JPS6111773Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a passive stabilizer device that stabilizes a platform using a combination of a gyro and a pendulum.

Conventionally, a passive stabilizer device configured as shown in FIG. 1 is known. That is, what is shown in FIG. 1 is an example of a stabilizer device that stabilizes a shipboard antenna that is mounted on a ship and communicates with a satellite. The antenna 11 is installed on the platform 15, and is
Driven by EL (elevation) drive mechanism 12, Az (azimuth) in the azimuth direction, drive mechanism 1
4, the entire platform 15 is driven.
The platform 15 is supported by a base 20 via a gimbal mechanism 13 as bearing means, and the base 20 is fixed to the deck of a ship or the like. The gimbal mechanism 13 is composed of an outer gimbal 131 and an inner gimbal 132, the center part of the inner gimbal 132 is fixed to the base 20, and the outer peripheral part of the outer gimbal 131 is connected to the Az drive mechanism 14.
Fixed.

In addition, flywheels 16 and 17 that rotate at high speed are provided on both sides of the platform 15 to obtain sufficient angular momentum. The flywheels 16, 17 as a whole are supported by the support shafts 161, 171 orthogonal to the support shafts 161, 171.
It is rotatably supported around an axis 171. The support shafts 161 and 171 are provided to be perpendicular to each other,
The respective centers of gravity of the flywheels 16 and 17 are set to be slightly below the support shafts 161 and 171. Further, the flywheels 16 and 17 are rotated in opposite directions so as to cancel out the so-called Coriolis force. Furthermore, the center of gravity of the entire platform 15, antenna 11, etc. is aligned with the pitch axis P and roll axis R of the gimbal mechanism 13.
It is set to be slightly lower than If no external torque is applied to the stabilizer device configured in this manner to tilt the platform 15, the flywheels 16 and 17 functioning as gyros maintain their rotational axes in the vertical direction and the platform 15 It doesn't tilt either. On the other hand, when a torque is applied from the outside to tilt the platform 15, the flywheels 16 and 17 precess (precession) and the flywheel 1
The support shafts 161, 171 that support the flywheels 16, 17 rotate around the shafts, so that the rotational axes of the flywheels 16, 17 are directed in an oblique direction different from the vertical direction. When the flywheels 16 and 17 operate in this way,
A torque of the same magnitude and in the opposite direction as the external torque that attempts to tilt the platform 15 is generated, and this cancels out the external torque, so the platform 15 does not tilt even if the vessel is shaken. kept stable.

By the way, when such a stabilizer device is mounted on an object such as a ship where the direction of external torque changes periodically, the flywheels 16 and 17 swing left and right like a pendulum around the direction of gravity. You will be able to swing. At this time, if the rotation axes of the flywheels 16 and 17 are in the direction of gravity, the angular momentum of the flywheels 16 and 17 acts only in the direction of gravity, but the flywheel 1
If the rotational axes of the flywheels 16 and 17 are oriented in an oblique direction different from the direction of gravity, the angular momentum of the flywheels 16 and 17 can be decomposed into the direction of gravity and the horizontal direction. A horizontal component of angular momentum will result. and,
When the platform 15 rotates in the azimuth direction and the orientation of the platform 15 in space changes, for example to communicate with another satellite while this horizontal component of angular momentum is generated, the flywheels 16, 17 The horizontal component of the angular momentum also rotates and its orientation in space changes in the azimuthal direction. Since this is equivalent to the flywheel having its rotational axis in the horizontal direction being preset in the azimuth direction, the rotation of the horizontal component of this angular momentum generates a torque that tends to tilt the platform 15 anew. Therefore, if the platform 15 rotates in the azimuthal direction and changes its orientation in space while the ship is agitated and the flywheels 16, 17 are preset, this undesired torque will cause the platform 15 to tilts and its stabilization is hindered. flywheel 1
If the inclination angle (deviation angle from the vertical direction of the rotating shaft) due to the presets 6 and 17 is large, the horizontal component of the generated angular momentum is also large, and the newly generated undesired torque is also large.
There is a risk that the current level will be significantly tilted and it will take a long time to re-stabilize, resulting in a long-term communication failure.

Therefore, this idea was made in consideration of the above-mentioned circumstances, and its purpose is to easily and reliably reduce the stabilizer error, and to keep the platform stable at all times within a practically acceptable range. An object of the present invention is to provide a passive stabilizer device that can perform the following functions.

An embodiment of this invention will be described below with reference to FIGS. 2 and 3.

In FIG. 2, the antenna 21 is installed on a platform 25, and is driven by an EL (elevation) drive mechanism 22 in the elevation direction and by an Az (azimuth) drive mechanism 24 in the azimuthal direction. Driven by each unit. The platform 25 is supported by a base 30 via a gimbal mechanism 23 as bearing means, and the base 30 is fixed to the deck of a ship or the like. The gimbal mechanism 23 is composed of an outer gimbal 231 and an inner gimbal 232, the center part of the inner gimbal 232 is fixed to the base 30, and the outer peripheral part of the outer gimbal 231 is fixed to the Az drive mechanism 24.

Furthermore, flywheels 26 and 27 that rotate at high speed are provided on both sides of the platform 25 to obtain sufficient angular momentum. The flywheels 26, 27 as a whole are supported by the support shafts 261, 271 orthogonal to the support shafts 261, 271.
It is rotatably supported around the axis of 271. The support shafts 261 and 271 are provided to be perpendicular to each other,
The respective centers of gravity of the flywheels 26 and 27 are set to be slightly below the support shafts 261 and 271. Further, the flywheels 26 and 27 are rotated in opposite directions to cancel out the so-called Coriolis force. Furthermore, the center of gravity of the entire system including the platform 25, antenna 21, etc. is set to be slightly below the pitch axis P and roll axis R of the gimbal mechanism 23. These configurations are the first
It is similar to that shown in the figure. These configurations are the first
It is similar to that shown in the figure. In Figure 2,
Angle detection elements 28 and 29 are further added to these configurations. The angle detection elements 28 and 29 are provided on the support shafts 261 and 271 of the flywheels 26 and 27, and detect rotation angles of the support shafts 261 and 271 around the support shafts. The detection outputs of the angle detection elements 28 and 29 are supplied to a gate circuit 31 as shown in FIG. Controls whether or not a signal is supplied to the Az drive mechanism 24.

The basic operation of the stabilizer device configured in this way is the same as that of the conventional stabilizer device.

Undesirable torque in conventional systems occurs when the azimuth orientation of the platform changes as the vessel sways and the flywheel presets and swings in an oblique direction different from the direction of gravity. . When the angle between the flywheel rotation axis and the vertical axis is small, the stabilizer error remains within the allowable range even if the platform rotates in the azimuth direction to communicate with another satellite and its orientation changes. There is little risk that communication with the satellite will actually be disrupted. In addition, if the angle between the rotational axis of the flywheel and the vertical axis becomes large and there is a risk that the stabilizer error will exceed the allowable range, do not drive the platform in the azimuth direction, and the ship's motion will be reduced and the ship will fly. If the platform is rotated when the inclination angle of the wheel becomes small, the stability of the platform will not be impaired and communication with the satellite will be less likely to be disrupted.

In the device shown in FIG.
9 supports the support shaft 26 of the flywheels 26, 27.
The rotation angle around the axis of 1,271 is detected with reference to when the rotation axes of the flywheels 26 and 27 are in the vertical direction. This angle detection element 28, 2
The detection output 9 represents the angle (inclination angle) formed by the rotating shafts of the flywheels 26 and 27 with the vertical axis, and is supplied to the gate circuit 31 as shown in FIG. In the gate circuit 31, the flywheel 26,
When the tilt angle of 27 is within a preset range, the gate is opened and the Az drive signal is sent to the Az drive mechanism 24.
If the tilt angle of the flywheels 26 and 27 exceeds the set value, close the gate and
No drive signal is supplied to the Az drive mechanism 24. As a result, the flywheels 26, 27
When the inclination angle is within the set range and there is little practical hindrance, the platform 25 is enabled to drive in the azimuth direction, but when the above inclination angle exceeds the set range, the platform 25 is driven in the azimuth direction. It cannot be driven. Therefore, if the tilt angle exceeds the set range, the orientation of the platform 25 in space is not changed, and therefore the orientation of the horizontal component of the angular momentum of the flywheels 26, 27 in space is also not changed. Therefore, platform 2
Since no undesirable torque is generated to tilt the platform 25, the platform 25 will not tilt significantly, and there is no risk that it will take a long time to re-stabilize, thereby interfering with communication with the satellite. This makes it possible to always stabilize the platform within a practically permissible error range and to ensure good communication with the satellite.

As explained above, according to the stabilizer device according to the present invention, it is possible to easily and reliably reduce the stabilizer error of the platform, and it is possible to always stabilize the platform within a practically allowable range. The practical effects are great.

[Brief explanation of the drawing]

FIG. 1 is an exploded perspective view showing a conventional passive stabilizer device, FIG. 2 is an exploded perspective view of essential parts showing an embodiment of the passive stabilizer device according to this invention, and FIG. FIG. 3 is a wiring diagram illustrating the electrical connection of the flywheel angle detection element of FIG. 21...Antenna, 22...EL (elevation angle) drive mechanism, 23...Gimbal mechanism, 24...Az
(azimuth angle) drive mechanism, 25... platform, 26, 27... flywheel, 261, 2
71... (flywheel) support shaft, 28, 29
...(flywheel) angle detection element, 30...
Base, 31...Az drive gate circuit.

Claims (1)

[Scope of utility model registration request] a platform disposed via a bearing means on a shaking body that oscillates in an arbitrary direction; a drive means for rotating the platform in an azimuthal direction when a drive signal is supplied from the outside; The platform is provided to rotate at a predetermined speed and is rotatably supported around the axis of a support shaft perpendicular to the axis of rotation, and when an external force is applied to tilt the platform, the platform rotates around the axis of the support shaft. A rotating body whose rotational axis faces in a direction different from the vertical direction, a detection means for detecting the rotation angle of the rotating body around the axis of the support shaft, and an output signal of the detection means and the drive signal are supplied to detect the rotation. a gate circuit that controls to supply the drive signal to the drive means when the angle is smaller than a predetermined angle, and not to supply the drive signal to the drive means when the rotation angle is larger than the predetermined angle. .