RU2805375C1 - Method for determining proper operation of gyromotors of block of damping gyroscopes - Google Patents

Abstract

FIELD: precision instrument making; gyroscopic technology.

SUBSTANCE: invention can find application in automatic control systems, for example, of aircrafts when constructing control systems for damping gyroscope units. The method is based on the relationship between the angular velocity of rotation and the phase shift between voltage and current in the phase windings of gyromotors, while the currents of the phase windings are differentiated at the moments when the current values pass through zero, and a series of pulses are obtained, which are summed separately for the three phases of each gyromotor and from the sequence of pulses, obtained as a result of differentiation of currents in the phase windings, a sequence of meander-type pulses is formed, in which the start and end times of the pulses are measured along the leading and trailing edges, respectively, and the parameter for the proper operation of the gyromotors is determined by analysing the measured times.

EFFECT: increasing the accuracy of determining the mutual ratio of the angular velocities of rotation of the gyromotors, which ultimately helps to increase the reliability of monitoring the correct operation of the damping gyroscope unit as a whole.

1 cl, 2 dwg

Description

The invention relates to the field of gyroscopic instrumentation and can find application in automatic control systems, for example, aircraft.

A known block of damping gyroscopes BDG-30-1 (JSC Ural Instrument-Making Plant, Yekaterinburg), consisting of three angular velocity sensors (ARS) orthogonally located in the housing based on two-degree gyroscopes, one for each measurement axis.

However, the BDG-30-1 unit does not specify a method for controlling the rotation of gyromotors as the main functional unit, which reduces its reliability and, ultimately, the accuracy of the generation of output signals.

There is a known method for monitoring the correct operation of gyromotors, implemented in the block of damping gyroscopes BDG-25, taken as a prototype (OJSC "Arzamas Instrument-Making Plant named after P.I. Plandin", "Technical description and operating instructions for blocks of damping gyroscopes BDG-25 and BDG- 26"). The method is based on the relationship between the angular speed of rotation and the phase shift between voltage and current in the phase windings of gyromotors, to which three-phase voltages are supplied through the primary windings of the first and second three-phase pulse transformers, the secondary windings of which simultaneously cover three primary windings, and operations of summation and differentiation are carried out in them . Next, a logical addition operation is performed on the pulse signals according to the “AND” circuit, and the series of pulses are compared based on mutual overlap and, if the overlap persists for a given time, then a serviceability signal is generated, otherwise a malfunction signal is generated.

The disadvantage of the method used in the BDG, which is implemented in a built-in unit for controlling the rotation of analog-type gyromotors, is the dependence of the method on temperature and the inability to adjust to different speed ranges.

The technical result to which the invention is aimed is to increase the accuracy of determining the mutual ratio of the angular velocities of rotation of the gyromotors, which ultimately helps to increase the reliability of monitoring the correct operation of the BDG unit as a whole.

The technical result is achieved by the fact that in a method based on the relationship of the angular velocity of rotation and the phase shift between voltage and current in the phase windings of gyromotors, the currents of the phase windings are differentiated at the moments when the current values pass through zero, and a series of pulses are obtained, which are summed separately for three phases of each gyromotor, and evaluate the relative position of the pulses in time, what is new is that from the sequence of pulses obtained as a result of differentiation of currents in the phase windings, a sequence of pulses is formed in the form of a meander, in which the start time and the start time are measured along the leading and trailing edges, respectively. the end of the pulses and determine the parameter of proper operation of the gyromotors by analyzing the measured times using the formula

Where the start and end time of the voltage pulses of the secondary windings of the first and second pulse transformers,

wherein , corresponds to the proper operation of the gyromotors, and corresponds to malfunctioning gyromotors.

The essence of the method is illustrated by the drawings shown in figure 1 and figure 2.

In fig. Figure 1 shows graphs explaining the formation of pulses for one phase of one of the gyromotors included in the block of damping gyroscopes. In fig. 2 shows options for the possible relative arrangement of pulses in time.

In Fig. 1 and Fig. 2 the following notations are used:

phase voltage in one of the phases of the gyromotor, in the other two phases the voltages will be shifted by electrical degrees respectively;

current in one of the phases of the gyromotor;

phase shift between voltage and current in the gyromotor phase, depending on the angular speed of rotation of the gyromotor rotor;

pulse voltage obtained after the differentiation operation;

pulse voltage converted to square wave;

start and end times of meander voltage pulses;

circular frequency of the supply voltage.

In fig. Figure 2 shows options for the possible relative arrangement of meander pulses on an increased time scale, on which the following notations are adopted:

start and end times of meander voltage pulses for the first gyromotor;

start and end times of meander voltage pulses for the second gyromotor;

normal operation parameter

The block of damping gyroscopes (BDG) consists of two angular velocity sensors, the sensitivity axes of which are parallel. Several blocks of damping gyroscopes are installed on each axis of the aircraft to measure angular velocities (for example, roll). The invention is about one BDG and a method for determining its proper operation, based on the ratio of the angular velocities of rotation of the gyromotor rotors. In this case, the property that determines the dependence of the phase shift is used between phase voltage and current in phase and angular speed of rotation of the rotor. For normal operation of the BDG, the angular velocities of the two gyromotors should differ by no more than a given amount (Fig. 1, graphs And ).

The proposed method can be represented as a sequence of steps:

1. A derivative of the current is formed in each phase of the gyromotor in the area when the current value changes sign, and we obtain positive and negative pulses (Fig. 1, graph .

2. Negative pulses are cut off, and meander-type pulses are formed from positive pulses, while the time parameters are preserved, and the amplitude is set to about 3V for working with a microcontroller (Fig. 1, graph .

3. The pulses for the three phases are summed, because it is necessary to have information about the currents in each phase.

4. Measure the time parameters of the pulses of Fig. 2, where the pulses are shown on an enlarged scale.

The following options are considered:

Fig. 2a - the pulses that determine the operation of the first gyromotor are ahead of the pulses that determine the operation of the second gyromotor, but in this case, the phase shifts differ so much that the difference in the angular velocities of the rotors of the first and second gyromotors are in a given range and, therefore, the parameter those. The BDG is functioning properly;

Fig.2b - the pulses that determine the operation of the first gyromotor lag behind the impulses that determine the operation of the second gyromotor, but in this case, the phase shifts differ so much that the difference in the angular velocities of the rotors of the first and second gyromotors are in a given range and, therefore, the parameter those. The BDG is functioning properly;

Fig. 2c - the pulses that determine the operation of the second gyromotor are ahead of the pulses that determine the operation of the first gyromotor so much that in this case, the phase shifts differ so much that the difference in the angular velocities of the rotors of the first and second gyromotors is not in the specified range and, therefore, the parameter those. The BDG is not functioning properly;

Fig.2d - the pulses that determine the operation of the first gyromotor are ahead of the pulses that determine the operation of the second gyromotor so much that in this case, the phase shifts differ so much that the difference in the angular velocities of the rotors of the first and second gyromotors is not in the specified range and, therefore, the parameter those. The BDG is not functioning properly.

Analyzing four possible situations of the location of pulses on the time axis for two gyromotors, we can write a generalized formula that determines the proper operation of two gyromotors, and, consequently, the entire BDG as a whole:

In this case, it does not matter which gyromotor is not working correctly, the main thing is to identify the faulty gyromotor and disconnect it from the aircraft control system.

This method can only be implemented in practice using a microcontroller.

Claims (4)

A method for determining the proper operation of the gyromotors of a block of damping gyroscopes, based on the relationship of the angular speed of rotation of the rotor and the phase shift between the voltage and current in the phase windings of the first and second gyromotors, while the currents of the phase windings are differentiated at the moments when the current values pass through zero, and a series of pulses are obtained, which are summed separately for the three phases of each gyromotor, and evaluate the relative position of the pulses in time, characterized in that from the sequence of pulses obtained as a result of differentiation of currents in the phase windings, a sequence of meander-type pulses is formed, in which the time is measured along the leading and trailing edges, respectively the beginning and end of pulses and determine the parameter of proper operation of the gyromotors by analyzing the measured times using the formula Where start and end times of meander-type voltage pulses for the first and second gyromotors, wherein corresponds to the proper operation of the gyromotors, and corresponds to malfunctioning gyromotors.