JPH06129484A - Damping device of rotational vibration - Google Patents

Abstract

PURPOSE:To prevent any danger such as a runaway or the like due to something wrong with a canponent from occurring as well as to make improvements in reliability and maintainability, etc., by symplifying a device in structure. CONSTITUTION:A proper load resistor 8 is connected to a terminal of a gimbal controlling motor 4 attached to a shaft of a gimbal 2 of a control moment gyro with a flywheel rotating at high speed. An output torque of the control manent gyro is produced in an output axial direction orthogonal with both directions of the shaft of the gimbal 2 and a tuning shaft of the flywheel 1. With this constitution, a damping torque is imparted to the output axial rotation of a mother machine 10 where the control moment gyro is set up, whereby rotational vibration damping is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to boats such as pleasure boats and recreational fishing boats, lightweight airplanes such as airships and balloons, high-rise buildings such as towers and buildings, and submersible boats, underwater vehicles and cranes. The present invention relates to a rotation shake braking device applied to.

[0002]

2. Description of the Related Art FIG. 2 shows a conventional rotary swing braking device to which a method of applying a braking torque in the direction of its output shaft using a control moment gyro is applied. The mother machine 10 is provided with a flywheel 1 that rotates at a high speed, and a gimbal 2 that sandwiches the flywheel 1 from above and below. Spin motor 3
Is provided on the upper part of the gimbal 2 and always rotates the flywheel 1 at high speed. Furthermore, a gimbal control motor 4 is provided at the shaft end of the gimbal 2, and the angular velocity of the shaft of the gimbal 2 is controlled by operating the gimbal control motor 4. Further, gimbal support frames 5a and 5b are provided on the shaft of the gimbal 2 so as not to hinder the rotation of the gimbal 2. Gimbal support frames 5a, 5
b transmits the precession torque generated by the rotational movement of the gimbal 2 to the mother machine 10.

The swing angle sensor (eg, angular velocity sensor) and the signal conditioner 6 detect the swing angle of the mother machine 10 and output a signal corresponding to the swing angle to the gimbal control controller and the motor drive circuit 7. The gimbal control controller and motor drive circuit 7 drives the gimbal control motor 4 according to the input signal, and thereby controls the gimbal axis angular velocity of the gimbal 2 to an angular velocity proportional to the angular velocity of the mother machine output shaft, for example. .

Control moment A rotary motion of the mother machine 10 to which the gyro is mounted, a rotary motion of the gimbal shaft, and a braking law of the gimbal control motor 4,
The basic equations expressing the control law and the equivalent electric circuit are shown below.

[0005]

[Equation 1]

[0006]

[Equation 2] The dots (•) attached above each variable represent time differentiation. As is usually the case, assuming that K _A is set to be sufficiently large, the gimbal control system has the above (2)-
From equation (5),

[0007]

[Equation 3] From the above, it can be seen that damping proportional to αI _P Ω is added to the rotational wobbling motion of the mother machine.

[0008]

However, the above conventional method requires the swing angle sensor and the signal conditioner 6 for braking the mother machine 10, the gimbal control controller, the motor drive circuit 7, and the like. This results in an expensive and complex system, which has problems with size (size), weight, power and reliability. Further, when an abnormality occurs in the above-mentioned constituent elements, not only the braking function is impaired but also an abnormal swing is induced, which may cause a runaway.

The present invention has been made in view of the above circumstances, and includes a swing angle sensor, a signal conditioner for a sensor,
It does not require a gimbal control motor drive circuit and gimbal control controller, etc., and simplifies the configuration to lower costs, lower prices, reduce dimensions, and reduce weight, as well as reliability and maintenance. It is an object of the present invention to provide a rotation sway braking device capable of improving braking performance and applying a braking force without causing a safety problem such as a runaway due to an abnormality of the above-mentioned elements.

[0010]

SUMMARY OF THE INVENTION A rotary swing braking device according to the present invention includes a control moment gyro having a flywheel that rotates at high speed, a control motor attached to a gimbal shaft of the control moment gyro, and the control motor. By connecting a load resistor between the terminals of the motor, the output torque of the control moment gyro is generated in the output shaft direction orthogonal to both the gimbal shaft and the flywheel rotation shaft, and the control moment gyro is installed on the mother machine. Means for applying a damping torque to the rotational movement in the output shaft direction.

[0011]

A suitable load resistance is connected to a terminal of a control motor attached to the gimbal shaft of a control moment gyro having a flywheel that rotates at high speed. Then, the output torque of the control moment gyro is generated in the output shaft direction orthogonal to both directions of the gimbal shaft and the flywheel rotation shaft. As a result, damping torque is applied to the rotational movement of the mother machine in which the control moment gyro is installed in the output shaft direction, and rotational swing braking is performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of the rotation shake braking device according to the present invention. The mother machine 10 is provided with a flywheel 1 that rotates at a high speed, and a gimbal 2 that sandwiches the flywheel 1 from above and below. The spin motor 3 is provided on the upper portion of the gimbal 2 and constantly rotates the flywheel 1 at high speed.

Further, a gimbal control motor 4 is provided at the shaft end of the gimbal 2 and the gimbal control motor 4 controls the angular velocity of the shaft of the gimbal 2. An appropriate load resistor 8 is connected (short-circuited) between the terminals of the gimbal control motor 4.

Further, gimbal support frames 5a and 5b are provided on the shaft of the gimbal 2 so as not to hinder the rotation of the gimbal 2. The gimbal support frames 5a and 5b are
The precession torque generated by the rotational movement of the gimbal 2 is transmitted to the mother machine 10.

In this embodiment, the mother machine 10 is a pleasure boat swaying in waves, a boat such as a leisure fishing boat, an airship swaying in the wind, a lightweight aircraft such as a balloon, or a high-rise tower or building swaying in the wind or earthquake. It targets all vehicles and structures with unpleasant rotational shake that are difficult to support such as buildings.

Here, the gimbal control system in the embodiment will be described. In the case of the embodiment, the basic equation of exercise is
The above-mentioned conventional basic equations (3) to (5) are merely replaced with the following equation (8).

[0018]

[Equation 4]

In order to simplify the explanation, the load impedance has only a resistance component. Normally, I _Q is small and mother machine 1
Considering that the rotational fluctuation of 0 is usually slower than the time constant of the control moment gyro, the left side of the above equation (2) is smaller than the right side and can be ignored.
At this time, from equations (2) and (8),

[0020]

[Equation 5] Becomes As a result, a mother machine braking law similar to the conventional active braking method can be obtained.

Regarding the parameter adjustment, in the case of the conventional active braking system, the optimum damping is performed by adjusting α, but in the passive braking system as in the embodiment, R is expressed by the following equation (10). You can adjust it to.

[0022]

[Equation 6]

With the above construction, the present invention can provide damping or braking torque to the rotational movement of the mother machine to which the control moment gyro is attached in the control moment gyro output shaft direction.

[0024]

As described above in detail, according to the present invention,
By connecting an appropriate load resistor to the terminal of the gimbal control motor and applying a braking force to the rotational movement of the control moment gyro in the output shaft direction,
No swing angle sensor, sensor signal conditioner, gimbal control motor drive circuit, gimbal control controller, etc. are required. Therefore, the configuration of the rotation shake braking device can be simplified to reduce / reduce costs, reduce the price, reduce the size, reduce the weight of gravity, and the like.
It is possible to improve power, reliability and maintainability. Further, it is possible to prevent the risk caused by the abnormality of the above-mentioned components. Further, the rotation swing braking ability is no different from that of the conventional active control system.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a rotation shake braking device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a conventional rotation shake braking device.

[Explanation of Codes] 1 ... Flywheel, 2 ... Gimbal, 3 ... Spin motor, 4 ... Gimbal control motor, 5a, 5b ... Gimbal support frame, 8 ... Load resistance.

Claims (1)

[Claims] 1. A control moment gyro having a flywheel that rotates at a high speed, a control motor attached to a gimbal shaft of the control moment gyro, and a load resistor connected between terminals of the control motor, and the gimbal shaft. And means for generating an output torque of the control moment gyro in the output shaft direction orthogonal to both directions of the flywheel rotation shaft and giving a damping torque to the rotational motion of the mother machine in which the control moment gyro is installed in the output shaft direction. A rotation-sway braking device, comprising: