RU2793844C1 - Biaxial indicator gyrostabilizer - Google Patents

Abstract

FIELD: gyroscopic technology.

SUBSTANCE: invention relates 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 the 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, with the first moment sensor mounted on the axis of rotation of the outer frame. The gyro stabilizer also contains the first power amplifier, corrective filters, adders, two micromechanical angular velocity sensors, two micromechanical accelerometers, the second moment sensor, two command signal sensors, an optoelectronic sensor, a control device, outer frame channel and platform channel computing devices. Additionally, corrective filters and computing units of computing devices of the outer frame channel and the platform channel are introduced into the gyrostabilizer, due to which the first-order astatism of the platform channel stabilization loop is ensured with respect to the disturbing moment while maintaining sufficient stability margins.

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

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.

A biaxial indicator gyrostabilizer on micromechanical gyroscopes is known, 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 "Spravochnik" No. 1 (166 ) with Appendix - M .: Publishing house "Engineering", 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 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 mounted on the platform axis of the biaxial indicator gyrostabilizer, optoelectronic 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 Malyutin D.M. Patent for invention No. 2767715, 03/18/2022.). 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 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 the sensitivity axis parallel 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 input of which is connected to the output of the fourth correction filter, the input of which is connected to the output of the second correction filter, the input of the second correction filter is connected 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, the output of which connected to the input of the first amplifier; the output of the first amplifier is connected to the second input of the first adder; 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 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 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 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 VUKP 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 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 which is connected to the third input of the sixth adder VUKP, the output of the fourteenth computing unit VUKP 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 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 the 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 fifth corrective filter, the input of the fifth corrective filter 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 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 input of which is connected to the output of the sixth corrective filter, the input of the sixth corrective filter 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 the sensitivity axis parallel axis of rotation of the platform of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer mounted on the 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 second input of the first adder, the second micromechanical accelerometer installed on the 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 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 nineteenth computing unit VUKNR, the output of the nineteenth computing unit VUKNR is connected to the input of the twenty-first computing unit VUKNR, the output of the twenty-first 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 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 sensor of the angle of command signals, and the output is connected to the input of the fifth computing unit VUKNR, and is also connected with 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 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 VUKP is connected to the input of the twenty-second computing unit VUKP, the output of the twenty-second computing unit VUKP 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 with 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 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.

Figure 1 shows a schematic diagram of a biaxial indicator gyrostabilizer. Figure 2 and figure 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. Figure 5 shows a graph of the process of turning the platform with optoelectronic sensor, as a response to the control signal through the channel of the outer frame. Figure 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. Figure 7 shows the graphs of the LAFC of the prototype and the proposed indicator gyrostabilizer according to the transfer function of the closed system, which is the ratio of the stabilization error to the disturbing moment relative to the axis of the outer frame. Figure 8 shows graphs of the transient processes of the prototype and the proposed indicator gyrostabilizer, as a response to a stepped perturbing 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 fifth corrective filter 50, the input of the fifth corrective filter 50 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 sensitivity axis parallel to the rotation axis of the outer frame 1 of the biaxial indicator gyrostabilizer; installed on the axis of rotation of the platform 2 second moment sensor 8, 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 sixth correction filter 51, the input of the sixth correction filter 51 is connected to the output of the fourth correction filter 47, the input of the fourth correction filter 47 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 sensor of the angular velocity 12, installed on the platform 2 with the sensitivity axis parallel to the axis of rotation of the platform 2 of the biaxial indicator gyrostabilizer, the first micromechanical accelerometer 13 installed on platform 2 with 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 14, the output of the first amplifier 14 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 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 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 twenty of the first computing unit 52 VUKNR 23, the output of the twenty-first computing unit 52 VUKNR 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 angle sensor 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 unit 30 VUKNR 23, the output of the sixth computing unit 30 VUKNR 23 is connected to 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 with 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 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 twenty-second computing unit 53 VUKP 35, the output of the twenty-second computing unit 53 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 VUKP 35, 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 block 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 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 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

- 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 третьего корректирующего фильтра 46. Передаточная функция пятого корректирующего фильтра 50 имеет вид

что обеспечивает астатизм первого порядка контура стабилизации канала наружной рамки по отношению к возмущающему моменту при сохранении достаточных запасов устойчивости. Здесь Т₇ - постоянная времени пятого корректирующего фильтра 50. Постоянная времени T₇ пятого корректирующего фильтра 50 выбирается равной постоянной времени T₁ первого корректирующего фильтра 5. 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 платформы. Здесь Т₅, Т₆ - постоянные времени четвертого корректирующего фильтра 47. Передаточная функция шестого корректирующего фильтра 51 имеет вид

что обеспечивает астатизм первого порядка контура стабилизации канала платформы по отношению к возмущающему моменту при сохранении достаточных запасов устойчивости. Здесь Т₈ - постоянная времени шестого корректирующего фильтра 51. Постоянная времени Т₈ шестого корректирующего фильтра 51 выбирается равной постоянной времени Т₂ 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 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 T_k1 которой устанавливается равным постоянной времени T₁ 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 Т₃, параметр Т_к4 устанавливается равным постоянной времени третьего корректирующего фильтра Т₄. Сигнал с выхода девятнадцатого вычислительного блока 48 ВУКНР 23 поступает на вход двадцать первого вычислительного блока 52 ВУКНР 23, который реализует передаточную функцию

, где параметр T_k7 устанавливается равным постоянной времени Т₇ пятого корректирующего фильтра 50. Сигнал с выхода двадцать первого вычислительного блока 52 ВУКНР 23 поступает на вход второго вычислительного блока 26 ВУКНР 23, который реализует передаточную функцию вида W₂(р) = K_yм1, где параметр K_yм1 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

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

устанавливается равным по величине коэффициенту передачи второго датчика угла командных сигналов 19, параметр

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

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

, где параметр передаточной функции

, 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, двадцать первый вычислительный блок 52 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 а. 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 а платформы 2 вместе с оптико-электронным датчиком 21 не только в установившемся после поворота платформы 2 режиме, но и во время переходного режима. Сигнал

с коэффициентом передачи

пропорционален углу крена у ЛА. Для отклонения оптико-электронного датчика 21 в пространстве относительно горизонта по оси платформы 2 на угол Р 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 T_k2 которой устанавливается равным постоянной времени T₂ 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 T₆. Сигнал с выхода двадцатого вычислительного блока 49 ВУКП 35 поступает на вход двадцать второго вычислительного блока 53 ВУКП 35, который реализует передаточную функцию

, где параметр T_k8 устанавливается равным постоянной времени T₈ шестого корректирующего фильтра 51. Сигнал с выхода двадцать второго вычислительного блока 53 ВУКП 35 поступает на вход одиннадцатого вычислительного блока 38 ВУКП 35, который реализует передаточную функцию вида

где параметр

, 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

устанавливается равным по величине коэффициенту передачи по управляющему воздействию второго датчика момента 8, а параметр

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

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

, 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

, где параметр передаточной функции

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, двадцать второй вычислительный блок 53 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 fifth corrective filter 50, 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 sixth corrective filter 51, the second power amplifier 9 to the second moment sensor 8 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

- time constant of the first corrective filter 5, p - 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 - time constants of the third correction filter 46. The transfer function of the fifth correction filter 50 has the form

which provides astaticism of the first order of the stabilization loop of the channel of the outer frame with respect to the disturbing moment while maintaining sufficient stability margins. Here, T ₇ is the time constant of the fifth correction filter 50. The time constant T ₇ of the fifth correction filter 50 is chosen to be equal to the time constant T ₁ of the first correction filter 5. The transfer function of the second correction filter 10 is

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 platform channel. Here T ₅ , T ₆ - time constants of the fourth corrective filter 47. The transfer function of the sixth corrective filter 51 has the form

which ensures first-order astaticism of the platform channel stabilization loop with respect to the disturbing moment while maintaining sufficient stability margins. Here T ₈ is the time constant of the sixth correction filter 51. The time constant T ₈ of the sixth correction filter 51 is selected equal to the time constant T ₂ of the second correction filter 10. At the initial deviation from the horizon plane, the first micromechanical accelerometer 13 generates a signal proportional to the deviation of the platform from the horizon along the channel 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 that the platform 2 is brought to the horizon (in the correction mode) through 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 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 _k1 which is set equal to the time constant T ₁ 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 input to the twenty-first computing unit 52 VUKNR 23, which implements the transfer function

, where the parameter T _k7 is set equal to the time constant T ₇ of the fifth correction filter 50. The signal from the output of the twenty-first computing unit 52 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 _ym1 is set equal in value 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 parameter

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 magnitude 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 is the transfer function parameter

is set equal in value to the transmission coefficient of the second angle sensor of command signals 19, parameter

is set equal in magnitude 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 computational unit 29 VUKNR 23 and the input of the sixth computing unit 30 VUKNR 23. The fifth computing unit 29 VUKNR 23 implements a transfer function of the form

where the transfer function parameter K _sp1 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 and implements the transfer view function

. 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

, where the transfer function parameter

, 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 input to 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 free fall 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 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 computational unit 32 VUKNR 23, the ninth computational unit 33 VUKNR 23, the nineteenth computational unit 48 VUKNR 23, the twenty-first computational unit 52 VUKNR 23 with the communication system represent a non-linear dynamic model of a two-axis indicator gyrostabilizer with a closed stabilization loop and a closed loop correction for channel of the outer frame. 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 a. 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 and platform 2 together with optoelectronic sensor 21 not only in the mode established after the rotation of the platform 2, but also during the transitional mode. Signal

with transfer ratio

proportional to the roll angle 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 P, 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

, the parameter T _k2 which is set equal to the time constant T ₂ of the second corrective 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 twenty-second computing unit 53 VUKP 35, which implements the transfer function

, where the parameter T _k8 is set equal to the time constant T ₈ of the sixth correction filter 51. The signal from the output of the twenty-second computing unit 53 VUKP 35 is fed to the input of the eleventh computing unit 38 VUKP 35, which implements a transfer function of the form

where parameter

, 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

is set equal in value to the transmission coefficient for the control action of the second torque sensor 8, and the parameter

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 input to the thirteenth computing unit 40 VUKP 35. The thirteenth computing unit 40 VUKP 35 implements a transfer function of the form

where parameter

is set equal in value 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 platform axis 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

, where the transfer function parameter K _sp2 is set equal in value to the transmission coefficient of the second micromechanical angular velocity sensor 12. The output signal of the fourteenth computing unit 41 VUKP 35 is fed to the first input of the sixth adder 36 VUKP 35. The fifteenth computing unit 42 VUKP 35 integrates the input signal and implements 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

, where the transfer function parameter

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 to the 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 free fall acceleration, and the parameter K ₂ is set equal to the product of the transmission coefficients of the second micromechanical accelerometer 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 computational unit 44 VUKP 35, the eighteenth computational unit 45 VUKP 35, the twentieth computational unit 49 VUKP 35, the twenty-second computational unit 53 with a system of connections 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.

с коэффициентом передачи

пропорционален углу тангажа и ЛА.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 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. Signal

with transfer ratio

proportional to the pitch angle and the aircraft.

и значении T₁ = 0,006с, T₃ = 0,001с, Т₄ = 0,0001с на частоте среза обеспечены запасы устойчивости по фазе 68° и по амплитуде -16дБ. График ЛАФЧХ замкнутого контура стабилизации прототипа приведен на фиг.7 (кривая 1). Значение логарифмической амплитудно частотной характеристики (ЛАЧХ) передаточной функции замкнутого контура стабилизации прототипа, как отношение погрешности стабилизации к возмущающему моменту в преобразовании Лапласа в полосе пропускания составляет -53 дБ. Реакция на единичное возмущающее ступенчатое воздействие 1Нм прототипа приведена фиг.8 (кривая 1). Время переходного процесса в системе не превышает 0,02с. ЛАФЧХ разомкнутой системы предлагаемого индикаторного гиростабилизатора с параметрами

Т₁ = 0,006с, Т₃ = 0,001с, Т₄ = 0,0001с, Т₇ = 0,006с приобретает вид, представленный на фиг.6 (кривая 2). При этом обеспечены запасы устойчивости по фазе 50 град и -10дБ по амплитуде. ЛАФЧХ замкнутого контура стабилизации предлагаемого индикаторного гиростабилизатора при установке пятого корректирующего фильтра 50 представлена на фиг.7 (кривая 2). Из приведенных графиков видно, что ЛАЧХ передаточной функции замкнутого контура стабилизации предлагаемого индикаторного гиростабилизатора, как отношение погрешности стабилизации к возмущающему моменту в преобразовании Лапласа, в полосе пропускания имеет наклон -20дБ/дек, что соответствует астатизму первого порядка по отношению к возмущающему моменту и располагается ниже ЛАЧХ прототипа (например, при частоте качки основания 10 рад/с значение ЛАЧХ составляет -72 дБ, а у прототипа -53дБ). График реакции в контуре стабилизации предлагаемого индикаторного гиростабилизатора на единичное ступенчатое возмущающее воздействие 1Нм представлен на фиг.8 (кривая 2). При этом погрешность стабилизации у предлагаемого индикаторного гиростабилизатора в установившемся режиме равна нулю, а в переходном процессе по сравнению с прототипом уменьшена в 1,4 раза. Аналогично за счет установки шестого корректирующего фильтра 51 удается уменьшить погрешность стабилизации по каналу платформы.In Fig.6, as an example, the LAFC of the open loop stabilization of the prototype along the channel of the outer frame (curve 1) is shown. In this case, in the stabilization circuit with a gain

and the value of T ₁ = 0.006 s, T ₃ = 0.001 s, T ₄ = 0.0001 s at the cutoff frequency, stability margins are provided in phase 68 ° and in amplitude -16 dB. Graph LAFC closed loop stabilization of the prototype 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 -53 dB. The response to a single perturbing step action 1Nm of the prototype is shown in Fig.8 (curve 1). The transition process time in the system does not exceed 0.02 s. LAFC 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, T ₇ = 0.006 s takes the form shown in Fig. 6 (curve 2). At the same time, phase stability margins of 50 deg and -10 dB in amplitude are provided. LAFC of the closed loop stabilization of the proposed indicator gyrostabilizer when installing the fifth corrective filter 50 is shown in Fig.7 (curve 2). It can be seen from the graphs that the LAFC of the transfer function 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 has a slope of -20 dB/dec, which corresponds to first-order astatism with respect to the disturbing moment and is located below LAFC of the prototype (for example, with a base roll frequency of 10 rad/s, the LAFC value is -72 dB, while the prototype has -53 dB). The graph of the response in the stabilization circuit of the proposed indicator gyrostabilizer to a single step perturbing effect of 1 Nm is shown in Fig.8 (curve 2). At the same time, the stabilization error of the proposed indicator gyrostabilizer in the steady state is zero, and in the transient process, compared with the prototype, it is reduced by 1.4 times. Similarly, by installing the sixth corrective filter 51, it is possible to reduce the stabilization error along the platform channel.

From the above graphs it follows that the stabilization error of the proposed indicator gyro stabilizer is reduced in the bandwidth compared to the prototype, and therefore the error in determining the roll and pitch angles is also reduced.

Thus, the combination of features of the proposed device 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 multifunctional biaxial indicator gyrostabilizer, while performing biaxial indicator gyrostabilizer functions of stabilization and control of optical equipment in space and functions for generating information about the roll and pitch angles of the aircraft.

The invention was made with the financial support of a grant from the Government of the Tula region in the field of science and technology. Contract DS/110 dated July 22, 2022.

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 third corrective filter, 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 moment sensor, the input of which is connected to the output of the second power amplifier, 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 mounted on the platform with the sensitivity axis 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 with the second input of the first adder, the second micromechanical accelerometer mounted on the platform with the axis of sensitivity 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 sensor of the angle of the command signals 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 the command signals installed on the axis of the platform 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 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 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 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 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 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 computing unit 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 introduced the fifth corrective filter, the sixth corrective filter, the twenty-first computational unit VUKNR, the twenty-second computational unit VUKP, and the output the fifth corrective filter is connected to the input of the first power amplifier, the input of the fifth corrective filter is connected to the output of the third corrective filter, the output of the sixth corrective filter is connected to the input of the second power amplifier, the input of the sixth corrective filter is connected to the output of the fourth corrective filter, the output of the twenty-first computing unit VUKNR is connected with the input of the second computing unit VUKNR, the input of the twenty-first computing unit VUKNR is connected to the output of the nineteenth computing unit VUKNR, the output of the twenty-second computing unit VUKP is connected to the input of the eleventh computing unit VUKP, the input of the twenty-second computing unit VUKP is connected to the output of the twentieth computing unit VUKP.

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