US2581476A

US2581476A - Gyro precessing means

Info

Publication number: US2581476A
Application number: US591796A
Authority: US
Inventors: Albert W Fischer; Archie D Mcduffie
Original assignee: Motors Liquidation Co
Current assignee: Motors Liquidation Co
Priority date: 1945-05-03
Filing date: 1945-05-03
Publication date: 1952-01-08
Anticipated expiration: 1969-01-08

Description

Jan- 8, 1952 A. w. FISCHER ET AL 2,581,476

GYROPRECESSING MEANS Filed May 3, 1945 5 Sheets-$heet l Snoentors Jan- 8, 1952 A. w. FISCHER ET Al. 2,581,476

GYRoPREcEssING MEANS ,Filed May s, 1945 5 sheets-snee+u 2 -gZ ya g d 7 o 'J O /2 ga q v 'n l J /f S C@ V y *MQ yf ISnventorS M( s QL Gtomegs Jan. 8, 1952 A. W. FISCHER ET AL 2,581,476

GYROPRECESSING MEANS Filed May 3, 1945 5 Sheecs-Sheet 3 Ennentors y, c2255?? Mgg-M (E Jan- 8, 19542 A. w. FISCHER ET A1. 2,581,476

GYROPRECESSING MEANS gy' f diag?? Qyfflm Jan. 8, 1952 Filed May 5, 1945 A. w. FISCHER ET AL GYROPRECESSING MEANS 5 Sheets-Sheet 5 7/ /0/ if fr d, I, i

M 1 fg. f; .1.-

Patented Jan. 8, 1952 `GrYRO PRECESSING MEANS Albert kW. Fischer, Highland Park, and Archie D. McDuiiie, Berkley, Mich., assignors to General Motors Corporation, Detroit, Mich., a corporation `of Deluaware Application May 3, 1945, Serial No. 591,796

y 5 Claims.

The present invention generally relates to directional controlling mechanisms and more particularly relates to directional controlling system of the gyroscopic type.

The principal object of the invention is to provide a simple directional control system for an air-borne ship including a gyroscope having simple electromagnetic precessing and erection controlling means by which the direction of the ship may be remotely controlled and which is not subject to errors caused by magnetic leakage from these means or by roll and pitch of the ship.

Two modcations of control means by which the above object is attained and other features thereof will become apparent by reference to the following detailed description and drawings illustrating the systems.

Figures 1 and 2 of the drawings are vertical elevation views taken at right angles to each other, with parts broken away, of one form of gyroscopic directional controlling means; Figure 1 being taken on line I-I of Figure 2 and Figure 2 being taken on line 2-2 of Figure l, with parts broken away.

Figure 3 is a cross-sectional view taken on line 3-3 of Figure l, with parts broken away.

Figure 4 is a cross-sectional View taken on line 4 4 of Figure 1.

Figures 5 and 6 are vertical elevation views taken at right angles to each other with parts broken away, of another form of gyroscopic controlling means.

Figure '7 is a cross-sectional View taken on line 1-1 of Figure 6 with parts broken away.

Figure 8 is an enlarged cross-sectional view taken on line 8-8 of Figure 5, with parts broken away to show a detail of part of the mechanism to better advantage.

Figures 9 and 10 are schematic views of two control systems and the controlling and control connections between the elements of the systems. The system shown in Figure 9 includes the gyroscopic controlling means shown in Figures 1 to 4 and the system shown in Figure l includes the gyroscopic controlling means shown in Figures to 8.

'l The gyroscopc controlling means shown in Figures 1 to 4 includes an electric driving motor l directly connected to a gyroscope rotor 3 supported for rotation about a horizontal axis in an inner gimbal member 5. The inner gimbal member is pivoted on a horizontal axis transverse to the rotor axis in an outer gimbal member l which is pivoted about a vertical axis in a gyroscope frame member 9 provided with a removable cap 2 Il. The base I3 of the frame 9 is adapted to be mounted on a ship for controlling the direction thereof so that the rotor axis is maintained parallel to the transverse center line of the ship.

Means comprising two ironclad solenoids l5 and l1 and plungers I9 and 2l freely movable therein are provided between the outer and inner gimbals for causing precession of the gyroscope rotor and gimbals about the vertical axis. The solenoids are mounted equidistant and on opposite sides of the vertical axis of the outer gimbal with their axes parallel to the rotor axis and the arcuate plungers are mounted on diagonally opposite corners of the inner gimbal with their free ends freely movable in the solenoids. The free end 22 of each of the plungers is of identical stepped" or shaded form, the transverse width of the ends increasing in steps, as best shown in Figure 2, in order to provide constant pull on each by a respective solenoid, when either is energized, and therefore constant torque in either direction between the outer and inner gimbals for a limited range of relative movement between the gimbals.

Means comprising an erection motor 23 secured on the base i3 of the frame for rotating the outer gimbal about its axis is provided for causing erection of the inner gimbal so that the rotor axis is caused to be maintained parallel to the base of the frame 9 at all times. The erectie-n motor is connected by reduction gearing, one gear 25 of which is shown meshing with a sector gear 2l which is rotatable on the outer gimbal lower pivot support 29 about an :axis coaxial with that of the outer gimbal, as best illustrated in Figures 1 and 4. A depending lug 3l secured to the lower portion of the outer gimbal extends between adjacent radial projections of the sector gear 21. Each of two identical compression springs 33 is placed between a projection on the sector gear and the adjacent end of the lug 3| to provide a flexible driving connection between the erection motor and the outer gimbal.

Current collecting means are provided between the frame and the gimbal members to connect the above described precession and erection means to control means and to power operated steering mechanism of the ship which is controlled by precession of the gimbals about the vertical axis relative to the frame. These collecting means, the control means and the steering mechanism and the connections therebetween are best shown schematically in Figure 9.

Y' 3 a radio receiver 35 including` suitable filter and amplifier means and an antenna 31 so that when a signal of a certain frequency is received the winding of a relay -39 is energized and when a different frequency signal is received the winding o another relay Si is energized. One winding terminal of each of these relays is grounded and each of the other terminals is connected by a separate wire to separate output terminals of the receiver.

Y These wires are indicated by the numerals 43 and 45. `One input terminal of the receiverv is connected to ground and the other input 'terminal is connected to a positive wire 411 which is conf nected to the positive terminal of a battery 4B having the negative terminal grounded. `The movable contacts of each of the relays 39-41 are also connected to the positive wire 41 and the fixed contact of each is connectedto one terminal of each of the precessing solenoids by ,means of separate current collecting means. The other winding terminals ofthe solenoids are grounded on the outer gimbal.

One of these current collecting means-s indicated generally at 49. This current collecting means includes two springfflngers, provided with engaging contacts located on the axis of the outer girnbal, andconnected in series between the n xed contact of the relay 39 and one winding terminal of precessing solenoid l5 by wires 59 and 5l. The other terminalY of the winding is grounded on the outer gimbal. -One of these spring fingers is secured on Ian insulator'carried by the frame 9 and the other finger is secured to an insulator carried by the outer -gimbal 7i. Other identical current collecting means mounted in identical manner are indicated generally at 53, 55, 51 and 59.

rIi'he current collecting means 53 is connected Y in series between the -xed contact of the relay lliY and one winding terminal of the precessing solenoid l1 by wires l6) and El. The other wind-v ing termin-al of the solenoid I1 is also grounded on the outer gimbal. d

The current collecting means 55 is connected in series with the winding of a reversing relay 62 between the positive wire 41 and a spring finger 53 by wires 64 and E5. The finger 53 and another spring finger 61 are each secured by an insulator to the outer girnbal and these fingers cooperate with contact disks 69 and 1I secured to a disk insulator12 carried on 'the lower end of a shaft 13 which is supported for rotation inthe 4frame cap H about a vertical axis coaxial with that of the outer gimbal axis. The nnger `-53 is positioned to engage either the contact disk 59 or the contact disk 1i or adjacent ends of both contact disks upon relative movement between the outer gimbal and shaft 13 and the' finger 61,'is grounded on the outer gimbal and is positioned to bear on the Contact disk 59 at a point coaxial with the outer gimbal vertical axis'. The contact disk 99 is grounded to the frame cap l l by a flexible Wire 15. v

The current collecting means 51 and 59 are connected in series with another current collecting means generally indicated at 11. The current collecting means 11 comprises

contact disks

19 and 89 secured to an insulator disk which is supported on the outer gimbal in coaxial relation with the inner gimbal axis and two spring n ngers- 8| and 82 bearing thereon which are'secured to an insulator carried by the inner gimbal. nnger Bl bears on the contact disk 19. at a `point on the axis of the inner-gimbal and the'current collecting means 51 is :connected between-the The positive wire 41 and the contact disk'19 by the wires 83 and 34. The other spring finger 82 is adapted to bear on either or on the adjacent ends of the

contact disks

19 and 80. The current collecting means 59 is connected in series by wires 35 4and 86 between the contact disk 99 and one winding terminalof another reversing relay B1, having the othertfermiriall grounded. Both of the spring fingers 8| and 82 are connected by a wire `98 to a terminal of the rotor motor l, the other terminal of which is connected to ground through a lwire '89 .and another current collecting means indicatedgenerallyat 99. This means includes ya contactf'lllV on the outer gimbal and a spring finger 92`groundedon the inner gimbal and bearing on the contact 9| at a point located on the horizontal1 axis of the inner gimbal.

T'li'e'reversing -relay 62 controls reversal of an electricsteering motor 93 which is operably connected by irreversible gearing to the rudder 55 of the ship. An ,arm91isgeared to. the rudder and is connected byalink 99` to an arm itil secured to the shaft 1?lv and the arms and link serve as a follow-up linkage. The field winding of the steering motor is connected between the positive wire 41 and ground and the armature is connectedacro'ss the two movable contacts `of the relay 52 which normally contact the central `and lower xed relay contacts and are moved'u'p'- wardly into contact with the central and upper xed lrelay contacts when the winding of the relay is' energized. The fixed centralrelay Acontact is connected to'fthe positive Wire 41 and jthe other two xedrelay.y contacts are grounded so that with the movable contacts in the normal position the motor is' energized for rotation in one direction and when the relaywi'nding is ener'- gized and the armature contacts are moved .up wardly the motor is energized for rotation in the opposite direction of rotation.

'IhefreversingA relay 81 is of similar form to' the steering motor reversing relay 62 and serves to reverse therotation' of the erection motorlS. The eld 'winding'o 'the erection motor is connected between the positive conductor 41 and ground, the armature is connected across the movable contacts" ofthe relay 81 which normally contact thecentral and lower fixed relay contacts and are moved upwardly into contact with the central andiupper ,fixed relay contacts to cause reversal of the erection motor when the relay winding Ais energized as the central fixed contact is connected to the positive wire 47 vand the other xed contacts are' grounded 'in the same manner as the reversing relayr 62 for the steering motor93.

The ulceration of the above described control system and gyroscopic'directional control'means is as follows: Y Y Y Y With the gyroscope rotor 3 driven by the motor l about a horizontal axis transverse to the longitudinal kcenter line of the ship Vcorresponding to the course setting any slight movement of the shipto the'right of the course causes the shaft 13 and disk contacts ,(59V and vH to turn clockwise withv reference to the outer gimbal, due tothe linkage connection between the shaft Yand rudder 95. This causes thegcontactrdisk 'il to move into contact with the spring nnger -63 carried by :the cuter gmbal to disconnect the steering v.reversing relay winding from .ground to cause the relay contacts to fall to their "normal position. kThis causes the steering 1notor93 to be energized for rotation inproper direction to cause clockwise rotation vor4 the .rudder 'Itmcause the ship ito'` turn leftback on course and this causes the shaft'13 Yand `the contact disks to be rotated counterclockwise" until the grounded contact disk 69 moves vinto Contact with `the finger 63 to complete an energizing circuit comprising the current co1lect ing means 55 and

wires

41, 64 and 85 for the winding of the relay 62. This causes the movable contacts to be moved upwardly and cause reversal of the steering motor and the direction of rotah tion of the shaft 13 and contact disks thereon. The ship is accordingly caused to follow the course setting by slight alternate right and left turns of the ship about the course setting. In other words the ship is caused to hunt about the course setting as determined by the gyroscope; Should the ship tend to roll about its longitudinal 'center line and the pivot axis of the inner gimbal the disk contact 19 or the disk contact 8D mounted on the outer gimbal, depending upon the direction of roll, will 'be moved into contact with the spring nger 82 on the inner gimbal` Movement of the contact disk 19 clockwise into contact with the iinger 82 opens the circuit connection comprising the wires 85 and 8B to the winding of the erection motor reversing relay 81 to cause the erection motor 23 to apply torque in the proper direction to the outer gimbal about its vertical axis to cause the inner gimbal to rotate so that the rotor axis is maintained parallel to the transverse center line of the ship. This causes the grounded disk contact 80 on the outer gimbel to contact the spring finger 82 on the inner gimbal to cause re-establishment of the circuit connection through the winding of the relay 81 comprising current collecting means 51 and 59 and

wires

41, 83, 84, 85 and 85. This causes upward movement of the movable con tacts of the relay 81 and reversa-l cf the erection motor 23 and reverse torque to be applied to the outer gimbal so that the rotor axis is moved back parallel to the transverse axis of the ship,4 With this arrangement the axis of the rotor is caused to hunt slightly about the transverse center line Aof the ship at all times.

If it is desired to change the course setting of the ship while in iight a signal of given frequency is transmitted and this signal is picked up by the antenna 31 of the radio receiver to cause energization of the winding of either of the relays 39 or 4| and closure of the contacts of eithei relay to cause energization of either the precessing solenoid winding I5 or I1. Energization of the solenoid winding I5 through the closed contacts of the relay 39, the current collecting means 49 and wires 41, 50 and 5I applies pull between the winding and its plunger I9 and torque is applied between the inner and outergimbals in proper direction to cause precession of the outer gimbal counterclockwise about the vertical axis to cause the spring nger 63 to move into contact with the contact disk 1I to cause the steering motor to cause the ship to turn left to the new course setting about which it hunts in the previously described manner. Conversely energization of the solenoid winding I1 in response to a received radio signal of a diiferent frequency through the closed contacts of the relay 4I, current collecting means 53 and wires 80 and 6I causes pull to be applied between the winding and its plunger and torque to be applied between the outer and inner gimbals in the reverse direction. This causes clockwise precession of the outer gimbal about the vertical axis andthe ringer 53 to move into contact with the' grounded contact disk .6 9, to cause the ship to turn 4right to the new course setting" about which it hunts as previously described.

It will be evident from the above that when either of the precessing windings i5--I1 is energized, pull is applied to one of the plungers |9-2I and torque in either direction is applied directly between the inner and outer gimbals to cause the outer gimbal to precess about its vertical axis in either direction. Precession of the outer gimbal in either direction causes the lug 3| thereon to exert torque on and compress either of the springs 33 between the lug 3| and one portion of the sector gear 21 of the train of gears operable by the erection motor 23 secured to the gyro frame I3. Compression of either oi the springs 33 causes a slight tilting of the inner gimbal with respect to the outer gimbal in either direction and tilting of the rotor axis. This causes the contact finger 82 on the inner gimbal to move into contact with either of the contacts 19 or 8G on the outer gimbal to cause energization and rotation of the erection motor in either direction necessary 'to relieve the compression of either of the springs 33 due to the precession of the outer gimbal so that the sector gear 21 is maintained in the same relative angular position with respect to the lug 3| of the outer gimbal and equal compression is maintained on the springs 33 and the inner gimbal is accordingly rotated in proper direction by this operation of the erectionmotor to cause the rotor axis to be moved back to its original position, parallel to the transverse center line of the ship, about which it is continuously caused to hunt by reason of the contacts 19-8-82 controlling energization and reversal of the erection motor 23 as previously explained. The shaded ends 22 of the plungers provide constant torque in either direction between the outer and inner gimbals for the slight movement in either direction of the inner gimbal by the erection motor with reference to the outer gimbal to maintain the rotor axis parallel to the transverse center line of the ship.

During precession of the gyroscope in either direction about the vertical axis any banking or rolling of the ship requires the application of torque by the erection motor in the proper direction to the outer gimbal about its vertical axis, depending upon the direction of rotor rotation about its spin axis, to maintain the spin axis parallel to the transverse center line of the ship;

The other modication of directional control system shown in Figure 10 and the gyroscopic control means included therein is shown in Figures 5 to 7. Y

The gyroscopic control means comprises a rotor 2H which is rotatable about a horizontal axis in a rotor housing serving as an inner gimbal member 2I3 by an electric motor 2 I 5. The inner gimbal is pivo'ted about a horizontal axis, transverse to the rotor axis in an outer gimbal member 2I1 which is pivoted about a vertical axis in a frame 2I9 of the gyroscope. The frame 2I$i is adapted to be mounted in a ship with the base parallel to the 'transverse center line or the ship. The frame is enclosed Vin a removable housing cap 22|.

A precession motor 223 is mounted on the outer gimbal and is connected by reduction gearing also carried on the outer gimbal member as best shown in Figures 5 and 6. One gear 225 of this gear reduction is rotatable in one arm of a bell crank 221 which is pivoted onf-the outer gimbal. -The` alici-,4:76

other arm of lthe bellicrank isi linked to an. armature 229 of an .electromagnet 230 which is also supported on the. outer gimbal so that -upon energization of the electromagnet winding .the gear 225 is moved into :mesh witha sector ,gear 23| secured to the inner gimbal, as illustrated in Figure 6. When the gear .225 .is engaged with the sector gear 23| a .contact 233 secured onan insulator on the bellcranlc 22.1 is moved into contact with another ,contact235 secured onan insulator onY the outer `gimloal, to control Aenergization of the precession motor 223after en gagement ofthe gear y225 with the sector gear 23|.

An erection motor 231 is mounted on theloase of the frame and .is connected. by reduction gearingY on thebafse of the Yframe. one gear 239 of which meshes with a sector gear 24| rotatably mounted on the lowerpivot ofthe outer gimhal, asbest shown in Figures and 8. SpringsV .243 are placed between adjacent spokes of the sector gear 22|, the inner ends of which. bear on a lug 245 on the outer gimbal extending downwardly between the spokes of .the sector gear 2M.

Current collecting and controlling means are provided between the frame and the outer and inner` gimbals to control .energization of the rotor motor and to control reversal of precession .and erection motors and to control reversal -of power operated steering mechanism of the ship. These current collecting means. motors and ship steeringrnechanism together with the electrical connections therebetween are shown in Figures 5 and 6 and schematically in Figure .10.

.Current collecting means generally indicatedat 241 Vand 249 are provided between the outer and.

inner gimbals on the axis `of the latter. The collecting means 241 includes a Contact 25| secured on an insulator on oneend .of the `outer gimbal in coaxial .relation with the .inner gimbal axis and a spring ng'er 253 securedon a brush holder of the .rotor motor 2|5 and hearing on the contact 25| at a point coaxial with the inner gimbal axis. The current collecting means 249 is similar to that previously described .and .includes a contact 255 4secured on an .insulator carried on the other end of the-outer girnbal in coaxial relation with the inner gimbal axis anda spring finger 251secured to the `other brush holder oi the rotor motor `2|5 and .bearing on the con-tact 255 at a point coaxial with the inner gimbal axis.

Another current collecting means indicated generally at 259 is provided adjacent the collecting means 241. This means `serves as a `reversing .switch to control reversalV of' the erection motor and, as best shown in'liguresY 5,v 'I 'and 4l0. .comprises an insulator disk` 26| mounted On the outer gimbal in coaxial .relation withtl'ie axis of the inner gi-mbal and having two contacts ',263 and 255 of semicircu'lar form secured to the periphery of the disk 26| and a spring .contactY` gixnbal and each of the nngersaresecured to;

an insulator .onthe frame:

The current collecting means A21| serves ,as .a reversing switch to control reversal ofthe ypower steering mechanism of the ship. As best ,shown in Figures `6 and 10 this means comprises an insulator disk 215 secured on the .lower pivot of the outer gimbal and provided with vsernicircular contact disks 211 and 219 `on the periphery of. the insulator disk. The adjacent ends of these disk contacts are normally contacted by a exiblecontact iinger 29| secured on an insulator 283 on `a'gear 295 rotatable .on the base yof the frame about an axis coaxial with that of the outer .gimbaL The gear 285 .is connected by gears 28.6, 281 and 288 on shafts rotatable inthe frame and a follow-up lever 29| is secured to one of the shafts.

Asbest shown in Figure 10 this second modification `of gyroscopic control mechanism .is also controlled by a radio receiver and it also .controls a power operated steering mechanism. Thereceiver and steering mechanism andthe reversing relays for the steering and erection motors are identical to those described for controlling the previously described gyroscopic control mechanisin, but relays of different construction are provided to control precession. o

The rotor motor 2|5 is connected between ground on the frame and the positive wire 41 by means oi the current collecting means 241 and. 249, two of the slip rings of the'current collecting means 2i! and

wires

41, 294, 295, 296, 291 and 299. The positive wire l'i is connected to the positive terminal of the battery 48 having thev negative terminal grounded.. The field winding of the precession motor 223 is connected between the

wires

295 and 298. The winding of the electromagnet 23|) is connected between the movable contacts of the relays 39' and i through two other vof the slip rings of the current collecting means 269 and wires 399, 30|, 392. and .303. The movable contact of the electromagnet. is connected to the wire 39| and the armature of the precession motor 223 is connected between the fixed contact of the electromagnet and the wire 392. rhe spring lngerr251 of the current collecting means 259 is connected to the wire 295 and the contact disk 265 of this means is connected by means of another slip ring and ringer of the current collecting means 21| and wires 3M and 395 to one winding Vterminal of the motor reversing relay 81 of the erection motor 23T. The other terminal of the winding. of 4the relay Si is grounded. One winding terminal of the steering reversing relay 62 for the steering motor 93 is connected to the positive wire 'i1 and the other winding terminal of the relay E2 is connected by .a flexible conductor 305 to the spring nger 2e! of the. current collecting means 22|. The' disk contact 219 of the means 2i! Yis connected to the wire 2.98 and is accordingly grounded through the lower slip ring and nger. rThe battery connections to the -contacts of the reversing relay 62 and 51 and t0 the erection and steering motors 231 and vBfiare identical to those previously described and shown in 'Figure 9.

As previously mentioned, the Contact arrangement of the relays 39 and 4| is different fromv the relays 39 and i, previously described. Each of the relays 3 9 and Iii' are providedrwith `two fixed contacts and a movable contact normallyy in engagement with the lower xed contact. .The upper xed contactsare connected to the positive wire 41,the lower fixed contacts `are grounded, themovable contacts are separately connected by -separate Wires v30|l1and1303 between'two of" the current collecting means indicated generally at 269. Each of the relay windings, however, are connected between ground and a separate output terminal of the radio receiver ,35 .in identical manner to that previously described with reference to the relays 39 and 4| shown in Figure 9.

The operation of this second modification of gyroscopic control means and system in which it is included is asfollows: With the rotor rotating about the horizontal axis transverse to the course setting and longitudinal center line of the plane if the ship turns slightly to the left of the course setting the finger 28| of the current collecting means 21| will move out of contact with the contact disk 219 and into contact `with the contact disk 211 to break `the energizing connection to the winding of the steering motor reversing relay 62 and cause the relay contacts to fall to the position shown. This causes the motor to be energized to cause rotation of the rudder counterclockwise in order to cause the ship to turn right back on the `course setting. Counterclockwise movement of the rudder and turning of the ship to the right causes the disk contacts 211 and 219 to be turned counterclockwise by the follow-up gear and linkage connection between the rudder 95 and these contacts until the contact disk 211 moves from under the spring nger 28| and the finger is contacted by the contact disk 219. This causes the establishment of a circuit between the positive wire 4'! to ground through the winding of relay 92. the wire 30'6, finger 28| and disk contact 219 which is connected to ground by the wire 299 and the lower collector ringand nger of the current collecting means 21|. The movable contacts of the relay 62 are moved upwardly upon energization of the winding to cause reversal of the steering motor and movement of the rudder clockwise to `cause the ship to turn to the left and back on course and this causes clockwise rotation of the contact disks 219 and 211 to again cause reversal of the steering motor. It will belevident that the ship is caused to hunt slightly to the right and left of the course in the same manner as with the previously described gyroscopic controlling means.

The outer gimbal is likewise rotated by' the l erection motor so that the rotor axis is maintained parallel to the transverse center line of the ship in a similar manner to that previously described. Any tilting movement of the outer gimbal with respect to the vertical axis and transverse to the rotor axis causes either the disk contact 293 or the disk contact 295 of the current collecting means 259 to move into contact wth the contact finger 261 oi this means. When the disks contact 263 is in contact with the finger 291 the winding of the reversing relay 81 is deenergized to cause the erection motor 231 to apply torque to the outer gimbal with reference to its axis in proper direction to cause the inner gimbal to turn with respect to the outer gimbal to cause the rotor axis to be maintained parallel to the transverse center line of the ship. If the ship rolls in the opposite direction the disk contact 265 moves into contact with the iinger 261 to establish a circuit to the winding of relay 81 through these contacts, and two of the slip rings and lingers of the current collecting means 269 and

wires

41, 294, 295, 296, 304 and 305 to ground. rIhis causes the contacts of the relay to be moved upwardly and cause reversal of the erection motor and application oi. torque to the outer gimbal about its axis in the reverse directiorrto cause the inner gimbal to move in' theop- :posite direction until the rotor axis is again parallel to the transverse center line of the ship. The rotor axis is accordingly maintained parallel at all times to the frame of the gyroscope and transverse center line of the ship.

Remote steering of the ship is accomplished in similar' manner as previously described by means of radio signals of different frequency picked up by the receiver to cause energization of the winding of either of the relays 39 or 4|. This causes upward movement of the movable contact by either relay to cause current flow in one direction or the other through the wires 300, 30|, 392 and 393 and the electromagnet 230 to cause the armature thereof to cause engagement of the gear train driven by the precession motor and current iiow through the armature thereof in one direction ror the other when the contacts operated by the electromagnet are closed. AThis causes torque to be applied between the inner and outer gimbals in either direction and precession of the rotor and gimbals in opposite directions about the vertical axis. Precession in one direction causes the disk contact 211 of the current collecting means 21| to move into contact with the spring contact 28| of this means to cause deenergization of the winding of the reversing relay 62 which causes rotation of the steering motor 93 and rudder 95 in proper direction to bring the ship back on the new course setting. `By reason of the follow-up linkage between the rudder and current collectingmeans 21| and the turning of the ship the spring contact 28| then contacts the disk contact 219 to cause energization of the winding of the relay 92 through

wires

41, 309, 298 and one slip ring and iinger of the current collecting means 21| to ground. This causes the direction of rotation of the steering motor and rudder to be reversed to cause turning of the ship in the opposite direction back on the course setting. The ship will accordingly be caused to hunt about the course setting as previously described.

In the two modifications of gyroscopic control devices the electromagnetic means for controlling precession and erection are designed to prevent magnetic leakage therefrom in order to eliminate errors in the operation of the controlling means, and as the erection means acts at all times to maintain the rotor axis parallel to the transverse center line of the ship no errors are introduced due to roll or pitch of the ship. Also the arrangement is such that by causing proper rotation of the rotor the banking of the ship when turning causes the outer gimbal to be turned by the erection motor in the same direction as the outer gimbal was precessed by either the solenoid or motor precessing means.

We claim:

1. A directional gyroscope for controlling steering mechanism comprising a gyroscope rotor supported by gimbals on a frame for normal rotation about a horizontal axis parallel to the base of the frame, resilient driving means including a reversible erection motor for applying torque to the gimbals and rotor in either direction about the vertical axis of the frame when the frame is tilted to maintain the rotor axis parallel to the base of the frame, erection motor reversing control contacts between the gimbals operable by relative movement between the gimbals upon tilting of the frame.

2. A directional gyroscope for controlling steering mechanism comprising a gyroscope rotor supported by gimbals on a frame'for normal rotation about a horizontal axis parallel to thev base of the frame, resilient. driving means including a reversible erection motor for applying torque to the gimbalsand rotor in either direction about the vertical axis of the frame when the frame is tilted to maintain the rotor axis parallel Vto the base of the frame, erection motor reversing control contacts between the gimbals operable by relative movement between the gimbals upon tilting of the frame, ironclad solenoids, and plungers having shaded poles of stepped form for exerting constant pull and torque between the gimbals in either direction to cause precession of the rotor and gimbals in either direction about the vertical axis of the frame, depending upon which solenoid is energized, and control means for selectively controlling energization of the solenoids.

3. A directional gyroscope comprising a gyroscopev rotor supported by inner and outer gimbals for normal rotation about a horizontal axis parallel to the base of a frame, means for applying torque in either direction between the gimbals for causing precession in either direction of the outer gimbal with `respect to the frame about a vertical axis, a reversible'erection motor on the frame for applying torque in either direction between the outer gimbal and frame, resilient drive means connecting the motor and outer gimbal, and motor reversing control means operable upon relative movement between the gimbals for controlling the erection motor tocause the rotor axis to hunt about a preselected' horizontal axis with respect tothe frame.

4. A directional control gyroscope having a rotor supported by inner and outer gimbals on a frame fornormal rotation about an axis parallel to the base of the frame, precessing means :for applying torque between the gimbals in either directi'on to causeY precession of the outer gimbal about a; vertical axis with respect to the frame, coaxial connecting means on said frame and said outer gimbal to operate said precessing means and erection means comprising resilient connecting meansbetween the outer gimbal and the frame and additional torque means connected with said resilient connecting means for applying torque in either direction between the outer gimbal and frame with respect to the vertical axis and control a l2 Y means operable upon relative movementcf the inner'and outer gimbals-for controlling said additional'. `torque applying means to Amaintain the lro- 'tor aboutv said horizontal axis parallel to th gyroscope frame.

5. A gyroscop'ic directional control system fora steering mechanism comprising'a frame having a horizontal base, an outer gimbal pivoted about a vertical axis: in'. the frame, an inner gimbal pivoted about a horizontal axis in the outer gimbal, a motor driven gyroscope rotor mounted for rotation in the inner gimbal transverse to'the inner gimbal pivot axis, a resilient connection be* tween- .the frame and outer gimbal, a reversible erection motor to apply torque to the outer gimbal through the resilient connection in orderto mainjtain the axis of therotor parallel to the base or the frame, electrical precessing means between the gimbals for exerting torque directly therebetween to` cause-precession of the rotor and gimbals about the vertical axis ofthe outer gimbal, cooperating, electrical energizing and reversing contacts locatedv on the gimbals infcoaxial relation to the axis ofthe inner gimbal to reverse the erection motor and cooperating, electrical energizing con-l tacts located' on the frame and outer gimbal in coaxial relation t'o the axisof the outer gimbal to energizeY the erection motor and precessing means.

ALBERT W. FISCHER. ARCHIE D. MCDUFFIE.

REFERENCES CITED The 'followingreferences are of record in the le of this patent:

UNITED STATES PATENTS-