CN108759808A - A kind of horizontal device for bearing repeater - Google Patents
A kind of horizontal device for bearing repeater Download PDFInfo
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- CN108759808A CN108759808A CN201810208344.XA CN201810208344A CN108759808A CN 108759808 A CN108759808 A CN 108759808A CN 201810208344 A CN201810208344 A CN 201810208344A CN 108759808 A CN108759808 A CN 108759808A
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- inner ring
- sensor
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- motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/40—Rotary gyroscopes for control by signals from a master compass, i.e. repeater compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Magnetic Variables (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of horizontal devices for bearing repeater, including outer ring, installation pedestal, longitudinal motor, cross motor, inner ring, vertical inclination angle sensor, cross dip sensor and control module, outer ring is fixed on by longitudinal shaft in installation pedestal, longitudinal motor is fixed in installation pedestal and its machine shaft is fixedly connected with outer ring, cross motor is fixed on outer ring and its machine shaft is fixedly connected with inner ring, inner ring is fixed on by lateral shaft in outer ring, bearing repeater is fixed on by fastener in inner ring, vertical inclination angle sensor and cross dip sensor, which are each attached on inner ring and respectively with control module, to be electrically connected.Bearing repeater is installed on the horizontal device of the present invention, without manual intervention, you can is in horizontality automatically always.In observation process, operating personnel manually control bearing repeater level at any time without diverting one's attention, and reduce operation difficulty；Especially when Ship Swaying is violent, the generation of large error is avoided.
Description
Technical field
The present invention relates to marine navigation technical fields, more particularly to a kind of horizontal device for bearing repeater.
Background technology
Compass is the instrument that course and orientation are measured in navigation.The compass being equipped on ship at present has gyrocompass and magnetic sieve
Through.Gyrocompass is its rotary shaft to be forced to be maintained at after by damping action appropriate using high-speed rotating gyroscope
Principle in meridian circle plane and it is manufactured.Gyrocompass can drive several repeater compasses (also referred to as compass repeater).Orientation point
Compass is typically mounted at driver's cabin both sides, it is synchronous with master compass, and operating personnel are made using bearing repeater and azimuth circle cooperation
With can easily observe the orientation of object mark (including celestial body).
It in navigation, is used cooperatively using bearing repeater and azimuth circle, observation low clearance solar azimuth seeks compass error
It is the most basic method that sea astronomical technique measures compass error.It is analyzed it is found that altitude of the heavenly body angle h, side by celestial body apparent motion
Position repeater compass level inclination θ and azimuthal error Δ A triadic relations are：ΔA≈θ×tanh.The formula shows bearing repeater level
Inclination angle theta is smaller, and the azimuthal error Δ A caused by the h of altitude of the heavenly body angle is smaller.Therefore, bearing repeater and orientation are actually being utilized
When circle observation low clearance solar azimuth, bearing repeater need to be kept horizontal as possible.Mostly has water on azimuth circle used at present
Level.In observation process, operating personnel need that the sight line of azimuth circle is directed at solar core on one side, read orientation degree on one side
Number, while also wanting the continuous control azimuth repeater compass of both hands horizontal, the spirit bubble of observation adjustment level meter is located therein position.It should
Method operation is not easy, and especially when Ship Swaying is violent, is further increased operation difficulty, is easy tod produce large error.
Invention content
The purpose of the present invention is overcome the deficiencies in the prior art, design a kind of horizontal device for bearing repeater.
In order to achieve the above objectives, the technical solution adopted in the present invention is：
A kind of horizontal device for bearing repeater, including it is outer ring, installation pedestal, longitudinal motor, cross motor, interior
Circle, vertical inclination angle sensor, cross dip sensor and control module, the outer ring are fixed on installation base by longitudinal shaft
On seat, longitudinal motor is fixed in installation pedestal and its machine shaft is fixedly connected with outer ring, and the cross motor is fixed on outer
On circle and its machine shaft is fixedly connected with inner ring, and the inner ring is fixed on by lateral shaft in outer ring, and bearing repeater is logical
Fastener is crossed to be fixed in inner ring, the vertical inclination angle sensor and cross dip sensor be each attached on inner ring and respectively with
Control module is electrically connected；The control module includes two and completely identical in structure is respectively used to control cross motor and longitudinal electricity
The control unit of motor-driven work, described control unit include to by the alternating current of vertical inclination angle sensor or cross dip sensor
Pressure signal is converted to the demodulator circuit of d. c. voltage signal, the PID for carrying out deviation correction to the d. c. voltage signal of reception
Correcting circuit, the direct current signal for crossing pid correction are converted to the adjustable pulse width modulated electricity for determining frequency pulse signal of duty ratio
Road carries out power amplification for that will determine frequency pulse signal and then controls the power driving circuit of corresponding motor rotation.
Preferably, the center of the inner ring and the center of outer ring coincide, and cross dip sensor is arranged in inner ring
Cross central line on, vertical inclination angle sensor is arranged on the longitudinal centre line of inner ring.
Preferably, the cross dip sensor is identical with the structure of vertical inclination angle sensor, includes shell
Iron core, magnetizing coil, pendulum and the sensor coil of body and setting inside housings, the iron core are vertically fixed on shell,
Magnetizing coil is fastened on iron core, and the pendulum is hung vertically on shell, when cross dip sensor is in horizontal
When state, the swing arm of pendulum and the center line of iron core coincide；The sensor coil is fixed on pendulum, and the signal of sensor coil is defeated
Outlet is connected with the signal input part of demodulator circuit.
Preferably, the shell is a sealing rectangular parallelepiped structure, and the iron core is mountain font iron core, and magnetizing coil twines
In the middle part vertical bar for being fixed on mountain font iron core.
Preferably, the sensor coil is docked by two windings.
Preferably, the central shaft of the cross motor and the cross central line of inner ring coincide, in longitudinal motor
The longitudinal centre line of mandrel and inner ring coincides.
Preferably, pid correction circuit is active for the proportional-integral-differential being made of operational amplifier and RC network
Correcting circuit.
Preferably, pulse width modulation circuit is made of triangular-wave generator and open loop anti-phase input adder.
The positive beneficial effect of the present invention：
1, horizontal device of the invention can detect the angle of inclination of bearing repeater in real time, and control module is according to reception
To dip angle signal automatically control the action of cross motor/longitudinal motor so that bearing repeater is in horizontality automatically.It is seeing
During survey, without manual intervention, operating personnel are not required to pay attention to the equilibrium state for watching bearing repeater in real time, not only reduce
The operation difficulty of staff can also improve working efficiency and the accuracy of staff, avoid the occurrence of larger operating error.
2, by the way that inner ring and bearing repeater are fixed as one, and by vertical inclination angle sensor and cross dip sensor
It is separately fixed at the longitudinal centre line of inner ring and the position of cross central line, vertical inclination angle sensor and cross dip can be made
Sensor accurately detects the inclination angle of bearing repeater, ensure that measurement accuracy, while improving the degree of regulation of the present invention.
3, obliquity sensor of the invention is by being arranged iron core, excitation coil, pendulum and sensor coil, by obliquity sensor
Shell be directly anchored on inner ring, by iron core vertically it is fixed on the shell, by between pendulum swing arm and core center line
Offset, you can a corresponding ac voltage signal of the offset is obtained, in this way, the acquisition at bearing repeater angle of inclination
It is more intuitive, accurate, avoid the occurrence of larger measurement error.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the schematic block circuit diagram of the present invention.
When Fig. 3 is horizontality, the structural schematic diagram of transverse direction/vertical inclination angle sensor.
When Fig. 4 is heeling condition, the structural schematic diagram of transverse direction/vertical inclination angle sensor.
When Fig. 5 is horizontality, the time plot of d. c. voltage signal and triangular signal.
When Fig. 6 is horizontality, the time plot for the superposed signal that d. c. voltage signal is generated with triangular signal.
When Fig. 7 is horizontality, the time plot of the pulse signal of open loop anti-phase input adder output.
When Fig. 8 is tilted to the left for hull, the time plot of d. c. voltage signal and triangular signal.
When Fig. 9 is tilted to the left for hull, the time graph for the superposed signal that d. c. voltage signal is generated with triangular signal
Figure.
When Figure 10 is tilted to the left for hull, the time plot of the pulse signal of open loop anti-phase input adder output.
When Figure 11 is tilted to the right for hull, the time plot of d. c. voltage signal and triangular signal.
When Figure 12 is tilted to the right for hull, the time graph for the superposed signal that d. c. voltage signal is generated with triangular signal
Figure.
When Figure 13 is tilted to the right for hull, the time plot of the pulse signal of open loop anti-phase input adder output.
The concrete meaning of figure label is：1 is outer ring, and 2 be installation pedestal, and 3 be longitudinal motor, and 4 be cross motor, and 5 are
Inner ring, 6 be vertical inclination angle sensor, and 7 be cross dip sensor, and 8 be bearing repeater, and 9 be longitudinal shaft, and 10 be laterally to turn
Axis, 11 be fastener, and 12 be shell, and 13 be iron core, and 14 be magnetizing coil, and 15 be pendulum, and 16 be sensor coil, and 17 be triangular wave
Signal, 18 be d. c. voltage signal, and 19 be superposed signal, and 20 be pulse signal.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the model of the present invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily obscuring the present invention's
Concept.
Embodiment is described with reference to Fig. 1, the horizontal device for bearing repeater of the invention, is used to support orientation point
Compass includes mainly outer ring 1, inner ring 5, installation pedestal 2, longitudinal motor 3, cross motor 4, vertical inclination angle sensor 6, laterally inclines
Angle transducer 7 and control module.When bearing repeater is installed on the horizontal device of the present invention, without manual intervention, side
Position repeater compass can be in horizontality automatically always, adjusted manually without operating personnel, reduce operation difficulty.
The outer ring 1 is mainly used for that inner ring 5 and repeater compass 8 is driven to be rotated around longitudinal shaft 9.Outer ring 1 passes through vertical
It is fixed in installation pedestal 2 to shaft 9, longitudinal motor 3, shaft and the outer ring 1 of longitudinal motor 3 is fixed in installation pedestal 2
External stability connects.Longitudinal motor 3 can drive outer ring 1 to rotate, and outer ring 1 drives the inner ring 5 in the portion that is fixed therein and orientation to divide sieve
It is rotated synchronously through 8, to be adjusted to the longitudinal inclination (gradient in i.e. left and right direction) of bearing repeater 8.
The inner ring 5 is fixed on by lateral shaft 10 in outer ring 1, and the inside of inner ring 5 passes through fastener 11 and orientation point
Compass 8 is fixedly connected.Inner ring 5 is mainly used for that bearing repeater 8 is driven to be rotated around lateral shaft 10.Drive inner ring rotation
Cross motor 4 is fixed on the outside of outer ring 1, and machine shaft is fixedly connected with inner ring 5, and cross motor 4 can drive 5 turns of inner ring
Dynamic, inner ring 5 drives the bearing repeater 8 in the portion that is fixed therein to rotate synchronously, to the lateral inclination angle to bearing repeater 8
(i.e. the gradient of front and rear direction) is adjusted.
The center of the inner ring 5 and the center of outer ring 1 coincide, and cross is fixed at the position of the cross central line of inner ring 5
To obliquity sensor 7, vertical inclination angle sensor 6 is fixed at the position of longitudinal centre line.Cross dip sensor 7 is mainly used for
It detects the lateral inclination angle of bearing repeater 8 and the ac voltage signal detected is transferred to corresponding control in control module
Unit processed, longitudinal inclination and the alternating current that will detects of the vertical inclination angle sensor 6 mainly for detection of bearing repeater 8
Press signal transmission to corresponding control unit in control module.
The control module, which includes that two circuit structures are identical, is respectively used to control cross motor and longitudinal motor
The control unit of action.Each control unit includes demodulator circuit, pid correction circuit, pulse width modulation circuit and power drive
Circuit.
The demodulator circuit, for converting the ac voltage signal of vertical inclination angle sensor 6 or cross dip sensor 7
For d. c. voltage signal, a phase-sensitive detector is selected, is integrated with the multinomial work(such as preposition amplification, demodulation, output active power filtering
Energy.
The pid correction circuit carries out deviation correction, for by operational amplifier for the d. c. voltage signal to reception
Ratio-the integral collectively constituted with RC network-differential active correction circuit.The circuit has ratio-integral concurrently and ratio-is micro-
The advantages of being divided to two kinds of correcting circuits, stability and response speed for improving system reduce the dynamic error of system.
The pulse width modulation circuit, the direct current signal for crossing pid correction are converted to that duty ratio is adjustable to determine frequency pulse
Signal is made of triangular-wave generator and open loop anti-phase input adder, by the direct current signal of pid correction and from triangular wave
It is sent into open loop anti-phase input adder after the triangular signal superposition of generator, in this way from the defeated of open loop anti-phase input adder
What outlet obtained is that a duty ratio is adjustable determines frequency pulse signal.
The power driving circuit carries out power amplification and then control corresponding motor rotation for that will determine frequency pulse signal,
Motor is set to drive inner ring or outer ring rotating, to make bearing repeater be rotated synchronously to the same direction.
After cross dip sensor 7 detects the lateral inclination angle of bearing repeater 8, one and angle of inclination will produce
Corresponding ac voltage signal, the signal is demodulated, pid correction, after pulse width modulated, power amplification, applies to cross motor 4
Voltage is controlled, to be adjusted to the cross dip of bearing repeater 8.Similarly, vertical inclination angle sensor 6 detects orientation
The longitudinal inclination signal of repeater compass 8 is demodulated, pid correction, after pulse width modulated, power amplification, applies to longitudinal motor 3 and controls
Voltage processed, to be adjusted to the vertical inclination angle of bearing repeater 8.
The cross dip sensor 7 is identical with the structure of vertical inclination angle sensor 6, includes shell 12 and setting
Set iron core 13, magnetizing coil 14, pendulum 15 and the sensor coil 16 inside shell 12.The shell 12 is that a sealing is rectangular
Body structure, shell 12 are fixed on vertically on inner ring 5.The iron core 13 is vertically fixed on the inner wall of 12 upper end of shell, excitation line
14 uniform windings are enclosed on iron core 13, which according to actual needs, may be set to various shapes structure, in the present embodiment,
Iron core 13 is mountain font iron core, and magnetizing coil 14 is fastened in the middle part vertical bar of iron core 13.The end of the pendulum 15
On housing 12, sensor coil 16 is fixed on pendulum 15 vertical hanging.The sensor coil 16 is docked by two windings,
The signal output end of sensor coil is connected with the signal input part of demodulator circuit in corresponding control unit.
When repeater compass is in horizontality, the cross dip sensor (or vertical inclination angle sensor) on inner ring is also at
Horizontality, at this point, the swing arm of pendulum 15 and the center line of iron core 13 coincide, the output voltage of sensor coil 16 is 0；When point
When compass lateral inclination (or fore-and-aft tilt), repeater compass 8 can drive inner ring 5 to rotate synchronously, and inner ring 5 can drive cross dip to sense
Inclination of the shell and mountain word iron core 13 of device 7 (or vertical inclination angle sensor) to same direction generation equal angular, and pendulum
15 since still on housing 12, the center line of such mountain font iron core 13 produces vertical hanging gravity relative to the swing arm of pendulum 15
Certain deviation is given birth to, sensor coil 16 can export that a size is proportional to displacement, phase friendship corresponding with moving direction
Voltage signal is flowed, and transmits the signal to corresponding control unit, control unit demodulates the signal, pid correction, arteries and veins
After reconstituting wide and power amplification, a control signal, control motor rotation are sent out to cross motor 4 (or longitudinal motor).
In the present embodiment, it is crosswise joint unit to enable the control unit of control cross motor action, enables the longitudinal electricity of control
The control unit of motor-driven work is longitudinally controlled unit.It is illustrated below using this hair by taking the control of crosswise joint unit as an example
The self-balancing process of the bearing repeater of bright horizontal device.
When bearing repeater is in horizontality, the iron core in cross dip sensor 7 is located at vertical direction, center
The swing arm of line and pendulum coincides, and does not generate offset between the two, the alternating voltage that sensor coil 16 exports is zero.Laterally incline
Angle transducer 7 outputs it signal transmission to demodulator circuit, which is converted to DC voltage by demodulator circuit believes
Number, what it is due to the output of cross dip sensor is 0V voltages, the d. c. voltage signal of demodulator circuit output is also zero, such as
Shown in Fig. 5, which send through pid correction circuit to pulse width modulation circuit, the triangular wave hair in pulse width modulation circuit
The triangular signal that raw device generates, the d. c. voltage signal are overlapped with triangular signal, generate a superposed signal,
As shown in fig. 6, the superposed signal is transferred to open loop anti-phase input adder, open loop anti-phase input adder exports a duty ratio
For 50% pulse signal, i.e., positive and negative wide rectangular wave, as shown in Figure 7.Pulse width modulation circuit is by the positive and negative wide pulse
Signal transmission carries out power amplification to power driving circuit.If it is not right to ignore transistor parameter difference, positive-negative power in circuit
It is influenced caused by the factors such as title property, the output of power driving circuit also should be positive and negative wide rectangular wave, only driving capability
It is greatly improved, i.e., what power driving circuit applied to cross motor is the pulse voltage that a duty ratio is 50%.Cause
This, it is all equal to flow through the intensity of the positive and negative bidirectional current of cross motor and action time, in the two difference flow directions
Under the collective effect of electric current, torque motor is static not to be rotated.
When Ship Swaying, bearing repeater 8 can be swung with hull.When hull turns forward, cross dip sensor
Iron core can also swing forward, cross dip sensor can export a size proportional to inclination angle, phase and inclined direction phase
Corresponding ac voltage signal, it is assumed that the signal is demodulated, and the d. c. voltage signal of demodulator circuit output is positive value, such as Fig. 8
Shown, then the d. c. voltage signal is transferred to pulse width modulation circuit, the triangle generated inside pulse width modulation circuit after pid correction
After wave signal is superimposed with the positive voltage signal, signal as shown in Figure 9 is obtained, this signal transmission gives open loop anti-phase input addition
Device, open loop anti-phase input adder export one just narrow negative wide pulse signal, and as shown in Figure 10, which drives through power
After dynamic circuit amplification, power driving circuit output is also one just narrow negative wide rectangular wave, the i.e. output of power driving circuit
The positive and negative width of signal is no longer identical, at this point, although the intensity for flowing through the positive and negative bidirectional current of cross motor is the same, but
It is that action time on actuating motor is unequal, the time of forward current effect is shorter than the time that reverse current acts on,
A DC quantity will be formed in this way, and under the action of this DC quantity, cross motor drives inner ring to rotate backward, and makes laterally to incline
The exchange value that angle transducer detects generation in real time reduces.The current declination signal that cross dip sensor can be detected again passes
It is defeated by crosswise joint unit, is so formed a closed circuit, gradually adjusts the levelness of repeater compass, until cross dip
Until the signal of sensor output is 0.
Similarly, when hull rolls oblique backward, the iron core of cross dip sensor also can swing backward, cross dip sensor
It can export that a size is proportional to inclination angle, phase ac voltage signal corresponding with inclined direction, it is assumed that the signal is through solution
After tune, the d. c. voltage signal of demodulator circuit output is negative value, and as shown in figure 11, then the d. c. voltage signal is after pid correction
Pulse width modulation circuit is transferred to obtain after the triangular signal generated inside pulse width modulation circuit is superimposed with the negative voltage signal
Signal as shown in figure 12, this signal transmission give open loop anti-phase input adder, open loop anti-phase input adder to export one
Positive wide negative narrow pulse signal, as shown in figure 13, the pulse signal is after power driving circuit amplifies, power driving circuit output
Be also a positive wide negative narrow rectangular wave, at this point, flowing through the action time of the forward current of cross motor than reverse current
Action time will be grown, and cross motor can drive inner ring to rotate forward, and cross dip sensor is made to detect the exchange value of generation in real time
Reduce.The current declination signal that cross dip sensor can be detected again is transferred to crosswise joint unit, gradually adjustment point
The levelness of compass, until the signal of cross dip sensor output is 0.
The control process of longitudinally controlled unit is similar to crosswise joint unit, no longer specifically repeats herein.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that；Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (8)
1. a kind of horizontal device for bearing repeater, which is characterized in that including outer ring (1), installation pedestal (2), Zong Xiang electricity
Machine (3), cross motor (4), inner ring (5), vertical inclination angle sensor (6), cross dip sensor (7) and control module, institute
It states outer ring (1) to be fixed in installation pedestal (2) by longitudinal shaft, longitudinal motor (3) is fixed in installation pedestal (2) and its electricity
Machine shaft is fixedly connected with outer ring (1), and the cross motor (4) is fixed on outer ring (1) and its machine shaft and inner ring (5) are solid
Fixed connection, the inner ring (5) are fixed on by lateral shaft in outer ring (1), and bearing repeater (8) is fixed by fastener (11)
In the inner ring (5), the vertical inclination angle sensor (6) and cross dip sensor (7) be each attached on inner ring (5) and respectively with
Control module is electrically connected；
The control module includes two completely identical in structure controls for being respectively used to control cross motor and longitudinal motor action
Unit processed, described control unit include to convert the ac voltage signal of vertical inclination angle sensor or cross dip sensor
The pid correction circuit of deviation correction is carried out for the demodulator circuit of d. c. voltage signal, for the d. c. voltage signal to reception, is used
The adjustable pulse width modulation circuit for determining frequency pulse signal of duty ratio is converted in the direct current signal for crossing pid correction, for that will determine
Frequency pulse signal carries out power amplification and then controls the power driving circuit of corresponding motor rotation.
2. the horizontal device according to claim 1 for bearing repeater, which is characterized in that in the inner ring (5)
The heart and the center of outer ring (1) coincide, and cross dip sensor (7) is arranged on the cross central line of inner ring (5), vertical inclination angle
Sensor (6) is arranged on the longitudinal centre line of inner ring (5).
3. the horizontal device according to claim 1 or 2 for bearing repeater, which is characterized in that the cross dip
Sensor (7) is identical with the structure of vertical inclination angle sensor (6), include shell (12) and setting inside housings
Iron core (13), magnetizing coil (14), pendulum (15) and sensor coil (16), the iron core (13) are vertically fixed on shell (12)
On, magnetizing coil (14) is fastened on iron core (13), and the pendulum (15) is hung vertically on shell (12), inclines when laterally
When angle transducer is in horizontality, the swing arm of pendulum (15) and the center line of iron core (13) coincide；The sensor coil
(16) it is fixed on pendulum (15), the signal output end of sensor coil (16) is connected with the signal input part of demodulator circuit.
4. the horizontal device according to claim 3 for bearing repeater, which is characterized in that the shell (12) is one
Rectangular parallelepiped structure is sealed, the iron core (13) is mountain font iron core, and magnetizing coil (14) is fastened in mountain font iron core (13)
Middle part vertical bar on.
5. the horizontal device according to claim 3 for bearing repeater, which is characterized in that the sensor coil (16)
It is docked by two windings.
6. the horizontal device according to claim 1 for bearing repeater, which is characterized in that the cross motor (4)
The cross central line of central shaft and inner ring (5) coincide, the longitudinal centre line of the central shaft and inner ring (5) of longitudinal motor (3)
It coincides.
7. the horizontal device according to claim 1 for bearing repeater, which is characterized in that pid correction circuit is served as reasons
The proportional-integral-differential active correction circuit of operational amplifier and RC network composition.
8. the horizontal device according to claim 1 for bearing repeater, which is characterized in that pulse width modulation circuit is by three
Angle wave producer and open loop anti-phase input adder composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208344.XA CN108759808B (en) | 2018-03-14 | 2018-03-14 | Horizontal device for azimuth compass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810208344.XA CN108759808B (en) | 2018-03-14 | 2018-03-14 | Horizontal device for azimuth compass |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108759808A true CN108759808A (en) | 2018-11-06 |
| CN108759808B CN108759808B (en) | 2023-06-27 |
Family
ID=63980347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810208344.XA Active CN108759808B (en) | 2018-03-14 | 2018-03-14 | Horizontal device for azimuth compass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108759808B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964654A (en) * | 2020-08-05 | 2020-11-20 | 重庆海士智能科技研究院有限公司 | Course compass dial initialization and correction method |
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