JPH1026630A - Method and device for detecting rotary angle of airframe - Google Patents

Method and device for detecting rotary angle of airframe

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Publication number
JPH1026630A
JPH1026630A JP8182328A JP18232896A JPH1026630A JP H1026630 A JPH1026630 A JP H1026630A JP 8182328 A JP8182328 A JP 8182328A JP 18232896 A JP18232896 A JP 18232896A JP H1026630 A JPH1026630 A JP H1026630A
Authority
JP
Japan
Prior art keywords
pair
flying object
gravitational acceleration
sensor
acceleration data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8182328A
Other languages
Japanese (ja)
Inventor
Mutsuharu Tanaka
睦治 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tamagawa Seiki Co Ltd
Original Assignee
Tamagawa Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tamagawa Seiki Co Ltd filed Critical Tamagawa Seiki Co Ltd
Priority to JP8182328A priority Critical patent/JPH1026630A/en
Publication of JPH1026630A publication Critical patent/JPH1026630A/en
Pending legal-status Critical Current

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Abstract

PROBLEM TO BE SOLVED: To obtain the rotary angle and the rotating direction of a air frame by obtaining a pair of gravitational acceleration data in the sine wave shape having the different phases to each other, which are obtained in correspondence with the air frame by the sensor comprising an inertial mass, a pair of plate springs and a pair of solid elements. SOLUTION: When an air frame having a sensor 1 is fired at a high speed, the air frame is rotated. Therefore, respective plate springs 3 and 3A are decenterized. Thus, the gravitational acceleration data having a pair of the different phases in the sine-wave shapes caused by the gravitation acceleration, which is changed by the gravitational acceleration changing in correspondence tith the eccentricity, are obtained. When the zero-cross points Z of the respective gravitational acceleration data is set as 180 deg., the time T per one period is obtained. When the time T is divided into times, the rotary angle θ of the flying body can be obtained. Furthermore, the rotating direction can be detected by detecting the respective phase deviation of the respective gravitation acculturation data by the well-known mean.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、飛翔体の回転角検
出方法及び装置に関し、特に、飛翔体に設けたセンサか
ら得られた正弦波状の互いに位相の異なる１対の重力加
速度データに基づいて回転角及び回転方向を得るための
新規な改良に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting a rotation angle of a flying object, and more particularly, to a method of detecting a rotation angle of a flying object based on a pair of sine-wave gravitational acceleration data having different phases obtained from sensors provided on the flying object. The present invention relates to a novel improvement for obtaining a rotation angle and a rotation direction.

【０００２】[0002]

【従来の技術】従来、用いられていたこの種の回転しつ
つ高速飛翔する飛翔体には、その回転を検出するセンサ
は設けられていなかった。2. Description of the Related Art Heretofore, such a kind of flying object which rotates at high speed while rotating has not been provided with a sensor for detecting its rotation.

【０００３】[0003]

【発明が解決しようとする課題】従来の飛翔体は、以上
のように構成されていたため、次のような課題が存在し
ていた。すなわち、飛翔体の飛翔制御にはその回転角デ
ータを必要とするニーズが存在していたが、従来の技術
では、高速で回転しつつ飛翔する飛翔体の回転角及び回
転方向を検出することは不可能であった。Problems to be Solved by the Invention Since the conventional flying object is configured as described above, there are the following problems. In other words, there is a need to use the rotation angle data for the flight control of the flying object. It was impossible.

【０００４】本発明は、以上のような課題を解決するた
めになされたもので、特に、飛翔体に設けたセンサから
得られた正弦波状の互いに位相の異なる１対の重力加速
度データに基づいて回転角及び回転方向を得るようにし
た飛翔体の回転角検出方法及び装置を提供することを目
的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and in particular, is based on a pair of gravitational acceleration data having a sine wave shape and different phases obtained from a sensor provided on a flying object. It is an object of the present invention to provide a method and an apparatus for detecting a rotation angle of a flying object that obtain a rotation angle and a rotation direction.

【０００５】[0005]

【課題を解決するための手段】本発明による飛翔体の回
転角検出方法は、回転して飛翔する飛翔体に設けられ慣
性マス、１対の板ばね及び１対の固体素子からなるセン
サにより前記飛翔体の回転に応じて得られた正弦波状の
互いに位相の異なる１対の重力加速度データにより前記
飛翔体の回転角及び回転方向を求める方法である。According to the present invention, there is provided a method for detecting a rotation angle of a flying object, the method comprising the steps of: providing an inertial mass, a pair of leaf springs, and a pair of solid elements provided on a flying object which rotates and flies; In this method, a rotation angle and a rotation direction of the flying object are obtained from a pair of gravitational acceleration data having different phases in a sine wave shape obtained according to the rotation of the flying object.

【０００６】本発明による飛翔体の回転角検出装置は、
回転して飛翔する飛翔体に設けられたセンサと、前記セ
ンサに設けられた１対の板ばね間に設けられた慣性マス
と、前記各板ばねに設けられ歪ゲージ又は抵抗ゲージか
らなる１対の固体素子とを備え、前記各板ばねはその板
面方向が互いに直交すると共に、前記センサから正弦波
状の互いに位相の異なる１対の重力加速度データを得る
構成である。A flying object rotation angle detecting device according to the present invention is:
A pair of a sensor provided on a flying object that rotates and fly, an inertial mass provided between a pair of leaf springs provided on the sensor, and a strain gauge or a resistance gauge provided on each of the leaf springs Each of the leaf springs has a plate surface direction orthogonal to each other, and obtains a pair of gravitational acceleration data having a sine wave shape and different phases from the sensor.

【０００７】[0007]

【発明の実施の形態】以下、図面と共に本発明による飛
翔体の回転角検出方法及び装置の好適な実施の形態につ
いて詳細に説明する。図１において符号１で示されるも
のは、図示しない長手状の飛翔体の先端又は後端等の何
れかの位置に同芯状に設けられたセンサであり、このセ
ンサ１の中空ケース２には、その一端のみが固定された
片持状の１対の板ばね３，３Ａがその板面方向Ｘ，Ｙを
互いに直交させて設けられ、この各板ばね３，３Ａの先
端間には所定質量を有する慣性マス４が設けられこの慣
性マス４により各板ばね３，３Ａが接続されている。さ
らに、この板ばね３，３Ａの面には周知の歪ゲージ又は
抵抗ゲージ等からなる固体素子５，５Ａが設けられ、こ
の固体素子５，５Ａから得られる互いに位相の異なる正
弦波状の１対の重力加速度データ６，６Ａは図示しない
リード線を介して処理装置（図示せず）内に入力される
ように構成されている。なお、この各板ばね３，３Ａの
板面方向Ｘ，Ｙが直交しているため、センサ１が回転す
ると、後述のように互いに９０°位相の異なるデータ
６，６Ａが各固体素子５，５Ａの出力として得ることが
できる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a method and an apparatus for detecting a rotation angle of a flying object according to the present invention will be described below in detail with reference to the drawings. In FIG. 1, a sensor denoted by reference numeral 1 is a sensor provided concentrically at any position such as a front end or a rear end of a long flying object (not shown), and a hollow case 2 of the sensor 1 A pair of cantilevered leaf springs 3 and 3A to which only one end thereof is fixed are provided with their plate surface directions X and Y orthogonal to each other, and a predetermined mass is provided between the distal ends of the leaf springs 3 and 3A. The leaf springs 3 and 3A are connected by the inertial mass 4 having the following. Further, on the surfaces of the leaf springs 3, 3A, there are provided solid elements 5, 5A made of a well-known strain gauge, resistance gauge, or the like, and a pair of sinusoidal waves obtained from the solid elements 5, 5A having different phases from each other. The gravitational acceleration data 6, 6A is configured to be input into a processing device (not shown) via a lead wire (not shown). Since the plate surface directions X and Y of the leaf springs 3 and 3A are orthogonal to each other, when the sensor 1 rotates, the data 6 and 6A having a phase difference of 90 ° from each other are converted to the solid elements 5 and 5A as described later. Can be obtained as output.

【０００８】次に、動作について述べる。まず、図示し
ない飛翔体にセンサ１を設けた状態において、この飛翔
体を発射装置を介して高速発射すると、この飛翔体が回
転（スピン状態）するため、各板ばね３，３Ａが偏芯
（γ）し、この偏芯（γ）に応じて変化する重力加速度
（cos Ｐ sin Ｒ）による正弦波状の１対の互いに位相
の異なる（Ａ相、Ｂ相）電力加速度データ６，６Ａは図
３で示すように得られる。この状態で、この各重力加速
度データ６，６Ａの零クロス点Ｚを１８０°とすると、
１周期当たりの時間Ｔが得られ、この時間Ｔを時間分割
することにより飛翔体の回転角θを求めることができ
る。また、各重力加速度データ６，６Ａの各位相ズレを
周知の手段で検出することにより周知のレゾルバ信号と
同様に回転方向を検出することができる。Next, the operation will be described. First, when the flying object (not shown) is provided with the sensor 1 and the flying object is fired at a high speed via the launching device, the flying object rotates (spin state). γ), and a pair of sinusoidal power acceleration data 6 and 6A having different phases (A phase, B phase) due to the gravitational acceleration (cos P sin R) changing according to the eccentricity (γ) are shown in FIG. Are obtained as shown in FIG. In this state, if the zero cross point Z of each of the gravitational acceleration data 6, 6A is set to 180 °,
The time T per one cycle is obtained, and by dividing this time T by time, the rotation angle θ of the flying object can be obtained. Further, by detecting each phase shift of each of the gravitational acceleration data 6 and 6A by a well-known means, the rotation direction can be detected in the same manner as a well-known resolver signal.

【０００９】[0009]

【発明の効果】本発明による飛翔体の回転角検出方法及
び装置は、以上のように構成されているため、次のよう
な効果を得ることができる。すなわち、高速で回転飛翔
する飛翔体に設けたセンサにより得られた正弦波状の重
力加速度データに基づいて回転角を得ることができ、こ
の種の飛翔体の飛翔制御に有効なデータを得ることがで
きる。As described above, the method and apparatus for detecting the rotation angle of a flying object according to the present invention have the following advantages. That is, the rotation angle can be obtained based on the sine-wave gravitational acceleration data obtained by a sensor provided on a flying object that rotates and rotates at high speed, and data effective for the flight control of this type of flying object can be obtained. it can.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明による飛翔体の回転角検出方法を示す構
成図である。FIG. 1 is a configuration diagram showing a method of detecting a rotation angle of a flying object according to the present invention.

【図２】図１の要部の拡大斜視図である。FIG. 2 is an enlarged perspective view of a main part of FIG.

【図３】重力加速度データの波形図である。FIG. 3 is a waveform diagram of gravity acceleration data.

【図４】図３のデータを２相で示す波形図である。FIG. 4 is a waveform diagram showing the data of FIG. 3 in two phases.

【符号の説明】 １ センサ ３，３Ａ 板ばね ４ 慣性マス ５，５Ａ 固体素子 ６，６Ａ 重力加速度データ Ｘ，Ｙ 板面方向[Explanation of Signs] 1 Sensor 3, 3A leaf spring 4 Inertial mass 5, 5A Solid element 6, 6A Gravitational acceleration data X, Y Plate surface direction

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】 回転して飛翔する飛翔体に設けられ慣性
マス(4)、１対の板ばね(3,3A)及び１対の固体素子(5,5
A)からなるセンサ(1)により前記飛翔体の回転に応じて
得られた正弦波状の互いに位相の異なる１対の重力加速
度データ(6,6A)により前記飛翔体の回転角（θ）及び回
転方向を求めることを特徴とする飛翔体の回転角検出方
法。An inertial mass (4) provided on a flying object which rotates and flies, a pair of leaf springs (3, 3A) and a pair of solid elements (5, 5).
A) A pair of gravitational acceleration data (6, 6A) having different phases with respect to each other in a sine wave shape obtained according to the rotation of the flying object by the sensor (1) comprising the rotation angle (θ) and the rotation of the flying object A method for detecting a rotation angle of a flying object, comprising determining a direction. 【請求項２】 回転して飛翔する飛翔体に設けられたセ
ンサ(1)と、前記センサ(1)に設けられた１対の板ばね
(3,3A)間に設けられた慣性マス(4)と、前記各板ばね(3,
3A)に設けられ歪ゲージ又は抵抗ゲージからなる１対の
固体素子(5,5A)と、を備え、前記各板ばね(3,3A)はその
板面方向が互いに直交すると共に、前記センサ(1)から
正弦波状の互いに位相の異なる１対の重力加速度データ
(6,6A)を得ることを特徴とする飛翔体の回転角検出装
置。2. A sensor (1) provided on a flying object which rotates and flies, and a pair of leaf springs provided on said sensor (1).
(3, 3A), the inertial mass (4) provided between each of the leaf springs (3, 3A).
3A) and a pair of solid elements (5, 5A) comprising a strain gauge or a resistance gauge, wherein each of the leaf springs (3, 3A) has a plate surface direction orthogonal to each other and the sensor ( From 1), a pair of gravitational acceleration data with sinusoidal waveforms with different phases
(6, 6A) is obtained.
JP8182328A 1996-07-11 1996-07-11 Method and device for detecting rotary angle of airframe Pending JPH1026630A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8182328A JPH1026630A (en) 1996-07-11 1996-07-11 Method and device for detecting rotary angle of airframe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8182328A JPH1026630A (en) 1996-07-11 1996-07-11 Method and device for detecting rotary angle of airframe

Publications (1)

Publication Number Publication Date
JPH1026630A true JPH1026630A (en) 1998-01-27

Family

ID=16116393

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8182328A Pending JPH1026630A (en) 1996-07-11 1996-07-11 Method and device for detecting rotary angle of airframe

Country Status (1)

Country Link
JP (1) JPH1026630A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114942338A (en) * 2022-05-09 2022-08-26 重庆大学 Embedded gravity acceleration sensing-based rotor or rotating member rotation parameter estimation method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114942338A (en) * 2022-05-09 2022-08-26 重庆大学 Embedded gravity acceleration sensing-based rotor or rotating member rotation parameter estimation method and system
CN114942338B (en) * 2022-05-09 2023-10-20 重庆大学 Method and system for estimating rotation parameters of rotor or rotating piece based on embedded gravity acceleration sensing

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