is fixed on the yoke, and the second - on the bracket of the outer frame, and the planes of the coils are mutually perpendicular, and the active parts are in the working clearances of the magnets. 3. The gyrostabilizer of the optical elements according to claim 1, characterized in that the mechanical arrestor comprises a body, a catcher, an elastic ring, a return spring located between the protrusion in the body and the catcher, and on the gyro side, the catcher has a conical shape turning into a cylindrical hole, and on the outer cylindrical surface there is a groove in which an elastic ring is placed.

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