JPS607202A - Stabilizer - Google Patents

Abstract

PURPOSE:To offer a stabilizer with simple constitution and having sufficiently stable operation by constituting a titled stabilizer so that a counter weight provided in opposition to the center of gravity of an object to be stabilized to the center of shaft of a bearing means is made responsive to a horizontal acceleration exerted externally. CONSTITUTION:A platform 2 on which an antenna 1 is mounted is placed on an inner gimbal ring 31 of the bearing means 3 of gimbal structure. In order to avoid the disturbance of radio wave propagating path for the antenna mounted on a ship, the antenna is placed at a location parted fairly from the center of pitching and the center 11 of the rolling, and the horizontal acceleration is exerted to the entire center of gravity of the object to be stabilized including the antenna or the like supported by the gimbal shaft at the rolling. Since the counter weights 14, 15 are provided on the inner gimbal ring 31 placed upward from the center of the gimbal shafts 33, 34 and supported by springs 16, 17, the weights are movable in different two directions and keep the platform 2 stable in response to the horizontal acceleration exerted externally.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a stabilizer device for stabilizing a stabilizer of a satellite communication antenna mounted on, for example, a ship.

[Technical background of the invention]

In general, when communicating between a ship and a ground station using a geostationary satellite, the satellite communication antenna on the ship must always be oriented toward the geostationary satellite, so the platform maintains a horizontal orientation regardless of the movement of the ship. installed on top.

A device that constantly stabilizes the platform in the horizontal direction against vibrations caused by rolling and pitching of a ship is also called a stabilizer device, and conventionally there are two types: active stabilization type and passive stabilization type. is used.

The method of actively stabilizing the platform is also called the servo method, for example, US Pat.
This is the device described in Japanese Patent No. 99184. This servo-type stabilizer device uses an angle detection sensor to determine the tilt angle of the platform around the roll axis.
The motor is driven to compensate for the tilt angle of the platform by detecting the tilt angle around the pitch axis and supplying this sensor output to the roll axis of the platform, a roll motor attached to the pitch axis, and a pitch motor. As a result, a force is applied to the platform in the opposite direction to the direction of inclination, and the platform 1-1 is maintained stably. This servo-type stabilizer device is equipped with a servo loop consisting of an angle detection sensor, a platform drive motor, etc., and stabilizes the platform electrically.On the other hand, it stabilizes the platform passively. teeth,
This is a stabilization method for pre-swinging using the gimbal axis as a fulcrum.
For example, patent application No. 51-48436 r! This is the equipment described in Book A. In this passive stabilizer device, a platform on which a communication antenna is installed is attached to, for example, a ship's mast via a gimbal axis, and the platform also has a gyro
A rotor and motor device are suspended.

This stabilizer device uses the preset effect of the gyro rotor and motor device to absorb the rotational force around the gimbal axis that occurs when the ship shakes, thereby stabilizing the platform. That is, the rotational force around the gimbal axis that occurs when the ship is rocking is an unnecessary force that tends to tilt the platform. However, when this force is applied to the stabilizer device, the gyro rotor and motor device precess around the pendulum axis (preset axis) that suspends the gyro rotor and motor device, creating an unnecessary force that tends to tilt the platform. This method is a mechanical stabilization method that uses a preset effect, and is composed of an angle detection sensor like a servo method, a platform drive motor, etc. No servo loop is required.

[Problems with background technology]

The servo stabilizer device that actively stabilizes the platform is electrically stabilized, so
There is no need to worry about the platform becoming unstable while the device is operating normally. However, in this method, an angle detection sensor and a flat form drive motor are required for each of the roll axis and the pitch axis, making the configuration extremely complicated. The large number and complexity of the components means that there are many causes of failure, which must be avoided especially in marine communication stations operated under isolated and harsh conditions at sea.

In addition, a stabilizer device that utilizes the preset effect of a gyro rotor and its stabilizer does not require an angle detection sensor or a platform drive motor, and is therefore simpler in construction than a servo system. however,
This method uses the preset effect, so the gyro rotor must rotate at high speed. That is, this method requires a rotating mechanism that rotates at high speed. Having a rotating machine like this has a failure factor of deterioration of the rotating members due to friction, and it is desirable to be able to prevent this under severe operating conditions. moreover,
+d In this method, in order to stabilize the platform more precisely, the pendulum axis (preset axis) of the gyro rotor and motor device must be A device is also required to maintain the position in a predetermined direction, which complicates the configuration.

[Purpose of the invention]

The present invention has been made with the above-mentioned circumstances in mind.
It is an object of the present invention to provide a stabilizer device that does not require an angle detection sensor, a platform drive motor, a gyro rotor, or a motor IT, has a simple configuration, and has a sufficient stabilizing effect.

[Summary of the invention]

The present invention supports an object to be stabilized via a rotating bearing means, and the center of gravity of the object to be stabilized is opposite to the center of gravity located on the side of the gravity direction from the axis center (tll K force fy y
A tow weight is provided, and the object to be stabilized is maintained stably by making this counterweight respond to acceleration applied from the outside.

[Embodiments of the invention]

Hereinafter, the -actual flow side of the stabilizer device according to the present invention will be explained as follows.
This will be explained with reference to FIGS. 4 to 4.

FIG. 1 is a schematic diagram of a stabilizer device equipped with a satellite communication antenna mounted on a ship.

An antenna (1) is installed on the platform (2). The platform (2) is installed on the inner gimbal ring (31) of the bearing means (3) with a hajimbal structure.

Bearing means by gimbal structure (3) Fi, e.g.
As shown in the figure, the inner gimbal ring (31) and the outer gimbal ring (3) constitute a two-axis gimbal bearing. ), and the outer gimbal ring (32) rotates f + [h] as the gimbal axis (34) rotates with respect to the support (4) shown in FIG. It is a cylindrical structure and is fixed to the ship.

Antenna +1) can be rotationally driven in the elevation direction and azimuth direction by an elevation drive section (5) and an azimuth drive section (6).

The inner gimbal ring (31) is equipped with a fixed counterweight (force), and the entire center of gravity including the antenna (1), platform (2), etc. is at the gimbal axis center (8).
It is positioned below the . These antennas (1)
The stabilizer device including the above is housed within the radome (9).

Figure 3 is a diagram explaining the oscillation of the ship (10), and especially shows the rolling state (broken contract) and the non-rolling state (actual i!>'i ri) of the ship a0. be.

If the platform (2) is placed close to the center of rolling movement αυ shown in Figure 3, the force applied to the platform (2) during shaking can be considered to be only the rotational force around the gimbal axis. . Therefore, in this case, the entire center of gravity of the stabilized object is always pointing in the direction of gravity of a pendulum.

Since it functions as a weight and the friction of the gimbal bearing is small, the platform (2) remains stable and does not tilt even when the ship is shaken.

However, in reality, antennas mounted on ships are generally installed in a radome (9) on the higher mast α floor on deck O in order to prevent the radio wave propagation path from being obstructed by the ship's hull structure. Ru.

In other words, the antenna will be installed at a position far away from the center of the pitching movement of the ship (IO) and the center of the rolling movement. As shown in Figure 3 (
It will move by C1. In other words, in this case, horizontal acceleration will be applied to the entire center of gravity of the object to be stabilized, including the antenna supported by the gimbal axis, and as a result, the platform (2) will be subject to acceleration due to gravity and this horizontal acceleration. The resultant force with the acceleration in the direction is 0, and
This resultant force becomes an unbalanced component around the gimbal axis and becomes an unnecessary force that tends to tilt the platform (2).

The present invention provides a counterweight on the side opposite to the overall center of gravity with respect to the axis center of the gimbal axis, and by making this counterweight respond to horizontal acceleration, the rotation around the gimbal axis when horizontal acceleration is applied. The aim is to balance the unnecessary torque generated by the movement of the counterweight.

A counterweight that responds to horizontal acceleration is provided, for example, as shown in FIG. That is, the counterweights αa, θ→ are the gimbal axes (33), (34)
Inner gimbal ring (31) above the axis center of
and these are, for example, springs rm
, (supported by In.

Therefore, the counterweight can be moved in two different directions with 0° and θ9Fi.

These counterweights am, cts respond to externally applied horizontal acceleration, thereby keeping the platform (2) stable. FIG. 4 is a diagram explaining the principle of this stabilization method. In Figure 4, the entire center of gravity α barrel of the object to be stabilized is the axis center α1 of the gimbal axis.
The counterweight (A) is located on the side opposite to the gravity direction from the axis center (11).Now, when horizontal acceleration α is applied from the outside, the spring CD
The counterweight supported by (21) moves in the same direction as the acceleration α.Assuming that the movement of this counterweight (A) 9 stabilizes the object, the counterweight (21) (21 and the stabilized object From the balance of the objects, the following equation holds.

W−Lψα=MIIxey (1) Also,
From the balance between the counterweight (A) and the spring (21), the following equation holds true.

K-X=M・α (2) However, L is the distance difference between the center of gravity Qυ of the object to be stabilized and the axis center of the gimbal axis (11), W is the total mass of the object to be stabilized, M
is the mass of the counterweight, and X is the counterweight (
b) The distance from the axis center u9 of the gimbal axis, ri is the gravitational acceleration, and K is the spring constant of the spring (21).

From equations (I) and (2), if we take the spring constant I (L becomes.

In other words, if the counterweight (□□□) is supported by a spring with a spring constant determined by equation (3), the object to be stabilized will be maintained stably. Torque (arrow A in Figure 4) and counterweight (arrow A in Fig.
It can be considered that the torque (arrow B in Figure 4) generated by the movement of By arranging the stabilized object in a direction, it is possible to stably maintain the object to be stabilized against acceleration from any direction.

Note that in the above explanation, the counterweights that respond to horizontal acceleration are arranged in two different directions, but they may be arranged in three or more different directions, and the number of counterweights may also be three. The above is fine. Also, one counterweight may be supported by three or more springs that are not parallel to each other.Also, instead of supporting the counterweight with springs, for example, when a liquid is used as a counterweight and acceleration is applied, The same effect as explained above can also be achieved by utilizing the movement of the center of gravity of the liquid.

In addition, as a bearing means for supporting the platform,
In addition to gimbal bearings, spherical bearings and the like may also be used.

Furthermore, the stabilizer device according to the invention can be applied not only to ships but also to other moving objects such as aircraft, automobiles, etc.

〔Effect of the invention〕

As explained above, according to the present invention, a counterweight is provided on the side opposite to the center of gravity of the object to be stabilized with respect to the axis center (fulcrum) K of the bearing means, and this counterweight is applied to the horizontal acceleration applied from the outside. By configuring the angle detection sensor, platform drive motor,
It is possible to obtain a stabilizer device that does not require a gyro rotor and a motor device, has an extremely simple configuration, and has a sufficient stabilizing effect, which has great practical effects.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram of a stabilizer device equipped with a satellite communication antenna; Fig. 2 is a diagram illustrating an embodiment of the stabilizer device according to the present invention; Fig. 3 is a diagram illustrating the movement of a ship; FIG. 4 is a diagram explaining the principle of the stabilizer device according to the present invention. l...Antenna, 2...Platform, 3...
- Bearing means, 10... Ship, 14.15... Counterweight, 16.17... Spring. Agent: Patent attorney Kensuke Chika (and 1 other person)

Claims (1)

[Claims] an oscillating object that oscillates; a stabilized object that is disposed on the oscillating object via a bearing means and whose center of gravity is located on the gravitational direction side of the axial center of the bearing means; A stabilizer device comprising: a counterweight movably positioned on the opposite side of the center of gravity with respect to an axial center.