CN103488178B - Based on the reversible pendulum system attitude stabilization device of gyroscopic precession effect - Google Patents
Based on the reversible pendulum system attitude stabilization device of gyroscopic precession effect Download PDFInfo
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- CN103488178B CN103488178B CN201310455611.0A CN201310455611A CN103488178B CN 103488178 B CN103488178 B CN 103488178B CN 201310455611 A CN201310455611 A CN 201310455611A CN 103488178 B CN103488178 B CN 103488178B
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Abstract
Based on the reversible pendulum system attitude stabilization device of gyroscopic precession effect, it relates to a kind of reversible pendulum system attitude stabilization device, to solve the attitude stability of the stabilising arrangement maintenance reversible pendulum system based on inertia wheel, there is inertia large, structure bulky, start-up time is long, commutation can cause system vibrations to cause system stability to reduce, and maintain the attitude stability of reversible pendulum system based on the stabilizing mechanism of single gyro instrument, exist while producing trimming moment and can produce the problem that perturbed force makes reversible pendulum system generation driftage, it comprises support, two cover gyroscope and Liang Tao gyroscopic yaw mechanisms, the middle part of support frame is provided with the pillar vertically arranged, and two cover gyroscopes are symmetrical arranged about pillar and are positioned at support frame, Liang Tao gyroscopic yaw mechanism is symmetrical arranged about pillar and is positioned on the upper surface of support frame.The present invention's attitude be used in small-sized depopulated helicopter landing process is calmed and one-wheel robot lateral balance controls.
Description
Technical field
The present invention relates to a kind of reversible pendulum system attitude stabilization device, be specifically related to a kind of reversible pendulum system attitude stabilization device based on gyroscopic precession effect, belong to transient equilibrium and the static equilibrium technical field of reversible pendulum system.
Background technology
Current reversible pendulum system problem the most difficult is exactly the stability of lateral attitude, great majority all adopt inertia to take turns with the device of single gyro instrument to maintain the lateral balance of reversible pendulum system, feature based on the stabilising arrangement of inertia wheel is the transient equilibrium being maintained system by the rotation of rotor, advantage is that the moment of torsion produced is large, can reversible pendulum system be made fast to return to steady state (SS), shortcoming is exactly that inertia is large, structure bulky, start-up time are long, commutation can cause system to shake to cause system stability to reduce; The stabilizing mechanism principle of single gyro instrument is the transient equilibrium that the moment of torsion produced by gyrostatic precession effect maintains reversible pendulum system, advantage is that inertia is little, easy to adjust, and shortcoming can produce perturbed force reversible pendulum system system is gone off course producing trimming moment while.
Summary of the invention
The present invention is the attitude stability for solving the stabilising arrangement maintenance reversible pendulum system based on inertia wheel, have that inertia is large, structure bulky, start-up time are long, commutation can cause system to shake to cause system stability to reduce, and maintain the attitude stability of reversible pendulum system based on the stabilizing mechanism of single gyro instrument, exist while producing trimming moment and can produce the problem that perturbed force makes reversible pendulum system generation driftage, and then a kind of reversible pendulum system attitude stabilization device based on gyroscopic precession effect is provided.
The present invention is the technical scheme taked that solves the problem: the reversible pendulum system attitude stabilization device based on gyroscopic precession effect of the present invention comprises support, two cover gyroscope and Liang Tao gyroscopic yaw mechanisms;
Described support comprises support frame and pillar, and the middle part of support frame is provided with the pillar vertically arranged, and two cover gyroscopes are symmetrical arranged about pillar and are positioned at support frame;
Often overlap gyroscope and comprise motor, turning axle and two rotors, described motor is double output shaft direct current generator, turning axle is vertically arranged on the support frame, turning axle can rotate along the circumference of self, motor level is arranged on the middle part of turning axle, two output shafts of motor are coaxial and be horizontally disposed with, and two output shafts of motor are separately installed with a rotor;
Liang Tao gyroscopic yaw mechanism is symmetrical arranged about pillar and is positioned on the upper surface of support frame, every suit in described Liang Tao gyroscopic yaw mechanism comprises connecting link, two permanent magnets and two coils, connecting link is arranged on the upper surface of support frame and connecting link is connected with turning axle, the length direction of connecting link and the axial vertical of turning axle, the two ends of connecting link are separately installed with a permanent magnet, the upper surface of support frame is provided with two coils be set up in parallel, and two coils and two permanent magnets are respectively just to setting, the axis of coil is parallel with the axis of the output shaft of motor.
The invention has the beneficial effects as follows:
1, simple structure of the present invention is reasonable in design, easy to maintenance, practical;
2, reliable operation, double tops instrument structure eliminates the disturbance torque that single gyro instrument produces;
3, high security, double tops construction machine intensity is high, good stability, and the resultant moment commutation of gyroscopic precession effect is convenient, avoids commutation and system vibrations can be caused to cause system stability to reduce;
4, system balancing ability is maintained strong, only need the electric current in control coil just can adjust precession moment, have the advantages that reaction velocity is fast, in 0.02 second, gyrostatic yaw rate is from 0 to 50 revolutions per seconds, stabilising arrangement of the present invention makes to reply equilibrium state in the reversible pendulum system short time (0.5 second), and start-up time is short;
5, in the present invention, gyrostatic driftage power is directed to the electromagnetic action of solenoid and permanent magnet, can provide larger instantaneous torque;
6, the present invention can make reversible pendulum system maintain static equilibrium and transient equilibrium, the fields such as the attitude that can be applicable in the landing process of aircraft is calmed, the control of one-wheel robot lateral balance.The present invention has saving tasks carrying cost, the efficiency improving tasks carrying, reliability and accuracy a little.The present invention is used for that attitude in small-sized depopulated helicopter landing process is calm, one-wheel robot lateral balance control etc.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention, Fig. 2 is the D direction view of Fig. 1, Fig. 3 is the vertical view of Fig. 2, Fig. 4 is the left view of Fig. 2, Fig. 5 is single gyroscopic precession effect principle schematic diagram, Fig. 6 is the schematic diagram that stabilising arrangement of the present invention is installed on the reversible pendulum system that wheelbarrow is formed, and Fig. 7 is the precession effect principle schematic of the double tops instrument be installed in Fig. 6 on wheelbarrow.
Embodiment
Embodiment one: composition graphs 1-Fig. 4 illustrates present embodiment, the reversible pendulum system attitude stabilization device based on gyroscopic precession effect of present embodiment comprises support A, two cover gyroscope B and Liang Tao gyroscopic yaw mechanism C;
Described support A comprises support frame 3 and pillar 4, and the middle part of support frame 3 is provided with pillar 4, the two cover gyroscope B vertically arranged and is symmetrical arranged about pillar 4 and is positioned at support frame 3;
Often overlap gyroscope B and comprise motor 16, turning axle 13 and two rotors 10, described motor 16 is double output shaft direct current generator, turning axle 13 is vertically arranged on support frame 3, turning axle 13 can rotate along the circumference of self, motor 16 level is arranged on the middle part of turning axle 13, two output shafts of motor 16 are coaxial and be horizontally disposed with, and two output shafts of motor 16 are separately installed with a rotor 10;
Liang Tao gyroscopic yaw mechanism C is symmetrical arranged about pillar 4 and is positioned on the upper surface of support frame 3, every suit in described Liang Tao gyroscopic yaw mechanism C comprises connecting link 18, two permanent magnets 20 and two coils 7, connecting link 18 is arranged on the upper surface of support frame 3 and connecting link 18 is connected with turning axle 13, the length direction of connecting link 18 and the axial vertical of turning axle 13, the two ends of connecting link 18 are separately installed with a permanent magnet 20, the upper surface of support frame 3 is provided with two coils 7 be set up in parallel, and two coils 7 and two permanent magnets 20 are respectively just to setting, the axis of coil 7 is parallel with the axis of the output shaft of motor 16.
Embodiment two: composition graphs 1-Fig. 4 illustrates present embodiment, described in present embodiment, support frame 3 is square frame or rectangular frame.Setting like this, ensure that two gyroscopes are arranged symmetrically with, makes crab angle, side rake angle and the angle of pitch that stabilising arrangement of the present invention and reversible pendulum system system keep identical.Other is identical with embodiment one.
Embodiment three: composition graphs 1 and Fig. 2 illustrate present embodiment, each turning axle 13 of present embodiment rotates along the circumference of turning axle 13 by being arranged on two bearings on support frame 3.Setting like this, after ensure that coil electricity, permanent magnet, under the effect of electromagnetic field, drives gyroscope entirety to go off course when turning axle is rotated.Other is identical with embodiment one or two.
Embodiment four: composition graphs 1-Fig. 3 illustrates present embodiment, every suit in Liang Tao gyroscopic yaw mechanism C described in present embodiment also comprises torsion spring 21, turning axle 13 before the upper surface of each connecting link 18 and support frame 3 is arranged with torsion spring 21, one end of torsion spring 21 is connected with support frame 3, and the other end of torsion spring 21 is connected with connecting link 18.Setting like this, under the effect not having electromagnetic force, permanent magnet and connecting link can quickly recover to initial position under the effect of torsion spring, and torsion spring serves and well regulates gain effect.Other is identical with embodiment three.
Embodiment five: composition graphs 1-Fig. 4 illustrates present embodiment, the every suit in Liang Tao gyroscopic yaw mechanism C described in present embodiment also comprises two connecting frames 19, is provided with a permanent magnet 20 in each connecting frame 19.Setting like this, is convenient to install and use, meets the design requirements and the actual needs.Other with embodiment one, two or four identical.
Embodiment six: composition graphs 1-Fig. 3 illustrates present embodiment, support A described in present embodiment also comprises hollow hexahedron 1 and six tapped through holes 2, hollow hexahedron 1 is vertically arranged on the lower surface of support frame 3, the upper end of hollow hexahedron 1 is connected with the lower end of pillar 4, each of hollow hexahedron 1 is processed with a tapped through hole 2.Setting like this, is convenient to be connected with small-sized unmanned aircraft, one-wheel robot, two-wheel vehicle etc., and then forms reversible pendulum system.Other is identical with embodiment five.
Embodiment
Composition graphs 1-Fig. 7 illustrates, Fig. 5 is single gyrostatic precession effect principle schematic, and the electromagnetic action between coil and permanent magnet provides driftage moment of torsion and yaw rate ω for gyroscope
y, the spin velocity ω of gyrowheel
xthered is provided by the direct current generator be positioned in the middle part of gyroscope, produce a moment of torsion τ perpendicular to gyroscopic yaw angular velocity and spin velocity by the known gyroscope of gyrostatic precession effect
z, single gyrostatic precession moment τ
z, as shown in Figure 5 (in figure, x represents the axis of rotation of rotor, and y represents gyroscopic yaw axle, and z represents gyrostatic precession moment axle), meet mathematical formulae:
τ
z＝I
x×ω
x×ω
y
Wherein I
xrepresent the moment of inertia of gyrowheel, ω
xrepresent gyrowheel angular velocity, ω
yrepresent gyroscopic yaw angular velocity.
Fig. 6 is that stabilising arrangement of the present invention is installed on independent car 25 and forms reversible pendulum system figure, double tops instrument stabilising arrangement is the moment of components can eliminating gyroscopic precession moment compared with one of the advantage of single gyro instrument stabilising arrangement, system is made to realize static equilibrium, as shown in Figure 6; The rolling moment τ that double tops instrument produces when keeping independent car reversible pendulum system lateral balance attitude as shown in Figure 6, meets mathematical formulae:
τ＝τ
roll1+τ
roll2
(X in figure as shown in Figure 7
1represent the axis of rotation of the gyrostatic rotor in right side, Y
1represent the yaw axis of the gyrostatic rotor in right side, Z
1represent the gyrostatic precession moment axle in right side; X
2represent the axis of rotation of the gyrostatic rotor in left side, Y
2represent the yaw axis of gyrostatic rotor on the left of Z, Z
2represent the gyrostatic precession moment axle in side, left side); Wherein τ
roll1right side gyroscopic precession moment τ
1moment of components in absolute coordinate system XYZ in Z coordinate axis, τ
roll2left side gyroscopic precession moment τ
2moment of components in absolute coordinate system XYZ in Z coordinate axis.
The course of work
Often overlap two the rotor rotations of gyrostatic driven by motor, during initial position, permanent magnet and coil are just to setting, after coil electricity, coil and permanent magnet generation electromagnetic action make turning axle twist, and then make gyroscope have certain yaw rate, gyroscope generation precession effect is made to produce a precession moment, the direction of moment and rotor spin velocity direction, yaw rate direction is vertical, two the gyroscopic yaw angular velocity in left and right are identical with spin velocity size, yaw direction is contrary, spin velocity direction is also contrary simultaneously, the resultant moment of such two gyroscopic precession moments is consistent with the side rake angle direction of reversible pendulum system, the absolute value of the side rake angle of reversible pendulum system can be made to diminish, thus the balance of the system of maintenance.By changing the electric current of coil, the moment of torsion that adjustment coil and permanent magnet produce, thus change gyrostatic yaw rate, the moment that gyroscopic precession effect is produced changes, two gyrostatic yaw rate equal and opposite in directions, direction are contrary, and the resultant moment of two gyroscopic precession effects is used for adjusting the side rake angle of reversible pendulum system.The present invention has possessed the ability making reversible pendulum system attitude maintain balance and stability.
Claims (6)
1. based on the reversible pendulum system attitude stabilization device of gyroscopic precession effect, it is characterized in that: described stabilising arrangement comprises support (A), two cover gyroscope (B) and Liang Tao gyroscopic yaw mechanisms (C);
Described support (A) comprises support frame (3) and pillar (4), the middle part of support frame (3) is provided with the pillar (4) vertically arranged, and two covers gyroscope (B) are symmetrical arranged about pillar (4) and are positioned at support frame (3);
Often overlap gyroscope (B) and comprise motor (16), turning axle (13) and two rotors (10), described motor (16) is double output shaft direct current generator, turning axle (13) is vertically arranged on support frame (3), turning axle (13) can rotate along the circumference of self, motor (16) level is arranged on the middle part of turning axle (13), two output shafts of motor (16) are coaxial and be horizontally disposed with, and two output shafts of motor (16) are separately installed with a rotor (10);
Liang Tao gyroscopic yaw mechanism (C) is symmetrical arranged about pillar (4) and is positioned on the upper surface of support frame (3), every suit in described Liang Tao gyroscopic yaw mechanism (C) comprises connecting link (18), two permanent magnets (20) and two coils (7), connecting link (18) is arranged on the upper surface of support frame (3) and connecting link (18) is connected with turning axle (13), the length direction of connecting link (18) and the axial vertical of turning axle (13), the two ends of connecting link (18) are separately installed with a permanent magnet (20), the upper surface of support frame (3) is provided with two coils (7) be set up in parallel, and two coils (7) and two permanent magnets (20) are respectively just to setting, the axis of coil (7) is parallel with the axis of the output shaft of motor (16).
2. the reversible pendulum system attitude stabilization device based on gyroscopic precession effect according to claim 1, is characterized in that: described support frame (3) is square frame or rectangular frame.
3. the reversible pendulum system attitude stabilization device based on gyroscopic precession effect according to claim 1 and 2, is characterized in that: each turning axle (13) rotates along the circumference of turning axle (13) by being arranged on two bearings on support frame (3).
4. the reversible pendulum system attitude stabilization device based on gyroscopic precession effect according to claim 3, it is characterized in that: the every suit in described Liang Tao gyroscopic yaw mechanism (C) also comprises torsion spring (21), turning axle (13) before the upper surface of each connecting link (18) and support frame (3) is arranged with torsion spring (21), one end of torsion spring (21) is connected with support frame (3), and the other end of torsion spring (21) is connected with connecting link (18).
5. the reversible pendulum system attitude stabilization device based on gyroscopic precession effect according to claim 1,2 or 4, it is characterized in that: the every suit in described Liang Tao gyroscopic yaw mechanism (C) also comprises two connecting frames (19), a permanent magnet (20) is installed in each connecting frame (19).
6. the reversible pendulum system attitude stabilization device based on gyroscopic precession effect according to claim 5, it is characterized in that: described support (A) also comprises hollow hexahedron (1) and six tapped through holes (2), hollow hexahedron (1) is vertically arranged on the lower surface of support frame (3), the upper end of hollow hexahedron (1) is connected with the lower end of pillar (4), each of hollow hexahedron (1) is processed with a tapped through hole (2).
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| CN104932511B (en) * | 2015-06-05 | 2018-03-30 | 哈尔滨工业大学 | Gyrostabilization unit based on Fourier expansion |
| CN105911879A (en) * | 2015-11-13 | 2016-08-31 | 中国人民解放军装甲兵工程学院 | Frame type inverted robot development platform |
| CN106781892B (en) * | 2016-12-28 | 2023-07-07 | 国术科技(北京)有限公司 | Gyroscope device |
| CN108681330A (en) * | 2018-05-15 | 2018-10-19 | 北京工业大学 | A kind of outer rim one-wheel robot based on gyrocontrol control |
| CN109901581A (en) * | 2019-03-15 | 2019-06-18 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of scaling method and spin motion control method of AGV vehicle spin angle |
| CN110285832B (en) * | 2019-07-04 | 2020-11-20 | 北京航天时代光电科技有限公司 | Method for detecting long-term stability defect of calibration parameter of fiber-optic gyroscope inertial measurement product |
| CN110562489B (en) * | 2019-09-18 | 2021-04-09 | 北京工业大学 | Gyro-driven solar sailboard capable of being repeatedly unfolded |
| CN111524441B (en) * | 2020-06-10 | 2024-06-18 | 清华大学 | Double-wheel uneven stone screw-in demonstration device |
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