CN107655464A - Gyroscope and its control method - Google Patents
Gyroscope and its control method Download PDFInfo
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- CN107655464A CN107655464A CN201711087283.8A CN201711087283A CN107655464A CN 107655464 A CN107655464 A CN 107655464A CN 201711087283 A CN201711087283 A CN 201711087283A CN 107655464 A CN107655464 A CN 107655464A
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- revolving body
- gyroscope
- electrode
- direct current
- permanent magnet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
Abstract
To realize the first object of the present invention, there is provided a kind of gyroscope, including motor, gyro disk and mounting seat, gyro disk are rotatably installed in mounting seat, and motor is used to drive gyro disk to rotate.Gyro disk includes the first revolving body and the second revolving body of coaxial line arrangement；First revolving body and the second revolving body can be started with different acceleration, have connection power between revolving body.Motor drives the first revolving body to enter high speed rotation state prior to the second revolving body, and the first revolving body drives the second revolving body to rotate by connection power, advantageously reduces the load of gyroscope startup, realizes the flexible startup of gyroscope.
Description
Technical field
The present invention relates to a kind of novel gyroscope and its control method.
Background technology
Rigid body around a fulcrum high-speed rotation is referred to as gyro.Usually said gyro is generally referred to as symmetric top, is
Mass Distribution is uniform, the rigid body of symmetrical configuration, and symmetry axis is its axis of rotation.It is various made by the mechanical property of people's gyro
The gyroscopic apparatus of function is referred to as gyroscope.
When motor driving gyro rotates, the working characteristics of high rpm low torque is presented.But the gyroscopic inertia of gyro and gyro
Rotary inertia and spin velocity it is directly proportional, therefore, have the gyro of strong gyroscopic inertia typically all can volume it is larger and structure is stupid
Weight.The motor of high rpm low torque drives heavy gyro to rotate, and easily causes motor and drives gyro quick rotation without enough strength,
Start time length, electric energy loss is big, causes overall operating efficiency low, motor damage is easily caused when serious.
The content of the invention
The first object of the present invention is to provide a kind of low in energy consumption, high gyroscope of gyroscopic inertia.
The second object of the present invention is to provide a kind of low in energy consumption, control method of the high gyroscope of gyroscopic inertia.
To realize the first object of the present invention, there is provided a kind of gyroscope, including motor, gyro disk and mounting seat, gyro disk
It is rotatably installed in mounting seat, motor is used to drive gyro disk to rotate.Gyro disk, the first revolution comprising coaxial line arrangement
Body and the second revolving body；First revolving body and the second revolving body can be started with different acceleration, had between revolving body and led
Band power.
From such scheme, the first revolving body and the second revolving body can be started with different acceleration, the first revolution
Body and the second revolving body start rotating speed and slippage be present.Motor drives the first revolving body contorted into high speed prior to the second revolving body
State, the first revolving body drive the second revolving body to rotate by connection power, advantageously reduce the load of gyroscope startup, realize gyro
The flexible startup of instrument, improves the starting efficiency of gyroscope, reduces energy consumption.
Further scheme is that motor is arranged in mounting seat by fixing axle；Motor, including be fixed in fixing axle and determine
Son and the rotor as the first revolving body.Be advantageous to improve the compactness of gyroscope arrangement, improve the reliability of motor transmission.
A kind of further scheme is that, the first revolving body installs the first permanent magnet close to the side of stator along gyro disk radially
Array, opposite side install the second permanent magnet array；The second revolving body side installation three permanent magnet relative with the second permanent magnet
Array；First revolving body and the second revolving body form magnetic gear train.
From such scheme, using the principle of magnetic gear, the first revolving body is turned by the revolving body of Magnetic force tracting second
Dynamic, driving force is further advantageously implemented the flexible startup of gyroscope away from small, the stationarity of the transmission in raising gyroscope.
First revolving body and the second revolving body form magnetic gear train, also with overload protective function, reduce infringement of the load to motor.
Further scheme is that permanent magnet array is Halbach array.Be advantageous to improve the utilization rate of permanent magnet.
Another further scheme is that the annular channel that can load conducting liquid is set on the outside of the first revolving body；Conduction liquid
Body is as the second revolving body.Conducting liquid returns has viscous drag between swivel, and the first revolving body is driven by viscous drag
Conducting liquid differential rotates, and is advantageously implemented the flexible startup of gyroscope.
Further scheme is that conducting liquid is liquid metal.Be advantageous to improve the electrical efficiency of conducting liquid.
Preferably, first revolving body sets magnetic source on the position of second revolving body, and magnetic source is produced along the
The magnetic component of gyroscope axial penetration conducting liquid；Along radial direction, the inner side of annular channel sets first electrode, and outside is set
Second electrode；First electrode obtains electric energy by the first direct current acquisition unit；Second electrode is obtained by the second direct current acquisition unit
Power taking energy；First direct current acquisition unit, first electrode, the second revolving body, second electrode, the second direct current acquisition unit are formed successively
Conductive path.The adjustability for the connection power being advantageously implemented between revolving body, flexibly change the gyroscopic inertia of gyroscope.Strengthen ampere
During effect of the power to the second revolving body, the final rotating speed of the second revolving body can be higher than the first revolving body rotating speed.
Another preferable scheme is that magnetic source is set in mounting seat, and magnetic source produces along the second revolving body and penetrates conducting liquid
Magnetic component；Along radial direction, the inner side of annular channel sets first electrode, and outside sets second electrode；First electrode passes through
One direct current acquisition unit obtains electric energy；Second electrode obtains electric energy by the second direct current acquisition unit；First direct current acquisition unit,
First electrode, the second revolving body, second electrode, the second direct current acquisition unit form conductive path successively.It is advantageously implemented revolution
The adjustability of connection power between body, flexibly change the gyroscopic inertia of gyroscope, be advantageous to handle the dynamically balanced precision of gyroscope.
When strengthening effect of the Ampere force to the second revolving body, the final rotating speed of the second revolving body can be higher than the first revolving body rotating speed.
The second object of the present invention is to provide a kind of control method of gyroscope.Gyroscope is any of the above-described gyroscope, is opened
Dynamic process is as follows：
S1. motor drives the first revolving body to accelerate rotation.
S2. at it, relative first revolving body differential starts the second revolving body under the effect of connection power between the first revolving body
Rotation.
From such scheme, motor drives the first revolving body to accelerate rotation, then passes through connection power effect driving second time
Swivel rotates.Be advantageous to the flexible startup of gyroscope, reduce the starting load of motor, improve the starting efficiency of gyroscope, mitigate
Gyroscope quality.
Further scheme is that gyroscope is any gyroscope in above-mentioned preferred scheme, by adjust the first revolving body and
Connection power between second revolving body changes the acceleration of the second revolving body.Be advantageous to adjust the rotating speed of gyroscope, realize gyro
The adjustability of instrument gyroscopic inertia.
Brief description of the drawings
Fig. 1 is the stereogram of the gyroscope first embodiment of the present invention；
Fig. 2 is Fig. 1 axial sectional view；
Fig. 3 is the axial sectional view of the gyroscope second embodiment of the present invention；
Fig. 4 is the stereogram of the gyroscope 3rd embodiment of the present invention；
Fig. 5 is Fig. 4 axial sectional view；
Fig. 6 is Fig. 4 radial cross-section.
Specific embodiment
Connection power, refer to the interaction force between revolving body.Gyroscope first embodiment
As shown in Figure 1 and Figure 2, gyroscope 100 includes motor 101, gyro disk 102 and mounting seat 103.Gyro disk 102 is rotatably
In mounting seat, motor 101 is used to drive gyro disk 102 to rotate.Motor 101 is arranged on mounting seat by fixing axle 104
On 103.The stator 105 of motor 101 is fixed in fixing axle 104.
Gyro disk 102 includes the first revolving body 107 and the second revolving body 108 of coaxial arrangement.The conduct of first revolving body 107
The rotor of motor 101, it is rotatably installed in by bearing in fixing axle 104.The outside of first revolving body 107 sets annular channel
109, the conducting liquid as the second revolving body 108 is loaded in annular channel 109.First revolving body is provided with magnetic source, magnetic source
Including the first magnetic source 110 and the second magnetic source 111 close to the second revolving body 108.Along gyro dish axle to the first magnetic source 110 and
Two magnetic sources 111 are separately positioned on the second revolving body both sides.First magnetic source 110 and the second magnetic source 111 are produced along gyroscope 100 axially
Penetrate the magnetic component of conducting liquid.Magnetic source is not limited to be made up of the first magnetic source and the second magnetic source, can also be by the first magnetic source and
A composition in two magnetic sources, can also be made up of more than three magnetic sources, as long as producing conductive along the axial penetration of gyroscope 100
The magnetic component of liquid.
The first circuit 121 and second circuit 122 are provided with first revolving body 107.Along radial direction, annular channel 110
Inner side set first electrode 123, outside set second electrode 124.First electrode 123 is straight by the first circuit 121 and first
Flow electric acquisition unit 125 to electrically connect and obtain electric energy, second electrode 124 passes through the direct current acquisition unit 126 of second circuit 122 and second
Electrically connect and obtain electric energy.First direct current acquisition unit 125, the first circuit 121, first electrode 123, the second revolving body 108,
Two electrodes 124, second circuit 122, the second direct current acquisition unit 126 form conductive path successively.The direct current of the present embodiment obtains
Take portion to obtain electric energy by wireless charging mode, but the mode for obtaining electric energy is not limited to wireless charging, can also by brush or
The mode of collector ring connection obtains electric energy.
Motor 101 starts, and drives and accelerates rotation as the first revolving body 107 of rotor 106.Due to as second time
The conducting liquid of swivel 108 has mobility, and now connection power is smaller between conduction liquid and the first revolving body, and conducting liquid is to the
Resistance caused by single-revolution body is smaller, so as to reduce the starting load of motor 101.Now the first revolving body and the second revolving body it
Between connection power relative to the first revolving body be resistance, be driving force relative to the second revolving body.Second revolving body 108 is first
Progressively accelerate to rotate with less acceleration in the presence of the connection power of revolving body 107.Therefore the first revolving body and the second revolution
There is slippage in the startup rotating speed of body, the first revolving body and the second revolving body can be started with different acceleration, the first revolving body
Enter high speed rotation state prior to the second revolving body.When the first revolving body of gyroscope 101 reaches desired speed, control second
Revolving body 108 is powered, and the second revolving body 108 of energization obtains ampere in the magnetic field of the first magnetic source 110 and the second magnetic source 111
Power, Ampere force drive the second revolving body 108 to be rotated along the rotation direction of the first revolving body 107.By the electric current for controlling conductive path
Size, the size of Ampere force suffered by the second revolving body is adjusted, realize the controllable flexible startup of gyroscope, improve the startup of gyroscope
Efficiency, reduce energy consumption.When the first revolving body 107 is equal with the velocity of rotation of the second revolving body 108, connection power between the two
Zero is can be considered, the second revolving body 108 continues to accelerate rotation under Ampere force effect.When the rotating speed of the second revolving body 108 is higher than the
During single-revolution body 107, the connection power between the first revolving body 107 and the second revolving body 108 drives first with less acceleration
Revolving body 107 accelerates rotation.When the speed difference of the second revolving body 108 and the first revolving body 107 is sufficiently large, the first revolving body
107 and the second connection power between revolving body 108 Ampere force is equal to the resistance that the second revolving body 108 is formed, now second time
Swivel 108 reaches maximum speed.Be advantageous to improve the rotary inertia of gyro disk unit mass, so as to improve the dead axle of gyroscope
Property.
The startup of gyroscope is not limited to first drive the first revolving body, can also first drive the second revolving body, pass through first time
Connection power between swivel and the second revolving body drives the first revolving body to rotate, and realizes the flexible startup of gyroscope.Gyro disk is not
It is limited to two revolving body coaxial arrangements, can also be more than two revolving body coaxial arrangements.
Preferably, conducting liquid is liquid metal, improves the electrical conductivity of the second revolving body.Liquid metal can be mercury, gallium
Or low-melting alloy.
The magnetic source for acting on the second revolving body 108 is not limited to be arranged on gyro disk, can also be arranged in mounting seat and produce
The raw magnetic component along the axial penetration conducting liquid of gyroscope 100.Magnetic source is not limited to be made up of the first magnetic source and the second magnetic source, also may be used
To be made up of one in the first magnetic source and the second magnetic source, it can also be made up of more than three magnetic sources, as long as producing along gyro
The magnetic component of the axial penetration conducting liquid of instrument 100.Magnetic source is fixed on the dynamic balancing for being advantageous to handle gyroscope in mounting seat
Precision.
Gyroscope second embodiment
Gyroscope second embodiment and first embodiment are essentially identical, and it distinguishes the cloth for being the magnetic source and motor for producing Ampere force
Put.
As shown in figure 3, the gyro disk of gyroscope 200 includes the first revolving body 210 and the second revolving body 220.First revolution
Annular channel 230 is set in body 210, and the second revolving body 220 is loaded in annular channel 230.Second revolving body 220 is conduction liquid
Body.The first circuit 211 and second circuit 212 are provided with first revolving body 210.Along gyroscope radially, the first revolving body 210
Inner side sets the first magnetic source 213, and outside sets the second magnetic source 214.Along axis of gyroscope to the both sides of the first revolving body 210 are provided with
First electrode 215 and second electrode 216.First electrode 215 is electrically connected by the first circuit 211 and the first direct current acquisition unit 217
Connect and obtain electric energy, second electrode 216 is electrically connected with the second direct current acquisition unit 218 by second circuit 212 and obtains electric energy.
First direct current acquisition unit 217, the first circuit 211, first electrode 215, the second revolving body 220, the electricity of second electrode 216, second
Road 212, the second direct current acquisition unit 218 form conductive path successively.The magnetic source of the present embodiment is not limited to by the He of the first magnetic source 213
Second magnetic source 214 is formed, and can be also made up of alternative one.The magnetic source of the present embodiment is not limited to be arranged on the first revolving body, also
It may be mounted in mounting seat, as long as magnetic source produces the magnetic component along the radial direction of the second revolving body.
Gyroscope 3rd embodiment
The difference of the third embodiment of the present invention and first embodiment is the difference of rotary structure.
As shown in Figure 4, Figure 5, gyroscope 300 includes gyro disk 301 and motor 302.Motor 302 is pacified by fixing axle 303
Mounted in pedestal（It is not shown）On, the stator 304 of motor is fixed in fixing axle 303.Gyro disk 301 includes the first end cap 311, the
Two end caps 312, the first revolving body 313, the second revolving body 314 and the 3rd revolving body 315.First revolving body 313 can by bearing
It is rotationally mounted in fixing axle 303, the second revolving body 314 is rotatably installed on the first revolving body 313 by bearing, the
Three revolving bodies 315 are fixed between the first end cap 311 and the second end cap 312, and the first end cap 311 is rotatably mounted by bearing
In fixing axle 303, the second end cap 312 is rotatably installed on the first revolving body 313 by bearing.Three revolving bodies are coaxial
Design, and the pivot of radial direction is arranged in approximately the same plane.
First revolving body 313 is provided with the first permanent magnet array 321 close to the side of stator 304, and it is away from stator 304
Side is provided with the second permanent magnet array 322；Second revolving body 314 is provided with the 3rd forever close to the side of the first revolving body 313
Magnet array 323, it is provided with the 4th permanent magnet array 324 close to the side of the 3rd revolving body 315；3rd revolving body 315 leans on
The side of nearly second revolving body 314 is provided with the 5th permanent magnet array 325.Opposed facing permanent magnetism between each two revolving body
Volume array is configured to transmit the magnetic gear of moment of torsion.Starting when motor 302 is powered, the first revolving body 313 of driving that is powered first rotates,
The second revolving body 314 and the 3rd revolving body are successively driven by the connection power between permanent magnet array and permanent magnet array successively again
315 accelerate rotation, realize the flexible startup of gyroscope, advantageously reduce the starting load of motor, improve the startup effect of gyroscope
Rate, reduce energy consumption.
Along the radial direction of gyro disk, the axial height along gyro disk of the permanent magnet of permanent magnet array from inside to outside is by becoming greatly
Small, the thickness of the radial direction along gyro disk of permanent magnet changes from small to big, and being advantageous to opposed facing permanent magnet array has suitable magnetic
Field intensity, the permanent magnet under unit mass obtain larger radius, are advantageous to improve the rotary inertia of gyro disk unit mass, carry
The gyroscopic inertia of high gyroscope.As shown in fig. 6, along the circumference of gyro disk, the arc length of the permanent magnet of outer ring is more than inner ring permanent magnet
Arc length, be advantageous to improve the reliability that permanent magnet array transmits moment of torsion.
Permanent magnet array on revolving body is preferably Halbach array.Be advantageous to strengthen magnetic pole effect, improve gyroscope
Power density and permanent magnet utilization rate.
The drive device of the gyroscope of the present invention is not limited to motor and directly drives the first revolving body on gyroscope, also
Gyro disk can be driven indirectly by the mode such as power transmission shaft or belt wheel or magnetic force by the drive device outside gyroscope
The first revolving body rotate.The stator being fixed in fixing axle is also used as the stator of generator, outside gyroscope
Drive device drives the first revolving body to rotate, and realizes the generating of gyroscope.Electric energy loss is advantageously reduced, improves the profit of gyroscope
With rate.
The permanent magnet array using two layers is not limited on first revolving body and the second revolving body, can also be using only one layer
Permanent magnet array works.
Gyroscope control method
The second object of the present invention is to provide a kind of control method of gyroscope.Gyroscope is any of the above-described gyroscope, is started
Journey is as follows：
S1. motor drives the first revolving body to accelerate rotation.
S2. the second revolving body starts relative to the first revolving body differential under the effect of connection power between the first revolving body at it and rotated.
Motor drives the first revolving body to enter high speed rotation state prior to the second revolving body, then passes through the first revolving body and the
Connection power between two-revolution body drives the second revolving body to rotate.Be advantageous to the flexible startup of gyroscope, reduce the startup of motor
Load, the starting efficiency of gyroscope is improved, mitigate gyroscope quality.Connection power can be the first revolving body and the second revolving body it
Between magnetic force or frictional force between the two, can also be that other connection power drive the first revolving body and second time
Differential is turned to start.
Start-up course is not limited to the first revolving body and first accelerates to rotate, and starts the second revolution by the effect differential of connection power
Body, realize the soft drive of gyroscope.It can first accelerate to rotate with the second revolving body, then started by the effect differential of connection power
First revolving body, realize the soft drive of gyroscope.
Preferably, referring to Fig. 2, conducting liquid is driven as the second revolving body by Ampere force, by adjusting conductive path
Size of current, the size of Ampere force suffered by the second revolving body is adjusted, so as to adjust the acceleration of the second revolving body.Be advantageous to adjust
The rotating speed of gyroscope, realize the adjustability of gyroscope gyroscopic inertia intensity.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Some equivalent substitutes or obvious modification are made on the premise of not departing from present inventive concept, and performance or purposes are identical, all should
It is considered as belonging to the scope of patent protection that the present invention is determined by the claims submitted.
Claims (10)
1. gyroscope, including motor, gyro disk and mounting seat, gyro disk are rotatably installed in the mounting seat, the electricity
Machine is used to drive the gyro disk to rotate, it is characterised in that：
The gyro disk, include the first revolving body and the second revolving body of coaxial line arrangement；
First revolving body and second revolving body can be started with different acceleration, had between the revolving body and led
Band power.
2. gyroscope according to claim 1, it is characterised in that：
The motor is arranged in the mounting seat by fixing axle；
The motor, including the stator that is fixed in fixing axle and the rotor as the first revolving body.
3. gyroscope according to claim 2, it is characterised in that：
Along the gyro disk radially,
First revolving body installs the first permanent magnet array close to the side of the stator, and opposite side installs the second permanent magnet battle array
Row；
Second revolving body side installation three permanent magnet array relative with second permanent magnet；
First revolving body and the second revolving body form magnetic gear train.
4. gyroscope according to claim 3, it is characterised in that：
The permanent magnet array is Halbach array.
5. gyroscope according to claim 2, it is characterised in that：
The annular channel of conducting liquid can be loaded by being set on the outside of first revolving body；
The conducting liquid is as second revolving body.
6. gyroscope according to claim 5, it is characterised in that：
The conducting liquid is liquid metal.
7. gyroscope according to claim 5, it is characterised in that：
First revolving body is provided with magnetic source, and the magnetic source produces the magnetic along conducting liquid described in the gyro disk axial penetration
Component；
Along radial direction, the inner side of the annular channel sets first electrode, and outside sets second electrode；
The first electrode obtains electric energy by the first direct current acquisition unit；
The second electrode obtains electric energy by the second direct current acquisition unit；
The first direct current acquisition unit, the first electrode, the annular channel, the second electrode, the second direct current obtain
Portion is taken to form conductive path successively.
8. gyroscope according to claim 5, it is characterised in that：
The mounting seat is provided with magnetic source, and the magnetic source produces the magnetic point along conducting liquid described in the gyro disk axial penetration
Amount；
Along radial direction, the inner side of the annular channel sets first electrode, and outside sets second electrode；
The first electrode obtains electric energy by the first direct current acquisition unit；
The second electrode obtains electric energy by the second direct current acquisition unit；
The first direct current acquisition unit, the first electrode, the annular channel, the second electrode, the second direct current obtain
Portion is taken to form conductive path successively.
A kind of 9. control method of gyroscope, it is characterised in that
The gyroscope is any gyroscope of claim 1 to 8, and start-up course is as follows：
S1. the motor drives first revolving body to accelerate rotation；
S2. second revolving body its between first revolving body connection power effect under relatively described first revolving body
Differential starts rotation.
A kind of 10. control method of gyroscope, it is characterised in that
The gyroscope is any gyroscope of claim 7 to 8, by adjusting first revolving body and described second time
Connection power between swivel changes the acceleration of second revolving body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087283.8A CN107655464A (en) | 2017-11-07 | 2017-11-07 | Gyroscope and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711087283.8A CN107655464A (en) | 2017-11-07 | 2017-11-07 | Gyroscope and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107655464A true CN107655464A (en) | 2018-02-02 |
Family
ID=61120839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711087283.8A Withdrawn CN107655464A (en) | 2017-11-07 | 2017-11-07 | Gyroscope and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107655464A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462085A (en) * | 2020-11-17 | 2021-03-09 | 吉林大学 | Electrochemical fluid gyroscope |
| CN115979409A (en) * | 2023-03-22 | 2023-04-18 | 天津大学 | Angular vibration sensor based on magnetohydrodynamics and angular vibration detection method |
-
2017
- 2017-11-07 CN CN201711087283.8A patent/CN107655464A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462085A (en) * | 2020-11-17 | 2021-03-09 | 吉林大学 | Electrochemical fluid gyroscope |
| CN115979409A (en) * | 2023-03-22 | 2023-04-18 | 天津大学 | Angular vibration sensor based on magnetohydrodynamics and angular vibration detection method |
| CN115979409B (en) * | 2023-03-22 | 2023-06-09 | 天津大学 | Angular vibration sensor based on magnetohydrodynamics and angular vibration detection method |
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Application publication date: 20180202 |
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