JP2559068Y2 - Gondola damper - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device for suppressing the swing of a gondola.

[0002]

2. Description of the Related Art As shown in FIG. 5, a conventional gondola has only a gondola body 1 attached to a rope 3 via an arm 2, and a vibration damping device for wind or the like is not specially installed. It only relies on a structural damping effect due to torsion, etc., and swings very greatly.

[0003]

As shown in FIG. 5, the conventional gondola does not have a special vibration damping device, and only relies on a structural damping effect such as twisting of a rope or an aerodynamic damping effect such as wind. Once it began to sway due to the wind, the sway did not readily attenuate. In addition, the operation has been suspended on windy days due to large shaking.

[0004] Even if a vibration damping device is attached, the gondola does not have a fixed point for receiving a reaction force, and a vibration damping device utilizing relative deformation such as an oil damper cannot be used. Further, the natural frequency of the gondola system is a low frequency of 1 Hz or less, and it becomes huge in a vibration damping device such as a pendulum-shaped dynamic vibration absorber. The present invention has been developed to address such a problem, and has as its object to obtain an effective vibration damping device for a gondola.

[0005]

Means for Solving the Problems The structure of the present invention for achieving the above object will be described with reference to FIGS. 1 to 4 corresponding to the embodiment. The rotation axis of the flywheel is vertical with a pair of control moment gyro,
And attached so that they are parallel to each other,
A gimbal control motor is provided in which the flywheels of the moment gyro rotate in opposite directions to each other, and the gimbal control motor is controlled via a control device connected to a swing angle sensor attached to the gondola body. It is characterized by the following.

[0006]

According to the present invention, a gimbal control motor for driving a pair of control moment gyroscopes having a flywheel rotating at a high speed by the above means is provided with a control device connected to a swing angle sensor for detecting the swing of the gondola body. The gimbal control motor torque, which is controlled through the control moment gyro, which is a moment in a direction perpendicular to the output moment during the operation, can be a moment that increases the swing of the gondola, but the torque is reversed. Control moment of rotation
It is canceled by using gyros in pairs.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. Reference numeral 1 denotes a gondola body, 2 denotes an arm, and 3 denotes a rope. A swing angle sensor 4, a pair of control moment gyros 5 and 5, and a gimbal control motor 6 are attached to the gondola body 1, and a signal detected by the swing angle sensor 4 is an amplifier 7, A. The signal is transmitted to the control device 9 through the / D converter 8, and the command signal from the control device 9 is D
The control moment gyro 5 is transmitted to the gimbal control motor via the / A converter 10 and the motor drive 11 so that the swing of the gondola body 1 is reduced.
Is controlled.

Further, the control moment gyro 5 will be described in detail. As shown in FIGS. 2 and 3, the flywheel 1 is rotated at a high speed by a flywheel motor 15 as shown in FIGS.
2, a wheel shaft 13 of the flywheel 12 is mounted on a gimbal 14, and the gimbal 14 is supported by a bearing 16 on a support 17 provided on the gondola body 1 via a gimbal shaft 18 orthogonal to the wheel shaft 13. A gimbal shaft side bevel gear 19 provided at one end of the gimbal shaft 18 is provided on the motor shaft side bevel gear 2 provided on the gimbal control motor 6.
By engaging with 0, the pair of control moment gyros 5, 5 are rotated left and right in opposite directions.

Next, the principle of the control moment gyro 5 will be described. As shown in FIG. 4, a flywheel 1 having a rotational inertia moment Ip rotating at a high speed at an angular velocity Ω.
2 is a device that outputs a large moment of IpΩθ in a direction perpendicular to the torque by applying a torque of angular velocity θ by the gimbal control motor 6, and uses the output moment to reduce the swing of the gondola. When outputting that moment, the torque of the gimbal control motor is
Acts to increase the vibration in the direction perpendicular to the vibration of the gondola to be damped, but as shown in FIGS. 2 and 3, by using a pair of control moment gyros 5, the torque can be reduced. Is done. At this time, the output torque of the gimbal control motor 6 has opposite moments with respect to the left and right gimbals 14 so as to be canceled, however, in order to match the directions of the output moments of the respective control moment gyros, The rotation direction of the flywheel 13 is reversed left and right.

In these figures, one gimbal control motor 6 is controlled by using gears such as bevel gears 19 and 20, but one motor is directly connected to each gimbal without using gears. Can also work in the same way.
The power source is a battery or a small generator. Further, the present apparatus is applicable not only to a gondola but also to a pendulum-shaped transportation system such as a monorail having no fixed point, a tower-shaped structure, and the like.

[0011]

As described above, according to the present invention, a pair of control moment gyros having a flywheel that rotates at a high speed is attached to the body of the gondola so that the rotation axes of the flywheel are vertical and parallel to each other.
A gimbal control motor is provided in which the flywheels of the control moment gyro rotate in opposite directions to each other, and the gimbal control motor is controlled via a control device connected to a swing angle sensor attached to the gondola body. Therefore, the following effects are obtained. a) As shown in FIG. 6, the swing of the gondola is greatly reduced by the control moment gyro. b) Applicable to pendulum-shaped gondola with no fixed point. c) By using the control moment gyro, which is a moment output device for low frequency, it is compact even if the frequency is low (for example, 1/6 or less of the total weight of a gondola with six passengers, and 1/10 if the rotation speed is increased The following is also possible.) A vibration damping device. d) The motor torque for gimbal control can be canceled by combining the control, moment and gyroscope, and no moment other than in the direction of the output moment is generated and the gondola does not shake.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an embodiment of the present invention.

FIG. 2 is a schematic diagram of a control moment gyro.

FIG. 3 is a sectional view taken along line AA of FIG. 2;

FIG. 4 is a principle diagram of a control moment gyro.

FIG. 5 is a schematic diagram showing a conventional example.

FIG. 6 is an explanatory view of the swing of the gondola.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gondola 4 Shaking angle sensor 5 Control moment gyro 6 Motor for gimbal control 9 Control device 12 Flywheel

Claims (1)

(57) [Scope of request for utility model registration] 1. A control moment gyro having a flywheel that rotates at high speed is attached to a gondola body such that the rotation axes of the flywheel are vertical and parallel to each other. A gimbal control motor in which the respective flywheels rotate in opposite directions to each other is provided, and the gimbal control motor is controlled via a control device connected to a swing angle sensor attached to the gondola body. Gondola vibration control device.