RU2767715C1 - Biaxial indicator gyrostabilizer - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention relates to gyroscopic equipment, and more specifically to biaxial indicator gyrostabilizers on micromechanical gyroscopes operating on manned and unmanned aerial vehicles (AC). Biaxial indicator gyrostabilizer (GS) comprises an external frame mounted on a base with rotation relative to an axis parallel to the longitudinal axis of the aircraft and located in it platform rotating relative to axis perpendicular to axis of rotation of outer frame, installed on axis of rotation of outer frame first torque sensor, input of which is connected to output of first power amplifier, input of which is connected to output of third correcting filter, input of the third equalizing filter is connected to the output of the first equalizing filter, the input of the first equalizing filter is connected to the output of the first adder, the first input of which is connected to the output of the first micromechanical sensor of angular velocity installed on the platform with the axis of sensitivity parallel to the axis of rotation of the external frame of the biaxial indicator GS. Installed on the axis of rotation of the inner frame is 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 fourth correcting filter, input of which is connected to the output of the second correcting filter, the input of the second correcting filter is connected to the output of the second adder, which first input is connected to the output of the second micromechanical angular velocity sensor installed on the platform with the axis of sensitivity parallel to the axis of rotation of the platform of the two-axis indicator GS, first micromechanical accelerometer mounted on a platform with a sensitivity axis parallel to the axis of rotation of the platform of the biaxial indicator GS, the output of 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. Second micromechanical accelerometer is installed on the platform with the axis of sensitivity parallel to the axis of the external frame of the biaxial indicator GS, 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 of the second adder. First command signals angle sensor, installed on the axis of the external frame of the biaxial indicator GS, the output of which is connected to the first input of the third adder, the second command signal angle sensor installed on the axis of the platform of the biaxial display GS, 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 GS platform, the first control device, the output of which is connected to the input of the outer frame channel computing device (OFCCD), and is also connected to the third input of the first adder, the output of the OFCCD 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 platform channel computing device (PCCD), and is also connected to the third input of the second adder, the output of the PCCD is connected to the second input of the fourth adder.

EFFECT: higher accuracy of the biaxial indicator gyrostabilizer operation.

1 cl, 8 dwg

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 the axis parallel to the longitudinal axis of the aircraft and a platform located in it, rotating relative to the 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 torque 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 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 optical equipment caused by the action of perturbing inertial moments, moments of forces of dry and viscous friction. 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 third corrective filter, the input of the third corrective filter 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 a sensitivity axis parallel to the axis of rotation of the outer frame of the biaxial indicator gyrostabilizer, mounted on the axis of rotation of the inner frame of the second torque sensor, the input of which is connected to the output of the second power amplifier axis, the input of which is connected to the output of the fourth corrective filter, the input of which is connected to the output of the second corrective filter, the input of the second corrective 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 installed on the platform with a sensitivity axis parallel to the axis of rotation platform of a biaxial indicator gyrostabilizer, the first micromechanical accelerometer mounted on a platform 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, the output of the first amplifier is connected to the second input of the first adder, the second micromechanical accelerometer installed on the platform with the axis sensitivity of the parallel 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 of the auto horn 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 nineteenth computing unit VUKNR, the output of the nineteenth computing unit VUKNR is connected to the input of the second computing unit VUKNR, the output of the second computing unit VUKNR is connected to the input of the third computing unit VUKNR, the output of the third computing block 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 sensor of the angle of the command signals, and the output is connected to the input of the fifth computational unit VUKNR, and is also connected to the input of the sixth computation the output 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 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 twentieth computing block VUKP, the output of the twentieth computing unit is connected to the input of the eleventh computing unit 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 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 house of the fourth adder, the output of the sixteenth computing unit VUKP is connected to the input of the seventeenth 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 a graph of the control signal through the channel of the outer frame. In FIG. 5 shows a graph of the process of turning the platform with an optoelectronic sensor as a response to a control signal through the channel of the outer frame. In FIG. 6 shows graphs of the logarithmic amplitude-phase frequency characteristics (LAFC) of the prototype and the proposed indicator gyrostabilizer according to the transfer function of an open system. In FIG. 7 shows the graphs of the LAFC of the proposed indicator gyrostabilizer according to the transfer function of a closed system, which is the ratio of the stabilization error to the disturbing moment relative to the axis of the outer frame. In FIG. 8 shows the graphs of transient processes of the prototype and the proposed indicator gyrostabilizer as a response to a stepped disturbing moment relative to the axis of the outer frame with an amplitude of 1 Nm.

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 third corrective filter 46, 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 the axis of sensitivity parallel to the axis of rotation of the outer frame 1 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 fourth correction filter 47, the input of the fourth correction filter 47 is connected to the output of the second correction filter 10, the input of the second correction 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 sensor of the angular velocity 12, installed on the platform 2 with the axis of sensitivity parallel to the axis of rotation of the platform 2 of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer 13, installed on the platform 2 with the axis of sensitivity parallel to the axis of rotation of the platform 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 second input of the first adder 6, the second micromechanical accelerometer 15 mounted on the platform 2 with the axis senses the parallel axis of the outer 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 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 nineteenth computing unit 48 VUKNR 23, the output of the nineteenth computing unit 48 VUKNR 23 is connected to the input of the second computing block 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 angle sensor command signals 19, and the output connected with the input of the fifth computing unit 29 VUKNR 23, and is also connected to the input of the sixth computing unit 30 VUKNR 23, the output 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 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 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 the tenth computing unit 37 VUKP 35 is connected to the input of the twentieth computing unit 49 VUKP 35, the output of the twentieth computing unit 49 VUKP 35 is connected to the input of the eleventh computing unit 38 VUKP 35, 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 VUKP 35 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, a also connected to the input of the eighteenth computing unit 45 VUKP 35, the output of which is connected to the second input of the fourth 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 third input of the sixth adder 36 VUKP 35, the output 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 Т₁ - постоянная времени первого корректирующего фильтра 5, р - оператор Лапласа. Передаточная функция третьего корректирующего фильтра 46 имеет вид

что обеспечивает расширение области устойчивости и возможность увеличения коэффициента усиления по контуру стабилизации канала наружной рамки. Здесь Т₃, T₄ - постоянные времени четвертого корректирующего фильтра 46. 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. Передаточная функция четвертого корректирующего фильтра 47 имеет вид

что обеспечивает расширение области устойчивости и возможность увеличения коэффициента усиления по контуру стабилизации канала наружной рамки. Здесь Т₅, Т₆ - постоянные времени четвертого корректирующего фильтра 47. 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 поступает на второй вход первого сумматора 6, что обеспечивает приведение платформы 2 к горизонту (в режиме коррекции) по каналу наружной рамки. Второй микромеханический акселерометр 15 вырабатывает сигнал, пропорциональный отклонению платформы от горизонта по каналу платформы, далее этот сигнал усиливается вторым усилителем 16 и поступает на второй вход сумматора 11, что обеспечивает приведение платформы 2 к горизонту (в режиме коррекции) по каналу платформы. 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 T₁, которой устанавливается равным постоянной времени первого корректирующего фильтра 5. Сигнал с выхода первого вычислительного блока 25 ВУКНР 23 поступает на вход девятнадцатого вычислительного блока 48 ВУКНР 23, который реализует передаточную функцию

где параметр Т_к3 устанавливается равным постоянной времени третьего корректирующего фильтра T₃, параметр Т_к4 устанавливается равным постоянной времени третьего корректирующего фильтра Т₄. Сигнал с выхода девятнадцатого вычислительного блока 48 ВУКНР 23 поступает на вход второго вычислительного блока 26 ВУКНР 23, который реализует передаточную функцию вида W₂(p)=K_ум1, где параметр К_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 К_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 К_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(p)=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 третий вход пятого сумматора 24 ВУКНР 23. 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 48 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 γ ЛА. Для отклонения оптико-электронного датчика 21 в пространстве относительно горизонта по оси платформы 2 на угол β второе устройство управления 34 вырабатывает управляющий сигнал U₃, который поступает на третий вход второго сумматора 11, однако поворот платформы 2 с оптико-электронным датчиком 21 приводит к появлению большой погрешности при выработке сигнала, пропорционального углу тангажа ЛА. С целью компенсации этой погрешности управляющий сигнал U₃ поступает также на второй вход шестого сумматора 36 ВУКП 35, с выхода которого сигнал поступает на вход десятого вычислительного блока 37 ВУКП 35. Десятый вычислительный блок 37 ВУКП 35 реализует передаточную функцию вида

параметр Т₂ которой устанавливается равным постоянной времени второго корректирующего фильтра 10. Сигнал с выхода десятого вычислительного блока 37 ВУКП 35 поступает на вход двадцатого вычислительного блока 49 ВУКП 35, который реализует передаточную функцию

где параметр Т_к5 устанавливается равным постоянной времени четвертого корректирующего фильтра Т₅, параметр Т_к6 устанавливается равным постоянной времени четвертого корректирующего фильтра Т₆. Сигнал с выхода двадцатого вычислительного блока 49 ВУКП 35 поступает на вход одиннадцатого вычислительного блока 38 ВУКП 35, который реализует передаточную функцию вида W₁₀(p)=К_ум2, где параметр К_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 W₁₅(p)=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 третий вход шестого сумматора 36 ВУКП 35. 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 вычислительный 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.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 third corrective filter 46, the first power amplifier 4 to the first torque sensor 3 through the channel of the outer frame and due to feedback from the second micromechanical angular velocity sensor 12 through the second adder 11, the second corrective filter 10, the fourth corrective filter 47, the second power amplifier 9 to the second moment sensor 8 through 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 sensor of the angular velocity 7 and the required margins of stability through 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 third correction filter 46 has the form

which provides an expansion of the stability region and the possibility of increasing the gain along the stabilization contour of the channel of the outer frame. Here T ₃ , T ₄ are the time constants of the fourth corrective filter 46. 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 correction filter 10. The transfer function of the fourth correction filter 47 has the form

which provides an expansion of the stability region and the possibility of increasing the gain along the stabilization contour of the channel of the outer frame. Here T ₅ , T ₆ are the time constants of the fourth corrective filter 47. 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 through the channel of the outer frame, then this signal is amplified by the first amplifier 14 and fed to the second 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 second micromechanical accelerometer 15 generates a signal proportional to the deviation of the platform from the horizon along the platform channel, then this signal is amplified by the second amplifier 16 and fed to the second input of the adder 11, which ensures that the platform 2 is brought to the horizon (in correction mode) along the platform channel. 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 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 deviate 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 correction filter 5. The signal from the output of the first computing unit 25 VUKNR 23 is fed to the input of the nineteenth computing unit 48 VUKNR 23, which implements the transfer function

where the parameter T _k3 is set equal to the time constant of the third correction filter T ₃ , the parameter T _k4 is set equal to the time constant of the third correction filter T ₄ . The signal from the output of the nineteenth computing unit 48 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 _mind1 where the parameter To _mind1 is set equal in value to the transmission coefficient of the first power amplifier 4. The signal with 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 value to the transmission coefficient of the first angle sensor command signals 17. The output signal of the seventh computing unit 31 VUKNR 23 is supplied 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 supplied to the third input of the fifth adder 24 VUKNR 23. 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 unit 31 VUKNR 23, the eighth computing unit 32 VUKNR 23, the ninth computational unit 33 VUKNR 23, the nineteenth computing unit 48 VUKNR 23 with the communication system are non-linear dynamic model of a two-axis 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 _DN1 is proportional to the roll angle γ of the aircraft. 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 the generation of 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 twentieth computing unit 49 VUKP 35, which implements the transfer function

where the parameter T _k5 is set equal to the time constant of the fourth correction filter T ₅ , the parameter T _k6 is set equal to the time constant of the fourth correction filter T ₆ . The signal from the output of the twentieth computing unit 49 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 value 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 computing unit 41 VUKP 35 implements a transfer function of the form W ₁₃ (p)=K _dys2 , where the transfer function parameter K _dys2 is set equal in value to the transmission 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 ₁₅ (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 accelerome tra 15 and the second amplifier 16. The output signal of the seventeenth computing unit 44 VUKP 35 is fed to the third input of the sixth adder 36 VUKP 35. 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 with a 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 unit 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 P 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. 6, as an example, the LAFC of an open-loop stabilization of the prototype along the channel of the outer frame is shown (curve 1). At the same time, in the stabilization circuit with a gain K _min1 K _ds1 K _ds1 =200 Nms/rad and a value of T ₁ =0.006 s at the cutoff frequency, stability margins of 41° in phase and -11 dB in amplitude are provided. The LAFC curve of the prototype stabilization loop is shown in Fig. 7 (curve 1). The value of the logarithmic amplitude-frequency response (LAFC) of the transfer function of the prototype stabilization closed loop, as the ratio of the stabilization error to the disturbing moment in the Laplace transform in the passband, is -46 dB. The response to a single perturbing step action of 1 Nm of the prototype is shown in Fig. 8 (curve 1). The time of the transient process in the system does not exceed 0.015 s. LAFCH of the open system of the proposed indicator gyrostabilizer with parameters T ₁ =0.006 s, T ₃ =0.001 s, T ₄ =0.0001 s takes the form shown in Fig. 6 (curve 2). Due to the introduction of the third corrective filter 46, it is possible to increase the gain along the stabilization loop K _um1 K _ds1 K _ds1 twice as compared with the prototype while ensuring stability margins in phase 68 deg and -16 dB in amplitude. The LAFC of the closed loop stabilization of the proposed indicator gyrostabilizer when the third corrective filter 46 is installed is shown in Fig. 7 (curve 2). From the graphs it can be seen that the value of the LAFC of the closed stabilization loop of the proposed indicator gyrostabilizer, as the ratio of the stabilization error to the disturbing moment in the Laplace transform in the passband, is -53 dB. The graph of the response in the stabilization loop of the proposed indicator gyrostabilizer to a single step perturbation of 1 Nm is shown in Fig. 8 (curve 2). At the same time, the stabilization error of the proposed indicator gyro stabilizer is reduced by half in comparison with the prototype. Similarly, by installing the fourth corrective filter 47, it is possible to reduce the stabilization error along the platform channel.

From the above graphs it follows that the stabilization error is reduced by 2 times compared to the prototype, and therefore the error in determining the roll and pitch angles is also reduced.

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)

A two-axis indicator gyrostabilizer comprising 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 the first power amplifier, the first corrective filter, the input of which 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, mounted on the axis of rotation of the inner frame of the second torque sensor, the input of which is connected to the output of the second power amplifier, the second corrective filter, the input of the second corrective filter is connected to the output of the second adder, the first input of which is connected to the output 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, the output of which is connected to the input of the first amplifier, the output of the first amplifier 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 second input of the second adder, the first command signal angle sensor installed 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 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 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 VUKNR 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 sensor of the angle of the command signals, 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 it 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 eighth computing unit is connected to the third input of the fifth adder, 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 of the PCCD is connected to the tenth computing unit of the PCCD, the eleventh computing unit of the PCCD, 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 seventeenth computing unit VUKP, the output of the seventeenth calculates of the solid block is connected to the third input of the sixth adder, 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 correction filter is connected to the input of the first power amplifier, the input of the third correction filter is connected to the output of the first correction filter, the output of the fourth correction filter is connected to the input of the second power amplifier, the input of the fourth correction filter is connected to the output of the second correction filter, the output of the nineteenth computing unit VUKNR is connected to the input of the second computing unit VUKNR, the input of the nineteenth computing unit VUKNR is connected to the output of the first computing unit VUKNR, the output of the twentieth computing unit VUKP is connected to the input of the eleventh calculate spruce block, the input of the twentieth computing unit VUKP is connected to the output of the tenth computing unit VUKP.

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