JPH0344247B2 - - Google Patents

Description

[Detailed Description of the Invention] A gyro ball containing one gyro rotor is suspended in a liquid in a tank container by a suspension line, and the damping means statically determines the directed north motion of the spin axis of the gyro rotor. The present invention relates to a gyro device capable of stabilizing startup by providing an upright stabilizing means.

Conventionally, as this type of gyro device, there is one shown in FIG. 1, for example. The gyro device shown in Fig. 1 has a structure in which a gyro ball 1 containing one gyro rotor is suspended in a liquid 7 in a tank container 2 by a suspension line 3, and the gyro ball 1 does not use any ball bearings. Therefore, even if a gyro with a small angular momentum is used, it is possible to obtain a highly accurate and compact gyro device. Further, the damping means of this gyro device obtains an azimuth error signal and a gyro tilt signal from a deflection detector 6 consisting of a primary coil 4 and a secondary coil 5 with respect to the movement of the gyro ball 1 around the vertical axis. , is an azimuth follower that causes the follower ring 16 to follow and applies damping torque to the gyro ball 1. That is, by adding the gyroscope tilt signal to the azimuth error signal, the follower ring 16 is caused to follow by the servo system so that these error signals become zero. As a result, the suspension wire 3 of the gyro ball 1 is twisted by the torque around the vertical axis of the gyro due to the gyro tilt signal, and this twisting torque becomes damping torque. However, since the signal proportional to the gyro inclination signal is statically determined by damping, the gyro device includes a latitude error, so the circuit that differentiates this gyro inclination signal can be used as a circuit that automatically corrects the error that occurs depending on latitude. Included in the orientation tracking device. Another feature is a damping means that does not cause such latitude errors.

However, in such conventional gyro devices, a problem sometimes arises in that the spin shaft becomes unstable when starting up. This is because the gap between the gyro ball 1 and the tank container 2 is restricted to be narrow in order to make the gyro device compact and the tank container 2 is small. This is because it includes a differentiating circuit. That is, if the gyroscope device is started with the gyroscope 1 accidentally having a large inclination and in contact with the tank container 2 at the time of startup, the gyroscope inclination signal is constant and does not change, so the differentiated output signal will be The torque becomes zero, and no torque is generated to restore the tilt of the gyro ball 1. Therefore, there was a problem in that the spin shaft of the gyro rotor could not be erected.

The present invention has been made by focusing on such conventional problems, and it is a problem in which the amount of inclination of the spin axis of the gyro rotor, that is, the gyro inclination signal detected by the deflection detector 6 becomes larger than a predetermined value. Therefore, it is an object of the present invention to solve the above-mentioned problems by providing a standing stabilizing means that operates the differential circuit for correcting the latitude error of the azimuth tracking device and stops the differential operation.

In the gyro device of the present invention, even if the gyro ball has a large inclination at the time of activation and is in contact with the tank container, the gyro inclination signal that is larger than a predetermined value caused by this inclination is differentiated. It passes through the circuit, but the standing stabilizing means works, for example, by short-circuiting the differential circuit, so that it is simply amplified without being differentiated.As a dipping torque, a torque proportional to the gyroscope inclination signal should be applied to the gyroscope. I can do it. Therefore, the gyroscope can detach from the tank container due to the large tilting restoring force and continue its pointing north motion. Eventually, as the pointing north movement progresses, the gyro tilt signal decreases, and when it becomes below the predetermined value, the differential circuit is opened again, the gyro tilt signal is differentiated, the damping torque is applied by the differential operation, and the gyro ball corrects the latitude error. Heading towards a static setting that leaves no trace behind. In this way, the gyro device can perform a stable starting operation.

A detailed explanation will be given below based on the drawings. FIG. 1 is a schematic diagram showing a part of a conventional gyro device.
In FIG. 1, reference numeral 1 denotes a gyroscope having a liquid-tight structure and containing a gyroscope rotor that rotates at high speed. Reference numeral 2 denotes a tank container surrounding the gyroscope 1, and numeral 3 denotes a suspension line for supporting the gyroscope 1, the upper end of which is fixed to the tank container 2, and the lower end fixed to the gyroscope 1, respectively. 4N, 4S and 5N, 5S are the primary and secondary coils of the deflection detection device 6 , respectively, which detect the deflected angle without contact, and the primary coils 4N and 4S are, for example, the surface of the gyroscope 1, They are installed at the intersection with the extension of the spin axis of the gyro rotor, that is, on the north and south sides of the gyro sphere, respectively. On the other hand, the secondary coils 5N and 5S are installed inside the tank container 2 at positions corresponding to the primary coils 4N and 4S, and are composed of three sets of differentially wound coils, and each signal a horizontal error signal and a direction error signal. and a gyro tilt signal. 7 fills the tank container 2 with a liquid such as high viscosity damping oil, such as silicone oil. One end of a pair of horizontal shafts 8, 8' is attached to the east and west positions perpendicular to the equatorial spin axis of the tank container 2, and the other ends of these shafts are rotated by bearings 13, 13' provided at corresponding positions of the horizontal ring 12. Dynamically mate.
10 is a horizontal tracking servo motor, which is attached to the horizontal ring 12. A horizontal gear 9 is attached to one horizontal shaft 8, and is meshed with a horizontal pinion 11 attached to the rotating shaft of a servo motor 10. horizontal ring 12
The gimbal shafts 14 and 14' are respectively installed at positions perpendicular to the horizontal shaft bearings 13 and 13', and these are installed at corresponding positions on the follower ring 16, and rotatably fitted into the gimbal shaft bearings 15 and 15', respectively. match.
Follower shafts 17 and 17' are installed above and below the follower ring 16,
These free ends are rotatably fitted into follower shaft bearings 25, 25' provided at corresponding positions on the panel 24.
A direction gear 21 is attached to one of the following shafts 17. 1
Reference numeral 9 denotes an azimuth following servo motor 20 attached to the board 24, and an azimuth pinion attached to its rotating shaft, which meshes with the azimuth gear 21. 22 is a compass card, which is attached to the follower shaft 17'. Reference numeral 23 denotes a base plate attached to the upper surface of the board 24 so as to correspond to the compass card 22. A base line 26 drawn in the center of the base plate 23 and the compass card 22 determine the course of the navigation vehicle equipped with this gyro device. is read. Although omitted in Fig. 1, the deviation detector 6
A horizontal ring 1 is installed between the horizontal tracking servo motor 10 and the
A horizontal axis servo amplifier fixed to 2 is provided,
These form the horizontal tracking device. Similarly, an azimuth axis servo amplifier fixed to the board 24 is provided between the deviation detection device 6 and the azimuth tracking servo motor 19, and these form the azimuth tracking device.

FIG. 2 is a schematic diagram illustrating the operation of the gyroscope 1 of the conventional device. Figure 2 schematically shows the inside of the tank container 2, and shows the north end A side of the spin axis of the gyro rotor in the gyro sphere 1 (the gyro sphere 1).
) is raised by an angle θ with respect to the horizontal plane H-H'. Here, the center of gravity of the gyroscope 1 is O ₁ , the connection point between the suspension line 3 and the gyroscope 1 is Q, the connection point between the suspension line 3 and the tank vessel 2 is P, the center of the tank vessel 2 is O ₂ , and the gyroscope The spin axis of the gyro rotor in sphere 1 is horizontal (θ=
0), it is assumed that O ₁ and O ₂ match.
Also, let A be the north end of the finger, B be a point on the gyroscope 1 that is 180 degrees off from A, and A' and B' be the points on the tank container 2 that correspond to A and B. Now, since the suspension wire 3 actually has bending rigidity, it exhibits a bending curve as shown by the dotted line in the same figure.
The amount of axial movement ξ (distance from O ₂ to O ₁ ) should decrease very slightly, but in a practical design this effect is extremely small, and here the suspension wire 3 is completely flexible. The explanation will proceed as follows. Due to the action of the servo system (horizontal and azimuth tracking device), points A' and B' on the tank container 2 and points A and B on the gyroscope 1 are
B is always on a straight line, so the tank container 2 is also parallel to the horizontal plane H by θ degrees, similar to the gyroscope 1.
−H′. Assuming that there is no external acceleration, no external force is acting on the spin axis direction of the gyro ball 1, so the suspension line 3 coincides with the vertical line. If the tension of the suspension line 3 is T, and the residual weight after removing the buoyant force due to the liquid 7, which is the damping oil of the gyroscope 1, is mg, then the suspension line 3 is
The tension T creates a moment M around the point _O1 such that M=T・rsinθ=mg・rsinθ≒mg・rθ, and this is the torque of the gyroscope 1 on its horizontal axis (perpendicular to the plane of the paper through _O1 ) will be added to the surroundings. Here, r is the distance between the center of gravity O1 of the gyroscope ₁ in FIG. 2 and the connection point Q between the suspension line 3 and the gyroscope 1. In this way, a torque proportional to the inclination of the spin axis with respect to the horizontal plane can be applied around the horizontal axis of the gyro ball 1. This is the cause of the pointing north movement of the gyroscope 1. The gyroscope 1 causes a pointing north motion due to the preset generated by the inertia of the gyroscope 1 and the torque based on the earth's gravity, and the inclination of the spin axis with respect to the horizontal plane based on the rotation of the earth. Furthermore, how to apply a dipping torque to attenuate the pointing north motion of the gyro ball 1 will be explained with reference to FIG. As shown in Figure 1, the second
In the figure, the primary coils 4N and 4S of the deflection detection device 6 are placed at points A and B, and the secondary coils 5N and 5S are placed at points A and B.
Prepare for positions A′ and B′. This displacement detection device 6 is composed of three sets of differential coils and detects the relative angular displacement between the gyro ball 1 and the tank container 2. The first coil of the secondary coil 5 detects the relative angular displacement around the horizontal axis as a horizontal error signal, the second coil detects the relative angular displacement around the vertical axis (azimuth axis) as an azimuth error signal, and the third coil detects the relative angular displacement around the vertical axis (azimuth axis) as an azimuth error signal. The coil detects the relative angular displacement of the gyro rotor in the spin axis direction as a gyro tilt signal. The horizontal and azimuth error signals are amplified by the horizontal axis and azimuth axis amplifiers, respectively, and are sent to the horizontal tracking and azimuth tracking servo motors 10 and 19.
The tank container 2 is always made to follow the gyroscope 1, and the relative angular displacement around the horizontal axis and the vertical axis (azimuth axis) is kept at zero. When the gyroscope tilts and the tank container 2 follows it and tilts,
Since the suspension line 3 has the property of always being vertical, the gyroscope 1 does not stay at the center of the tank container 2 as shown in FIG. 2, but moves toward a lower slope.
Since this moving distance is proportional to the inclination angle θ of the spin axis of the gyro rotor, the moving distance x can be known from the gyro inclination signal detected by the third coil of the secondary coil 5. In Figure 2, if the distance between points O ₁ and O ₂ is x and the length of the suspension line 3 is a, then x = a・sinθ≒aθ. Therefore, such a gyroscope inclination signal is given to the azimuth tracking device to create a tracking error between the gyroscope 1 and the tank container 2.
In other words, the suspension wire 3 is twisted. By twisting the suspension wire 3, a torque is applied to the gyro ball 1 about the vertical axis, thereby damping the northward motion of the gyro device. However, it is well known that if the pointing north motion is simply damped by a vertical axis torque proportional to the gyroscope inclination signal, a latitude error will remain. Therefore, this gyroscope device utilizes a unique technology. That is, the gyro tilt signal is differentiated to obtain a tilt speed signal, which is further given a first-order lag characteristic, and a torque proportional to this delayed tilt speed signal is added around the vertical axis to form a damping torque. This allows static determination without latitude errors.

FIG. 3 is a block diagram of a conventional orientation tracking device. FIG. 3 shows an azimuth axis servo amplifier 3 between the deviation detection device 6 and the azimuth tracking servo motor 19.
0 is set. Reference numerals 28 and 29 are the second and third coils of the secondary coil 5 of the deflection detecting device 6 , which respectively detect the azimuth error signal and the gyro tilt signal. The azimuth error signal and the gyro tilt signal are divided into a azimuth signal system and a tilt signal system and input to preamplifiers 31 and 32 of the azimuth axis servo amplifier 30, respectively. Each signal is preamplified by 31 and 32 respectively.
The waveform is shaped and amplified by
This preamplifier has a gain adjustment function and is used to adjust the damping of the dial. In the azimuth signal system, the output of the preamplifier 32 is input to a demodulator 34 forming a double-wave demodulator, as well as an amplifier 35 and a demodulator 36 for reverse phase, and in the slope signal system, the output of the preamplifier 31 can be sufficiently amplified in the subsequent stage. Since there is a filter, the signal is input to a half-wave demodulator 33, which converts alternating current to direct current. The DC output of demodulator 33 is KA
input to filter 37; KA filter 37 is
20μF capacitor C1 and 100MΩ resistor R1
This amplifier is formed from a differential circuit and a filter with a differential time constant of over 2000 seconds. The slope signal system output of the KA filter 37 and the azimuth signal system output of the demodulators 34 and 36 are added and sent to the summing amplifier 3.
Enter 8. The output of the summing amplifier 38 is input to a modulator 39 and converted into alternating current, and the output is input to a servo power amplifier 40 via a gain adjuster. The servo power amplifier 40 drives the azimuth tracking servo motor 19, which is driven by the gear 21.
A KA filter 37 rotates the follower ring 16 that is engaged with the gyro ball 1 to perform an azimuth tracking operation with respect to the gyro ball 1, and also differentiates the upside-down gyro tilt signal to give it a first-order lag characteristic. A damping torque proportional to the output signal of is applied around the vertical axis of the gyro ball 1.

FIG. 4 is a circuit diagram showing an embodiment of the standing stabilizing means of the direction tracking device used in the gyro device of the present invention. Since the gyro device of the present invention is completely the same in structure and operation as the conventional device shown in FIGS. 1 and 2, the explanation thereof will be omitted. Further, since the azimuth tracking device of the gyro device of the present invention is the same as the conventional device except for the standing stabilizing circuit 41 indicating standing stabilizing means for controlling the KA filter 37, illustration thereof is omitted, and some mutually related parts shown in FIG. A circuit diagram of the standing stability circuit 41 is shown in FIG.

In FIG. 4, a gyro tilt signal is input to the input terminal D, the waveform is shaped and amplified by the preamplifier 31, the output is adjusted, and the signal is input to the half-wave demodulator 33, which converts alternating current into direct current. DC output is capacitor C1 and resistor R1
The signal is input to a KA filter 37 including a differentiator circuit, and its output is output to an output terminal E. The above is as already explained.

The standing stability circuit 41 includes a demodulator 49 that converts AC input into DC, an amplifier 42, and an amplifier 4.
An amplifier 43 smoothes the pulsating flow that is the output of the amplifier 43, and inputs the positive or negative output voltage of the amplifier 43 to an input resistor R3.
It is inputted through the input terminal and compared with a predetermined value, and when it is equal to or higher than the specified value, it outputs a negative or positive output voltage, drives the transistor 46 or 45 on the output side, drives the relay 47 with the output, and connects the KA filter 37. The comparator 44 has the function of closing a switch 48 inserted in parallel with the capacitor C1. In this comparator 44, one input terminal is +15V and -
It is connected to the zero potential points of four diodes arranged in a bridge shape, each supplied with direct current from a 15V power supply via a resistor R2, and the other zero potential points are connected to the output terminal of a comparator 44. The demodulator 49 is made of an FET (field drop transistor) at the same time as the demodulator 33, and forms a modulation type DC amplifier with the DC amplifier 42. Furthermore, FETs have very little drift or offset compared to general transistors, so they are used as choppers with excellent switching characteristics. When a signal synchronized with the AC power source is inputted from the terminal F to the gate of the demodulator 49, the AC can be converted into DC by synchronous rectification. The comparator 44 shows zero output voltage when the input voltage is within a predetermined value ±α, and shows a positive output voltage when the input voltage exceeds the predetermined value −α in the negative direction; Predetermined value +
When it exceeds α, the output voltage behaves to show a negative output voltage. The absolute value |α| of the predetermined value ±α is expressed by the following equation. |α| = R3/R2 A comparator 44 is required. That is, when a negative input voltage larger than the predetermined value -α is input, the output voltage of the comparator 44 becomes positive, driving the transistor 46, and the current also flows to the ground in the relay 47, so that the relay 47 is activated and the switch 48 is turned on. is closed and capacitor C1 is shorted. When the input voltage to the comparator 44 becomes a negative value smaller than the predetermined value -α, the output voltage becomes zero, the base current of the transistor 46 is cut off, and the relay 47 is not operated and is opened to the switch 48. Even when the input voltage is positive, the transistor 45 is driven in exactly the same way, but the explanation will be omitted. A Zener diode provided in parallel with the coil of the relay 47 protects the relay 47 from overvoltage.

In this way, the starting stabilizing circuit 41 is configured to control the predetermined value generated by this inclination when the gyro device of the present invention is in a state where the gyro ball 1 has a large inclination and is in contact with the tank container 2. A gyroscope slope signal larger than the absolute value |α| is a differentiating circuit that includes capacitor C1 and resistor R1.
When passing through filter 37, condenser C
1 is short-circuited by closing the switch 48, so
Since the gyro tilt signal does not become zero due to differentiation and the KA filter 37 acts as a mere amplifier, it is possible to apply a torque proportional to the gyro tilt signal to the gyro ball 1. Therefore, the gyroscope 1 can be detached from the tank vessel 2 due to the large tilting restoring force and continue its pointing motion. Next, as the pointing north movement progresses and the gyroscope inclination signal decreases and becomes less than the predetermined absolute value |α|, the start stabilizing circuit 41 makes the output voltage of the comparator 44 zero and stops the operation of the relay 47. Since the switch 48 is opened, the short circuit of the capacitor C1 is opened, the gyroscope inclination signal is differentiated, a damping torque is applied, and the gyroscope 1 and the tank container 2 move toward static position without leaving any latitude error. In this way, the gyro device of the present invention can perform a stable starting operation.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram showing a part of a conventional gyro device, Fig. 2 is a schematic diagram illustrating the operation of a conventional gyro ball 1, and Fig. 3 is a block diagram of a direction tracking device of a conventional gyro device. 4 are circuit diagrams showing an embodiment of the standing stabilizing means of the direction tracking device in the gyro device of the present invention. 1... Gyro ball, 2... Tank container, 3...
Suspension wire, 4...Primary coil, 6 ...Displacement detection device, 5...Secondary coil, 7...Liquid, 8...
Horizontal axis, 9...Horizontal gear, 10...Horizontal tracking servo motor, 11...Horizontal pinion, 12...Horizontal ring, 13 and 13'...Bearing, 14 and 14'...Gimbal axis, 15 and 15 '...Gimbal shaft bearing, 1
6...Following ring, 17 and 17'...Following shaft, 19...
... Direction tracking servo motor, 20 ... Direction pinion, 21 ... Direction gear, 22 ... Compass card, 23 ... Base board, 24 ... Panel, 25 and 2
5'...Following shaft bearing, 26...Base line, 28 and 29
...Coil, 30 ...Azimuth axis servo amplifier, 31
and 32...preamplifier, 33, 34, 36, and 49
... Demodulator, 35, 42 and 43 ... Amplifier, 37 ... KA filter, 38 ... Addition amplifier, 39 ... Modulator, 40 ... Servo power amplifier, 41 ... Standing stability circuit, 44 ... Comparison equipment, 45 and 46...transistor, 47...relay, 48...switch.

Claims (1)

[Claims] 1. A gyroscope that liquid-tightly houses a gyroscope rotor with its spin axis approximately horizontal, a tank container in which the gyroscope is suspended in the liquid by a suspension line, a horizontal ring that supports this tank container, and A follower ring that supports this horizontal ring so as to have an axial degree of freedom, a primary coil provided outside the gyroscope, and a secondary coil provided oppositely inside the tank container. A horizontal error signal is obtained from a first coil of the deflection detecting device, and the tank container is made to follow the movement of the gyroscope around the horizontal axis. A horizontal tracking device fixed to the ring and a direction error signal and a gyroscope inclination signal from the second and third coils of the deflection detecting device are obtained to control the tracking ring with respect to the movement of the gyroscope around the vertical axis. In a gyroscope device comprising an azimuth following device that causes the gyroscope to follow the gyroscope and applies damping torque to the gyroscope ball, and a board that holds the azimuth follower device and rotatably supports the follower ring, the starting of the gyroscope device is stabilized. A gyro device, characterized in that it is provided with an upright stabilizing means configured to stop the differential operation of the azimuth tracking device when the azimuth tilt signal exceeds a predetermined value.