SU1277152A1 - Device for calculating lead value of rolling angle - Google Patents

Abstract

The invention relates to the field of analog computing and is intended for continuous automatic prediction of the pitching angles of a moving object. The purpose of the invention is to increase the speed. The device includes an angle sensor, an angular velocity sensor, three large-scale amplifiers, an adder, two correlometers and a dispersion calculation unit. The device allows to significantly increase the speed by reducing the number of operations for calculating a large number of values of the correlation function. 1 il. (L

Description

one

The invention relates to analog computing and is intended for continuous automatic prediction of the pitching angles of a moving object.

The aim of the invention is to increase speed, reduce the cost of the device and increase its reliability while maintaining high accuracy by eliminating the need to calculate the parameters of pitching.

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 The drawing schematically shows the proposed device.

The device includes an angle sensor 1 angular velocity sensor 2, a first scale amplifier 3, a second scale amplifier 4, an adder 5, a first correlometer 6, a third scale amplifier 7, a second scale amplifier 8, a dispersion calculation unit 9.

The device works as follows.

When an object moves at the output of angle sensor 1, a signal appears that is equal to the angle of the object’s rolling angle at the current time 9 (z), and the output of angular velocity sensor 2 is equal to the current value of rolling angle 9 (z). The signal on the corner 9 (z) is fed to both inputs of the correlometer 6, to the first input of the second correlometer 8 and through the first large-scale amplifier 3 to the first input of the adder 5. The speed signal 0 (z) from the output of the speed sensor 2 goes to the second input of the second correlometer 8, to the input of the dispersion calculating unit 9 and through the second scale amplifier A to the second input of the adder 5. The first correlator 6 measures the value of the normalized autocorrelation function of the object’s angle of swing, ht, i.e. g „(2). The signal of the first correlometer 6 is fed to the second input of the first scale amplifier 3 and the scale factor for the angle Kg becomes equal to Hd (r), since the value of the normalized autocorrelation function tgCt) for a random process with a correlation function is determined by yCsiMtjj) ,, (1) then the coefficient 522 is set in the first large-scale amplifier 3

KQ, equal to the scale factor. angle by angle for optimal prediction law.

The second correlometer 8 measures the value of the mutual correlation function of the processes 9 (t) and 9 (t) at the point T t, i.e. Kgg (t). Block 9 generates an angular velocity depression rate. The output signals of the correlometer 8 and block 9 are received respectively at the first and second inputs of the third scale amplifier 7, in which the value of the scale factor for the speed Kl is determined by the ratio

V - -

(2)

To ..

in ge

The value of the dispersion of the angular velocity as it is known, for the rolling of objects is associated with the dispersion of the angle 9

 G g ratio

,

(3)

 b Gg;

Claims (1)

where b u +. In turn, the mutual correlation function CD (o) for process 9 (t), having a correlation function of the form (2), is described by the expression sinTit. (4) Taking into account expressions (1), (2) and (3), the output of the scale amplifier 7 is thus set to sinAtH equal to the speed scale factor for the optimal prediction law. The signal from the output of the scale amplifier 7 is fed to the second input of the scale amplifier 4, the scale factor of which becomes equal to Ki. At the first input of the adder 5, the first scale amplifier 3 receives a signal equal to the weighted angle Kg-0 (t), and the second input of the adder 5 from the second scale amplifier 4 receives a signal equal to the weighted value of the angular velocity Kg-6 (t) "The anticipated value of the object's angle of roll, formed in adder 5, is equal to e (t-btJ Kg. 0 (t) + Kg.e (t), (6)) because the coefficients K and K are equal to their optimal values, then Consequently, the proposed device implements an optimal transfer function. since it is not necessary to determine a large number of values of correlation functions, it is necessary to know only one value of each of them.This significantly reduces (up to 100 times) the number of working cycles (or operations) of the correlometer, thus facilitating the operation of the correlometer, which increases the reliability of the device, and reduces the time to reach the operating mode by approximately the same amount. Formula of the Invention A device for calculating a pre-roll angle value comprising a first correlometer, an angle sensor, an angular velocity sensor The first and second scale amplifiers, the outputs of which are connected respectively to 1524 but to the first and second inputs of the adder, the output of which is the device output, the output of the angle sensor are connected to the first input of the first scale amplifier and to the first and second inputs of the first correlometer, to the second input of the first scale amplifier, the output of the angular velocity sensor is connected to the first input of the second scale amplifier, characterized in that, in order to improve speed, the second correction is entered into it The meter, the unit for calculating the dispersion and the third scale amplifier, the output of which is connected to the second input of the second scale amplifier, the velocity sensor of the angle sensor is connected to the first input of the second correlometer, the output of which is connected to the first input of the third scale amplifier, the second input of which is connected to the code of the calculator the input is connected to the output of the angular velocity sensor and to the second input of the second correlometer.