| 摘要 |
1484793 Gyroscopic stable reference apparatus SPERRY RAND CORP 30 Jan 1975 [6 Feb 1974] 4167/75 Heading G1C A gyroscopic stable reference platform 10 for mounting on a vehicle and providing attitude information about three mutually perpendicular reference axes provides a control arrangement for momentarily disabling an outer roll gimbal servo to prevent unstable operation of the platform. The platform 10 comprises a first gimbal 13 pivotally mounted for rotation about a roll axis 14, a second gimbal 20 pivotally mounted on the first for rotation about a pitch axis 23, a vertical gyroscope 24 having an inner gimbal 25 mounted for rotation about an inner roll axis 28 on the second gimbal 20, and a directional gyroscope 35 which is also pivotally mounted on the second gimball 20 for providing an azimuth reference. The spin axis 31 of the vertical gyroscope is maintained in alignment with the gravity vertical by control means which, as described, comprise pitch and roll accelerometers 50, 51 coupled to pitch and roll erection control amplifiers 52, 54 which supply signals to torque motors 53, 55 respectively. The pitch axis 23 is maintained perpendicular to the spin axis 31 of the vertical gyroscope 24 by means of an inner gimbal pick-off 60 which senses movement of the inner gimbal 25 about the inner roll axis 28, a resulting signal being applied to a servomotor 62 via circuitry including a switch 105. Pitch and roll pick-offs 64, 65 and an azimuth output resolver 66 provide the attitude information required. The switch 105 may be opened to disable the servomotor 62, by means of a control 106 which may be operative upon receiving an output from an AND circuit 104 which is produced only when circuit 104 receives simultaneously three inputs, one each from a pitch level detector, a pitch rate detector 102 and an inner roll angle detector. Descriptions of possible detectors 101, 102 and 103 are given. Further, excessive acceleration experienced by either of accelerometers 50, 51 causes a signal which disengages the respective erection amplifier 52, 54 to avoid axis 31 following a false vertical. |
