SU1530998A1 - Device for measuring angular speed - Google Patents

Abstract

The invention relates to instrumentation and can be used in the management of moving objects. The purpose of the invention is to expand the measurement range. A nonlinear element 4 and a second amplifier 5 are introduced into the device for measuring the angular velocity. The output of the second amplifier 5 is connected to the torque sensor 6. The voltage from the angle sensor 2 is supplied to one of the inputs of the amplifier 5, and 2 from the output of the nonlinear element 4. pf 3 il.

Description

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The invention relates to instrumentation and can be used in the management of moving objects, in particular flying vehicles.

The purpose of the invention is to expand the measurement range.

FIG. 1 shows a functional diagram of an apparatus for measuring angular velocity; in fig. 2 - principle on the scheme of the nonlinear element; in fig. 3 - output characteristic of the device.

The device for measuring the angular velocity contains a girode 1 with an angle sensor 2 connected to the input of the first amplifier 3, the output of which is connected to the nonlinear element 4. The outputs of the nonlinear element 4 and the angle sensor 2 are connected to the inputs of the second amplifier 5 whose output is connected to the sensor 6 points set on girouzla. The output of the device is the output of the first amplifier 3.

The nonlinear element 4 is complete in the input of two parallel-connected circuits, each of which consists of series-connected resistance R (R4.) And counter-connected diode G, (B 2.) and ZenithronST, (CT ,,). Each of the common points of connection of the diodes D, and Dj. CT zener diodes, and CTg Tie- resistances P and B are connected to a constant voltage source, or y. Common connection point

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five

The device works as follows.

The voltage from the output of the angle sensor 2 fixed on the frame of the gromole 1 is amplified by the amplifier 3 and is fed to the output of the device as well as to the feedback circuit. The feedback circuit includes a nonlinear element 4, to the input of which the output voltage of amplifier 3 is applied, and a second amplifier 5, to one of the inputs of which voltage is supplied from angle sensor 2, and to the second from the output of nonlinear element 4. Output voltage The amplifier 5 is supplied to the torque sensor 6, which serves as the executive element of the electric spring of the device for measuring the angular velocity.

Reference voltage formers, composed of resistors P (4 with Zener CT (CT)}, are used to establish the calculated value of the output voltage of the device U, at which the coefficient in the feedback circuit should be changed, and nonlinear voltage dividers for setting the calculated transmission coefficient values. The input voltage of the nonlinear element 4 is the output voltage of the device U, and the output voltage - and.

The output voltage U, depending on the angular velocity CO and the device parameters, is defined as.

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kinetic moment of a girth;

-equivalent torque sensor resistance;

-Telement sensor transmission coefficient;

- gain factor, amplifier 5, taking into account the characteristics of the nonlinear element 4;

-the value of the output voltage corresponding to the angular

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the CO velocity at which the change in slope is made;

limit values of the measured angular velocity at constant gain factors of the amplifier 5 Ki

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Output voltages of the angle sensor and the non-linear element U due to the inverting action of the usi5

The unit 3 is in antiphase. Therefore, the output voltage of the amplifier 5 is proportional to their difference with the corresponding coefficients. The type of this voltage is shown in Fig. 3 by a dotted line.

When using the proposed device for measuring the angular velocity in the control system, it may only be necessary to change the scale of the output signal. In this case, when the slope of the characteristic decreases, the fixed voltage equal to di should be subtracted from the output signal. In this case, the output voltage of the device varies in steps, but without a shock effect on the gyro node.

Claims (2)

Claims I. An angular velocity measurement device comprising a girule, angle and moment sensors, an amplifier whose input is connected to an angle sensor output, and the output is an output of a device, is distinguished by and D  3 21 / 2S: 5i 30998b e with the fact that, in order to expand the measurement range, a second ampillator and a non-linear element are additionally introduced into it, with the output of the first amplifier connected to the input of a nonlinear element, the output of which is connected to one of the inputs of the second amplifier, to another input 10, the output of the angle sensor is connected, and the output of the second amplifier is connected to the input of the torque sensor. 2. The device according to p. I, of tl and - that the fact that 15 The element is made in the vice of two parallel-connected circuits, each of which consists of a series-connected resistance and an oppositely connected diode and a zener diode, the common connection points of which are connected to a constant voltage source through resistance, and the common connection point of resistance of parallel circuits is connected through resistance 25 respectively to the output of the first amplifier and one of the inputs of the second amplifier. four -It FIG, g and (jj FIG. 3