RU2629691C1 - Method of autonomous determining angular object positions with six degrees of spatial movement freedom - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: method of autonomous determining the object position is based on the formation of an informative harmonic signal of the rotation gyroscope speed with a radially magnetized magnet-rotor by inducing the emf in the spherical solenoid winding mechanically fixed on the object, electric locking the gyro rotor, aiming its rotation axis onto the external space object, and installing initial coordinate reference, unscrambling and allocating the parametres from the informative signal by two coordinates, heading and pitch. Three simultaneously pairwise biorthogonal sine-cosine signals are generated by inducing the emf of the rotor rotation frequency in the form of a hollow full or incomplete ball magnetized perpendicular to its rotation axis and placed inside or outside the sphere of a nonmagnetic material, on which three spherical solenoids are mutually spatially perpendicular, and the parametres of the three angular object positions represented by the coordinate system associated with it in the form of three pairwise biorthogonal relations between the sine-cosine signals relative to the external inertial, non-inertial space or pseudoinertial represented by the rotating ball magnet-rotor, are determined by synchronous demodulation along the three channels of the amplitudes and phases of three pairs of the defined sine-cosine signals according to the specified algorithm.

EFFECT: providing the possibility of increasing the informative value of the measurement conversion, expanding the application areas for 6-power objects with unlimited angles of error, and simplifying algorithms for processing informative signals.

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Description

The present invention relates to the field of technology of primary measuring conversion of physical quantities into electrical signals and relates to a method for determining the angular positions of an object with 6 degrees of freedom of spatial movement. The proposed technical solution (TP) can be used in control systems and stabilization of the angular positions of aircraft (LA) of any type and purpose, in systems of manual and automatic piloting of aircraft, in homing systems of guided missiles, shells and other carriers with 6 degrees of freedom using three-dimensional tracking, homing and navigation methods.

Widely known are methods for measuring the conversion of angles and angular displacements with one degree of freedom (1, 2, 3), based on the physical phenomenon of electromagnetic induction discovered by Faraday and refined by Maxwell. The known method is used in sine-cosine and linear rotary transformers (SKVT, LVT). When the rotor rotates with two perpendicular windings, which are powered by alternating current, the magnetic flux in the gap between the stator and the rotor changes in proportion to the sine and cosine of the rotation angle, and quadrature signals are induced in the windings of the SEC.

The known method allows you to implement an absolute angle sensor of various accuracy classes, but with only one degree of freedom, which reduces the information content of the conversion. The known method has other disadvantages: the need for mechanical contact with a controlled or controlled object, the presence of a back reaction to the object, the analog form of presentation of information, the presence of speed error, etc.

The known ferrodynamic, electrodynamic and inductive methods of converting angles with two degrees of freedom (4). They are based on the use of the physical phenomenon of electromagnetic interaction of fixed and moving elements.

Known methods have low accuracy and are uninformative, and their scope is limited to objects with two degrees of freedom.

More accurate photoelectric methods for converting angles with one degree of freedom are known (5), including my authorship (6), but their information content is limited to one degree of freedom.

More informative photoelectric methods for converting angles to two coordinates of my authorship are known (7), but their information content is limited for objects with two degrees of freedom.

There is an absolutely informative method for rotating controlled and controlled objects with one degree of freedom (8) of my authorship, with the simultaneous simultaneous formation of functional sine-cosine dependencies, as well as derivatives and antiderivatives, but its scope is limited to objects with one degree of freedom.

Closer in technical essence, but also limited by one degree of freedom, are methods of measuring conversion based on the use of two-stage Foucault gyroscopes of the first kind (gyrocompass) and the second kind (9) (in combination with a gyro-vertical, it measures geographical latitude). But these methods are also uninformative.

Closer in purpose and achieved results (but not in technical essence) are the known methods of measuring conversion in all three coordinates based on the use of three two and / or three-degree gyroscopes (10). These close known methods are highly informative, but cause an increased complexity of the design in the form of gyroscopes and entire systems, large mass dimensions and cost, since a separate sensitive gyroscope is required for each coordinate.

Finally, combined inertial-satellite systems for determining more than one orientation parameter of six-degree objects are known, but they belong to another field of technology for measuring angles with amplitude and phase modulation of spatio-temporal microwave signals of superhigh frequencies 1200-1800 GHz and are not considered here.

Thus, all known methods of converting the angular positions of 6-power objects in three coordinates use 3 sensors, one for each coordinate, respectively, have complex principles of operation, complex algorithms for determining angular positions (to be shown below).

The closest in technical essence to the proposed one is the TP method for determining the coordinates of air targets, implemented in an optoelectronic tracking gyro-coordinator (OESK) of the optical homing heads of a rotating anti-aircraft guided missiles (WGMS) of the Strela, Igla and Verba man-portable air defense systems "(RF)," Stinger POST "," Stinger RST "(USA)," Mistral "(France) (11).

The closest method is based on the formation of an informative harmonic signal of the frequency of rotation of a three-degree astatic gyroscope with a radially magnetized rotor-magnet in the form of a ring, inside of which and outside there are spherical solenoids by inducing an emf in the winding of the internal solenoid mechanically fixed to the object, electrically locking the rotor and pointing it axis with the help of an optical system combined with it on an object of external space (air target), sizing of the rotor, lenii object coordinates on the course and the correction of pitch and rotor axis OESK orientation by passing a current through the coils of the outer coil. The winding of the internal solenoid is a sensor in two angular coordinates, and the external solenoid is the actuating element for setting the rotor orientation along the longitudinal axis of the rocket (in the electric locking mode) and correcting its orientation by controlling the precession movement (in the target tracking mode). Both the solenoid and the sleeve on which the gimbal is mounted are mounted on a base rotating with the rocket.

The closest method provides an accurate determination of the two coordinates of the object using only one gyroscope, that is, it is a two-dimensional system (according to the third coordinate, roll, the rocket is stabilized by rotation). Thus, the closest method does not allow to determine all three orientation angles, has incomplete informativeness of determining angular positions and, accordingly, a limited scope.

The objectives of the invention are to increase the information content of the method to absolute due to the autonomous, independent of external signals, determination of all three angular positions using only one gyroscopic sensor, as well as the expansion of applications for objects with unlimited mismatch angles.

This goal is in a method for determining the orientation of an object, based on the formation of an informative harmonic signal by inducing an emf of a gyroscope rotation speed, in a winding of a spherical solenoid mechanically attached to an object, by accelerating and rotating around it a radially magnetized magnet rotor, electrically locking the rotor, and pointing its rotation axis to the object of external space for setting the initial coordinate reference, sizing of the rotor, tracking the object of external space and the demodule informative signal with the separation of two coordinates along the course and pitch is achieved by simultaneously generating three sine-cosine pairwise biorthogonal signals by rotating inside or outside the sphere mechanically connected to the object, with three mutually perpendicular solenoids located on it, hollow full or incomplete (if it is suspended on an internal gimbal) of a ball magnetized perpendicular to its axis of rotation, and representing the coordinate system of the outer space, and the angular positions determining that parallel simultaneous demodulation of amplitude-phase pairs of the three bi-orthogonal signals obtained through three channels by predetermined algorithms.

Thus, the introduction of the previously unknown set of operations for simultaneously generating three pairwise biorthogonal sine-cosine signals by inducing emfs by rotating inside or outside a sphere with three mutually perpendicular solenoids located on it, mechanically fixed and connected to the object, a hollow magnet rotor, magnetized perpendicular axis of rotation and representing the coordinate system of the outer space, provides the introduction of these signals by spatial modulation of their amplitudes itud and informational features and options of three angular positions phases. This set, as well as its relationship with the indicated useful results, is unknown both in the closest TPs and in the modern level of science and technology of gyroscopic sensors measuring simultaneously the three angular positions of 6-degree objects. This indicates compliance with the criteria of novelty and inventive step of the proposed method.

Before proceeding to the consideration of an example for the implementation of the method, the theoretical principles of the method in geometric and analytical representation are offered to the attention of the examination.

From various branches of mathematics, as well as the theory and practice of piloting and navigation, many coordinate reference systems are known, both related to the object and representing external space. Coordinate systems for counting outer space are divided into inertial (stellar), pseudo-inertial and non-inertial. From geometry, the left and right rectangular (Cartesian) coordinate systems, polar, cylindrical, spherical, toroidal and other reference frames of space are known. From the theory and practice of piloting and navigation systems, spherical heliocentric, geographical, equatorial, orthodromic and others are known, for example, combined horizontal-orthodromic, horizontal in azimuth, etc.

Consider a combination of Cartesian and spherical coordinate systems. There are 4 possible combinations: 1 - the outer space and the object are represented in the Cartesian system; 2 - the Cartesian coordinate system is associated with the object, and the outer space is spherical; 3 - they associate a spherical system with an object, and a Cartesian system with external space; 4 - spherical is connected with the object, and the outer space is also represented by a spherical coordinate system.

To simplify the signal processing algorithms, I applied the following mathematical technique (see Fig. 1). The spherical system is simplified if we equate the coordinate of the radius to unity, call it the unit spherical. We normalize the Cartesian system, restricting it to the sphere of unit radius. In FIG. Figure 1 shows such a combination, where the right Cartesian coordinate system OX'Y'Z 'is shown, combined with the unit spherical, representing space, and the orthonormal Cartesian system associated with the object OXYZ. Point A is shown with randomly selected coordinates. In a single spherical system, its coordinates are determined by the semi-axis OX 'of the initial reference, azimuthal (latitude) and zenithal (longitude) angles ϕ and θ. In FIG. 1 also shows the first coordinate surface, a sphere of unit radius ρ = 1 = const; the second is the half-plane ОʺZ'А 'passing through the point A', the equation of which is ϕ, ϕ '= const; and the third, the cone defined by θ, θ = const.

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;

.Also in FIG. Figure 1 shows the orthonormal Cartesian coordinate system OXYZ associated with the object, combined with the spherical axis OXY in the form of the main polar plane, the half-axis OX of the initial reference, and the azimuthal and zenith angles ϕ, ϕ 'and θ, θ' coincide, since all systems have a common origin and their axes are combined. The use of such a combination of orthonormal Cartesian and unit spherical allows us to simplify the known transition formulas, and they take the form: x = cos θ cos ϕ; y = cos θ sin ϕ; z = sin θ; θ = arctan z, since

and

;

.

I add that such a choice of coordinates for determining Euler angles is due to the following considerations. In nature, all bodies are in motion, different from the rectilinear translational, therefore, for the outer space, a spherical system corresponding to its topology is used. In addition, the ball and the sphere bounding it have the highest symmetry group ∞ / ∞ m. This means that the ball has an infinite number of symmetry axes of infinite order, as well as an infinite number of symmetry planes. But all currently known aircraft have an asymmetry of shape in one or more coordinates (devices in the form of a ball or a flat ellipsoid have not yet been created). In addition, the coordinate system associated with the object has historically developed with the course, roll and pitch axes, therefore, the Cartesian coordinate system (except for rotating missiles and shells) is more acceptable for the object.

Now we carry out a comparative analysis of the algorithms for combining Cartesian coordinate systems and spherical, having a common origin, and angular positions, as is known, uniquely determined by the Euler angles ν, μ, θ. To prove this mathematical fact, L. Euler used the concept of “line of nodes” (hereinafter referred to as LU), as the development of such a basic concept of “node”, introduced by K. Gauss and refined by A. Poincare. In his proof, Euler used only one LN as the straight line of intersection of the coordinate planes (the edge of the dihedral angle) OXY and O'X'Y ', although three angular positions are formed when the angular positions of the 2 coordinate systems diverge. Therefore, its algorithm is consistent and very complex (see, for example, 12, p. 643).

In FIG. 2 shows this algorithm in a geometric representation in the form of successive rotations “a”, “b” and “c” (see the initial position of the combined coordinate systems in Fig. 3 on the left): a - we rotate through an angle ν in the OXY plane in the direction of the shortest rotation of the axis OX to the OY axis, after which we obtain the combination of the OX axis and the LN; b - we turn by an angle μ from the LN in the plane O'X'Y 'in the direction of the shortest turn of O'X' to O'Y '; c - we combine the axes OZ and O'Z 'along the shortest path at an angle θ. In addition, we choose the LU from its two rays in such a way that the three rays of the LU, OZ and O'Z 'form the right triple.

Now we compare the alignment of individual spherical coordinates (the second and third image in Fig. 3 from left to right under the numbers 1, 2.) 1 - we rotate by an angle ϕ (longitude) in the base equatorial plane OXY; 2 - then we rotate through an angle θ (latitude) in the azimuthal plane.

Thus, the combination of single spherical systems gives undoubted advantages of simplifying the algorithm and, consequently, reducing the cost of signal processing for demodulation and highlighting informative features and parameters of angular positions, and also simplifies the transition formulas from a spherical coordinate system to Cartesian (shown below, l. 4) .

In FIG. 4 is a flowchart of an example implementation of a method; in FIG. 5 is a sketch of a gyro rotor (left) and a sketch of a spherical stator (right), with three mutually perpendicular solenoids located on it; in FIG. 6 is an electrical diagram of the stator and timing diagrams of the sine-cosine signals induced during rotation of the rotor in the rotation range of the object from 0 to 2π; in FIG. 7 is a sectional view of a ball rotor magnet. The device shown in FIG. 4, contains an accelerating device 4-1, equipped with an electric locking system and, if necessary, a system for stabilizing the rotor speed, an outer ring cardan suspension 4-2 of a sphere with solenoids, flexible cables 4-3 and a block 5 (calculator) for determining the angular positions of the object.

The ball rotor magnet shown in FIG. 5 on the left, made in the form of a hollow ball 5-1, magnetized perpendicular to the axis of rotation, and has an internal cavity 5-2, which is partially filled with liquid to damp shock and vibration effects. On the right in FIG. 5 shows a stator made in the form of a sphere of non-magnetic material with three spherical solenoids 5-3 located mutually perpendicular to it. Also in FIG. 5 shows the axes OX1, OY1, OZ1 of the Cartesian coordinate system of the outer space, combined with a unit spherical, and the axes ОX, OY, OZ associated with the object of the Cartesian system, also combined with a unit spherical.

The electrical circuit shown in FIG. 6, consists of three biorthogonal solenoid windings in pairs, on which the emf a, b, c are induced during rotation of the magnet rotor. Timing diagrams of sine-cosine signals a, b, c are shown below when rotating an object with a sphere fixed on it in three planes in the range from 0 to 2π.

In FIG. Figure 7 shows a cross-section of the rotor magnet and the lines of force of its vortex magnetic field (the calculation was performed on a computer using a special program), the north N and south S poles are also shown here.

The device for implementing the proposed method (as one of the options) depicted in FIG. 4 - FIG. 7, works as follows.

Fixing screws are installed on the axle bushings of the gimbal suspension 4-2 (in order not to load the sketch with auxiliary elements, they are not shown in the sketch). First, the accelerating device 4-1 is turned on, and then it is transferred to the stabilization mode of the rotor speed and the electric locking mode. Then, the screws of the gimbal suspension clamps are loosened and the initial coordinate reference is set, aiming the gyroscope at an object of external space (for example, at the Pole Star if an inertial coordinate system is used) using an optical or other sighting device 4-4. Then the locking screws lock. If the device is used in a short-term disposable object, for example, an anti-aircraft melee missile, a non-inertial coordinate system is used, and the “reference” of the initial count will occur without fixing - unlocking the gimbal, when the homing head captures the target in the field of view and will track it. In this case, one can do without a stabilization system for the rotor speed, since its departure in the mode of short-term operation of the object can be neglected.

If the device is used in a long-term operation mode, then a system of periodic correction of the rotor axis orientation or the simplest star tracking system should be provided. All these device options for implementation in the primary materials of the application are not considered, especially since the scope of the claims of this application is limited only by the method. As for the algorithms of operation of the calculator of angular positions 4-5, it will depend on the selected combination of coordinate systems. I bring one of the possible algorithms (the rest remain my know-how).

The demodulation of the outputs of the windings of spherical solenoids of pairwise biorthogonal sine-cosine signals a, b, c with the parallel selection of all three parameters of the orientation of the object can be achieved as follows. At peak (amplitude) detectors, the amplitudes of the amplitudes of signals a, b, and c are isolated, and then the arctangents of their relations are calculated

;

;

.

;

;

.

Next, the cosines of the guide angles are calculated, and the angular positions of the object are determined using the well-known formulas (see 13, p. 198) or using the transition matrix (see ibid.). Simpler algorithms can also be applied by first converting the Cartesian coordinate system associated with the object to a unit spherical and calculating the equatorial and azimuthal mismatch angles between unit spherical coordinate systems representing both the object and the outer space. This greatly simplifies the algorithm and reduces the amount of computational operations, since in this way a three-dimensional problem reduces to a two-dimensional one.

Currently known magnetic and non-magnetic materials with the necessary properties for implementing the method. The winding of precision spherical solenoids was mastered at OJSC, LOMO, St. Petersburg for the UESK optical homing heads for Strela, Igla and Verba MANPADS. The booster equipped with an electric locking system has been known for a long time since the development of Strela, it is described in the documentation for the KPASM bench equipment (secrecy bar removed from this equipment). It is necessary to master only the technology of manufacturing a spherical rotor. It should be noted that balancing of the rotors is not required, since if the internal cavity is not completely filled with a liquid medium, not only external mechanical effects will be damped, but also the rotor will self-balance due to the influence of centrifugal forces on the liquid. Thus, the proposed method meets the criterion of industrial applicability. When implementing the method, variants of the device are possible both with an external gimbal and with an internal one. In the latter case, we limit the allowable mismatch angles and get them less than 360 °, but at the same time the sensitive windings of the sensor will be screened by the rotor, which will sharply reduce the interference from the windings of the accelerating device. When using an external cardan, it may be necessary to introduce windings to compensate for this interference.

LIST OF USED LITERATURE

1. D.E. Bruskin and others. "Electric machines", T. 2, M., Higher. Shk., 1986, pp. 32-40.

2. M.V. Bakanov et al. "Information micromachines of tracking and computing devices", M., Sov. radio, 1977.

3. E.I. Osinovsky et al. "High-precision angular displacement transducers", M., Energoatomizdat, 1986.

4. E.M. Karpov, "Measuring transducers with two degrees of freedom", M., Energy, 1972.

5. L.N. Presnukhin, "Photoelectric information converters", M., Mash-e, 1980.

6. USSR, A.S. 297567 (bar "c").

7. SSR, A.S. 1810857, 1777090.

8. RF, Patent 2549115.

9. M.A. Pavlovsky, "Theory of gyroscopes", Higher. school, 1986, pp. 79, 84, 85.

10. D.S. Pelpor, "Gyroscopic systems", M., Higher. school, 1986, p. 363; V.Ya. Raspopov, “Technical systems for measuring angular coordinates”, Aerospace Instrumentation, 2004, No. 3, pp. 6-10; RF patent 2014563.

11. V.V. Kozelkin, I.F. Usoltsev, "Fundamentals of infrared technology", M., Mash-e, 1986, p. 204; Technical description of the product 9E410, OGS "Igla" and the complex MANPADS 9K38M, Oborongiz, 1980 (secrecy stamp removed).

12. Mathematical Encyclopedic Dictionary, M., Owls. Encyclopedia, 1988, p. 643.

13. I.N. Bronstein, K.A. Semendyaev, "Handbook of Mathematics", Science, Fizmatgiz, 1986, p. 198.

Pp 1-10 analogues, P. 11 - prototype.

Claims (1)

A method for autonomously determining the angular positions of an object with six degrees of freedom of spatial motion, based on the formation of an informative harmonic signal of the gyroscope speed with a radially magnetized rotor magnet by inducing an emf in the winding of a spherical solenoid mechanically fixed to the object, electrically locking the gyroscope rotor, and pointing its rotation axis on the object of external space and setting the initial coordinate reference, sizing and separation from informati signal of parameters in two coordinates, course and pitch, characterized in that they simultaneously generate two pairwise biorthogonal sine-cosine signals by inducing the emf of the rotor speed, made in the form of a hollow full or incomplete ball, magnetized perpendicular to its axis of rotation and placed inside or outside a sphere of non-magnetic material on which three spherical solenoids are mutually spatially perpendicular, and the parameters of the three angular positions of the object are represented the associated coordinate system in the form of three pairwise biorthogonal sine-cosine signals, relative to the external inertial, pseudo-inertial or non-inertial space represented by a rotating spherical rotor magnet, is determined by simultaneous demodulation through three channels of amplitudes and phases of three pairs of designated sine-cosine signals according to given algorithms.

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