RU8801U1 - SINGLE HYDRAULIC STABILIZER - Google Patents

Abstract

A uniaxial gyrostabilizer containing a two-stage gyroscope with a precession angle sensor and a torque sensor, a stabilization amplifier and a stabilizing motor connected in series, and an accelerometer and a converter amplifier connected in series, while the output of the precession angle sensor is connected to the input of the stabilization amplifier, and the output of the converter amplifier is connected with a torque sensor, in addition, the gyrostabilizer contains a differentiating element, a nonlinear signal sign extraction element, an amplifier the signal, the negative signal amplifier and the adder, the output of the precession angle sensor is additionally connected to the input of the differentiating element, the output of which is connected to the input of the nonlinear signal sign extraction element, the output of the nonlinear signal sign extraction element is connected to the input of the positive signal amplifier and to the input of the negative signal amplifier the outputs of which are connected to the inputs of the adder, and the input of the torque sensor is additionally connected to the output of the adder, characterized in that, in order to increase the accuracy In the course of its work, an additional block of three orthogonal accelerometers, three nonlinear elements that implement the transfer function W, an adder, a nonlinear element that implements the transfer function, extract the square root, a nonlinear element that implements the transfer function 1 / U, and a multiplier are added, and the output of the first accelerometer connected to the input of a nonlinear element that implements the transfer function W, the output of which is connected to the adder, the output of the second accelerometer is connected to the input of the second nonlinear element, real

Description

Uniaxial gyrostabilizer

The utility model relates to the field of gyroscopic technology and can be used in guidance and control systems of aircraft.

Known uniaxial gyrostabilizer (OGS), which provides a given orientation of the stabilized element (platform) relative to one axis 1. A typical scheme of such a gyrostabilizer includes a two-stage gyroscope and a stabilized object located on the platform. The output axis of the stabilizing motor is connected to the platform (usually with the help of a gearbox), which is designed to apply moments to the platform that compensate for the action of disturbing moments relative to the stabilization axis. On the axis of suspension of the gyroscope, the implied axis of the precession, a precession angle sensor is installed, the signals from which are fed to the amplifier of the stabilization system. The amplified and converted signal is fed to the control windings of the stabilizing motor. The combination of a precession angle sensor, an amplifier and a stabilizing engine is usually called a stabilization system. Such a construction of a gyroscopic device allows stabilization of the platform and the object located on it.

harmful moments acting along the precession axis of the gyroscope, leads to an increasing departure (drift) of the platform from its original position.

A uniaxial gyrostabilizer is known, the main elements of which are a two-stage gyroscope, a precession angle sensor, an accelerometer, an amplifier-converter, an amplifier of a power stabilization system, a stabilizing engine, a torque sensor, a differentiating element, a nonlinear signal sign extraction element, a positive signal amplifier, a negative signal amplifier and an adder 2. At the same time, these OGS elements form three systems: a stabilization system, a correction system, and a compensation system. In the stabilization system, a precession angle sensor, a power stabilization amplifier and a stabilizing engine are connected in series. In the correction system, an accelerometer, an amplifier-converter, and a torque sensor are connected in series. In the compensation system, the sensor is connected in series. precession, differentiating element, nonlinear element of signal sign extraction. The output of the nonlinear element is connected to the input of the amplifier of the positive signal and to the input of the amplifier of the negative signal, the outputs of which are connected to the inputs of the adder, and the input of the torque sensor is additionally connected to the output of the adder.

The disadvantage of such a system is that the compensation system unloads the axis of the extra-built-up OGS frame only from the constant component of the moment of dry friction forces, which does not depend on axial and radial overloads. For highly maneuverable objects (aircraft, rocket), the GHS drift due to linear acceleration is a very significant quantity, and therefore compensation for this component of departure is a very urgent task.

The utility model is intended to improve the accuracy of the uniaxial gyrostabilizer due to the formation of an additional moment, which compensates for the effect of the moment of dry friction forces, which depends on overloads.

This property of the utility model is achieved by the fact that in a uniaxial gyrostabilizer containing a two-stage gyroscope, a precession angle sensor, an accelerometer, an amplifier-converter, an amplifier of a power stabilization system, a stabilizing motor, a torque sensor, a differentiating element, a nonlinear signal sign extraction element .. a positive signal amplifier , a negative signal amplifier and an adder, an accelerometer block is additionally introduced, containing three orthogonal accelerometers, three nonlinear links, p implements the transfer function W, the adder, the nonlinear link that implements the transfer function N /, the nonlinear element that implements the transfer function 1 / and g and the multiplier; wherein the output of the first accelerometer is connected to the input of the first nonlinear element that implements the transfer function W, the output of which is connected to the adder; the output of the second accelerometer is connected to the input of the second nonlinear element that implements the transfer function W, the output of which is connected to the adder; the output of the third accelerometer is connected to the input of the third nonlinear element, which also implements the transfer function W, the output of which is connected to the adder. The output of the adder is connected to the input of the fourth nonlinear element that implements the transfer function V; the output of which is connected to the input of the fifth nonlinear element that implements the transfer function l / Ug. This element is connected to the multiplier. ;. The essence of the utility model is illustrated in the drawing, in which a two-stage gyroscope 1 is a common element for the stabilization system and the correction system. The stabilization system is a serial connection of the sensor of the fragility of the precession 2, the stabilization amplifier 3 and the stabilizing engine 4. The correction system is the serial connection of the accelerometer 5, the amplifier-transducer 6 and the torque sensor 7. The system for compensating the constant component of the moment of dry friction forces is the connection of the sensor precession 2, differentiating element 8, nonlinear element of signal sign isolation 9, amplifiers of positive 10 and negative 11 of the signal, s mmatora 12 and the torque sensor 7. The system parallel compensation component of the torque constant dry friction uniaxial compensation circuit gyrostabilizer introduced dry friction torque-dependent overload. Its main elements are the block of accelerometers 13, nonlinear elements 14,15,16 that implement the transfer function W, the adder 17, nonlinear elements 18,19, which respectively implement the transfer functions of l / 1 / Ug and the multiplier 20. The block of accelerometers 13 contains three accelerometers which are located orthogonally, with the axis of sensitivity of one of them coinciding with the axis of precession of the uniaxial gyrostabilizer, and the axes of sensitivity of the other two coincide with two other axis of the OGS. The output of the accelerometer, the sensitivity axis of which coincides with the axis of the OGS precession, is connected to the input of the nonlinear element 14, the output of which is connected to the input of the adder 17. The output of the second accelerometer is connected to the input of the nonlinear element 15, the output of which is connected to the input of the adder 17. The output of the third

The accelerometer is connected to the input of the nonlinear element 16, the output of which is connected to the adder 17. The output of the adder 17 is connected to the input of the nonlinear element 18, the output of which is connected to the input of the nonlinear element 19. The output of the nonlinear element 19 is connected to the input of the multiplier 20.

To explain the principle of operation of the proposed model, we consider the equations of motion of a uniaxial gyrostabilizer. Moreover, these equations after the start of the aircraft (LA) (the correction circuit is disabled) have the form:

Ap + fiJp + Ha M; Ba + f a-Hfl-K M,

p, p, p, C1, CX. angles, angular velocities and accelerations of the gyroscope relative to the axes of the inner and outer frames;

A, B are the moments of inertia of the gyroscope and other moving parts relative to the x and TJ axes;

H is the kinetic moment of the gyroscope;

(are the viscous friction coefficients with respect to the x and TI axes;

M, M - moments of external forces relative to the axes hit ;;

A is the gear ratio of the stabilization circuit.

An analysis of the first equation of system (I) shows that as a result of the action of disturbing moments along the axis of the inner frame of the gyrostabilizer, an uncompensated self-drift of the device with a speed

.Е н The sum of harmful moments JMgoj, contains the following most characteristic terms Msoj.M, .j,. + M, 6 ,,,,, (3) where Мру is the moment of dry friction forces along the axis of the inner frame; - moments of unbalance forces; tpx - moments of tension of current leads; there are other disturbing moments. The moments of dry friction forces are one of the most significant factors causing the OGS to leave. A device 2 is known that compensates for the effects of dry friction forces, independent of aircraft overloads. However, during the flight on LA there are various accelerations and, as a consequence, overloads. It was established 1 that in a gyroscope with ball-bearing supports, the moment of dry friction forces is determined by the following expression: Ig 4 / P (4) where Mpx is the constant component of the moment of dry friction forces, and is the overload acting on the supports of the haroscope during the flight of the aircraft. The proposed model makes it possible to realize at its output a voltage proportional to the overload acting at each specific moment in time on the gyroscope supports during the flight of the aircraft. This stress, being multiplied with a voltage proportional to Mjy, will allow the moment sensor to form a compensating moment, which neutralizes the harmful moments of dry friction forces, including those depending on overload. It's in

ultimately will significantly improve the accuracy of stabilization.

As you know, overload is generally a relation

g

 (5}

where W is the linear acceleration acting on Л А, | - is the acceleration of gravity.

The acceleration acting on the aircraft can be defined as the geometric sum of three orthogonal components:

fr r / + fr / + r /, (6)

where W, W, W are the linear acceleration components acting

along the x, y, z axes of the measuring trihedron, respectively.

Consider the work of the proposed utility model.

After the start, the accelerometers from block 13 begin to measure linear accelerations acting on the aircraft. Each of the three components of acceleration is squared in non-linear elements 14 ... 16, then they are added to the adder 17. After that, the square root is extracted from the obtained value in non-linear element 18, as a result, at the output of element 18 we have a voltage proportional to the acceleration U. The resulting voltage in the nonlinear element 19 is divided by a voltage proportional to the acceleration of gravity. Thus, at the output of element 19, we obtain a voltage proportional to the overload that acts on LA in flight at any given time.

g

we have a signal proportional to the moment of dry friction forces acting on the supports of the OGS gyroscope, taking into account the overload, but of the opposite sign. This signal arrives at the moment sensor, which forms the compensating moment (unloading the OGS supports from the harmful moments of dry friction forces), which significantly increases the stabilization accuracy.

The positive effect is to reduce the self-drift of the uniaxial gyrostabilizer due to the unloading of the gyroscope precession axis from the action of the harmful moments of dry friction forces, which depend on overloads.

LITERATURE

1.Kargu L.I., Measuring devices of aircraft: M .: Mechanical Engineering, 1988.-256s .: ill.

2. Patent of the Russian Federation No. 2011171.

Claims (1)

A uniaxial gyrostabilizer containing a two-stage gyroscope with a precession angle sensor and a torque sensor, a stabilization amplifier and a stabilizing motor connected in series, and an accelerometer and a converter amplifier connected in series, while the output of the precession angle sensor is connected to the input of the stabilization amplifier, and the output of the converter amplifier is connected with a torque sensor, in addition, the gyrostabilizer contains a differentiating element, a nonlinear signal sign extraction element, an amplifier the signal, the negative signal amplifier and the adder, the output of the precession angle sensor is additionally connected to the input of the differentiating element, the output of which is connected to the input of the nonlinear signal sign extraction element, the output of the nonlinear signal sign extraction element is connected to the input of the positive signal amplifier and to the input of the negative signal amplifier the outputs of which are connected to the inputs of the adder, and the input of the torque sensor is additionally connected to the output of the adder, characterized in that, in order to increase the accuracy STI its operation, further administered block three orthogonal accelerometers, three nonlinear element, implementing a transfer function W ^2, an adder, a nonlinear element, which implements the transfer function of the square root, the nonlinear element that implements a transfer function 1 / U _g, and the multiplier, the output of the first accelerometer is connected to the input of a nonlinear element that implements the transfer function W ² , the output of which is connected to the adder, the output of the second accelerometer is connected to the input of the second nonlinear element, which implements the transfer function W ² , the output of which is connected to the adder, the output of the third accelerometer is connected to the input of the third nonlinear element, which implements the transfer function W ² , the output of which is connected to the adder, the output of the adder is connected to the input of the nonlinear element that implements the transfer function "square root extraction" whose output is connected to the input of a nonlinear element that implements the transfer function 1 / U _g , the output of which is connected to the input of the multiplier.