JP2665090B2 - Damping device - 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 a suspended vehicle such as a gondola.

[0002]

2. Description of the Related Art Conventionally, in a vibration damping device for a suspended vehicle such as a gondola, when a control moment gyro is used to apply a braking force to perform vibration damping, a roll gyro (rope direction) swing angular velocity is controlled by a rate gyro. By controlling the gimbal shaft angular velocity to be in phase with the roll swing angular velocity, a braking force is applied to the roll motion to control the vibration.

However, when the rotation angle θ is given to the gimbal axis as described above, not only the roll direction but also the yaw direction (vertical direction) torque component proportional to sin θ is added to the output torque of the control moment gyro. There is a problem that occurs. As means for solving this problem, a pair of control moment gyros having a flywheel so as to rotate in opposite directions is used, and each gimbal axis is connected with the rotation direction reversed so that sin θ
A method of canceling the torque in the yaw direction (vertical direction) that is proportional to?

[0004]

By connecting the two gimbal shafts constituting a pair of control moment gyros with the rotation directions reversed as described above, the yaw direction torque can be canceled. The need for mechanical coupling places restrictions on placement. Further, when the gimbal shaft angular velocity is controlled to generate the braking torque in the roll direction, there is a problem that the reaction force of the gimbal control motor occurs in the pitch direction (the direction orthogonal to the roll and yaw directions). In this case, 2
Even if the two gimbal shafts are connected in reverse rotation directions, the torque generated as a reaction force of the torque generated by the gimbal shaft control motor cannot be canceled.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and can cancel the torque in the yaw direction (vertical direction) generated when a rotation angle is given to the gimbal shaft, and there is no restriction on the arrangement. It is another object of the present invention to provide a vibration damping device capable of canceling a torque in a pitch direction (a direction orthogonal to the roll and yaw directions) generated as a reaction force of the torque required for gimbal axis control.

[0006]

A vibration damping device according to the present invention comprises a pair of control moment gyros having a flywheel rotating at a high speed, and a control moment gyro having the flywheel.
A pair of electric motor (generator) or hydraulic motor (hydraulic pump) connected to each gimbal shaft of moment gyro
A torque absorbing device, and an electric or hydraulic resistance connected as a load of the torque absorbing device.

[0007]

[Function] In a suspended vehicle such as a gondola, the principle of applying a braking force to the rotational motion in the roll axis direction (the direction of the gondola rope) using a control moment gyro is based on the control moment gyro gimbal. The shaft (pitch direction) angular velocity is expressed by the roll axis angular velocity K
(Control constant) is controlled twice. Usually, a value obtained by multiplying the output of the roll angular velocity sensor by K may be considered as a command value of the gimbal axis angular velocity control system. In this case, the gimbal motor for controlling the gimbal shaft angular velocity acts as a generator and absorbs energy necessary for roll shaft braking. Therefore, the same effect can be obtained by connecting a gimbal axis control motor via a load resistor instead of performing gimbal axis angular velocity control. The same effect can be obtained by connecting a hydraulic motor to the gimbal shaft instead of the electric motor and connecting the two ports of the hydraulic motor (hydraulic pump) via a hydraulic resistance such as a hydraulic orifice.

An electric motor (generator) is connected to the gimbal shafts of a pair of control moment gyros rotating in opposite directions to each other. They are connected in the direction of addition, and form a loop together with the load resistance. With such a configuration, the braking force in the roll direction becomes twice the torque of each control moment gyro constituting a pair, and since the electric currents of both electric motors (generators) are equal, the reaction forces in the pitch direction are mutually different. The two cancel each other with high accuracy, and cancel each other out when the gimbal shaft rotates. Each of the pair of control moment gyros is electrically connected, which is advantageous in arrangement. The control constant K in this case can be set by the load resistance.

Next, when a hydraulic motor (hydraulic pump) is used, it is connected in parallel in the direction in which the discharge flow rate is added, and the two connected lines are connected via a hydraulic resistance. In this way, the braking force in the roll direction becomes twice the torque of each control moment gyro constituting a pair as described above, and the pressures of both hydraulic motors are equal.
The reaction forces in the pitch direction cancel each other with high precision. Further, each of the pair of control moment gyros may be hydraulically connected, which is advantageous in arrangement.

The hydraulic motor (pump) used is
Any vane type, axial piston type, etc. volumetric type may be used. Alternatively, a direct-acting piston cylinder may be used using an appropriate crank.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. (First embodiment)

FIG. 1 shows a first embodiment of a vibration damping device according to the present invention used for damping a gondola. The vibration damping device according to the present invention includes a pair of control moment gyros 11, 12 as shown in FIG. The control moment gyros 11 and 12 are mounted on the gimbal frame 1
A flywheel 14 is rotatably attached to the motor 3 by spin bearings 15 and 16 provided in a vertical direction, and is rotated at a high speed by a spin motor 17 provided below the gimbal frame 13. In this case, the flywheels 14 are rotationally driven so that the rotational directions are opposite to each other. Gimbal shafts 18 are provided on both sides of the gimbal frame 13 in a direction (horizontal direction) orthogonal to the axis of the flywheel 14, and are rotatably held by gimbal bearings 19 and 20.

Then, the control moment
A gimbal shaft control electric motor (generator) 2 is provided on each gimbal shaft 18 of the gyro 11 and 12 as a torque absorbing device.
1 and 22 are connected, and their drive lines (or generator output lines) are connected in series via a torque absorbing load resistor 23 in a direction in which an induced voltage due to the rotation of the gimbal shaft 18 is added to form a loop. ing.

FIG. 3 shows an example in which the vibration damping device according to the present invention is mounted on a gondola 1 which is a suspension vehicle. Gondola 1 has a pair of controls
In addition to providing the moment gyros 11 and 12, a control device 2 including a battery and a sensor is provided. FIG. 3 shows the relationship between the swing direction of the gondola 1, that is, the swing direction of the roll, the yaw, and the pitch. Next, the operation of the above embodiment will be described.

A suspended vehicle such as the gondola 1 shown in FIG.
Swings in the roll direction due to cross wind or the like, a gyro moment proportional to the swing angular velocity φ 'is applied to the gimbal shaft 18.
Occurs. The electric motors (motors) 21 and 22 connected to the gimbal shaft 18 are rotated by the gyro moment, and an induced voltage proportional to the rotation speed (angular velocity θ ′) is generated to cause a load current to flow. A braking force equal to the gyro moment is generated on the gimbal shaft 18. Since this braking force is proportional to the gimbal axis angular velocity θ ′, the gimbal axis angular velocity θ ′ eventually becomes in-phase (proportional) to the roll direction angular velocity, and a braking force is applied to the gondola direction oscillating motion to perform vibration suppression. In this case, since the terminals of the electric motors (generators) 21 and 22 are connected via the load resistor 23, the inductance of the armature can be neglected, and the electric motors (generators) 21 and 22 can be used. Generates torque proportional to gimbal shaft speed.

A pair of control moment gyros 1 in which the rotation direction of the flywheel 14 is reversed
By using the gears 1 and 12, the torque in the pitch direction (direction orthogonal to the roll and yaw directions) generated as a reaction force of the yaw direction (vertical direction) torque and the gimbal axis control torque generated when the gimbal shaft 18 rotates. Also, the pitch direction torques generated by the two gimbal control electric motors (generators) 21 and 22 are opposite to each other because they are in opposite directions.

Further, a pair of control moments
By connecting the terminals of the gimbal control electric motors (generators) 21 and 22 of the gyros 11 and 12 in series with the load resistor 23 in a direction in which the induced voltage due to the rotation of the gimbal shaft 18 is added, a loop is formed. The electric currents of the two electric motors (generators) 21 and 22 become equal, and the reaction force in the pitch direction can be accurately canceled.

A centering spring may be considered as a centering mechanism for returning the gimbal shaft 18 to the center in the low frequency region. In this embodiment, the spin motor 17 is connected to the lower side, and the restoring force due to gravity is applied to the gimbal shaft 18. And the same effect as the centering spring is obtained. (Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIG.

The second embodiment is similar to the first embodiment shown in FIG.
Electric motors (generators) 21 and 2 used in the embodiment
2, hydraulic motors (hydraulic pumps) 31 and 32 are used, and ports are connected in parallel by piping 33 in a direction in which the discharge flow rate accompanying the rotation of the gimbal shaft 18 is added. The lines are connected by a hydraulic resistance, for example, a hydraulic orifice 34. Otherwise, the configuration is the same as that of the embodiment of FIG. 1, and a detailed description thereof will be omitted.

In the second embodiment as well, a gyro moment proportional to the gondola swing angular velocity φ 'is generated on the gimbal shaft 18 as in the first embodiment. The torque generated by the hydraulic motors (hydraulic pumps) 31 and 32 is proportional to the pressure difference between both ports. This differential pressure is a hydraulic motor (hydraulic pump)
31 and 32, that is, the gimbal shaft angular velocity θ 'is in phase, so that the braking force and the gyro moment in phase with the gimbal shaft angular velocity θ' are balanced. That is,
The gondola swing angular velocity φ ′ and the gimbal axis angular velocity θ ′ have the same phase, and a braking force against the gondola roll direction swing is obtained.

As in the first embodiment, the braking force in the roll direction is twice the torque of each control moment gyro 11, 12, and the pressure of both hydraulic motors (hydraulic pumps) 31, 32 is reduced. Since they are equal, the reaction forces in the pitch direction cancel each other with high accuracy. Further, the pair of control moment gyros 11, 12 may be hydraulically connected, which is advantageous in arrangement.

The hydraulic motor (hydraulic pump) used
31 and 32 may be of a positive displacement type such as a vane type or an axial piston type. Alternatively, a direct-acting piston cylinder may be used using an appropriate crank.

[0023]

As described above in detail, according to the present invention, the roll (roll direction: rotational movement in the rope direction) of a suspension type vehicle such as a gondola is damped by applying a braking force using a control moment gyro. In this case, the torque in the yaw direction (vertical direction) generated in proportion to sin θ when the gimbal axis takes the rotation angle θ can be canceled. Further, since there is no need to mechanically connect the control moment gyro, there is no restriction on the arrangement, which is very advantageous. Further, the torque in the pitch direction (a direction orthogonal to the roll and yaw directions) generated as a reaction force of the torque required for gimbal axis control can be canceled.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a vibration damping device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a vibration damping device according to a second embodiment of the present invention.

FIG. 3 is a diagram showing an example in which the vibration damping device according to the present invention is mounted on a gondola.

[Explanation of symbols]

1 ... gondola, 2 ... control equipment, 11 and 12 ... control moment gyro, 13 ... gimbal frame, 14 ...
Flywheel, 15, 16 ... spin bearing, 17 ... spin motor, 18 ... gimbal shaft, 19, 20 ... gimbal bearing, 21, 22 ... electric motor (generator), 23 ... load resistance, 31, 32 ... hydraulic motor ( Hydraulic pump), 33 ... Piping, 34 ... Hydraulic orifice.

Claims (1)

(57) [Claims] 1. A pair of control moment gyros having a flywheel rotating at high speed, and a pair of electric motors (generators) or hydraulic motors (hydraulic pumps) connected to respective gimbal shafts of the control moment gyros. A vibration damping device comprising: a torque absorbing device comprising: a torque absorbing device; and an electric or hydraulic resistance connected as a load of the torque absorbing device.