JPS63156595U - - Google Patents

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの考案の一実施例を示すブロツク図
、第２図ａはＴＤＧの周波数特性図、第２図ｂは
ＲＧの周波数特性図、第２図ｃ、一点鎖線はＨ．
Ｐ．Ｆの周波数特性図、実線はＨ．Ｐ．Ｆにてろ
波後のＲＧの周波数特性図、第２図ｄは本考案に
よる角速度帰還路θの周波数特性図、第３図は従
来の制御装置のブロツク図である。 図において、１は制御対象、２はＲＧ、３はＴ
ＤＧ、４は比較器、５はパワーアンプ、６はモー
タ、７はＨ．Ｐ．Ｆ、８は加算器、９は角速度検
出器である。なお、各図中同一記号は同一または
相当部分を示す。 FIG. 1 is a block diagram showing an embodiment of this invention, FIG. 2a is a frequency characteristic diagram of TDG, FIG. 2b is a frequency characteristic diagram of RG, and FIG.
P. Frequency characteristic diagram of F, the solid line is H. P. FIG. 2d is a frequency characteristic diagram of RG after filtering at F, FIG. 2d is a frequency characteristic diagram of the angular velocity feedback path θ according to the present invention, and FIG. 3 is a block diagram of a conventional control device. In the figure, 1 is the controlled object, 2 is RG, and 3 is T.
DG, 4 is a comparator, 5 is a power amplifier, 6 is a motor, 7 is an H. P. F, 8 is an adder, and 9 is an angular velocity detector. Note that the same symbols in each figure indicate the same or equivalent parts.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 一つの制御対象と上記制御対象に回転トルクを
与えるモータと、上記モータを回転させるパワー
アンプと、上記制御対象の慣性基準系角速度を検
出するレートジヤイロ、及びチユーンドドライジ
ヤイロと、一つの角速度帰還路とを有する制御装
置において、上記チユーンドドライジヤイロの検
出信号に上記レートジヤイロの検出信号のハイ．
パス．フイルタ後の信号を加算し、上記角速度帰
還路とすることを特徴とする制御装置。 One controlled object, a motor that applies rotational torque to the controlled object, a power amplifier that rotates the motor, a rate gyro and tuned dry gyro that detect the inertial reference frame angular velocity of the controlled object, and one angular velocity feedback. In a control device having a detection signal of the tuned dry gyro, the detection signal of the rate gyro is high.
path. A control device characterized in that the filtered signals are added to form the angular velocity feedback path.