DE1239863B - Gyro stabilized platform - Google Patents

Description

FEDERAL REPUBLIC OF GERMANY

GERMAN

PATENT OFFICE

EDITORIAL

Int. Cl .:

GOIc

German class: 42 c-35/10

Number: 1239 863

File number: F 41474 Di b / 42 c

Filing date: December 5, 1963

Aaslegetag: May 3, 1967

Applicant:

Fluggerätewerk Bodensee G. mb H.,
Überlingen (Lake Constance)

Named as inventor:

Dr. Eduard Fischel, Überlingen (Lake Constance)

The invention relates to a gyro-stabilized platform gyro-stabilized platform

form. Have such gyro-stabilized platforms

as is well known, the task, independent of the movements of a vehicle, primarily a missile, define a spatially fixed coordinate system. For this purpose, the property of a gyroscope with two degrees of freedom is used on a rotary movement around a first axis (sensitivity axis) perpendicular to its twist axis with a torque around a second axis (precession axis)

react to the spin and sensitivity axis ~

is perpendicular. This moment causes an off 2

steering of the gyro, which is controlled by a tap in

a corresponding electrical signal is transformed to generate a signal lead. This will make the will. In known plates, the signal acts on the electrical part of the control circuit in a very complicated manner forms via amplifiers and others, from control technology and also frequency-dependent, which further niches Networks intended for reasons have a support element (cf. the article by E. M. Fischel, »Die motor that causes a rotation of the platform to dampen gyroscopes as a control problem «, in Axis causes which to the sensitivity axis "control technology", H. 3, 1962, p. 109 to 114, or of the top is parallel and contrary to the movement that triggered the moment. "Aerospace Engineering", May 1961, pp. 16/17 and

In known platforms, the gyro is un- 75 to 82).

indirectly rotatable on the platform around the precession '2. The gyro is influenced, axle mounted. The platform is usually gimbal when the platform moves around the sensitive suspended in the vehicle body and carries 25 flexibility and gyroscopic twist axis at the same time and with three gyroscopes, each of which a stabilization of the same frequency occurs, which will be described in the following causes one of the three cardan axles. The support is refined. When the control signal for the support motors cause a rotation of the gimbal motor in the known manner directly from a against each other or against the vehicle body and tap is removed, the rotation of the are measured around its precession axis by the gyroscope via coordinate gyroscopes, then set converter controlled. The gyroscopes are usually integrated - this type of regulation precedes that in the event of a fault a correspondingly large deflection of the gyro takes place. With such a deflection, the The swirl vector of the top is no longer in its

rende gyroscopes that are so inhibited by damping that their deflection speed is proportional the precession moment, its Auslen

kung thus represents a measure for the positional deviation. 35 rest position, but it also contains a compo-

Various disadvantages occur with the known platforms:

1. The top platform carries the top plate, and this has a relatively large moment of inertia,

nent parallel to the axis of sensitivity. If now at the same time a movement of the platform around If another axis takes place, then this movement can be another with the latter component

which complicates the regulation. Each of the gyroscopes must generate 40 moments around the precession axis, whichever the total moment of inertia of the gyro plate and not by moving around the sensitivity

stabilize the moving gimbals. It can be shown that swirl and damping of the gyro in a certain size relation to the inertia

moment of the gyro plate together with the moving gimbal «must be in order to achieve stability of the to ensure the gyro as a transducer and the plate as a controlled system containing control loop. It is also necessary to check the phase of the

axis and causes the gyro to drift. It can be shown that such Moments always work in one direction on average, i.e. they do not cancel each other out in the average over time. This phenomenon is also referred to as the "clerk effect" of the top.

The invention is based on the object described Disadvantages of known gyro stabilized

to avoid the control signal supplied by the gyro tap for the 50 platforms and a platform ^ with To create support motors through a two-stage network mn far less drift, in which the far more than 90 ° (often 140 °) in order to meet the electrical requirements and, if necessary, the

709 578/67

3 4

Changes to the swirl of the top can be reduced. There is no mutual interference

the can without affecting the stability of the control loop different axes.

Inadmissibly, it suffers, and the control loop can now also get through the stability of it

Raise platforms. which the stabilization of the actual gyro

There is a gyro-stabilized platform known, 5 plate takes place, be significantly simplified because

which should be aligned with school donations, namely this circle no longer with the dynamic

which are formed by gyroscopes with subframes is coupled to the gyroscope. One needs in this

the. For this purpose, each gyro with its circle is only a single-stage phase-correcting one

Twist axis stored in a frame, which in turn network, which is easier to build and a

requires a lower degree of reinforcement around an axis perpendicular to the centrifugal spin axis,

is pivotably mounted in the subframe. An embodiment of the invention is in the

the former frame is shown against rotation relative to drawings and in the following

elastically tied to the subframe. The subframe wrote.

carries in the extension of the bearing axis of the former F i g. 1 shows to illustrate the invention

Frame a mass. It is one of the 15 schematically diagrammatic application of the same

called the bearing axis vertical axis in turn on a single-axis platform;

stored on the platform. By appropriate dimensioning F i g. 2 shows a schematic diagram of one according to it is ensured that the thus obtained three-gyro platform constructed from gyroscopes of the invention, and mass formed pendulums one of the Schuler period To explain the basic idea of the inventor Has oscillation period. To solve the 20 manure, a uniaxial platform 10 is above in Fig. 1 The problem discussed is this known one, which is stabilized about an axis y-y. to However, the arrangement is neither specific nor suitable. a gyro 12 is provided for this purpose, its

Starting from such a gyro-stabilized spin axis 14 parallel to the coordinate axis xx

Platform that is stabilized about at least one axis. The gyro 12 is with its housing to the

is, with a gyro, the precession axis parallel to the coordinate axis zz by 25 in an auxiliary frame

one rotatably mounted in a subframe 18 so that it is perpendicular to the twist axis and the stabilized axis. Of the

right precession axis is rotatably mounted, the auxiliary srahmen 18 is in turn opposite the plate

in turn on the platform around a stabilized form 10 around an axis 20 (sensitivity axis)

Axis parallel axis is rotatably mounted, and with pivotably mounted, which is parallel to the sta-

a support motor which lies on an axis yy which bilizes the rotational movement 30.

tapping between subframe and platform The rotation of the gyro around its precession

first tap is controllable and the platform is the axis 16 relative to the frame 18 by means of

Tracking subframe, the invention consists in tapping a tap 22, which is shown here schematically

that a movement of the gyro around its pre- is shown as a potentiometer tap, but that one

The cession axis is tapped by a second tap, practically as an inductive ironless position tap

is gripped, the signal of which will form a frame around the hoof. The tap 22 transmits a signal

Torque generator acting on the bearing axis acts on an amplifier 24 directly on a torque ^

beats. generator 26, which is located on the platform 10

The gyro does not initially stabilize the supports and a torque on the frame 18 entire platform, but only its own hoof 40 the axis 20 generated. The movement of the frame frame. When moving the platform 18 relative to the platform 10 is by means of a relatively small moments on the subframe via tap 28 tapped. The received from tap 28. This is practically only the frictional signal applied via a suitable single moment, the network 30 and a force amplifier 32, which are stepped on the support of the subframe be transmitted. Only these disturbances the 45 needs a support motor 34, which a rotation of the To compensate gyro by causing the torque platform 10 around the axis y-y, generates corresponding counter-torques. How the described arrangement works This is much easier than with the previously known is the following: When the vehicle (missile), on Platform stabilization, because once the disturbance variables on which the platform is mounted at 36, one are lower and, on the other hand, the controlled system 50 also executes a rotary movement about the y-y axis, then has more favorable properties. The platform does not need to rotate first. About the the entire platform with its relatively large bearing-bearing friction at 38 also becomes the frame 18 somewhat moment to be stabilized, but only that taken along. A mover acts proportionally on the frame 18 light subframe, the supporting structure around the axis 20. The rotation around the axis moment is about a hundred times smaller than the 55 20 has a precession moment about the axis 16 to the platform. This also has an essential consequence. The precession moment, which is well known Lent simplification of the electronics, because the requirements for the angular velocity about the axis 20 proporder on signal lead or the like is lower or tional, the speed proportional one acts are no longer necessary. Damping. a damper 40, so that the

The gyro needs from the described green 60 deflection speed of the gyro 12 the prair not to make a big rash. The twist cession moment becomes proportional. The gyro axis practically remains in its rest position. The deflection is therefore proportional to the deflection of the form can be located under the auxiliary frame 18, which remains fixed in space, in relation to its starting frame which is fixed in space turn away by a finite angle and position. The tap 22 gives a signal via the verder second tap a corresponding control signal 65 stronger 24 to the torque generator 26, which without requiring a gyro deflection to return the frame 18 to its starting position were. As a result, there can be no turning and the frictional torque in the gyro drift through the "rectifier effect" counteracts bearings 38. So this way will

Claims (1)

the gyro 12 is held fixed in space with the frame 18 with respect to the axis yy. When the vehicle moves about the y-y axis, the platform 10 is initially below the Fixed frame 18 turned away. There is a relative movement between frame 18 and platform 10, so that the tap 28 supplies an error signal. This signal is sent via a single-stage lead network 30 and the power amplifier on the support motor 34, which the platform 10 rotated with respect to the vehicle body, so that the platform is in a fixed position with respect to the subframe 18 and thus occupies the room. By dividing the control into a stabilization of an auxiliary frame 18 and a tracking and alignment of the platform 10 after the subframe is for the reasons described Regulation simplified and improved. F i g. 2 shows a three-rotor platform designed according to the invention. The platform 10 'is mounted in two cardan frames 66 and 68, namely the gyro plate 10' is rotatably mounted in the frame 66 about an axis AA. The frame 66 is rotatably mounted in the frame 68 about the axis BB perpendicular to AA , and the frame 68 is mounted in the vehicle frame about an axis CC perpendicular to BB. The gimbals can be rotated relative to one another by support motors 34 ', 34 "and 34"' in order to Movement of the vehicle body 36 'to keep the position of the platform in space unchanged. On the gyro plate there are three gyro assemblies 70, 72, 74 of the type shown in FIG. 1 already described type arranged, each of which brings about the stabilization about one of the spatially fixed axes xx, yy, zz by controlling the support motors. For this purpose, the gyro arrangement 72 controls the support motor 34 '"(azimuth). The gyro arrangements 70 and 74 control the support motors 34' and 34" (pitch and roll motors) via a coordinate converter 76. The coordinate converter 76 receives the signals from both gyro arrangements 70 and 74 and supplies signals to the motors 34 'and 34 ″, which are linear functions of the two gyro signals dependent on the azimuth Swap functions, and in general the xx and yy axes do not coincide with the BB or CC axes of the gimbal. The design of the gyro arrangements 70, 72 in detail corresponds to that of FIG. 1 and does not need to be described again here. It is essential that when the platform 10 'moves about the three axes xx, yy, zz, no mutual influencing of the control loops occurs, as was already described at the beginning. Claim: Gyro-stabilized platform, which is stabilized around at least one axis, with a gyro, the precession axis perpendicular to the twist axis and the stabilized axis in a subframe is rotatably mounted, which in turn on the platform about a stabilized axis parallel axis is rotatably mounted and with a support motor, the rotary movement of one between the subframe and the platform tapping first tap is controllable and the Platform tracks the subframe, characterized in that a movement of the gyro about its precession axis is tapped by a second tap, the signal of which is around the subframe bearing axis acting torque generator applied. Considered publications:
U.S. Patent No. 2,893,248. 1 sheet of drawings 709 578/67 4.67 © Bundesdruckerei Berlin