The article considers a two-stage gyrocompass with a rigid torsion suspension of the moving part. The principle of its action is based on balancing the elastic moment of the torsion bars with the gyroscopic moment. When this condition is met, the azimuth of the steady-state position of the rotor axis is calculated from the known kinetic moment , latitude and angular rigidity of the torsion bars, and the measured angle of rotation of the moving part of the gyroscope relative to its initial position. The “aging of the material” of the torsion bars, the effect of temperature on them, etc., leads to an uncontrolled change in the angular stiffness of the torsion bars, which, in turn, leads to an error in determining the position of the meridian.
A method is proposed for determining the position of the meridian under conditions when the angular stiffness of the torsion is unknown. The method involves observing the motion of the gyroscope in a mode where the kinetic momentum changes linearly (the rotor accelerates). This movement is associated with the movement of the mathematical model of a two-stage gyrocompass in the same mode in the form of a differential equation of motion or in the form of its solution. As a result of minimizing the discrepancy between the real movement of the gyrocompass and the movement of its mathematical model, the “best estimate” of the parameter characterizing the position of the meridian and the “best estimate” of the angular stiffness of the torsion bars in this dimension are found. The results of modeling the corresponding information processing algorithms are considered. The advantages of the proposed method compared with traditional methods are indicated .
Mathematical Model of One-Channel Queueing System with Two-Stage Remand Arrival
