METHOD FOR PLATFORM GYROSCOPIC STABILISATION

摘要

FIELD: physics.SUBSTANCE: to stabilise the position of a platform which is mounted on a base with the possibility of rotating about an axis which is parallel to the base, the turning angle of the platform relative the stabilised position and the rate of change of the turning angle are determined. The angular velocity of the base relative an axis which is parallel to the axis of rotation of the platform is determined. A control signal is generated, which is transmitted to the actuating motor which rotates the platform and compensates for moments perturbing the stabilised platform. Further, the turning angle of the platform relative the base is determined; the value of the turning angle of the platform relative the base is recorded the moment the sign of angular velocity changes; and the control signal is augmented with an additional signal which is generated in a function of deviation of the turning angle of the base from the angle recorded at the time when the sign of the angular velocity changed. The additional signal is generated in proportion to the relationship between the moment of dry friction and the turning angle of the base.EFFECT: high accuracy of the gyrostabiliser owing to compensation for the perturbing moment from dry friction in supports of the platform.1 dwg