JPS6260004B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gyro device for an automatic tracking device that is mounted on a guided flying object or the like and automatically captures and tracks a fixed or moving target.

Generally, among the navigation methods used for guided flying vehicles,
"Proportional navigation" is widely known, but when the target is fixed or has a low speed compared to the speed of the flying object, such as a vehicle, "proportional navigation" is used to simplify the hardware configuration and lower the cost. "Advance navigation" may be adopted. When using this proportional forward navigation, for example, in an optical automatic tracking device, it is necessary that the optical axis, which normally indicates the direction of the center of the field of view, is spatially stabilized against disturbances such as vibrations and oscillations applied to the flying object, and A function of making the optical axis follow and match the projectile axis via a predetermined time constant is essential. In this case, since the optical axis means the gyro axis, the automatic tracking device for proportional advance navigation will eventually use a tracking type gyro device.

Now, the following three important points are required of a follow-up type gyro device. That is, (1) it is easy to set the tracking time constant, (2) there is little cross-coupling in the tracking direction, and (3) it is easy to finely adjust the upright point.

FIG. 1 shows an example of the configuration of this kind of follow-up gyro device that has been widely used in the past. In the figure, 1 is a rotor, and permanent magnets are embedded in the side where the magnetic poles are located perpendicularly to the rotating shaft 2 and symmetrically with respect to the rotating shaft 2. A gimbal 3 is mounted on the rotor 1 via a rotating shaft 2, and can move about two axes orthogonal to the rotating shaft 2 with the gimbal center as a fulcrum. Both ends of the cylindrical wire ring 4 for tracking are electrically short-circuited, and are fixed to the base 5 via a wire ring angle adjustment fitting 6 on the side where the cylindrical center axis coincides with the rotating shaft 2. This device provides a relative angular deviation between the rotating shaft 2 of the rotor 1 and the wire ring 4.
Due to the electromagnetic action between the permanent magnets of the rotor 1 and the wire ring 4, the rotating shaft 2 of the rotor 1 tends to follow and coincide with the cylindrical center axis of the wire ring 4. The follow-up time constant at that time is determined from the electromagnetic or physical specifications of the rotor 1 and the coil 4.

Let us compare this conventional device with the important items required of the above-mentioned tracking type gyro. The setting of the first follow-up time constant can be easily achieved by adjusting the short-circuit resistance of the wire ring 4, and the setting of the second cross coupling can be easily achieved by adjusting the short-circuit resistance of the wire ring 4.
Solutions have been devised as shown in Publication No. 60263 or Japanese Patent Application Laid-Open No. 135312/1983.
However, fine adjustment of the third standing point poses a major problem, that is, the standing position of the rotor 1 is
Although it almost coincides with the geometrical cylinder center of Due to this influence, the standing position often shifts slightly. Since this is difficult to accurately predict in advance, it is actually necessary to adjust the angular position of the wire ring 4 for each device. However, slightly tilting the angular position of the wire wheel 4 not only requires a device such as the wire wheel angle adjustment fitting 6, but also tends to reduce the rigidity of the entire structure of the gyro device. This is a major drawback in the case of a gyroscope device for mounting on a flying object, which inherently requires robustness.

The purpose of the present invention is to finely adjust the standing position of the rotor.
To provide a simple follow-up type gyro device having a structure that can be easily adjusted without moving the original erecting wheel.

A tracking type gyro device according to the present invention includes a rotor including a permanent magnet arranged such that a pair of magnetic poles are positioned perpendicularly to a rotational axis and symmetrically with respect to the rotational axis; A tracking type gyro device including a universal joint that allows free movement around two mutually perpendicular axes, and a first wire ring that is fixedly wound around the rotor in the direction of the rotational axis of the rotor. A second wire ring is provided near the first wire ring, wound in the direction of the rotation axis of the rotor, and freely deflectable independently with respect to the first wire ring. It is something to do.

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

FIG. 2 is a partially exploded perspective view of an embodiment of the present invention.
1 to 5 indicate the same components as those in FIG. However, the wire ring 4 is firmly fixed directly to the base 4 in this case. The second wire ring 7 for fine adjustment of the standing position is located near the original raising wire ring 4 and is wound in the direction of the rotation axis of the rotor 1. Since the second wire ring 7 is lightweight and has a small volume, it is easy to adjust the declination angle with respect to the base 5, and a wire angle adjustment fitting like the wire ring 6 in FIG. 1 is not required. Therefore, in this embodiment, by tilting the second wire ring 7 for fine adjustment of the standing position with respect to the base 4, it is possible to easily finely adjust the standing position of the rotor 1, and the wire ring is lightweight. Therefore, the robustness of the overall structure of the gyroscope is not lost.

In the embodiment of the present invention, the second wire may be completely electrically separated from the original first wire, or a part of the first wire may be used as the second wire. May be connected in series. The second wire for this first wire
The winding ratio of the wire is determined by the fine adjustment range of the upright position required of the gyro device.

According to the tracking type gyro device according to the present invention, fine adjustment of the upright position can be easily achieved with a simple and inexpensive configuration.

In addition to this embodiment, for example, second and third coils for fine adjustment of the standing position may be prepared, which are electrically separate from the first coil, to meet the requirements of a flying object on which a gyroscope is mounted. Depending on the situation, a device in which the standing point can be changed stepwise by electrically switching the second and third wire wheels is also possible.

[Brief explanation of the drawing]

FIG. 1 is a partially exploded perspective view of a conventional tracking type gyro device, and FIG. 2 is a partially exploded perspective view of an embodiment of the present invention. In the figure, 1... rotor with embedded magnets, 2... rotor rotation axis, 3... gimbal, 4... erecting wire, 5
. . . base, 6. wire ring angle adjustment fitting, 7.. wire wheel for fine adjustment of standing position.

Claims (1)

[Claims] 1. A rotor including a permanent magnet arranged such that pairs of magnetic poles are positioned perpendicularly to the rotational axis and symmetrically with respect to the rotational axis, and the rotor is rotated around two mutually perpendicular axes that are orthogonal to the rotational axis. a universal joint that allows free movement, and a first universal joint that is fixedly wound around the rotor in the direction of the rotational axis of the rotor.
A second wire wheel, which is located near the first wire wire, is wound in the direction of the rotational axis of the rotor, and is freely deflectable independently with respect to the first wire wire. A follow-up gyroscope device characterized by comprising a wire ring.