APPARATUS FOR SIMULTANEOUSLY MEASURING TRIAXIAL ANGULAR VELOCITY/ANGULAR ACCELERATION USING THREE GYROSCOPES WITH ONE DEGREE OF FREEDOM

摘要

PURPOSE:To decrease the number of parts and to improve measuring accuracy by using three gyroscopes with one degree of freedom having the same performance, and simultaneously measuring the angular velocities in three-axial directions and the changing rates thereof (angular accelerations). CONSTITUTION:Input axes x1-x3 and output axes y1-y3 of one-freedom gyroscopes 100-300 having the same performances and the same data values and airframe fixing axes xa, ya and za are arranged so that the parallel relationship is maintained. Pick-off outputs VP1-VP3 obtained from relative angular deviations theta1-theta3 with respect to flying objects (cases) 105-305 are inputted into the main loops (solid lines) comprising phase adjusting circuits 109-309 and current converters 110-310. The DC voltage, which enters one main loop, is divided and sent to secondary loops (broken lines) comprising phase adjusting circuits 112-312 and DC converters 113-313 of the other gyroscopes. The current differences between the main loops and the secondary loops are obtained and inputted into torquers 111-311. Thus, the angular velocities and the angular accelerations in the directions of three axes xa, ya and za can be obtained at the same time.