Flywheel Indicator Gyrostabilizer with Housing Torque Motor

摘要

Accuracy of the indicator gyrostabilizer is determined primarily by the feedback channel gain (stiffness) coefficient of the gyrostabilizer. When efforts to increase accuracy, there appear problems of ensuring stability and quality of regulation, which in modem gyrostabilizers are connected, first of all, to the presence of the structure finite stiffness in the drive torque transmission circuit located on the housing. Stiffness in the drive circuit could be significantly increased by installing an additional inertial support element on the platform in order to ensure that the stabilization moment is created by interaction of the platform with this body, but not with the housing. Flywheel or a two-degree-of-freedom gyro could be used as a support element. In the latter case, a power gyrostabilizer is obtained. In the flywheel indicator gyrostabilizer, it is convenient to use a housing torque motor as a stabilization drive, if its rotor is fixed on the platform, and the stator is used as a flywheel. It should be mentioned that it is advisable to use the proposed scheme of obtaining information about angular velocity of the flywheel rotation from measurements of current and voltage of the specified torque motor in order to generate an unloading channel in accordance with the flywheel rotational velocity, which is obviously required in a gyrostabilizer with a support inertial element. The work uses analytical and graphic forms to present physical and mathematical models of a gyro stabilization automatic flywheel system based on the indicator flywheel double-circuit gyrostabilizer with a housing torque motor. Results of studies aimed at establishing stability and accuracy of such a stabilization system are presented; requirements to its parameters and elements are indicated.