JPH05133436A - Vibration damping device - Google Patents

Abstract

PURPOSE:To cancel torque in a yaw direction (vertical direction) generated when a rotational angle is given to a gimbal shaft, and torque in a pitch direction generated as the reaction of necessary torque for gimbal shaft control. CONSTITUTION:There are provided a pair of control moment gyros 11, 12 with a flywheel 14 which rotates at a high speed. A pair of motors (generators) 21, 22 are connected to respective gimbals 18 of the control moment gyros 11, 12 as a torque absorber to connect an electric resistance 23 as the load.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping device for a suspension type vehicle such as a gondola.

[0002]

2. Description of the Related Art Conventionally, in a vibration control system for a suspension type vehicle such as a gondola, when a control moment gyro is used to provide damping by applying a braking force, the rocking angular velocity of the roll direction (rope direction) is controlled by a rate gyro. By measuring with a sensor such as, and using it as a command value of the gimbal speed control system, and controlling the gimbal axis angular velocity so as to be in phase with the roll swing angular velocity, a braking force is applied to the roll motion for damping.

However, when the rotation angle θ is applied to the gimbal shaft as described above, not only the roll direction torque component in the output torque of the control moment gyro but also the yaw direction (side-by-side) torque component proportional to sin θ is generated. There is a problem that it will occur. As a means for solving this problem, a pair of control moment gyros having flywheels that rotate in opposite directions are used, and the gimbal shafts are connected in reverse rotation directions to make sin θ
A method of canceling the torque in the yaw direction (along the vertical direction) proportional to is considered.

[0004]

As described above, it is possible to cancel the yaw torque by connecting the two gimbal shafts forming the pair of control moment gyros with their rotational directions reversed. Since the mechanical connection is required, there are 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 is generated in the pitch direction (direction orthogonal to the roll and yaw directions). In this case, use a bevel gear etc.
Even if the two gimbal shafts are connected with their rotation directions reversed, the torque generated as a reaction force of the torque generated by the gimbal shaft control motor cannot be canceled.

The present invention has been made in view of the above circumstances. It is possible to cancel the yaw direction (horizontal direction) torque generated when a rotation angle is applied to the gimbal shaft, and there is no restriction on the arrangement. Moreover, it is an object of the present invention to provide a vibration damping device capable of canceling torque in the pitch direction (direction orthogonal to the roll and yaw directions) generated as a reaction force of the torque necessary for gimbal axis control.

[0006]

A vibration damping device according to the present invention includes a pair of control moment gyros having a flywheel that rotates at high speed, and a control moment gyro.
A pair of electric motors (generators) or hydraulic motors (hydraulic pumps) connected to the gimbal shafts of the moment gyro
It is characterized in that it is provided with a torque absorbing device comprising the above and an electrical or hydraulic resistance connected as a load of the torque absorbing device.

[0007]

[Operation] In a suspended vehicle such as a gondola, the principle of damping the vibration by giving a braking force using a control moment gyro to the rotational movement in the roll axis direction (gondola rope direction) is the gimbal of the control moment gyro. The axis (pitch direction) angular velocity is K of the roll shaft angular velocity
(Control constant) times the control. Usually, it is considered that a value obtained by multiplying the output of the roll angular velocity sensor by K is used as the command value of the gimbal axis angular velocity control system. In this case, the gimbal motor for controlling the angular velocity of the gimbal shaft acts as a generator to absorb energy required for braking the roll shaft. Therefore, instead of performing the gimbal axis angular velocity control, the same effect can be obtained even if the gimbal axis control motor is connected via a load resistor. Also, 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 hydraulic resistance such as a hydraulic orifice.

Further, an electric motor (generator) is connected to the gimbal shafts of a pair of control moment gyros that rotate in opposite directions, and the drive line (or generator output line) of the electric motor (generator output line) is induced by the rotation of the gimbal shaft. Connect in the direction of addition and form a loop with the load resistance. With such a configuration, the braking force in the roll direction becomes twice the torque of each control moment gyro that constitutes a pair, and the electric currents of both electric motors (generators) are equal, so the reaction forces in the pitch direction are mutually different. Accurately cancel each other, and also cancel the yaw torque when the gimbal shaft rotates. Each of the pair of control moment gyros may be electrically connected, which is advantageous in terms of 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. If this is done, the braking force in the roll direction will be double the torque of each control moment gyro that makes up a pair, and the pressure of both hydraulic motors will be equal,
The reaction forces in the pitch direction cancel each other out with high precision. Further, each of the pair of control moments and gyros may be hydraulically connected, which is advantageous in arrangement.

The hydraulic motor (pump) used is
The vane type and the axial piston type may be of the same volume type. It is also possible to use a direct-acting piston cylinder by 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 and 12 as shown in FIG. These control moment gyros 11 and 12 are gimbal frame 1
The flywheel 14 is rotatably attached to the No. 3 by spin bearings 15 and 16 provided in the vertical direction, and is rotatably driven 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 their respective rotating directions are opposite. A gimbal shaft 18 is provided on both sides of the gimbal frame 13 in a direction (horizontal direction) orthogonal to the axis of the flywheel 14, and is rotatably held by gimbal bearings 19 and 20.

Then, the control moment
An electric motor (generator) 2 for controlling the gimbal shaft is provided as a torque absorbing device on each gimbal shaft 18 of the gyro 11 and 12.
1, 22 are connected, and the drive line (or generator output line) is connected in series through the torque absorbing load resistor 23 in the direction in which the 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 type vehicle. The gondola 1 has a pair of controls on the bottom.
The moment gyros 11 and 12 are provided, and the control device 2 including a battery and a sensor is provided. Further, FIG. 3 shows the relationship of the swing direction of the gondola 1, that is, the roll, yaw, and pitch swing directions. Next, the operation of the above embodiment will be described.

Suspended vehicle, for example gondola 1 shown in FIG.
When the gimbal shaft 18 swings in the roll direction due to cross wind or the like, a gyro moment proportional to the swing angular velocity φ'is generated.
Occurs in. The electric motors (engines) 21 and 22 connected to the gimbal shaft 18 are rotated by this gyro moment, an induced voltage proportional to this rotation speed (angular speed θ ′) is generated, and a load current flows, and this current causes A braking force having the same magnitude as the gyro moment is generated on the gimbal shaft 18. Since this braking force is proportional to the gimbal shaft angular velocity θ ′, the gimbal shaft angular velocity θ ′ eventually becomes in phase (proportional) to the roll direction angular velocity, and a braking force is applied to the swing motion in the gondola direction to perform vibration damping. In this case, since both terminals of the electric motors (generators) 21 and 22 are connected via the load resistor 23, the inductance of the armature can be ignored, and the electric motors (generators) 21 and 22 are Generates torque proportional to gimbal axis speed.

A pair of control moment gyros 1 in which the rotation direction of the flywheel 14 is reversed.
By using 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 generated when the gimbal shaft 18 rotates and the gimbal shaft control torque. Also, the two torques in the pitch direction generated by the two gimbal control electric motors (generators) 21 and 22 cancel each other out.

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

A centering spring can be considered as a centering mechanism for returning the gimbal shaft 18 to the center in the low frequency region. In this embodiment, however, the spin motor 17 is connected to the lower side so that the gimbal shaft 18 is restored by gravity. Gives the same effect as the centering spring. (Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIG.

This second embodiment corresponds to the first embodiment shown in FIG.
Electric motors (generators) 21 and 2 used in the embodiment
Instead of 2, hydraulic motors (hydraulic pumps) 31 and 32 are used, and ports are connected in parallel by a pipe 33 in a direction in which a 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. The other configurations are the same as those of the embodiment shown in FIG. 1, and detailed description thereof will be omitted.

Also in the second embodiment, a gyro moment proportional to the gondola swing angular velocity φ'is generated in 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 differential pressure between both ports. This differential pressure is the hydraulic motor (hydraulic pump)
The discharge flow rates of 31, 32, that is, the gimbal shaft angular velocity θ ′ is in phase, and therefore the braking force in phase with the gimbal shaft angular velocity θ ′ and the gyro moment are balanced. That is,
The gondola swing angular velocity φ ′ and the gimbal shaft angular velocity θ ′ are in the same phase, and a braking force for the swing of the gondola roll direction is obtained.

Further, the braking force in the roll direction has a torque twice that of each control moment gyro 11, 12 as in the case of the first embodiment, and the pressures of the two hydraulic motors (hydraulic pumps) 31, 32 are equal to each other. Since they are equal, the reaction forces in the pitch direction cancel each other with high precision. Further, the pair of control moment gyros 11 and 12 may be hydraulically connected, which is advantageous in arrangement.

The hydraulic motor (hydraulic pump) used
The volume 31, 31 may be a volume type such as a vane type or an axial piston type. It is also possible to use a direct-acting piston cylinder by using an appropriate crank.

[0023]

As described in detail above, according to the present invention, the rolling motion (rolling direction: rotational movement in the rope direction) of a suspension vehicle such as a gondola is damped by applying a braking force using a control moment gyro. In this case, when the gimbal shaft takes the rotation angle θ, it is possible to cancel the torque in the yaw direction (along the creeping direction) which is proportional to sin θ. Further, since it is not necessary to mechanically connect the control moment and the gyro, there is no restriction on the arrangement, which is very advantageous. Further, the torque in the pitch direction (direction orthogonal to the roll and yaw directions) generated as a reaction force of the torque necessary for gimbal axis control can be canceled.

[Brief description of 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 device, 11, 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, 22 ... Electric motor (generator), 23 ... Load resistance, 31, 32 ... Hydraulic motor ( Hydraulic pump), 33 ... Piping, 34 ... Hydraulic orifice.

Claims (1)

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