Device for monitoring vehicle control system sensors

FIELD: radio engineering, communication.

SUBSTANCE: novel longitudinal, normal and transverse accelerometer is included, as well as multipliers, an adder, a functional square-rooting converter, a gravitational acceleration setting device and connections. Operation and monitoring of all sensors is provided in both flight and pre-flight state. Monitoring is carried out based on non-inertia relationships, which include arithmetic operations that are quite easily implemented on-board the vehicle in real-time.

EFFECT: high reliability and accuracy of monitoring.

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The invention relates to the field of integrated flight control and navigation equipment systems for mobile maneuverable apparatus of the type airplane, helicopter, remote-PI-rotiruemyh aircraft, spacecraft and, in particular, to the means of the apparatus nonredundant control of key sensors for orientation and navigation of these devices minimum weight, dimensions, power consumption, complexity and cost. It can be used to create a simple and highly reliable means of control and management of backup flight control and navigation systems of modern aircraft, protected from failures and failures primary massively redundant complex system control.

The known device control parameter sensors measuring channels of the device using the computing device and comparator thresholds evaluation of the results of measurements of signals and motion parameters [Belyaev PS, Novikov V.S., Olynyk PV Processing and display of radio navigation information. M.: Radio and communication, 1990. p.114-119; Altukhov V.Y., Stadnik centuries Gyroscopic devices, automatic onboard control systems of aircraft and their maintenance. M: engineering, 1991, p.35, 42, 91]. The control device implements the n - fold dimension controlled pairs the meter and calculate the likelihood ratio based on the average risk decision-making about health. For accurate control it is necessary to have a precise and known at the time the description of the distribution of all controlled parameters of the movements of the device that the mobile device is almost impossible. The complication of the control device when the optimal decision rule and additive controlled communication signals of the sensors and the error in their measurements, leads to tests for composite hypotheses testing. Such control under a wide variation of the scanned signals linear and angular velocities, accelerations of the device is extremely difficult.

A device control aerobatic settings for roll and pitch - block comparison and limit roll (BSPC-1) [Leaps A.N. The instrumental equipment of helicopters MI-8 (T, MT, MTV, AMT). SPb.: Academy HA, 2003, p.19; Bondarchuk IE, Kharin V. Aviation and avionics of aircraft YAK-40. M.: Transport, 1982, p.205]. The device contains two servo systems with selsyns the two sensors of the same sensor pitch and roll of the device, the relay amplifier that performs the functions of the Comparators, and expansion circuit detection angles of roll and pitch. There is a comparison of the same signal pitch and roll of the redundant sensors horizon flight-navigation complex apparatus. Dimensions, weight, power consumption, the cost of this is great disorder, and information performance IBSPC=0,424 bps [1, S.11-13] and the accuracy of control [2, p.87] relatively low PDBSK(2)=0,546363. Time accurate control slightly more than the average flight tP=2 hours.

Known integrated device control sensors orbital satellite orientation [Orbital of sirokopasovne./ Edited BSN. SPb.: Polytechnic, 1993. P.42-43], which contains the sensors of absolute angular velocity on the axis of the associated coordinate system and the measuring device is single-or double-ginormica defining the angles of roll, yaw, pitch orientation of the satellite. Errors of the satellite attitude in roll and yaw correlated with the projections of the vector of absolute angular velocity of the device on the axis of sensitivity of the sensor of angular velocity with respect to the longitudinal and normal axes of the associated coordinate system. This allows for a smooth and integrated signals of these sensors to judge the health of all flight and navigation system, performing a complicated orbital motion and the measured gyro orbitant. As in the intact complex these errors are measured by highly sensitive sensors of angular velocity, are of limited value, the device reliably checks the sensors of angular velocity and information on roll and yaw orbit is the same. Control of speed, acceleration apparatus is absent. The application of this control circuit is limited only by the artificial satellite of the Earth, where functional special measuring device of this flight-navigation complex - ginormica.

The known device control sensors avionics aircraft and helicopters, containing three identical sensor pitch, roll, linear velocities, accelerations, angular velocities, and the majority blocks the processing of their signals control unit roll (BCA), basic rate and vertical (BSCW), processing unit and control (BFC), block matching (BS), block of damping gyroscopes (BDG), block forming (BF) information complex high-speed parameters (ICSP) and others [Altuhov V.Y., Stadnik CENTURIES Gyroscopic devices, automatic side control systems of aircraft and their maintenance. M: engineering, 1991, p.39, 122; Epifanov A.D. Reliability of control systems. M: mechanical engineering, 1975. p.129; Vorobjev V.G., deaf CENTURIES, Kadyshev Ikimizin devices, information-measuring systems and complexes. M.: Transport, 1992, s, 291]. In addition to the three same sensor controlled a majority block devices contain three non-linear element, forming a quorum of the element, and Comparators. The placenta is their conduct continuous comparison of the output signals of each of the three sensors with their averaged signal, obtained at the output of the quorum of the element. A differential signal proportional to the roll rate, pitch, acceleration, angular velocity, velocity, etc), is compared with the allowable measurement error. The accuracy, reliability, each sensor is controlled relatively high throughout the measurement range flight and navigation system. However, as the unit for comparison and limit roll (BSPC), here you have an excessive number of eponymous check sensors, due to increased cost, size, energy consumption, which is difficult or impossible in a lightweight, maneuverable machine. Control is excessive and costly nature as in the manufacture and operation of the facility. Information performance of majority control is IBCA=3,569 bit/S. the reliability of the sensors of the linear velocity VXVYVZ(Doppler velocity meter and demolition DISS-016, TDISS=500 h) is PDDS(2)=0,706403 and the corresponding time accurate control of TDDS=5.75 hours. The reliability of the three control vector micromechanical sensor of angular velocity and acceleration (inertial measurement unit IMU TISS=3200 h, TDOS=15000 h, TACU=25000 hours) the major blocks of the BCA (or on-Board computer on-Board computer-80-HH, TBCA(computer)/sub> =4500 hours) will be RDIE(2)=0,00010657. The appropriate time reliable control sensors IMU rolling apparatus with a majority of units will be relatively small TDIE=0.22 h [3; 4, s.219]. The resulting reliability of majority control P2(2)=0,000075, T2=0.21 hours.

A device of the distributed computing system of collecting flight information, control and diagnostics on-Board systems "Regatta" (Ratnikova N.A. Distributed computing system Regatta - based control technology for aircraft condition // Aerospace instrumentation, No. 7, 2004. P.44-52 and others), containing receiver modules, analog-to-digital conversion (ADC 24, ADC 32, ADC, TC, ADC TR, ADC And ADC 16PT, ADC SKT M, ADC, POR M, ADC VT), frequency converters (world Cup VI, VI MF, PE), controllers, machine-to-machine exchange (RS, TMT, KPI M, RK, CRPD), system controllers (processors 200, 300), solid state drive processor 300, a digital calculator, a unified time system, remote control panel, device installation, synchronization, and interrupt requests. Modular hardware and software gives the possibility of increasing computing power of the device, the signals which are processed at three levels. The top level test for Association of state parameters PR is viraemic systems. The average level of the expert system analyzes the current and doopity information about the failure by the methods of theory of fuzzy inferences involving specialist knowledge of the crew. On the lower level for a given range of variation of the normalized signals are probabilistic-guaranteed assessment health instruments involving a well-known statistical quality criteria. It is assumed that the known trajectory of the object, a set of controlled parameters and their reference ranges of values. The normalized deviation of the controlled parameters and the reference values in flight statistically verified. Determinism values significantly limits the scope of control, and statistics processing leads to the delay of the result dependent and attraction to the control doopity information (it may not be) and specialists of the crew, which is a control plane. The complexity of the device Regatta as a centralized integrated system of control of the airplane, and as a result, his own low reliability adversely affect the detection of failures of individual particularly reliable systems, which is integrated flight and navigation system. The degree of automation of control in flight without the participation of the crew, ground preflight and postflight the maintenance database it is desirable to increase, it's extremely important for unmanned objects.

Closest to the claimed device to control the sensors of the control system of the rolling apparatus is a Device for integrated control of sensors of a moving object" (an application for the grant of the patent of the Russian Federation No. 2011119350(028559) from 13.05.2011, IPC6G05B 23/02)containing the sensor transverse angular velocity of the object, the sensor normal to the angular velocity of the object, the sensor longitudinal angular velocity of the object, the sensor normal overload object sensor, lateral overload object, the sensor longitudinal overload object, the sensor sine of the roll of the object, the sensor cosine roll of the object, the sensor cosine of the pitch of the object, the sensor sine of the pitch of the object, the sensor longitudinal velocity of the object, the sensor normal speed of the object sensor, lateral speed of the object, the first, second, third, fourth, fifth, sixth, seventh, eighth multipliers, the first, second, and third adders, the first, second third differentiator, the first, second, and third Comparators, the circuit OR the output of the sensor transverse angular velocity is connected with the first inputs of the first and second multipliers, the second inputs of which are connected respectively with the output longitudinal velocity sensor apparatus and sensor output normal speed of the apparatus, the output of the sensor normal angular speed connection is replaced with the first inputs of the third and fourth multipliers, the second inputs of which are connected respectively with the output of the sensor longitudinal speed of the device and the sensor output of the transversal speed of the apparatus, the output of the sensor longitudinal angular velocity is connected with the first inputs of the fifth and sixth multipliers, the second inputs of which are connected respectively with the output of the sensor normal speed of the device and the sensor output of the transversal speed of the apparatus, the first subtractive input of the first adder through a first differentiator connected to the output of the sensor longitudinal velocity, the second summing input - output of the second multiplier, a third subtractive input - output of the fourth multiplier, a fourth input - output of the sensor longitudinal overload, fifth subtractive input - output sensor sine of the pitch and the output to the input of the first comparator, the first subtractive input of the second adder, a second differentiator connected to the output of the sensor normal speed, the second summing input - output of the sixth multiplier, the third subtractive input - output of the first multiplier, a fourth input - output of the sensor normal overload, fifth subtractive input - output of the seventh multiplier, the input of which is connected to the output of the sensor cosine roll and the sensor output of the cosine of the pitch, and the output to the input of the second comparator, the first subtractive input of the third adder, through threedifferent, connected to the output of the sensor, lateral speed, the second summing input - output of the third multiplier, the third subtractive input - output of the fifth multiplier, a fourth input - output of the sensor cross-overload, fifth summing input - output of the eighth multiplier, the input of which is connected to the sensor output of the sine of the roll and the sensor output of the cosine of the pitch and the output to the input of the third comparator, the output of which, as the outputs of the first and second Comparators are connected to the inputs of the circuit OR, which is the output device. The device has a large information capacity control IFR=3,993÷4,365 bps and the reliability of the control sensors P3(2)=0,511117, which corresponds to an average time accurate control of T3=2.98 hours. The accuracy of control of exactly sensor longitudinal, normal, and transverse velocities of the PDDS(2)=0,442167, which corresponds to an average time accurate control of TDDS=2.45 hours (at the algorithmic implementation of the on-Board computer-80-HH, with a mean time between failures (MTBF) TBoard computer=4500 × [3, s]). The reliability of the sensors of angular velocities and accelerations of the inertial measurement unit IMU is RDIE(2)=0,069227, which corresponds to the time characteristic of TDIE=0.75 hour. No isbutton the x sensor, required for detection of the failure, did the appropriate use of this device in flight control and navigation systems in light vehicles. The device uses information from the sensors already available onboard the object and which form part of its standard hardware. The control system adopted for the prototype, is the smallest in weight, cost, size and power consumption.

The lack of control device, selected as a prototype, is the relatively low reliability of the control sensors transverse, normal, longitudinal angular velocity and acceleration, sensors, transverse, normal and longitudinal velocity of the mobile apparatus. To control these sensors, the control system must contain comparatively dimensional sensors sine and cosine of the pitch and roll of the device. The accuracy of the control-dependent errors complexarray sensors are relatively low. The reason that prevent obtaining the specified lower technical result when using the known device the prototype is also used to control sensors transverse, normal, longitudinal overloads and Builder vertical with limited accuracy and reliability characteristics. Sensors longitudinal, transverse and normal overloads have relatively low accuracy and EMERAUDE in control systems maneuverable apparatus for security piloting. Navigation systems contain sensors - accelerometers several orders of magnitude more accurate than the sensor overloads. The presence of sensors sine and cosine of the pitch and roll Builder vertically in the control algorithm prototype also leads to unacceptably large errors of the sensors velocities, angular velocities, accelerations navigation class. A large number of modern types of the mobile devices do not contain builders vertically in the control system. Practical implementation of the apparatus with the sensor pitch and roll in micromechanical performance is extremely difficult. All this narrows the scope of the monitoring device.

The main challenge we address the claimed device object is the creation of hardware nonredundant device of high reliability and accuracy of control, with high technical and economic indicators on weight, dimensions, power consumption, cost, and ease of use in a lightweight maneuverable apparatus preferably aerospace. The technical result achieved in the implementation of the claimed invention is the production of a high performance information control by simultaneous testing of all major motion sensors and navigation of manned or unmanned apparatus is ATA. Is increasing the reliability of detection of the failure precisely controlled motion sensors, and not the controlling means. Improving the accuracy of the sensors is primarily determined by the use to detect failure of high-precision output all on-Board measurement of the rolling apparatus. This longitudinal, transverse, and normal accelerometers and angular velocity sensors inertial measurement unit IMU navigation type, not the sensors overload, sensors, longitudinal, transverse, and normal velocities of the apparatus is possible Doppler type or satellite navigation system.

This technical result is achieved in that in a device for controlling the sensors of the control system of the rolling device containing the sensor transverse angular velocity, the output of which is connected with the first inputs of the first and second multipliers, the normal sensor of angular velocity, the output of which is connected with the first inputs of the third and fourth multipliers, the sensor longitudinal angular velocity, the output of which is connected with the first inputs of the fifth and sixth multipliers, the longitudinal velocity sensor, the output of which is connected with the second inputs of the first and third multipliers, and through the first differentiator, with the first subtractive input of the first adder, the second adder input with the output of the second multiplier, third subtractive input - output of the fourth multiplier, the sensor normal speed, the output of which is connected with the second inputs of the second and fifth multipliers, and through the second differentiator, with the first subtractive input of the second adder, the second adder input with the output of the sixth multiplier, the third subtractive input - output of the first multiplier, the transverse speed sensor, the output of which is connected with the second inputs of the fourth and sixth multipliers, and through the third differentiator, with the first subtractive input of the third adder, a second adder input - output of the third multiplier, the third subtractive input - output of the fifth multiplier, the seventh eighth multipliers, the comparator further introduced a longitudinal accelerometer, a normal accelerometer lateral accelerometer, the outputs of which are connected respectively with the fourth summing inputs of the first, second, and third adders, the ninth multiplier, unit of gravitational acceleration, functional inverter, the fourth adder, summing the inputs of which are connected respectively through the seventh, eighth, ninth multipliers, so that their first and second inputs connected respectively to the outputs of the first, second and third adders, the output of the fourth adder, through functional Converter, is connected to one input of the comp the operator, the other input connected to the output of the generator is the acceleration of gravity.

The essential features of the invention enables the achievement of the technical result achieved by carrying out the invention is a device to control the sensors of the control system of the rolling apparatus of the introduction of a longitudinal accelerometer, a normal accelerometer lateral accelerometer, referencing acceleration of gravity, functional inverter, the fourth adder, the ninth multiplier and relationships. To study these characteristics and relationships necessary to consider the vector equation for the apparent acceleration [5, s]

a=W-g,(1)

wherea=[aX,aY,aZ,]Tthe vector of apparent acceleration measured longitudinal, normal and lateral accelerometers;W=[W X,WY,WZ,]Tthe vector of absolute acceleration at the location of the inertial measuring unit;andg=[gX,gY,gZ,]Tacceleration of gravity.

Define the related axes of the apparatus of the projection of the vector acceleration of gravity: gX=-gsinϑ; gY=-gcosϑcosγ; gZ=gcosϑsinγ, where g is the magnitude of the acceleration of gravity, ϑ, γ - angles of pitch and roll of the device relative to the planet (Earth). The projection of the vector of absolute accelerations will be [6, s]:WX=dVXdt+ωYVZ-ωZVY;(2)

WY=dVYdt+ωZVX-ω XVZ;(3)

WZ=dVZdt+ωXVY-ωYVX;(4)

where VXVYVZprojection of the velocity vectorV=[VX,VY,VZ,]Ton the axis of the associated coordinate system. It is accordingly the longitudinal, normal and transverse speed of the device. Projection ωX, ωY, ωZof the angular velocity vectorω=[ωX,ωY,ωZ,]Ton the axis of the associated coordinate system, respectively, longitudinal, normal and transverse angular velocity apparatuse substitution in expression (1) can be written:

aX=dVXdt-ωYVZ+ωZVY=gsinϑ;(5)

aY=dVYdt-ωZVX+ωXVZ=gcosϑcosγ;(6)

aZ=dVZdt-ωXVY+ωYVX=-gcosϑcosγ;(7)

Defining the module of the vector us is orenia gravity g,the resulting control algorithm

F=[(aX-dVXdt-ωYVZ+ωZVY)2+(aY-dVYdt-ωZVX+ωXVZ)2+

+(aZ-dVZdt-ωXVY+ωYVX)2]0,5-g;(8)

UK={0p/mi> pand|F|FP0ppand|F|>FP

where the f - function control; fPthe threshold comparator; UK- the output signal of the comparator. The presence of the proposed device, the longitudinal, normal, transverse accelerometers, as well as their links with inputs respectively of the first, second and third adders, the outputs of which respectively through the inputs of the seventh, eighth, ninth multipliers connected to inputs of the fourth adder, through functional Converter connected to the input of the comparator, another input connected with the output of the generator acceleration of gravity, increase the accuracy and precision of the control inertial measurement unit and sensors longitudinal, normal, transverse speed of the rolling apparatus. Reliability and accuracy is increased due to the simplification of the control algorithm, which was not needed in the sensor sine of the pitch, the sensor cosine of the pitch, the sensor sine of the roll, the sensor cosine roll. The latter have low reliability and accuracy on a mobile device, and the dimensions, weight, energopac is eblana and cost are essential for modern mini and micropatterned devices. The absence of these sensors extends the scope of the claimed device, mobile devices and space-type [7, p.160-162], for which the actual precise measurement of acceleration, and pitch and roll, if needed, can be computed by signals controlled in the application of the angular velocity sensors of the inertial measuring unit. Control longitudinal, normal and lateral accelerometers and sensors not overload, as in the prototype, also improves the accuracy of control, as the latter have large measurement errors [8, s, 255, 300; 9, C; 10, C] and limited scope for aviation moderate speeds near-earth flight [11, C; 12, p.44-45], in comparison with conventional accelerometers navigation class [13, C].

Conducted by the applicant's analysis of the level of technology found that analogs characterized by the sets of characteristics is identical for all features of the claimed device to control the sensors of the rolling apparatus, missing, therefore, the claimed invention meets the condition of "novelty."

Search results known technical solutions in this and related areas of technology in order to identify characteristics that match the distinctive features of the prototype of the characteristics of the claimed invention, have shown that they do not follow explicitly from the prior art.

Of certain of applicant's prior art there have been no known impact provided the essential features of the claimed invention transformations on the achievement of the technical result, and the invention is not based on:

- the addition of the known device similar to any known part attached to it according to certain rules, to achieve a technical result, in respect of which it is the effect of this Supplement;

- the replacement of any part of the device is similar to another well-known part to achieve a technical result, in respect of which it is the effect of such additions;

- the exclusion of any part of the device is similar to the while excluding, due to its functions and the achievement of the usual result of such exclusion;

- increase the number of identical elements to enhance the technical result due to the presence in the device is of such elements;

- the execution of the known device is analog or part of a known material to achieve a technical result due to the known properties of the material;

- a device consisting of known parts, the choice of which and the relationship between them is carried out on the basis of known rules, inactively technical result is due only to the known properties of the parts of this device and connections between them;

- the change of the quantitative characteristic (s) of the device and the provision of such evidence in the relationship or change the form of the relationship, if known fact of the influence of each on the technical result and the new values of these characteristics or their relationship could be obtained from the known dependencies, therefore, the claimed invention meets the "inventive step".

The invention is illustrated in the drawing, in which figure 1, shows a block diagram of a device for controlling the sensors of the rolling apparatus and the following notation:

1-1 - sensor lateral angular velocity;

1-2 - normal sensor of angular velocity;

1-3 - sensor longitudinal angular velocity;

2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7, 2-8, 2-9 - first, second, third, fourth, fifth, sixth, seventh, eighth, ninth multipliers;

3-1 - sensor longitudinal velocity;

3-2 - sensor normal speed;

3-3 - gauge shear velocity;

4-1, 4-2, 4-3, 4-4 - first, second, third, fourth adders;

5-1 - longitudinal accelerometer;

5-2 - normal accelerometer;

5-3 - lateral accelerometer;

6-1, 6-2, 6-3 first, second, third differentiator;

7 - functional transducer;

8 comparator;

9 - referencing acceleration of gravity.

Device to control the sensors of the control system ACC is the author of the device contains a sensor 1-1 transverse angular velocity, sensor 1-2 normal angular velocity and the sensor 1-3 longitudinal angular velocity on the axis of the associated coordinate system. The first inputs of the first multiplier 2-1 and the second multiplier 2-2 is connected to the output of the sensor 1-1 transverse angular velocity. The second inputs of the first multiplier 2-1 and the second multiplier 2-2 are connected respectively with the output of the sensor 3-1 longitudinal velocity and the output of the sensor 3-2 normal speed. The first input of the third multiplier 2-3 and the fourth multiplier 2-4 is connected to the output of the sensor 1-2 normal angular velocity. Second input of the third multiplier 2-3 and the fourth multiplier 2-4 are connected respectively with the output of the sensor 3-1 longitudinal velocity and the output of the sensor 3-3 transverse speed. The first inputs of the fifth multiplier 2-5 and the sixth multiplier 2-6 is connected to the output of the sensor 1-3 longitudinal angular velocity. The second inputs of the fifth multiplier 2-5 and the sixth multiplier 2-6 are connected respectively with the output of the sensor 3-2 normal speed and the output of the sensor 3-3 transverse speed. The first and second inputs of the seventh multiplier 2-7 connected to the output of the first adder 4-1, the second summing input connected to the output of the second multiplier 2-2, fourth summing input - output longitudinal accelerometer 5-1, third subtractive input - output of the fourth multiplier 2-4, the first subtractive input through the first diff is erentiator 6-1 - with the output of the sensor 3-1 longitudinal velocity, and the output of the seventh multiplier 2-7 connected to the first summing input of the fourth adder 4-4. The first and second inputs of the eighth multiplier 2-8 connected to the output of the second adder 4-2, the second summing input connected to the output of the sixth multiplier 2-6, fourth summing input - output normal accelerometer 5-2, third subtractive input - output of the first multiplier 2-1, the first subtractive input through the second differentiator 6-2 with the output of the sensor 3-2 normal speed, and the output of the eighth multiplier 2-8 connected to the second summing input of the fourth adder 4-4. The first and second inputs of the ninth multiplier 2-9 connected to the output of the third adder 4-3, the second summing input connected to the output of the third multiplier 2-3, fourth summing input - output cross-accelerometer 5-3, third subtractive input - output of the fifth multiplier 2-5, the first subtractive input through the third differentiator 6-3 - sensor output 3-3 transverse speed, and the output of the ninth multiplier 2-9 connected to the third summing input of the fourth adder 4-4. The output of the fourth adder 4-4 through functional Converter 7 is connected with one input of the comparator 8, the other input connected to the output of the generator 9 acceleration of gravity. The output of the comparator 8 is output the MD device to control the sensors of the control system of the rolling device.

The practical realization of the device for complex control system sensors control the rolling of the apparatus are possible on analog and digital circuit basis [3, 14, 15]. This allows a very wide set of practical schemes and types of controlled sensors onboard equipment. These sensors motion parametersaX,aY,aZ, ωX, ωY, ωZVXVYVZpart of the typical systems of automatic control (type ACS-10 ACS-451, XAIS, SUPP, KSU-130, and others [1, pp.92-102; 13 s.204; 16, C; 17, s]) avionics aircraft. Sensors longitudinal, normal, transverse angular velocity ωX, ωY, ωZalong the axes of the associated coordinate system of the apparatus include a large number of typical gyroscopic sensors of angular velocities from Electromechanical: DUSU1, DUSU-AU DUSU-M; fiber-optic, laser: WG-3, Dwsw-5, DOS-500, CH-2 to micromechanical: ADIS, ADXRS, DOS MMA. Longitudinal, normal, transverse accelerometers parametersaX,aY,aZcan include conventional devices: DLU, ADIA, ADIS, AK-6, and MEMS, integrated datalogger type: ADXL, A-15, AT, ALE[3, 4, 18, 19]. Accelerometers and angular velocity sensors form an inertial measurement units high is integratsii simultaneously measured parameters aX,aY,aZ, ωX, ωY, ωZsuch as the ISS, BA-50, DOS MMG, BDT-42, BDT, STORK-320,BDG-30,SPD-MM. Sensors projections of the velocity vector of the vehicle to its longitudinal, normal and transverse axes of motion parameters VXVYVZcan use air quality measurement or radio gauges onboard equipment, such as type DIVAS-1, E-15, E-32, P-1 1, a-077 satellite navigation receivers SN-3301, A-737, A-744, SNC-2, OUTLINE, air signals ICSP-2, SAF-B1, SVS-Z, SHS-85, DAU-72, SVS-B1, CRP-1. The implementation of the control algorithm is possible by means of software on-Board computer of the 80 HH or computer, the 80-HH, on-Board computer 90-HAH, on-Board computer is a 486 with a high value-to-failure as part of onboard aircraft systems [3, p.87, 131, 224, 340; 20, p.178; 21, C; 22, pp.272 and others]. Software in the computer, the introduced control device 9 of the gravitational acceleration g, the comparison operation in the comparator 8 with the output signal functional Converter 7, which implements the mathematical operation of taking the square root of the output signal of the adder 4-4.

Device to control the sensors of the control system of the rolling apparatus operates as follows. The output signal from the sensor 1-1 transverse angular velocity of the device is proportional to ωZgoes to the first input of the multiplier 2-1 and multiplier 2-2. At the same time, what about, at the first input of the multiplier 2-3 and multiplier 2-4 receives the sensor output 1-2 normal angular velocity of the device is proportional to ωYand to the first inputs of the multiplier 2-5 and multiplier 2-6 receives the output signal of the sensor 1-3 longitudinal angular velocity proportional to ωX. To the second input of multiplier 2-1 and multiplier 2-3 signal from the output of the sensor 3-1 longitudinal speed of the device is proportional to VX. To the second input of multiplier 2-2 and multiplier 2-5 signal from the output of the sensor 3-2 normal speed of the device is proportional to VY.

To the second input of multiplier 2-4 and multiplier 2-6 signal from sensor output 3-3 transverse speed of the device is proportional to VZ. The output signals of the multipliers 2-1, 2-2, 2-3, 2-4, 2-5, 2-6 form estimates of incremental acceleration motion unit for maneuvering. The output signal of the sensor 3-1 longitudinal speed of the device is proportional to VXthrough the first differentiator 6-1 routed to the first subtractive input of the adder 4-1, the second summing input of which receives the output signal of the multiplier 2-2, in the third subtractive input - output multiplier 2-4, and on the fourth summing input - output signal from the longitudinal accelerometer 5-1 proportional toaX. The output signal of the sensor 3-2 normal speed apparatus, Ministers the national V Ythrough the second differentiator 6-2 routed to the first subtractive input of the adder 4-2, in the second summing input of which receives the output signal of the multiplier 2-6, on the third subtractive input - output multiplier 2-1, and on the fourth summing input - output normal accelerometer 5-2 proportional toaY. The output signal of the sensor 3-3 transverse speed of the device is proportional to VZthrough the third differentiator 6-3 routed to the first subtractive input of the adder 4-3, in the second summing input of which receives the output signal of the multiplier 2-3, on the third subtractive input - output multiplier 2-5, and on the fourth summing input - output signal of the transversal accelerometer 5-3 proportional toaZ. The output signal of the adder 4-1 through multiplier 2-7, both inputs of which are connected with the output of the adder 4-1, is fed to the first input of the adder 4-4. Similarly, the output signal of the adder 4-2 through multiplier 2-8, both inputs of which are connected with the output of the adder 4-2, is supplied to the second input of the adder 4-4, and the output signal of the adder 4-3 through multiplier 2-9, both inputs of which are connected with the output of the adder 4-3, is supplied to the third input of the adder 4-4. The output signal of the adder 4-4 comes to functional Converter 7, where the operation of taking the square root and the output signal of the adder 4-4 with subsequent transfer of this signal, proportional to the estimate of the acceleration g of gravity, to the input of the comparator 8. This value is compared in the comparator 8 with the signal generator 9, the acceleration g of gravity in accordance with the expression (8). The value of gravitational acceleration priori known [12, p.44; 24, s], and field tolerance fPsignals is determined by the tolerances serviceable sensor controlled management system. In that case, if one or more of them will fail, resulting in unacceptably large errors in the work, then the calculated value of g will go beyond the field of tolerance fPthat will be fixed by the device as faulty sensors of the device.

Thus, the inventive device control sensors of the control system of the rolling apparatus absent mentioned disadvantages of the prototype. The reliability of the sensors transverse, normal, longitudinal angular velocity sensor longitudinal, normal, shear velocity, and longitudinal, normal and lateral accelerometers is PD(2)=0,912597 that corresponds to the time accurate control of TD=21.9 hours. This value of 7.35 times more than in the prototype, and an order of magnitude greater than in majoritarian similar to sensors and on-Board computer indicated previously. Time accurate control only sensors longitudinal, normal, cross karasti 3.45 times more than in the prototype. Time accurate control inertial measurement unit with accelerometers and angular velocity sensors more 1.28 times than in the prototype. When high information capacity I=3,569 bps the proposed device allows you to control the control system of minimal size, weight, power, cost, consisting only of micromechanical sensors. The task of flight control nonredundant means the minimum weight, dimensions, power consumption, complexity and cost is solved in parallel with automatic control without reducing the effectiveness of the implementation of the basic flight task object. It provides the execution and control of all sensors in flight and pre-flight condition. The inspection is carried out on the instantaneous correlations containing arithmetic operations, simple enough to be implemented on Board the aircraft in real time. The accuracy of control here than approximately two times due to the lack of errors Builder vertical inaccuracy and instability scale factor of the sensor overloads. The proposed device is operable at any spatial maneuvers apparatus and realizable for a large number of sensors for aerospace applications. Devices which control has a wider scope for aerospace vehicles, not containing sensors, pitch, roll Builder vertical, as in the prototype. Software implementation in instantaneous control algorithm, in parallel with the main computation process control, it is possible to input consumer navigation information control system. The complexity, cost and probability of failure algorithmic implementation is minimal. When this control covers all critical from the point of view of the management of unstable device sensors.

Thus, the above information proves that when carrying out the claimed invention, the following conditions are true:

- a means of embodying the device of the invention in its implementation, is intended for use in aerospace applications and, in particular, for integrated control of sensors, control systems avionics unmanned, passenger and transport aircraft, helicopters. It can be used to determine the health of the sensors in flight;

for the claimed invention in the form as it is described in the independent claim, confirmed the possibility of its implementation using the described or other known prior to the filing date of the funds;

the tool embodying the claimed invention in its implementation, able is to provide for the receipt of the indicated technical result.

Therefore, the claimed invention meets the condition of patentability "industrial applicability".

Sources of information

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Device to control the sensors of the control system of the rolling device containing the sensor transverse angular velocity, the output of which is connected with the first inputs of the first and second multipliers, the normal sensor of angular velocity, the output of which is connected with the first inputs of the third and fourth multipliers, the sensor longitudinal angular velocity, the output of which is connected with the first inputs of the fifth and sixth multipliers, the longitudinal velocity sensor, the output of which is connected with the second inputs of the first and third multipliers, and through the first differentiator, with the first subtractive input of the first adder, the second adder input with the output of the second multiplier, a third subtractive input - output the fourth multiplier, the sensor normal speed, the output of which is connected with the second inputs of the second and fifth multipliers, and through the second differentiator, with the first subtractive input of the second adder, the Torah summarizes the input - with the output of the sixth multiplier, the third subtractive input - output of the first multiplier, the transverse speed sensor, the output of which is connected with the second inputs of the fourth and sixth multipliers, and through the third differentiator, with the first subtractive input of the third adder, a second adder input - output of the third multiplier, the third subtractive input - output of the fifth multiplier, seventh, eighth multipliers, comparator, characterized in that it introduced a longitudinal accelerometer, a normal accelerometer lateral accelerometer, the outputs of which are connected respectively with the fourth summing inputs of the first, second, and third adders, the ninth multiplier, the unit of gravitational acceleration, functional Converter square root, fourth adder, summing the inputs of which are connected respectively through the seventh, eighth, ninth multipliers so that their first and second inputs connected respectively to the outputs of the first, second and third adders, the output of the fourth adder, through functional Converter square root, is connected to one input of the comparator, another input connected with the output of the generator is the acceleration of gravity.



 

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