SU444112A1 - Vertical velocity meter - Google Patents

Description

one

The invention relates to the field of measurement technology, in particular to gyroscopic accelerator integrators, and can be used to measure the vertical pitching speed of ships.

The known gyroscopic accelerator integrators in the output signal have components of the harmful moments along the axis of the inner frame and acceleration of gravity that cannot be measured, which degrades the accuracy of the meter.

The proposed device differs from the known ones in that it is provided with negative feedback from an angle sensor on the axis of the outer frame through an adder to a torque sensor on the axis of the inner frame, with the output of the angle sensor connected to the first input of the adder and through the integrator to the second input of the adder.

This makes it possible to increase the measurement accuracy.

FIG. 1 shows the kinematic scheme of the proposed device; in fig. 2 its structural scheme; in fig. 3 - logarithmic amplitude and phase frequency characteristics, explaining the operation of the proposed device.

An instrument for measuring the vertical speed of a ship’s rolling consists of a hull 1 stabilized along the course and in the j plane of the horizon, in which in along; Shitsniki, fixed on the outer axis of the suspension of the SS, installed outer frame 2 of the gyroscope. The rotor 3 of the gyroscope is mounted in bearings fixed along the i axis of the AA along the inner frame 4 of the gyroscope suspension cardanbwa, which in turn can rotate relative to the inner axis of the suspension of the explosive in the outer shell 2. The axis of the explosive is shifted by

t relative to the center of gravity of the rotor 3, and the inner frame of the suspension 4. Moment sensor 5 relative to the inner axis of the suspension BB is connected to the output of the adder 6, the inputs of which are connected to the output of the integrator 7 and the output of the angle angle sensor 8 relative to the outer axis of the suspension SS. The input of the integrator 7 is connected to the output of the angle sensor 8. With

When the power is on, the gyroscope is locked with an arresting device (not shown in the drawing). The device works as follows.

After power on and overclocking

the rotor 3 of the gyromotor to the nominal rotation. The gyroscope is released, and the transient process begins in the device. / Under the action of accelerations parallel to the external axis of the gyroscope suspension axis, the gyroscope rotates relative to the instrument housing 1 in the direction determined by the rotation direction of the rotor 3 the direction of acceleration in accordance with the law of precession. Simultaneously with an increase in the signal of sensor 8. the angle also increases the output voltage of the integrator 7, resulting in a gyroscope at a certain angle of rotation and the moment developed by the torque sensor 5 becomes greater than the moment due to acceleration. After that, the gyroscope begins to rotate in the opposite direction (to the zero position). The transition process continues until the moment

developed by the torque sensor 5, does not compensate for the action of constant accelerations and the drift of the zero gyroscope. At the end of the transition process, the gyroscope oscillates with respect to the AUL sensor 8 angles at angles proportional to the speed of the ship’s heave.

The structural scheme of the proposed instrument for measuring the vertical speed of a ship’s rolling, shown in Fig. 2, has the following designations: Wl is the coefficient relating the acceleration W applied to the instrument to the called

im moment mwj

W (p) (P) P is the transfer function of the linear integrator gyro integrator with respect to the moment M in the absence of a feedback circuit; V is the angle of rotation of the gyroscope relative to the housing of the Prier; K is the gyro gain; W (R-LH--%. - the transfer function of the negative feedback link ;.

M - moment torque sensor along the internal axis of the suspension of the gyroscope;

K - signal transfer coefficient

angle sensor

К „- intego transmission coefficient

ralu from the angle sensor signal.

The transfer fushosh of the resulting closed system with respect to the acceleration acting on the device has the form

K fpb WI - J B-wCP). ap2.

K,

Where

to, to.

Consider logarithmic

difficult and phase frequency characteristics of the instrument's ticks A ((o) and Y (joy (see fig. 3),

| we can draw the following conclusions:

J. 1. The response of the device to postsan |

the acceleration (0 O) is zero.

I 2. The device responds little to the low-frequency drift (CO I & 0) (A «1). |

3, In the frequency domain, corresponding to the vertical frequencies of vessels;

{with O, 1), frequency characteristics; The device characteristics are close to the frequency characteristics of the ideal integrator, represented by dashed lines, .e. speed, vertical pitching i.e.TCH measurements accurately enough. The subject of the image of the Vertical Speed Gauge: pitching, containing a gyroscopic gravimeter accelerometer with angle sensors and torque sensors both on the inside and on the axis of the outer frame, is installed on the stabilized base, characterized in that In order to increase accuracy, it is provided with negative feedback from the angle sensor on the axis of the outer frame through the adder to the torque sensor and the axis of the inner frame, with the output of the angle sensor connected to the first input of the adder and through the integrat to the second input of the sum Ator.

FIG. one

w

ml

W (fl