RU2805424C1 - Device for measuring angle of rotation of aircraft in horizontal plane - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: device for measuring the angle of rotation of the aircraft in the horizontal plane contains a gyro-semi-compass containing a three-degree gyroscope with systems of horizontal and azimuthal corrections, on the axis of the outer frame of which a system sensor for the heading angle, gyro-vertical and heading angle indicator is fixed, two angular velocity sensors, a permissible roll angle setter, and a microcontroller, connected in a certain way.

EFFECT: increased reliability of measurements.

1 cl, 2 dwg

Description

The invention relates to precision instrument making, namely to gyroscopic technology, and can be used to measure the angle of rotation of an aircraft during maneuvers in the horizontal plane.

A device for measuring the angle of rotation of an aircraft in the horizontal plane is known, which is implemented in various types of gyro-semi-compasses and, in particular, in the gyro-semi-compass GPK-52AP (Mikhailov O.I., Kozlov I.M., Gergel F.S. Aviation instruments. M. : Mechanical Engineering, 1977, p. 166). The GPK-52AP gyro-semicompass consists of a three-degree gyroscope with the axis of the outer frame located parallel to the normal axis of the aircraft, containing horizontal and azimuthal correction systems, a system heading angle sensor, the rotor of which is rigidly fixed to the axis of the outer frame, and the stator to the body. The pointer is remotely connected to the system heading angle sensor.

However, when performing a turn in a horizontal plane (turn), the axis of the outer frame of the gyro-semi-compass, oriented along the normal axis, will deviate from the vertical by a roll angle. In this case, an error occurs, which is geometric in nature, and is called cardan error

(1)

Where rotation angle in the horizontal plane; roll angle; cardan error.

A device for measuring the angle of rotation of an aircraft in the horizontal plane is also known, adopted as a prototype and implemented in various types of heading systems, for example, in the heading system KS-6, in which a gyro-semi-compass (gyro unit GA-1M) is installed with an outer frame in a tracking frame, adjusted according to gyro-vertical signals by roll angle (Equipment for measuring heading and vertical on civil aviation aircraft / Yu.A. Akindeev, V.G. Vorobyov, A.A. Karchevsky, etc.; Generally edited by P.A. Ivanov. M .: Mechanical Engineering, 1989. -344 pp. pp. 89-93). The GA-1M gyro unit consists of a three-degree gyroscope containing horizontal and azimuthal correction systems, with the axis of the outer frame kinematically placed in a tracking frame, on the suspension axis of which an angle sensor and a mining engine are installed and which is parallel to the longitudinal axis of the aircraft. The system heading angle sensor consists of a rotor rigidly mounted on the axis of the outer frame, and a stator on the follower frame. To compensate for the cardan error, the axis of the outer frame is stabilized at the local vertical using a servo system controlled by a signal from the system gyro-vertical roll sensor. In this case, the difference signal of the system gyro-vertical roll sensor and the tracking frame angle sensor is connected to the input of the amplifier, the output of which is connected to the exhaust motor, which rotates the axis of the outer frame of the gyro unit to a vertical position, in which there is practically no gimbal error. The pointer is remotely connected to the system heading angle sensor.

The disadvantage of the prototype as an aircraft rotation angle meter is the significant complexity of the electromechanical part of the structure, which provides compensation for the gimbal error, which reduces the reliability of the directional gyro unit as a whole.

The technical result to which the claimed invention is aimed is to simplify the design of the gimbal error compensation circuit and to increase the reliability of operation by using information from two standard angular velocity sensors of the aircraft.

The technical result is achieved by the fact that in the device for measuring the angle of rotation of an aircraft in the horizontal plane, consisting of a gyro-semi-compass containing a three-degree gyroscope with systems of horizontal and azimuthal corrections, on the axis of the outer frame of which a system sensor of the heading angle, gyro-vertical and heading angle indicator is fixed, is new. that it contains first and second angular velocity sensors, the sensitivity axes of which are respectively directed along the normal and transverse axes of the aircraft, a permissible roll angle setter and a microcontroller, with a system heading angle sensor, a system gyro-vertical roll angle sensor, outputs of the first and second sensors angular velocities and the permissible roll angle setter through the first to fifth analog-to-code converters are connected, respectively, to the first to fifth input ports of the microcontroller, and its output port is connected to the heading angle indicator, while the angle of rotation of the aircraft in the horizontal plane is calculated in the microcontroller according to the formulas, the structure of which depends on the amount of roll of the aircraft.

The essence of the invention is illustrated by the drawings shown in Fig.1 and Fig.2.

Figure 1, which shows a block diagram of the device, and FIG. 2, which shows coordinate systems and kinematic parameters, the following notations are adopted:

1 - system sensor of the heading angle of the gyro-semi-compass;

2 - first angular velocity sensor;

3 - second angular velocity sensor;

4 - system gyro-vertical roll angle sensor;

5 - permissible roll angle setter;

6 - first analog-to-code converter;

7 - second analog-to-code converter;

8 - third analog-to-code converter;

9 - fourth analog-to-code converter;

10 - fifth analog-to-code converter;

11 - microcontroller;

12 - heading angle indicator.

Letter designations:

local vertical axis;

local horizon plane;

normal axis of the aircraft;

transverse (lateral) axis of the aircraft;

the angle of rotation of the aircraft in the horizontal plane;

the angle of rotation of the aircraft relative to the normal axis;

aircraft roll angle;

permissible roll angle of the aircraft;

angular speed of rotation of the aircraft relative to the local vertical axis;

angular velocity of the aircraft relative to the normal axis;

angular velocity of the aircraft relative to the transverse axis.

The description of the operation of the device, the block diagram of which is shown in Fig. 1, will be considered in horizontal flight of the aircraft, taking into account the designations shown in Fig. 2.

In accordance with the block diagram, gyrocompass 1 does not have a tracking system to compensate for the gimbal error, therefore its system heading sensor measures the angle of rotation of the aircraft around the normal axis Standard angular velocity sensors: first 2, measures angular velocity around the normal axis and the second 3, measures the angular velocity around the transverse axis System gyro-vertical roll angle sensor 4 measures roll aircraft. The permissible roll angle setter 5 limits the direct use of the signal from the system gyrocompass sensor 1 when the aircraft turns. To convert measured signals into binary code, analog-to-code converters are used In this case, converter 6 is special (voltage ratio converter), since it converts the signal from a sine-cosine transformer - heading angle sensor. Converters are converters of DC voltage signals into binary code and can be separate circuit elements or built into a microcontroller 11. Information about the angle of rotation of the aircraft in the horizontal plane microcontroller 11 outputs to pointer 12, for example, electronic type.

Axles form a normal coordinate system. Axis is directed along the local vertical, and the axis And occupy an arbitrary position in the horizontal plane. In accordance with figure 2, the longitudinal axis of the aircraft is directed perpendicular to the drawing from us and parallel to the horizontal axis . In this case, the aircraft makes a turn with a roll and angular velocity , whose projections on the axis And equal And respectively.

Figure 2 shows the positive directions of angular velocities, and depending on the sign of the roll angle angular velocities will have the following signs:

- at (right turn) - , , ;

- at (left turn) - , , ,

and the angular speed of turn (turn) in accordance with the measured determined by the formula

Operation of the device in horizontal straight flight.

Microcontroller 11 first interrogates converters 9 and 10 analog-code of the gyro-vertical roll angle sensor 4 and the permissible roll angle setter 5, converter 6 of the system gyro-semicompass heading angle sensor 1, writes information to the corresponding memory cells and checks the fulfillment of the condition .

In horizontal straight flight, the roll of the aircraft, which is caused by dynamic errors during the operation of the autopilot or manual control, will always satisfy the condition , and if specified correctly , the value of which is enough to take in the range , the maximum cardan error calculated using formula (1) will be less . In reality, the amplitude of the aircraft's roll oscillations is much less and the cardan error will be significantly less . Therefore, to judge the angle of rotation in the horizontal plane around the axis of the local vertical it is enough to use information about the rotation around the normal axis of the aircraft . Those. in this case, the microcontroller provides real-time information to the heading angle indicator 12 in the form Where analogue of discrete time (corresponds to the next polling cycle).

Operation of the device in horizontal flight with a turn at an arbitrary angle.

In this case, the command to turn is given in the form of a signal (specified roll) into the autopilot, or is formed by deflecting the pilot’s control stick. The aircraft begins to turn with a given roll. Since when turning , then the microcontroller begins to additionally interrogate converters 7 and 8 of the first 2 and second 3 angular velocity sensors. In this case, the maximum value of the cardan error can reach more than and therefore form a rotation angle for the pointer in the form unacceptable. In this case, the microcontroller 11 performs the following actions in real time:

1. remembers the angle value of the system heading sensor of gyro-semi-compass 1 at the moment of the start of the turn ;

2. calculates at each step trigonometric functions ;

3. Using the values of the first 2 and second 3 angular velocity sensors surveyed, an increment of the heading angle in the horizontal plane is formed according to the formula

, (2)

Where the duration of the program cycle in the microcontroller, which provides measurements and calculations in real time;

4. calculates the angle of rotation of the aircraft using the formula

,

Where number of iterations when performing a rotation with the condition

Since the turn occurs for a short time, usually tens of seconds, due to the operation of numerical integration (2) an insignificant error will accumulate, which will be less than the gimbal error.

The proposed device allows us to simplify the gimbal error compensation circuit by replacing the electrokinematic tracking system with an additional frame, an electronic system with a microcontroller, the input signals of which are the signals from the standard sensors of the aircraft.

Claims (1)

A device for measuring the angle of rotation of an aircraft in the horizontal plane, consisting of a gyro-semi-compass containing a three-degree gyroscope with systems of horizontal and azimuthal corrections, on the axis of the outer frame of which a system sensor of the heading angle, gyro-vertical and heading angle indicator is fixed, characterized in that it contains the first and second angular velocity sensors, the sensitivity axes of which are respectively directed along the normal and transverse axes of the aircraft, a permissible roll angle setter and a microcontroller, with a system heading angle sensor, a system gyro-vertical roll angle sensor, the outputs of the first and second angular velocity sensors and a permissible roll angle setter through the first to fifth analog-to-code converters are connected respectively to the first to fifth input ports of the microcontroller, and its output port is connected to the heading angle indicator, while the angle of rotation of the aircraft in the horizontal plane is calculated in the microcontroller using formulas, the structure of which depends on the amount of roll of the aircraft .