METHOD INCREASING PRECISION OF BIAXIAL CONTROLLABLE GYROSTABILIZER AND BIAXIAL CONTROLLABLE GYROSTABILIZER Russian patent published in 2002 - IPC

FIELD: stabilization and control over sight line on mobile objects. SUBSTANCE: absolute angular velocity and angular acceleration of motion of base relative to axis parallel to axis of rotation of external frame are determined. Absolute angular velocity and angular acceleration of motion of external frame relative to axis parallel to axis of rotation of platform are found. Compensation signals for channel of external frame and platform are determined. Compensation signals are fed to actuating motors. Absolute angular velocity and angular acceleration of motion of external frame relative to axis perpendicular to axes of rotation of external frame and platform are found. Angular velocity and angular acceleration of control along axis of external frame are determined and angle of turn of platform with reference to external frame is established. Compensation signals for channel of external frame and for channel of platform are computed by mathematical expressions given in description of invention. In addition angle velocity transmitter and angle acceleration transmitter which sensitivity axes are perpendicular to axes of rotation of external frame and platform and angle transmitter measuring angle of turn of platform with respect to external frame are mounted in addition on external frame of gyrostabilizer. EFFECT: enhanced precision thanks to total compensation for disturbing moments during three- component rocking of base and presence of angular velocities of control. 2 cl, 3 dwg