RU2764744C1 - Biaxial indicator gyrostabilizer - Google Patents

Abstract

FIELD: gyroscopic technology.

SUBSTANCE: invention relates to gyroscopic technology, and more specifically to biaxial indicator gyrostabilizers on micromechanical gyroscopes operating on manned and unmanned aerial vehicles (AV). The biaxial indicator gyrostabilizer contains an outer frame mounted on a base with rotation relative to an axis parallel to the longitudinal axis of the aircraft, and a platform located in it rotating relative to an axis perpendicular to the axis of rotation of the outer frame, the first torque sensor, whose input is connected to the output of the first power amplifier, whose input is connected to the output of the first corrective filter (CF), the input of the first CF is connected to the output of the first adder, the first input of which is connected to the output of the first micromechanical angular velocity sensor, mounted on a platform with a sensitivity axis parallel to the axis of rotation of the outer frame of a two-axis indicator gyrostabilizer, mounted on the axis of rotation of the inner frame, a second torque sensor, the input of which is connected to the output of the second power amplifier, the input of which is connected to the output of the second CF, the input of the second CF is connected to the output of the second adder, the first input of which is connected to the output of the second micromechanical angular velocity sensor, mounted on a platform with a sensitivity axis parallel to the axis of rotation of the platform of a two-axis indicator gyrostabilizer, the first micromechanical accelerometer mounted on a platform with a sensitivity axis parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the first amplifier, the output of the first amplifier is connected to the input of the third CF, the output of which is connected to the second input of the first adder, the second micromechanical accelerometer mounted on a platform with a sensitivity axis parallel to the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the second amplifier, the output of the second amplifier is connected to the input of the fourth CF, the output of which is connected to the second input of the second adder, the first command signal angle sensor mounted on the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the third adder, the second command signal angle sensor mounted on the platform axis of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the fourth adder; an optoelectronic sensor mounted on a platform whose optical axis is perpendicular to the plane of the gyro stabilizer platform, the first control device, the output of which is connected to the input of the computing device of the outer frame channel (CDOFC), and also connected to the third input of the first adder, the output of the CDOFC is connected to the second input of the third adder, the second control device, the output of which is connected to the input of the computing device of the platform channel (CDPC), and also connected to the third input of the second adder, the output of the CDPC is connected to the second input of the fourth adder.

EFFECT: increase in the accuracy of the functioning of the biaxial indicator gyrostabilizer.

1 cl, 6 dwg, 1 tbl

Description

The invention relates to gyroscopic technology, and more specifically to biaxial indicator gyrostabilizers on micromechanical gyroscopes operating on manned and unmanned aerial vehicles (LA) and designed to simultaneously perform the function of stabilizing optical equipment and controlling its position in space, as well as the function of generating information about aircraft roll and pitch angles.

Known biaxial indicator gyrostabilizer on micromechanical gyroscopes, designed to stabilize and control optical equipment in space (Malyutin D.M., Malyutina M.D., Filin I.V. Indicator gyrostabilizer on micromechanical gyroscopes / Engineering magazine "Reference" No. 1 (166 ) with Appendix -M .: Mashinostroenie Publishing House, 2011. - pp. 44-53.). The biaxial indicator gyrostabilizer contains an outer frame mounted on a base with rotation relative to an axis parallel to the longitudinal axis of the aircraft and a platform located in it, rotating relative to an axis perpendicular to the axis of rotation of the outer frame, the first moment sensor installed on the axis of rotation of the outer frame, the input of which is connected through the first power amplifier and the first corrective filter with the output of the first micromechanical angular velocity sensor installed on the platform with the sensitivity axis parallel to the rotation axis of the outer frame of the indicator gyrostabilizer; the second moment sensor mounted on the platform rotation axis, the input of which is connected through the second power amplifier and the second corrective filter with the output of the second micromechanical angular velocity sensor installed on the platform with the sensitivity axis parallel to the platform rotation axis of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer installed on the platform with the sensitivity axis parallel to the platform axis of the biaxial indicator gyrostabilizer, the second micromechanical accelerometer mounted on the platform with the sensitivity axis parallel to the axis of the outer frame of the biaxial indicator gyrostabilizer, the third micromechanical accelerometer installed on the platform with the sensitivity axis perpendicular to the platform plane, the first command signal angle sensor mounted on the axis of the outer frame of the biaxial indicator gyrostabilizer gyrostabilizer, the second sensor of the angle of command signals, installed on the axis of the platform of the two-axis indicator ator gyrostabilizer, an optical-electronic sensor mounted on the platform so that its optical axis is perpendicular to the plane of the platform of the biaxial indicator gyrostabilizer. The disadvantage of such a two-axis indicator gyrostabilizer is that it is not adapted to simultaneously perform the function of stabilizing and controlling optical equipment in space and the function of generating information about the roll and pitch angles of the aircraft. In the control mode of a two-axis indicator gyrostabilizer, when the platform with an optoelectronic sensor deviates in space, the coordinate system associated with the platform, relative to which information about the roll and pitch angles is generated, also rotates in space, as a result of which in the output signals of the first sensor the angle of command signals and of the second angle sensor of the command signals, an error appears.

The closest (prototype) is a two-axis indicator gyrostabilizer based on micromechanical gyroscopes to simultaneously perform the function of stabilizing optical equipment and controlling its position in space, as well as the function of generating information about the roll and pitch angles of the aircraft (TWO-AXIS INDICATOR GYROSTABILIZER Malyutina M.D., Malyutin D M. Utility model patent RU 120491 U1, 09/20/2012 Application No. 2012116322/28 dated 04/23/2012). The biaxial indicator gyrostabilizer contains an outer frame mounted on a base with rotation relative to an axis parallel to the longitudinal axis of the aircraft and a platform located in it, rotating relative to an axis perpendicular to the axis of rotation of the outer frame, the first moment sensor installed on the axis of rotation of the outer frame, the input of which is connected to the output of the first amplifier power, the input of which is connected to the output of the first corrective filter, the input of the first corrective filter is connected to the output of the first adder, the first input of which is connected to the output of the first micromechanical angular velocity sensor installed on the platform with the sensitivity axis parallel to the rotation axis of the outer frame of the biaxial indicator gyrostabilizer, mounted on the axis rotation of the inner frame, the second torque sensor, the input of which is connected to the output of the second power amplifier, the input of which is connected to the output of the second correction filter, the input of the second correction filter is connected n with the output of the second adder, the first input of which is connected to the output of the second micromechanical sensor of the angular velocity mounted on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer installed on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer, output which is connected to the input of the first amplifier, the output of the first amplifier is connected to the second input of the first adder, the second micromechanical accelerometer mounted on a platform with a sensitivity axis parallel to the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the second amplifier, the output of the second amplifier is connected to the second input the second adder; the first command signal angle sensor mounted on the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the third adder, the second command signal angle sensor installed on the platform axis of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the fourth adder; optoelectronic sensor mounted on the platform, the optical axis of which is perpendicular to the plane of the gyrostabilizer platform, the first control device, the output of which is connected to the second input of the fifth adder of the external frame channel computing device (VUKNR), and is also connected to the third input of the first adder, the output of the fifth adder VUKNR is connected to the first computing unit VUKNR, the output of the first computing unit VUKNR is connected to the input of the second computing unit VUKNR, the output of which is connected to the input of the third computing unit VUKNR, the output of the third computing unit is connected to the second input of the fourth computing unit VUKNR, the first input of which is connected to the output of the second command signal angle sensor, and the output is connected to the input of the fifth computing unit VUKNR, and is also connected to the input of the sixth computing unit VUKNR, the output of the sixth computing unit VUKNR is connected to the input of the seventh computing unit VUKNR, and is also connected to the input of the ninth computing unit VUKNR, the output of which is connected to the second input of the third adder, the output of the seventh computing unit VUKNR is connected to the input of the eighth computing unit VUKNR, the output of which is connected to the third input of the fifth adder VUKNR, the output of the fifth computing unit VUKNR is connected to the first input of the fifth adder VUKNR ; the second control device, the output of which is connected to the second input of the sixth adder of the computing device of the platform channel (PCCD), and is also connected to the third input of the second adder, the output of the sixth adder PCCD is connected to the tenth computing unit PCCD, the output of the tenth computing unit PCCD is connected to the input of the eleventh computing block VUKP, the output of which is connected to the input of the twelfth computing unit VUKP, the output of the twelfth computing unit VUKP is connected to the input of the thirteenth computing unit VUKP, the output of which is connected to the input of the fourteenth computing unit VUKP, and is also connected to the input of the fifteenth computing unit VUKP, the output of the fifteenth computing unit VUKP is connected to the input of the sixteenth computing unit VUKP, and is also connected to the input of the eighteenth computing unit VUKP, the output of which is connected to the second input of the fourth adder, the output of the sixteenth computing unit VUKP is connected to the input of the seed the tenth computing unit VUKP, the output of which is connected to the third input of the sixth adder VUKP, the output of the fourteenth computing unit VUKP is connected to the first input of the sixth adder VUKP.

The disadvantage of the prototype are large errors in the stabilization of the optical equipment caused by the action of linear accelerations during the pitching of the base due to the displacement of the accelerometer installation location relative to the center of the oscillation and the presence of a noise component in the output signal of the micromechanical angular velocity sensors. These errors are an integral part of the final error in determining the roll and pitch angles.

The technical objective of the invention is to increase the accuracy of a multifunctional two-axis indicator gyrostabilizer, when the two-axis indicator gyrostabilizer performs the function of stabilizing and controlling optical equipment in space and the function of generating information about the roll and pitch angles of the aircraft.

The problem is solved by the fact that the biaxial indicator gyrostabilizer contains an outer frame mounted on a base with rotation about an axis parallel to the longitudinal axis of the aircraft and a platform located in it, rotating about an axis perpendicular to the axis of rotation of the outer frame, installed on the axis of rotation of the outer frame, the first moment sensor, the input of which connected to the output of the first power amplifier, the input of which is connected to the output of the first corrective filter, the input of the first corrective filter is connected to the output of the first adder, the first input of which is connected to the output of the first micromechanical angular velocity sensor installed on the platform with the sensitivity axis parallel to the axis of rotation of the outer frame of the biaxial indicator gyrostabilizer, installed on the axis of rotation of the inner frame, the second torque sensor, the input of which is connected to the output of the second power amplifier, the input of which is connected to the output of the second corrective filter, the input of the second correction of the measuring filter is connected to the output of the second adder, the first input of which is connected to the output of the second micromechanical angular velocity sensor mounted on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer installed on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer , the output of which is connected to the input of the first amplifier, the output of the first amplifier is connected to the input of the third corrective filter, the output of which is connected to the second input of the first adder, the second micromechanical accelerometer mounted on the platform with the sensitivity axis parallel to the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the second amplifier, the output of the second amplifier is connected to the input of the fourth corrective filter, the output of which is connected to the second input of the second adder; the first command signal angle sensor mounted on the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the third adder, the second command signal angle sensor installed on the platform axis of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the fourth adder; optoelectronic sensor mounted on the platform, the optical axis of which is perpendicular to the plane of the gyrostabilizer platform, the first control device, the output of which is connected to the second input of the fifth adder of the external frame channel computing device (VUKNR), and is also connected to the third input of the first adder, the output of the fifth adder VUKNR is connected to the first computing unit VUKNR, the output of the first computing unit VUKNR is connected to the input of the second computing unit VUKNR, the output of which is connected to the input of the third computing unit VUKNR, the output of the third computing unit is connected to the second input of the fourth computing unit VUKNR, the first input of which is connected to the output of the second command signal angle sensor, and the output is connected to the input of the fifth computing unit VUKNR, and is also connected to the input of the sixth computing unit VUKNR, the output of the sixth computing unit VUKNR is connected to the input of the seventh computing unit VUKNR, and is also connected to the input of the ninth computing unit VUKNR, the output of which is connected to the second input of the third adder, the output of the seventh computing unit VUKNR is connected to the input of the eighth computing unit VUKNR, the output of which is connected to the input of the nineteenth computing unit VUKNR, the output of which is connected to the third input of the fifth adder VUKNR, the output of the fifth computing unit VUKNR connected to the first input of the fifth adder VUKNR; the second control device, the output of which is connected to the second input of the sixth adder of the computing device of the platform channel (PCCD), and is also connected to the third input of the second adder, the output of the sixth adder PCCD is connected to the tenth computing unit PCCD, the output of the tenth computing unit PCCD is connected to the input of the eleventh computing block VUKP, the output of which is connected to the input of the twelfth computing unit VUKP, the output of the twelfth computing unit VUKP is connected to the input of the thirteenth computing unit VUKP, the output of which is connected to the input of the fourteenth computing unit VUKP, and is also connected to the input of the fifteenth computing unit VUKP, the output of the fifteenth computing unit VUKP is connected to the input of the sixteenth computing unit VUKP, and is also connected to the input of the eighteenth computing unit VUKP, the output of which is connected to the second input of the fourth adder, the output of the sixteenth computing unit VUKP is connected to the input of the seed the tenth computing unit VUKP, the output of which is connected to the input of the twentieth computing unit VUKP, the output of which is connected to the third input of the sixth adder VUKP, the output of the fourteenth computing unit VUKP is connected to the first input of the sixth adder VUKP.

In FIG. 1 shows a schematic diagram of a biaxial indicator gyrostabilizer. In FIG. 2 and FIG. 3 shows the schematic diagrams of the computing devices of the channels of the outer frame and platform, respectively. In FIG. 4 shows the process of turning the platform with an optoelectronic sensor as a response to a control signal through the outer frame channel. In FIG. 5 shows the graphs of the LAFC of the prototype in terms of the transfer function, which is the ratio of the stabilization error to the linear roll accelerations. In FIG. 6 shows the graphs of the LAFC of the proposed indicator gyrostabilizer according to the transfer function, which is the ratio of the stabilization error to the linear roll accelerations.

The biaxial indicator gyrostabilizer contains an outer frame 1 mounted on a base with rotation about an axis parallel to the longitudinal axis of the aircraft and a platform 2 located in it, rotating about an axis perpendicular to the axis of rotation of the outer frame 1, the first moment sensor 3 installed on the axis of rotation of the outer frame, the input of which is connected with the output of the first power amplifier 4, the input of which is connected to the output of the first corrective filter 5, the input of the first corrective filter 5 is connected to the output of the first adder 6, the first input of which is connected to the output of the first micromechanical angular velocity sensor 7 installed on the platform 2 with a sensitivity axis parallel to the axis rotation of the outer frame 1 of the biaxial indicator gyrostabilizer; the second torque sensor 8 installed on the axis of rotation of the platform, the input of which is connected to the output of the second power amplifier 9, the input of which is connected to the output of the second corrective filter 10, the input of the second corrective filter 10 is connected to the output of the second adder 11, the first input of which is connected to the output of the second micromechanical an angular velocity sensor 12 installed on platform 2 with a sensitivity axis parallel to the axis of rotation of platform 2 of a biaxial indicator gyrostabilizer, the first micromechanical accelerometer 13 installed on platform 2 with a sensitivity axis parallel to the axis of rotation of the platform of a biaxial indicator gyrostabilizer, the output of which is connected to the input of the first amplifier 14, the output of the first amplifier 14 is connected to the input of the third corrective filter 46, the output of which is connected to the second input of the first adder 6, the second micromechanical accelerometer 15 installed on the platform 2 with the sensitivity axis parallel to the outer the second frame of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the second amplifier 16, the output of the second amplifier 16 is connected to the input of the fourth correction filter 47, the output of which is connected to the second input of the second adder 11; the first sensor of the angle of command signals 17, installed on the axis of the outer frame 1 of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the third adder 18, the second sensor of the angle of command signals 19, installed on the axis of rotation of the platform 2 of the biaxial indicator gyrostabilizer, the output of which is connected to the first input fourth adder 20; optoelectronic sensor 21 mounted on platform 2, the optical axis of which is perpendicular to the plane of platform 2 of the biaxial indicator gyrostabilizer, the first control device 22, the output of which is connected to the second input of the fifth adder 24 of the external frame channel computing device (VUKNR) 23, and is also connected to the third the input of the first adder 6, the output of the fifth adder 24 VUKNR 23 is connected to the input of the first computing unit 25 VUKNR 23, the output of the first computing unit 25 VUKNR 23 is connected to the input of the second computing unit 26 VUKNR 23, the output of which is connected to the input of the third computing unit 27 VUKNR 23, the output of the third computing unit 27 VUKNR 23 is connected to the second input of the fourth computing unit 28 VUKNR 23, the first input of which is connected to the output of the second sensor of the angle of the command signals 19, and the output is connected to the input of the fifth computing unit 29 VUKNR 23, and is also connected to the input of the sixth computing block 30 VUKNR 23, exit one of the sixth computing unit 30 VUKNR 23 is connected to the input of the seventh computing unit 31 VUKNR 23, and is also connected to the input of the ninth computing unit 33 VUKNR 23, the output of which is connected to the second input of the third adder 18, the output of the seventh computing unit 31 VUKNR 23 is connected to the input of the eighth computing unit 32 VUKNR 23, the output of which is connected to the input of the nineteenth computing unit 48 VUKNR 23, the output of which is connected to the third input of the fifth adder 24 VUKNR 23, the output of the fifth computing unit 29 VUKNR 23 is connected to the first input of the fifth adder 24 VUKNR 23; the second control device 34, the output of which is connected to the second input of the sixth adder 36 of the computing device of the platform channel (VUKP) 35, and is also connected to the third input of the second adder 11, the output of the sixth adder 36 of the VUKP 35 is connected to the input of the tenth computing unit 37 of the VUKP 35, the output tenth computing unit 37 VUKP35 is connected to the input of the eleventh computing unit 38 VUKP35, the output of which is connected to the input of the twelfth computing unit 39 VUKP 35, the output of the twelfth computing unit 39 VUKP35 is connected to the input of the thirteenth computing unit 40 VUKP35, the output of which is connected to the input of the fourteenth computing unit 41 VUKP 35, and is also connected to the input of the fifteenth computing unit 42 VUKP 35, the output of the fifteenth computing unit 42 VUKP 35 is connected to the input of the sixteenth computing unit 43 VUKP 35, and is also connected to the input of the eighteenth computing unit 45 VUKP 35, the output of which is connected to the second input Thursday the fifth adder 20, the output of the sixteenth computing unit 43 VUKP 35 is connected to the input of the seventeenth computing unit 44 VUKP35, the output of which is connected to the input of the twentieth computing unit 49 VUKP 35, the output of which is connected to the third input of the sixth adder 36 VUKP 35, the output of the fourteenth computing unit 41 VUKP 35 is connected to the first input of the sixth adder 36 VUKP 35.

, что обеспечивает интегрирование сигнала первого микромеханического датчика угловой скорости 7 и требуемые запасы устойчивости по каналу наружной рамки. Здесь T₁ - постоянная времени первого корректирующего фильтра 5, р - оператор Лапласа. Передаточная функция второго корректирующего фильтра 10 имеет вид

что обеспечивает интегрирование сигнала второго микромеханического датчика угловой скорости 12 и требуемые запасы устойчивости по каналу платформы. Здесь Т₂ - постоянная времени второго корректирующего фильтра 10. При начальном отклонении от плоскости горизонта первый микромеханический акселерометр 13 вырабатывает сигнал, пропорциональный отклонению платформы от горизонта по каналу наружной рамки, далее этот сигнал усиливается первым усилителем 14 и через третий корректирующий фильтр 46 поступает на второй вход первого сумматора 6, что обеспечивает приведение платформы 2 к горизонту (в режиме коррекции) по каналу наружной рамки. Передаточная функция третьего корректирующего фильтра 46 имеет вид

Здесь Т_к3 - постоянная времени третьего корректирующего фильтра, ξ_к3 - коэффициент демпфирования колебаний третьего корректирующего фильтра. Второй микромеханический акселерометр 15 вырабатывает сигнал, пропорциональный отклонению платформы 2 от горизонта по каналу платформы, далее этот сигнал усиливается вторым усилителем 16 и через четвертый корректирующий фильтр 47 поступает на второй вход сумматора 11, что обеспечивает приведение платформы 2 к горизонту (в режиме коррекции) по каналу платформы. Передаточная функция четвертого корректирующего фильтра 47 имеет вид

Здесь, Т_к4 - постоянная времени четвертого корректирующего фильтра, ξ_к4 - коэффициент демпфирования колебаний четвертого корректирующего фильтра. При этом оптико-электронный датчик 21 расположен по направлению вертикали, а первый датчик угла командных сигналов 17 вырабатывает сигнал, пропорциональный отклонению ЛА по углу крена, который поступает на первый вход третьего сумматора 18 и далее в систему управления ЛА, второй датчик угла командных сигналов 19 вырабатывает сигнал, пропорциональный отклонению ЛА по углу тангажа, который поступает на первый вход четвертого сумматора 20 и далее в систему управления ЛА. Для отклонения оптико-электронного датчика 21 в пространстве относительно горизонта по оси наружной рамки 1 на угол α первое устройство управления 22 вырабатывает управляющий сигнал U₁, который поступает на третий вход первого сумматора 6, однако поворот наружной рамки 1 с платформой 2 и оптико-электронным датчиком 21 приводит к появлению большой погрешности при выработке сигнала, пропорционального углу крена ЛА. С целью компенсации этой погрешности управляющий сигнал U₁ поступает также на второй вход пятого сумматора 24 ВУКНР 23, с выхода которого сигнал поступает на вход первого вычислительного блока 25 ВУКНР 23. Первый вычислительный блок 25 ВУКНР 23 реализует передаточную функцию вида

параметр Т₁ которой устанавливается равным постоянной времени первого корректирующего фильтра 5. Сигнал с выхода первого вычислительного блока 25 ВУКНР 23 поступает на вход второго вычислительного блока 26 ВУКНР 23, который реализует передаточную функцию вида W₂(p)=K_yм1, где параметр K_ум1 устанавливается равным по величине коэффициенту передачи первого усилителя мощности 4. Сигнал с выхода второго вычислительного блока 26 ВУКНР 23 поступает на вход третьего вычислительного блока 27 ВУКНР 23, который реализует передаточную функцию вида

где параметр K_дс1 устанавливается равным по величине коэффициенту передачи по управляющему воздействию первого датчика момента 3, а параметр Т_эм1 устанавливается равным по величине электромагнитной постоянной времени первого датчика момента 3. Выходной сигнал третьего вычислительного блока 27 ВУКНР 23 поступает на второй вход четвертого вычислительного блока 28 ВУКНР 23, на первый вход которого поступает сигнал U₅, пропорциональный углу отклонения платформы 2 относительно наружной рамки 1. Четвертый вычислительный блок 28 ВУКНР 23 реализует передаточную функцию вида

где параметр передаточной функции K_ду2 устанавливается равным по величине коэффициенту передачи второго датчика угла командных сигналов 19, параметр J_ny устанавливается равным по величине эквивалентному моменту инерции двухосного индикаторного гиростабилизатора по каналу наружной рамки, параметр b₁ устанавливается равным по величине коэффициенту вязкого трения по оси наружной рамки 1. Выходной сигнал четвертого вычислительного блока 28 ВУКНР 23 поступает на вход пятого вычислительного блока 29 ВУКНР 23 и на вход шестого вычислительного блока 30 ВУКНР 23. Пятый вычислительный блок 29 ВУКНР 23 реализует передаточную функцию вида W₅(р)=K_дус1, где параметр передаточной функции K_дус1 устанавливается равным по величине коэффициенту передачи первого микромеханического датчика угловой скорости 7. Выходной сигнал пятого вычислительного блока 29 ВУКНР 23 поступает на первый вход пятого сумматора 24 ВУКНР 23. Шестой вычислительный блок 30 ВУКНР 23 осуществляет интегрирование входного сигнала и реализует передаточную функцию вида

. Выходной сигнал шестого вычислительного блока 30 ВУКНР 23 поступает на вход седьмого вычислительного блока 31 ВУКНР 23, который реализует функцию вычисления синуса входной величины, а также поступает на вход девятого вычислительного блока 33 ВУКНР 23, выходной сигнал которого U₂ поступает на второй вычитающий вход третьего сумматора 18. Девятый вычислительный блок 33 ВУКНР 23 реализует передаточную функцию W₇(р)=K_ду1, где параметр передаточной функции K_ду1, устанавливается равным по величине коэффициенту передачи первого датчика угла командных сигналов 17. Выходной сигнал седьмого вычислительного блока 31 ВУКНР 23 поступает на вход восьмого вычислительного блока 32 ВУКНР 23. Восьмой вычислительный блок 32 ВУКНР 23 реализует передаточную функцию вида W₈(p)=gK₁, где параметр g устанавливается равным величине ускорения свободного падения, а параметр K₁ устанавливается равным произведению коэффициентов передачи первого микромеханического акселерометра 13 и первого усилителя 14. Выходной сигнал восьмого вычислительного блока 32 ВУКНР 23 поступает на вход девятнадцатого вычислительного блока 48 ВУКНР 23, выходной сигнал которого поступает на третий вход пятого сумматора 24 ВУКНР 23. Девятнадцатый вычислительный блок реализует передаточную функцию

где параметр Т_к3 устанавливается равным постоянной времени третьего корректирующего фильтра 46, параметр ξ_к3 устанавливается равным коэффициенту демпфирования колебаний третьего корректирующего фильтра. Пятый сумматор 24 ВУКНР 23, первый вычислительный блок 25 ВУКНР 23, второй вычислительный блок 26 ВУКНР 23, третий вычислительный блок 27 ВУКНР 23, четвертый вычислительный блок 28 ВУКНР 23, пятый вычислительной блок 29 ВУКНР 23, шестой вычислительный блок 30 ВУКНР 23, седьмой вычислительный блок 31 ВУКНР 23, восьмой вычислительный блок 32 ВУКНР 23, девятый вычислительный блок 33 ВУКНР 23, девятнадцатый вычислительный блок 46 ВУКНР 23 с системой связей представляют собой нелинейную динамическую модель двухосного индикаторного гиростабилизатора с замкнутыми контуром стабилизации и замкнутым контуром коррекции по каналу наружной рамки. При подаче на второй вход пятого сумматора 24 ВУКНР 23 управляющего сигнала U₁ реакция на выходе шестого вычислительного блока 30 ВУКНР 23 соответствует отклонению платформы 2 с оптико-электронным датчиком 21 в пространстве относительно горизонта по оси наружной рамки 1 на угол α. При подаче на второй вычитающий вход третьего сумматора 18 сигнала с выхода девятого вычислительного блока 33 ВУКНР 23 на выходе третьего сумматора 18 погрешность при выработке информации об угле крена ЛА будет скомпенсирована даже при больших углах поворота α платформы 2 вместе с оптико-электронным датчиком 21 не только в установившемся после поворота платформы 2 режиме, но и во время переходного режима. Сигнал U_γ с коэффициентом передачи K_ду1 пропорционален углу крена у ЛА.The operation of the device is as follows. When the base is rocking, platform 2 seeks to maintain its position in space (in stabilization mode) due to feedback from the first micromechanical angular velocity sensor 7 through the first adder 6, the first corrective filter 5, the first power amplifier 4 to the first torque sensor 3 via the outer frame channel and thanks to the feedback from the second micromechanical angular velocity sensor 12 through the second adder 11, the second corrective filter 10, the second power amplifier 9 to the second moment sensor 8 via the platform channel. The transfer function of the first corrective filter 5 has the form

, which ensures the integration of the signal of the first micromechanical angular velocity sensor 7 and the required stability margins for the channel of the outer frame. Here T ₁ is the time constant of the first corrective filter 5, p is the Laplace operator. The transfer function of the second corrective filter 10 has the form

which ensures the integration of the signal of the second micromechanical sensor of the angular velocity 12 and the required stability margins through the platform channel. Here T ₂ is the time constant of the second corrective filter 10. At the initial deviation from the plane of the horizon, the first micromechanical accelerometer 13 generates a signal proportional to the deviation of the platform from the horizon along the outer frame channel, then this signal is amplified by the first amplifier 14 and through the third corrective filter 46 enters the second the input of the first adder 6, which ensures bringing the platform 2 to the horizon (in correction mode) along the channel of the outer frame. The transfer function of the third correction filter 46 has the form

Here T _k3 is the time constant of the third corrective filter, ξ _k3 is the damping coefficient of the vibrations of the third corrective filter. The second micromechanical accelerometer 15 generates a signal proportional to the deviation of the platform 2 from the horizon along the platform channel, then this signal is amplified by the second amplifier 16 and through the fourth corrective filter 47 is fed to the second input of the adder 11, which ensures that the platform 2 is brought to the horizon (in the correction mode) according to platform channel. The transfer function of the fourth corrective filter 47 has the form

Here, T _k4 is the time constant of the fourth corrective filter, ξ _k4 is the vibration damping coefficient of the fourth corrective filter. In this case, the optoelectronic sensor 21 is located in the vertical direction, and the first sensor of the angle of command signals 17 generates a signal proportional to the deviation of the aircraft in terms of the angle of roll, which is fed to the first input of the third adder 18 and then to the aircraft control system, the second sensor of the angle of command signals 19 generates a signal proportional to the aircraft pitch angle deviation, which is fed to the first input of the fourth adder 20 and then to the aircraft control system. To deflect the optoelectronic sensor 21 in space relative to the horizon along the axis of the outer frame 1 at an angle α, the first control device 22 generates a control signal U ₁ that is fed to the third input of the first adder 6, however, the rotation of the outer frame 1 with the platform 2 and optoelectronic sensor 21 leads to a large error in the generation of a signal proportional to the roll angle of the aircraft. In order to compensate for this error, the control signal U ₁ is also fed to the second input of the fifth adder 24 VUKNR 23, from the output of which the signal is fed to the input of the first computing unit 25 VUKNR 23. The first computing unit 25 VUKNR 23 implements a transfer function of the form

parameter T ₁ which is set equal to the time constant of the first corrective filter 5. The signal from the output of the first computing unit 25 VUKNR 23 is fed to the input of the second computing unit 26 VUKNR 23, which implements a transfer function of the form W ₂ (p)=K _ym1 , where the parameter K _um1 is set equal in magnitude to the transmission coefficient of the first power amplifier 4. The signal from the output of the second computing unit 26 VUKNR 23 is fed to the input of the third computing unit 27 VUKNR 23, which implements a transfer function of the form

where the parameter K _{ds1 is} set equal in value to the transmission coefficient for the control action of the first torque sensor 3, and the parameter T _{em1 is} set equal in value to the electromagnetic time constant of the first torque sensor 3. The output signal of the third computing unit 27 VUKNR 23 is fed to the second input of the fourth computing unit 28 VUKNR 23, the first input of which receives a signal U ₅ proportional to the angle of deviation of the platform 2 relative to the outer frame 1. The fourth computing unit 28 VUKNR 23 implements a transfer function of the form

where the transfer function parameter K _{d2 is} set equal in value to the transmission coefficient of the second angle sensor of the command signals 19, the parameter J _{ny is} set equal in value to the equivalent moment of inertia of the biaxial indicator gyrostabilizer along the channel of the outer frame, the parameter b _{1 is} set equal in value to the coefficient of viscous friction along the axis of the outer frame 1. The output signal of the fourth computing unit 28 VUKNR 23 is fed to the input of the fifth computing unit 29 VUKNR 23 and to the input of the sixth computing unit 30 VUKNR 23. The fifth computing unit 29 VUKNR 23 implements a transfer function of the form W ₅ (p)=K _dus1 , where the transfer function parameter K _{ds1 is} set equal in value to the transmission coefficient of the first micromechanical angular velocity sensor 7. The output signal of the fifth computing unit 29 VUKNR 23 is fed to the first input of the fifth adder 24 VUKNR 23. The sixth computing unit 30 VUKNR 23 integrates the input signal ala and implements the transfer function of the form

. The output signal of the sixth computing unit 30 VUKNR 23 is fed to the input of the seventh computing unit 31 VUKNR 23, which implements the function of calculating the sine of the input value, and is also fed to the input of the ninth computing unit 33 VUKNR 23, the output signal of which U _{2 is} fed to the second subtractive input of the third adder 18. The ninth computing unit 33 VUKNR 23 implements the transfer function W ₇ (p)=K _du1 where the transfer function parameter K _du1 is set equal in magnitude to the transmission coefficient of the first angle sensor command signals 17. The output signal of the seventh computing unit 31 VUKNR 23 is fed to input of the eighth computing unit 32 VUKNR 23. The eighth computing unit 32 VUKNR 23 implements a transfer function of the form W ₈ (p)=gK ₁ where the parameter g is set equal to the value of the gravitational acceleration, and the parameter K _{1 is} set equal to the product of the transmission coefficients of the first micromechanical accelerometer 13 and the first amplifier 14. The output signal of the eighth computing unit 32 VUKNR 23 is fed to the input of the nineteenth computing unit 48 VUKNR 23, the output signal of which is fed to the third input of the fifth adder 24 VUKNR 23. The nineteenth computing unit implements the transfer function

where the parameter T _{k3 is} set equal to the time constant of the third correction filter 46, the parameter ξ _{k3 is} set equal to the vibration damping coefficient of the third correction filter. The fifth adder 24 VUKNR 23, the first computing unit 25 VUKNR 23, the second computing unit 26 VUKNR 23, the third computing unit 27 VUKNR 23, the fourth computing unit 28 VUKNR 23, the fifth computing unit 29 VUKNR 23, the sixth computing unit 30 VUKNR 23, the seventh computing block 31 VUKNR 23, the eighth computing unit 32 VUKNR 23, the ninth computing unit 33 VUKNR 23, the nineteenth computing unit 46 VUKNR 23 with a system of connections represent a nonlinear dynamic model of a biaxial indicator gyrostabilizer with a closed stabilization loop and a closed correction loop along the outer frame channel. When applying to the second input of the fifth adder 24 VUKNR 23 control signal U _{1 the} reaction at the output of the sixth computing unit 30 VUKNR 23 corresponds to the deviation of the platform 2 with optoelectronic sensor 21 in space relative to the horizon along the axis of the outer frame 1 at an angle α. When applying to the second subtractive input of the third adder 18 signal from the output of the ninth computing unit 33 VUKNR 23 at the output of the third adder 18, the error in generating information about the roll angle of the aircraft will be compensated even at large angles of rotation α of the platform 2 together with the optoelectronic sensor 21, not only in the mode established after the rotation of the platform 2, but also during the transitional mode. The signal U _γ with the transmission coefficient K _{d1 is} proportional to the roll angle of the aircraft.

параметр Т₂ которой устанавливается равным постоянной времени второго корректирующего фильтра 10. Сигнал с выхода десятого вычислительного блока 37 ВУКП 35 поступает на вход одиннадцатого вычислительного блока 38 ВУКП 35, который реализует передаточную функцию вида W₁₀(p)=K_ум2, где параметр K_ум2, устанавливается равным по величине коэффициенту передачи второго усилителя мощности 9. Сигнал с выхода одиннадцатого вычислительного блока 38 ВУКП 35 поступает на вход двенадцатого вычислительного блока 39 ВУКП 35, который реализует передаточную функцию вида

где параметр K_дс2 устанавливается равным по величине коэффициенту передачи по управляющему воздействию второго датчика момента 8, а параметр Т_эм2 устанавливается равным по величине электромагнитной постоянной времени второго датчика момента 8. Выходной сигнал двенадцатого вычислительного блока 39 ВУКП 35 поступает на вход тринадцатого вычислительного блока 40 ВУКП 35. Тринадцатый вычислительный блок 40 ВУКП 35 реализует передаточную функцию вида

где параметр J_nz устанавливается равным по величине эквивалентному моменту инерции двухосного индикаторного гиростабилизатора по каналу платформы, параметр b₂ устанавливается равным по величине коэффициенту вязкого трения по оси платформы 2. Выходной сигнал тринадцатого вычислительного блока 40 ВУКП 35 поступает на вход четырнадцатого вычислительного блока 41 ВУКП 35 и на вход пятнадцатого вычислительного блока 42 ВУКП 35. Четырнадцатый вычислительный блок 41 ВУКП 35 реализует передаточную функцию вида W₁₃(p)=K_дус2, где параметр передаточной функции K_дус2 устанавливается равным по величине коэффициенту передачи второго микромеханического датчика угловой скорости 12. Выходной сигнал четырнадцатого вычислительного блока 41 ВУКП 35 поступает на первый вход шестого сумматора 36 ВУКП 35. Пятнадцатый вычислительный блок 42 ВУКП 35 осуществляет интегрирование входного сигнала и реализует передаточную функцию вида

. Выходной сигнал пятнадцатого вычислительного блока 42 ВУКП 35 поступает на вход шестнадцатого вычислительного блока 43 ВУКП 35, который реализует функцию вычисления синуса входной величины, а также поступает на вход восемнадцатого вычислительного блока 45 ВУКП 35, выходной сигнал которого U₄ поступает на второй вычитающий вход четвертого сумматора 20. Восемнадцатый вычислительный блок 45 ВУКП 35 реализует передаточную функцию W₅(р)=K_ду2, где параметр передаточной функции K_ду2 устанавливается равным по величине коэффициенту передачи второго датчика угла командных сигналов 19. Выходной сигнал шестнадцатого вычислительного блока 43 ВУКП 35 поступает на вход семнадцатого вычислительного блока 44 ВУКП 35. Семнадцатый вычислительный блок 44 ВУКП 35 реализует передаточную функцию вида W₁₆(p)=gK₂, где параметр g устанавливается равным величине ускорения свободного падения, а параметр K₂ устанавливается равным произведению коэффициентов передачи второго микромеханического акселерометра 15 и второго усилителя 16. Выходной сигнал семнадцатого вычислительного блока 44 ВУКП 35 поступает на вход двадцатого вычислительного блока 49 ВУКП 35. Выходной сигнал двадцатого вычислительного блока 49 ВУКП 35 поступает на третий вход шестого сумматора 36 ВУКП 35. Двадцатый вычислительный блок реализует передаточную функцию

где параметр Т_к4 устанавливается равным постоянной времени четвертого корректирующего фильтра 47, параметр устанавливается равным коэффициенту демпфирования колебаний четвертого корректирующего фильтра 47. Шестой сумматор 36 ВУКП 35, десятый вычислительный блок 37 ВУКП 35, одиннадцатый вычислительный блок 38 ВУКП 35, двенадцатый вычислительный блок 39 ВУКП 35, тринадцатый вычислительный блок 40 ВУКП 35, четырнадцатый вычислительной блок 41 ВУКП 35, пятнадцатый вычислительный блок 42 ВУКП 35, шестнадцатый вычислительный блок 43 ВУКП 35, семнадцатый вычислительный блок 44 ВУКП 35, восемнадцатый вычислительный блок 45 ВУКП 35, двадцатый вычислительного блок 49 ВУКП 35 с системой связей представляют собой нелинейную динамическую модель двухосного индикаторного гиростабилизатора с замкнутыми контуром стабилизации и замкнутым контуром коррекции по каналу платформы.To deviate the optoelectronic sensor 21 in space relative to the horizon along the axis of the platform 2 at an angle β, the second control device 34 generates a control signal U ₃ that is fed to the third input of the second adder 11, however, the rotation of the platform 2 with the optoelectronic sensor 21 leads to the appearance a large error in generating a signal proportional to the pitch angle of the aircraft. In order to compensate for this error, the control signal U ₃ is also fed to the second input of the sixth adder 36 VUKP 35, from the output of which the signal is fed to the input of the tenth computing unit 37 VUKP 35. The tenth computing unit 37 VUKP 35 implements a transfer function of the form

parameter T ₂ which is set equal to the time constant of the second correction filter 10. The signal from the output of the tenth computing unit 37 VUKP 35 is fed to the input of the eleventh computing unit 38 VUKP 35, which implements a transfer function of the form W ₁₀ (p)=K _um2 , where the parameter K _um2 , is set equal in magnitude to the transmission coefficient of the second power amplifier 9. The signal from the output of the eleventh computing unit 38 VUKP 35 is fed to the input of the twelfth computing unit 39 VUKP 35, which implements a transfer function of the form

where the parameter K _{ds2 is} set equal in value to the transmission coefficient for the control action of the second torque sensor 8, and the parameter T _{em2 is} set equal in magnitude to the electromagnetic time constant of the second torque sensor 8. The output signal of the twelfth computing unit 39 VUKP 35 is fed to the input of the thirteenth computing unit 40 VUKP 35. The thirteenth computing unit 40 VUKP 35 implements a transfer function of the form

where the parameter J _{nz is} set equal in magnitude to the equivalent moment of inertia of the biaxial indicator gyrostabilizer along the platform channel, the parameter b _{2 is} set equal in value to the coefficient of viscous friction along the axis of the platform 2. The output signal of the thirteenth computing unit 40 VUKP 35 is fed to the input of the fourteenth computing unit 41 VUKP 35 and to the input of the fifteenth computing unit 42 VUKP 35. The fourteenth computational unit 41 VUKP 35 implements a transfer function of the form W ₁₃ (p)=K _sp2 , where the transfer function parameter K _{sp2 is} set equal in value to the transfer coefficient of the second micromechanical angular velocity sensor 12. The output signal fourteenth computing unit 41 VUKP 35 is supplied to the first input of the sixth adder 36 VUKP 35. The fifteenth computing unit 42 VUKP 35 integrates the input signal and implements the transfer function of the form

. The output signal of the fifteenth computing unit 42 VUKP 35 is fed to the input of the sixteenth computing unit 43 VUKP 35, which implements the function of calculating the sine of the input value, and is also fed to the input of the eighteenth computing unit 45 VUKP 35, the output signal of which U _{4 is} fed to the second subtractive input of the fourth adder 20. The eighteenth computing unit 45 VUKP 35 implements the transfer function W ₅ (p)=K _du2 where the transfer function parameter K _{du2 is} set equal in value to the transmission coefficient of the second angle sensor command signals 19. The output signal of the sixteenth computing unit 43 VUKP 35 is input seventeenth computing unit 44 VUKP 35. The seventeenth computing unit 44 VUKP 35 implements a transfer function of the form W ₁₆ (p)=gK ₂ , where the parameter g is set equal to the value of the gravitational acceleration, and the parameter K _{2 is} set equal to the product of the transmission coefficients of the second micromechanical accelerometer ra 15 and the second amplifier 16. The output signal of the seventeenth computing unit 44 VUKP 35 is fed to the input of the twentieth computing unit 49 VUKP 35. The output signal of the twentieth computing unit 49 VUKP 35 is fed to the third input of the sixth adder 36 VUKP 35. The twentieth computing unit implements the transfer function

where the parameter T _{k4 is} set equal to the time constant of the fourth corrective filter 47, the parameter is set equal to the damping coefficient of the oscillations of the fourth corrective filter 47. The sixth adder 36 VUKP 35, the tenth computing unit 37 VUKP 35, the eleventh computing unit 38 VUKP 35, the twelfth computing unit 39 VUKP 35 , the thirteenth computing unit 40 VUKP 35, the fourteenth computing unit 41 VUKP 35, the fifteenth computing unit 42 VUKP 35, the sixteenth computing unit 43 VUKP 35, the seventeenth computing unit 44 VUKP 35, the eighteenth computing unit 45 VUKP 35, the twentieth computing unit 49 VUKP 35 s the system of links represent a non-linear dynamic model of a two-axis indicator gyrostabilizer with a closed stabilization loop and a closed correction loop along the platform channel.

When applying to the second input of the sixth adder 36 VUKP 35 control signal U _{3 the} reaction at the output of the fifteenth computing

block 42 VUKP 35 corresponds to the deviation of the platform 2 with optoelectronic sensor 21 in space relative to the horizon along the axis of the platform 2 at an angle β. When applying to the second subtractive input of the fourth adder 20 signal from the output of the eighteenth computing unit 45 VUKP 35 at the output of the fourth adder 20, the error in generating information about the pitch angle of the aircraft will be compensated even at large angles of rotation β of the platform 2 together with the optoelectronic sensor 21, not only in the mode established after the rotation of the platform 2, but also during the transitional mode. The signal U _υ with the transmission coefficient K _{du2 is} proportional to the pitch angle υ of the aircraft. In FIG. 4 shows the process of turning the platform with an optoelectronic sensor as a response to a control step signal through the outer frame channel.

The transfer function of a closed system, which is the ratio of the stabilization error to the linear accelerations of pitching in the Laplace transform of the prototype along the channel of the outer frame, has the form:

where k _total =1/g, T ₅ =k _dyc /gk _{a 1} k _y1 cos ϕ, W is the linear acceleration of the pitching of the base, α is the stabilization error along the channel of the outer frame of the gyrostabilizer, k _{a 1} is the transfer coefficient of the first micromechanical accelerometer, k _y1 - the transmission coefficient of the first amplifier, ϕ=U ₅ /K _d2 - the angle of rotation of the platform relative to the outer frame. The transfer function of a closed system, which is the ratio of the stabilization error to the linear roll accelerations in the Laplace transform of the prototype over the platform channel, has the form:

where k _2total \u003d 1 / g, T ₆ \ _u003d k dys2 /gk _{a 2} k _y2 , W is the linear acceleration of the pitching of the base, β is the stabilization error along the channel of the inner frame of the gyrostabilizer, k _{a 2} is the transfer coefficient of the second micromechanical accelerometer, k _y2 - gain of the second amplifier.

The transfer function of a closed system, which is the ratio of the stabilization error to the noise component at the output of the first micromechanical sensor of the prototype angular velocity along the outer frame channel, has the form

where k _3gen =1/gk _{a 1} k _y1 , T ₇ =k _dyc1 /gk _{a 1} k _y1 cos ϕ U _dyc01 (p) is the noise component at the output of the first micromechanical angular velocity sensor.

The transfer function of a closed system, which is the ratio of the stabilization error to the noise component at the output of the second micromechanical sensor of the prototype angular velocity along the platform channel, has the form

where k _4gen =1/gk _{a 2} k _y2 , T ₈ =k _sp2 /gk _{a 2} k _y2 .

The transfer function of the closed system of the proposed indicator gyrostabilizer, which is the ratio of the stabilization error to the linear roll accelerations in the Laplace transform along the outer frame channel, has the form

Here k _{a 1} - the transmission coefficient of the first micromechanical accelerometer, k _y1 - the transmission coefficient of the first amplifier.

The parameters of the third corrective filter are selected based on the system of equations

Here ω _c is the cutoff frequency. From here

In this case, the transfer function (5) corresponds to the transfer function of the Butterworth filter of the third order. The implementation of the correction system in the form of a transfer function corresponding to a third-order Butterworth filter makes it possible to obtain the slope of the logarithmic amplitude-frequency response (LAFC) above the cutoff frequency of the system -60dB / dec, in contrast to the transfer function of the prototype, in which the slope of the LAFC above the cutoff frequency is -20dB / dec .

The transfer function, which is the ratio of the stabilization error to the noise component at the output of the first micromechanical angular velocity sensor in the Laplace transform of the proposed indicator gyrostabilizer for the outer frame channel, has the form:

where is the transfer coefficient

The transfer function of the closed system of the proposed indicator gyrostabilizer, which is the ratio of the stabilization error to the linear roll accelerations in the Laplace transform over the platform channel, has the form

Here k _{a 2} - the transmission coefficient of the second micromechanical accelerometer, k _y2 - the transmission coefficient of the second amplifier.

The parameters of the fourth corrective filter 47 are selected based on the system of equations

From here

In this case, the transfer function (9) corresponds to the transfer function of the Butterworth filter of the third order. The implementation of the correction system in the form of a transfer function corresponding to a third-order Butterworth filter makes it possible to obtain an LFR slope above the system cutoff frequency of -60dB/dec, in contrast to the transfer function of the prototype, in which the LFR slope above the cutoff frequency is -20dB/dec.

The transfer function, which is the ratio of the stabilization error to the noise component at the output of the second micromechanical angular velocity sensor in the Laplace transform of the proposed indicator gyrostabilizer over the frame platform channel, has the form:

where is the transfer coefficient

The use of the accelerometric correction structure in the form of a Butterworth filter of the third order of the proposed indicator gyrostabilizer through the channels of the outer frame and platform provides a significant reduction in the stabilization error from linear accelerations of the base roll, and hence the error in determining the roll and pitch angles caused by linear accelerations of the base roll, and at the same time allows an increase in the transfer coefficient k _y2 , k _y3 which leads to a decrease in the stabilization error from the noise component at the output of the micromechanical angular velocity sensors, and hence the error in determining the roll and pitch angles from the noise component of the micromechanical angular velocity sensor. For example, when the value of k _{a 1} =k _{a 2} =0.065 Vm ² /s, k _y1 =k _y2 =0.16, k _sp1 =k _sp2 =0.34 Vs/rad of the correction loop of the biaxial indicator gyrostabilizer of the prototype have time constants T ₅ \ _{u003d T 6} \u003d k dys1 / gk _{a 1} k _y1 \ _{u003d k dys 2} / gk _{a 2} k _y2 \u003d 3.4 s. LAFC of the correction contour along the channel of the outer frame of the prototype in accordance with (1) are shown in Fig. 5. With a value of k _{a 1} =k _{a 2} =0.065 Vm ² /s, k _sp1 =k _sp2 =0.34 Vs/rad and the cutoff frequency of the proposed biaxial indicator gyrostabilizer ω _c =1.43 s ^{-1, the} parameters of the corrective device and the first amplifier in accordance with (7) will be equal to: T _ku1 ² =0.245 s ² , 2ξ _ku1 T _ku1 =0.7, k _y1 ,=0.39. LAFC, constructed from the transfer function (5), is shown in Fig. 6.

At the same time, by increasing the values of k _y1 and k _y2 (the proposed indicator gyrostabilizer) with respect to k _y1 , k _y2 (prototype), the stabilization error caused by the noise component at the output of the micromechanical angular velocity sensors, and hence the error in determining the roll and pitch angles, as show the simulation results is reduced by a factor of two.

Table 1 shows the values of the LAFC of the prototype and the proposed indicator gyrostabilizer for the characteristic frequencies of the pitching base. Thus, the set of features of the proposed device of a biaxial indicator gyrostabilizer, the implementation of which can be performed in accordance with Fig. 1, 2, 3 allows you to increase the accuracy of the functioning of the multifunctional two-axis indicator gyrostabilizer, while the two-axis indicator gyrostabilizer performs the function of stabilizing and controlling optical equipment in space and the function of generating information about the roll and pitch angles of the aircraft.

Claims (1)

Biaxial indicator gyrostabilizer containing an outer frame mounted on a base with rotation about an axis parallel to the longitudinal axis of the aircraft, and a platform located in it, rotating about an axis perpendicular to the axis of rotation of the outer frame, the first moment sensor installed on the axis of rotation of the outer frame, the input of which is connected with the output of the first power amplifier, the input of which is connected to the output of the first corrective filter, the input of the first corrective filter is connected to the output of the first adder, the first input of which is connected to the output of the first micromechanical angular velocity sensor installed on the platform with the sensitivity axis parallel to the axis of rotation of the outer frame of the biaxial indicator gyrostabilizer, the second torque sensor installed on the axis of rotation of the inner frame, the input of which is connected to the output of the second power amplifier, the input of which is connected to the output of the second corrective filter, the input of the second corrective filter connected to the output of the second adder, the first input of which is connected to the output of the second micromechanical angular velocity sensor mounted on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer mounted on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the biaxial indicator gyrostabilizer gyrostabilizer, the output of which is connected to the input of the first amplifier, the second micromechanical accelerometer, mounted on a platform with a sensitivity axis parallel to the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the input of the second amplifier, the first command signal angle sensor, mounted on the axis of the outer frame of the biaxial indicator gyrostabilizer, the output of which is connected to the first input of the third adder, the second sensor of the angle of command signals installed on the axis of the platform of the two-axis indicator gyrostabilizer, the output of which is connected to the first input of the fourth adder; optoelectronic sensor mounted on the platform, the optical axis of which is perpendicular to the plane of the gyrostabilizer platform, the first control device, the output of which is connected to the second input of the fifth adder of the external frame channel computing device (VUKNR), and is also connected to the third input of the first adder, the output of the fifth adder VUKNR is connected to the first computing unit VUKNR, the output of the first computing unit VUKNR is connected to the input of the second computing unit VUKNR, the output of which is connected to the input of the third computing unit VUKNR, the output of the third computing unit is connected to the second input of the fourth computing unit VUKNR, the first input of which is connected to the output of the second command signal angle sensor, and the output is connected to the input of the fifth computing unit VUKNR, and is also connected to the input of the sixth computing unit VUKNR, the output of the sixth computing unit VUKNR is connected to the input of the seventh computing unit VUKNR, and is also connected to the input of the ninth computing unit VUKNR, the output of which is connected to the second input of the third adder, the output of the seventh computing unit VUKNR is connected to the input of the eighth computing unit VUKNR, the output of the fifth computing unit VUKNR is connected to the first input of the fifth adder VUKNR; the second control device, the output of which is connected to the second input of the sixth adder of the computing device of the platform channel (PCCD), and is also connected to the third input of the second adder, the output of the sixth adder PCCD is connected to the tenth computing unit PCCD, the output of the tenth computing unit PCCD is connected to the input of the eleventh computing block VUKP, the output of which is connected to the input of the twelfth computing unit VUKP, the output of the twelfth computing unit VUKP is connected to the input of the thirteenth computing unit VUKP, the output of which is connected to the input of the fourteenth computing unit VUKP, and is also connected to the input of the fifteenth computing unit VUKP, the output of the fifteenth computing unit VUKP is connected to the input of the sixteenth computing unit VUKP, and is also connected to the input of the eighteenth computing unit VUKP, the output of which is connected to the second input of the fourth adder, the output of the sixteenth computing unit VUKP is connected to the input of the seed of the tenth computing unit VUKP, the output of the fourteenth computing unit VUKP is connected to the first input of the sixth adder VUKP, characterized in that it additionally includes a third corrective filter, a fourth corrective filter, a nineteenth computational unit VUKNR, a twentieth computational unit VUKP, and the output of the third corrective filter is connected with the second input of the first adder, the input of the third corrective filter is connected to the output of the first amplifier, the output of the fourth corrective filter is connected to the second input of the second adder, the input of the fourth corrective filter is connected to the output of the second amplifier, the output of the nineteenth computing unit VUKNR is connected to the third input of the fifth adder VUKNR, the input of the nineteenth computational unit VUKNR is connected to the output of the eighth computational unit VUKNR, the output of the twentieth computational unit VUKP is connected to the third input of the sixth adder VUKP, the input of the twentieth computational unit VUKP is connected inen with the release of the seventeenth computing unit VUKP.

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