JPH02222009A - Guiding device - Google Patents

Abstract

PURPOSE:To minimize the error component of a rate sensor contained in a guide signal by changing the gain of a signal received from the rate sensor, and correcting the signal from the rate sensor. CONSTITUTION:A rate sensor 3 detects the rocking of a machine and turns the angle changing rate of the machine into an output signal. This output signal is inputted to a variable amplifier 8 and a multiplier 6 of a correction part. A multiplier 6 obtains a product between a guide signal (b) outputted from an error detector 1 and the output signal of the sensor 3. The output of the multiplier 6 is integrated by an integrator 7, therefore, the correlation is secured between the signal (b) and the output signal of the sensor 3. If the output signal of the sensor 3 includes an error, the error component of the sensor 3 is mixed into the signal (b). Thus the value of the output of the integrator 7 is subject to the error component of the sensor 3. The gain of the amplifier 8 is changed in accordance with the output signal of the integrator 7. Thus the output signal of the sensor 3 is corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guidance device for detecting the movement of a target. There are devices that detect it as a rate of change.

Furthermore, such guidance devices include devices that apply the output of a rate sensor that detects the motion of the aircraft. An example of this guiding device is shown in FIG.

As shown in the block diagram of FIG. 2(a), this conventional guidance device includes an error detector 11 and a feedback section 1.
2, a rate sensor 13, and a subtractor 14.15. In addition, the transfer function of each element is shown in Figure 2 (b
) is shown. That is, the transfer function of the proportional element that is the error detector 11 is "K," and the transfer function of the feedback element that is the feedback section 12 is "K2/S.
”, and the transfer function of the rate sensor 13 is “1”.

In such a conventional guidance device, the error detector 11 outputs a signal proportional to the input signal e, that is, a guidance signal f. Note that the system input signal e includes information on both the target angle and the aircraft angle. A rate sensor 13 is used to output only the target angle change rate as a guidance signal.
detects the angle change rate of the aircraft. A loop is added that converts the error between the signal from the rate sensor 13 and the output signal, ie, the induction signal f, into an angle and feeds it back to the input signal e. This feedback loop comprises a subtractor 14.15 and a feedback section 12.

The feedback section 12 of the feedback loop is a system including an integral element that converts the rate of change of angle into an angle.

When an input signal e is input to this conventional guidance device, the error detector 11 outputs a guidance signal f proportional to the input signal e. The angle change rate of the aircraft detected by the rate sensor 13 is input to the subtractor 15 of the feedback loop,
The angular component due to the vibration of the aircraft is removed. In addition, as the feedback section 12 of the feedback loop,
For example, there is a gimbal servo amplifier, which is a system expressed by an integral element that converts the rate of change of angle into an angle. As described above, a guidance signal proportional to the target angle change rate is output.

[Problem to be solved by the invention]

The above-mentioned conventional induction device inputs the output of the rate sensor directly into the feedback loop, so error components of the rate sensor depending on temperature, accuracy, and initial settings are mixed in the induction signal. The disadvantage is that the accurate rate of change in angle of the target cannot be obtained.

SUMMARY OF THE INVENTION An object of the present invention is to provide a guidance device capable of eliminating such drawbacks, minimizing error components of the rate sensor, and outputting accurate guidance signals.

[Means to solve the problem]

The present invention provides an output means for outputting a guidance signal based on an input signal including a target angle and an angle of the aircraft body, a rate sensor that outputs a signal indicating a change in the angle of the aircraft body, and a signal from the rate sensor and the A guidance device comprising feedback means for feeding back a feedback signal based on a guidance signal from an output means to the input signal, wherein the guidance device is provided between the rate sensor and the feedback means, and includes a feedback signal from the guidance signal and the rate sensor. The present invention is characterized in that it includes a correction means for correcting the gain of the signal from the rate sensor based on the signal and outputting the corrected gain to the feedback means.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing one embodiment of the present invention.

This guidance device includes a subtracter 4 that subtracts an input signal a including a target angle and an aircraft angle from a feedback signal C, and an error detector 1 that outputs a guidance signal proportional to the signal from the subtracter 4. , a rate sensor 3 that detects the vibration of the aircraft and uses the rate of change in angle of the aircraft as an output signal, a correction section that corrects the output signal from the rate sensor 3 based on the guidance signal, and a correction section that corrects the output signal from the rate sensor 3 based on the guidance signal. A subtracter 5 that subtracts the signal d and the induced signal S, and a feedback section 2 that integrates the signal from the subtracter 5 and outputs a feedback signal C.
It consists of

Furthermore, the multiplier 6 calculates the product of the output signal of the rate sensor 3 and the induced signal S, an integrator 7 integrates the output signal of the multiplier 6, and a rate - It has a variable amplifier 8 that changes the gain of the output signal from the sensor 3. In addition, the feedback section 2 and the subtractor 4
．． 5 constitutes a feedback loop.

Next, the operation of this embodiment will be explained.

An input signal a containing the target angle and the aircraft angle is input to the subtractor 4. A subtracter 4 subtracts this input signal a from the feedback signal C from the feedback section 2. The error detector 1 outputs an induced signal S which is proportional to the output signal which is the result of the subtraction from the subtractor 4. This induced signal is input to a subtracter 5 in the feedback loop and a multiplier 6 in the correction section.

On the other hand, the rate sensor 3 detects the oscillation of the aircraft and outputs the rate of change in angle of the aircraft as an output signal. This output signal is input to the variable amplifier 8 and multiplier 6 of the correction section. The multiplier 6 converts the induced signal output from the error detector 1 into a rate
The product is multiplied by the output signal of sensor 3. The output signal of the multiplier 6 is integrated by an integrator 7. This corresponds to finding a correlation between the induced signal and the output signal of the rate sensor 3. When the rate sensor 3 outputs an accurate angle change rate of the aircraft, there is no correlation between the guidance signal and the output signal of the rate sensor 3, and the integral value of the integrator 7 becomes O. If the output signal of the rate sensor 3 contains an error, the error component of the rate sensor 3 is mixed in the induced signal. Therefore, the output signal of the integrator 7 has a value that depends on the error component of the rate sensor 3. By changing the gain of variable amplifier 8 according to the output signal of integrator 7, the output signal of rate sensor 3 is corrected.

This corrected output signal from the rate sensor 3 is
It is output to the subtractor 5 of the feedback loop. The subtracter 5 outputs the induced signal d and the output signal d from the variable amplifier 8,
That is, the corrected output signal from the rate sensor 3 is subtracted. An output signal that is the result of subtraction by the subtracter 5 is input to the feedback section 2. Feedback section 2
However, this output signal is integrated, etc., and a feedback signal C is output to the subtracter 4 for feedback.

In this way, the present embodiment calculates the product of the induced signal and the output signal of the rate sensor using a multiplier, integrates this result using an integrator, and adjusts the gain of the variable amplifier according to the output signal of the integrator. change. Thereby, the output signal of the rate sensor can be corrected and the error component of the rate sensor included in the induced signal can be minimized.

〔Effect of the invention〕

As explained above, the present invention has the effect of correcting the signal from the rate sensor by changing the gain of the signal from the rate sensor and minimizing the error component of the rate sensor included in the induced signal. There is.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a diagram showing an example of a conventional guidance device. 1...Error detector 2...Feedback unit 3...Rate sensor 4.5...Subtractor 6...Multiplier 7...Integrator 8...Variable amplifier Fig. 1

Claims (1)

[Claims] (1) An output means that outputs a guidance signal based on an input signal including a target angle and an angle of the aircraft, a rate sensor that outputs a signal indicating a change in the angle of the aircraft, and a signal from the rate sensor and the output A guidance device comprising feedback means for feeding back a feedback signal from a guidance signal from the means to the input signal, wherein the guidance device is provided between the rate sensor and the feedback means, and is provided between the rate sensor and the feedback means, A guidance device comprising a correction means for correcting the gain of the signal from the rate sensor based on the signal and outputting the corrected signal to the feedback means.