US3382726A - Vibrating rotor gyroscope - Google Patents

Vibrating rotor gyroscope Download PDF

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US3382726A
US3382726A US457740A US45774065A US3382726A US 3382726 A US3382726 A US 3382726A US 457740 A US457740 A US 457740A US 45774065 A US45774065 A US 45774065A US 3382726 A US3382726 A US 3382726A
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inertial
inertial elements
gyroscope
elements
frequency
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US457740A
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English (en)
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Harold F Erdley
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Northrop Grumman Guidance and Electronics Co Inc
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Litton Systems Inc
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Priority to US457740A priority Critical patent/US3382726A/en
Priority to SE06938/66A priority patent/SE326838B/xx
Priority to SE06060/70A priority patent/SE359918B/xx
Priority to GB22719/66A priority patent/GB1093549A/en
Priority to GB29232/67A priority patent/GB1093550A/en
Priority to DE19661798394 priority patent/DE1798394A1/de
Priority to BE681307D priority patent/BE681307A/xx
Priority to FR62293A priority patent/FR1480645A/fr
Priority to DE19661523213 priority patent/DE1523213B2/de
Priority to JP3208766A priority patent/JPS4811257B1/ja
Priority to NL6607061A priority patent/NL6607061A/xx
Application granted granted Critical
Publication of US3382726A publication Critical patent/US3382726A/en
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/12—Gyroscopes
    • Y10T74/1261—Gyroscopes with pick off
    • Y10T74/1268—Pneumatic

Definitions

  • the present invention relates in general to navigational and positional instruments and in particular to improved vibrating rotor gyroscopes.
  • a vibrating rotor gyroscope an inertial instrument possessing many advantages over conventional gyroscopes, is described in copending application entitled Vibra-Rotor Gyroscope by H. F. Erdley et 211., Serial No. 323,985, filed Nov. 15, 1963, and assigned to the same assignee as the present application.
  • a vibrating rotor gyroscope comprises an inertial element which is co axially mounted on a rotating shaft.
  • the inertial element rotates with the shaft and has torsionally restrained vibrational freedom about its mounting axis which is angularly disposed (ordinarily perpendicular) to the shaft.
  • the vibrating rotor gyroscope is designed so that the natural frequency of vibration of the inertial element about the mounting axis is equal to the frequency of shaft rotation (N) in order to make the inertial element very sensitive to motions at right angles to the axis of the shaft.
  • An external angular displacement (rotation) of the vibrating rotor gyroscope around any axis, except the spin axis, causes the inertial element to vibrate at its natural frequency, the maximum amplitude of such vibration being proportional to the angular displacement.
  • the phase of the vibration relative to a timing signal is a direct measure of the direction of the angular displacement.
  • the vibrating rotor gyroscope may be used in place of a direct reading, two-degree-of-freedom gyroscope.
  • the vibrating rotor gyroscope requires no complicated gimbal suspension system or flotation fluid, it has an extremely low drift rate and is far superior to conventional gyrosc-opes. Due to the fact, however, that the sensitivity of the inertial element to external forces is dependent upon the natural frequency of vibration of the inertial element being equal to th frequency of shaft rotation, any spurious forces or vibrations which act in the equations of motion of the vibrating rotor gyroscope as driving forces of a frequency equal to the frequency of shaft rotation cause, as more fully explained hereafter, an output error signal to appear which is indistinguishable from the output caused by an external angular displacement.
  • spurious output signals can be generated in the prior art devices by an inherent shaft wobble of frequency 2 N due to the tolerances in the bearing mechanism supporting the rotating shaft of the vibrating rotor gyroscope and, under certain circumstances, can cause undesirable errors to appear in the output signals obtained from operational angular displacements of the vibrating rotor gyroscope.
  • the present invention has succeeded in overcoming all of the above-mentioned disadvantages of the prior art devices by providing a vibrating rotor gyroscope in which a plurality of inertial elements are coaxially mounted on a single shaft in such a manner that the output signals therefrom maybe combined to eliminate the component of the output signals due to vibrational forces.
  • a vibrating rotor gyroscope in which a plurality of inertial elements are coaxially mounted on a single shaft in such a manner that the output signals therefrom maybe combined to eliminate the component of the output signals due to vibrational forces.
  • both rotational and accelerational information can be obtained from the same instrument.
  • -It is a further object of the present invention to provide a vibrating rotor gyroscope having a plurality of coaxially mounted inertial elements whose suspension means are angularly disposed from one another.
  • FIGURE 1 is a cross-section view of a preferred embodiment of the present invention.
  • FIGURE 2 is a simplified, perspective drawing of the embodiment of FIGURE 1 illustrating the principles of operation of the present invention
  • FIGURE 3 is a block schematic diagram of a vibrating rotor gyroscope system for cancelling spurious output caused by 2 N frequency forces;
  • FIGURE 4 is a block schematic diagram of a vibrating rotor gyroscope system for obtaining rotational and accelerational information
  • FIGURES 5 and 6 illustrate further modifications of the present invention.
  • FIGURE 7 illustrates a vibrating rotor gyroscope arrangement for obtaining complete accelerational and rotational information free from spurious outputs caused by 2 N frequency forces.
  • the vibrating rotor gyroscope 10 of the present invention comprising a cylindrical outer casing 11 and a support member 12 attached thereto upon which is positioned the stator 14 of a constant speed synchronous hysteresis motor 16.
  • the rotor element 18 of the synchronous motor 16 is affixed to a spin shaft 20 which is driven to rotate on ball bearings 22 about the stator 14.
  • the outer case 11 is preferably pressure tight and in the preferred embodiment thereof is completely evacuated or alternatively contains a controlled low density atmosphere as of hydrogen or helium, and is generally constructed of a light, but rigid, material such as aluminum.
  • the spin shaft 20 is constructed of a rigid material such as stainless steel.
  • Inertial elements 26, 26 (shown here in the form of rings) of the vibrating rotor gyroscope are mounted on the spin shaft 20 by means of two orthogonal pairs of cruciform-shaped torsion bars 28, 28, a pair of central supports 30, 3t) and mounting screws 29, 29'. It should be noted that since the torsion bars 28 are orthogonal to the torsion bars 28, the torsion bars 28 are not visible in this cross-sectional view.
  • the inertial elements 26, 26' may be constructed completely of a rigid, lowreluctance material such as iron or steel, in the embodiment shown it has been chosen to surround a light-weight rigid material (such as titanium) with iron or steel rings 32, 32 in order to reduce the weight of the inertial elements 26, 26'.
  • the center of mass (C.M.) of each of the inertial elements 26, 26 is located at the point of suspension of each of the inertial elements 26, 26', i.e. where the axis of rotation [defined by the axis of the spin shaft 20] intersects the axis of vibration (defined by the axis of the torsion bars 28, 28).
  • the gyroscope 10 is substantially insensitive to ac-celerational forces.
  • the gyroscope 10 may be made sensitive to aecelerational forces (and capable of the detection thereof) by placing the center of mass a preselected distance from the point of suspension, preferably along the spin shaft 20.
  • inertial element 26 may be made heavier on one side by the addition of weights thereto or the milling of material from the other side thereof.
  • more than two inertial elements may be placed on the spin shaft 20 in order to obtain complete information on the accelerational and rotational forces acting on the gyroscope.
  • the synchronous motor 16 (driven by power supply 38) causes the inertial elements 26, 26' to rotate at a predetermined frequency N.
  • N a predetermined frequency
  • the approximating basic differential equation of motion of one of the inertial elements of the invention may be found from Eulers equations for the motion of a rigid body about a fixed point.
  • Aw -l- (A-C)w w +D9-]-K0 O (2)
  • K is the angular spring constant
  • D is the angular damping constant of the torsion bars 28, and is the angular excursion of the inertial element 26 measured as a rotation around the y axis.
  • Equation 12 Substituting Equations 14, 15, and 16 into Equation 12 and noting the identities:
  • Equation 19 is identical in form to Equation 13 and thus an output signal is generated by the spurious 2 N frequency forces which cannot be separated by prior art devices from the ouput generated by true rotational displacement.
  • the spurious output signal is cancelled by using two inertial elements 26, 26' mounted on the shaft 20 with their torsion bars 28, 28' at substantially right angles to one another.
  • the basic equation of motion for the second inertial element is given by:
  • Equations 14, 15, and 16 can be inserted, as before, to yield:
  • E-shaped sensor arrangements 40, 40' each composed of a C-shaped ferrite material with a permanent magnet central leg, are positioned adjacent to inertial elements 26, 26 (and iron rings 32, 32') and are attached to the outer case 11 of the vibrating rotor gyroscope by support members 32, 42.
  • the permanent magnet central legs of the E-shaped sensor arrangements 40, 49 cause D.C. magnetic fields to exist in the closed fiux paths defined by the central and outer legs of the sensor arrangements 40, 40 and the iron rings 32, 32. Any vibratory motions of the iron rings 32, 32' cause a change in the reluctance of the portions of the paths between the central and outer legs of the sensor arrangements 40, 40.
  • A.C. magnetic fields to be generated in the windings (and output leads) 47, 47, which fields in turn generate A.C. signals (the outputs of the sensor arrangement 40, 40) representative of the vibratory motion of the inertial elements 26, 26.
  • sensing signals have been obtained by using D.C. magnets for the central legs of the sensor arrangements 40, 46, many other techniques are possible.
  • A.C. magnetic fields can be generated (in the closed flux paths) by coupling A.C. generators to ferrite central legs of the sensor arrangements 49, 40'.
  • the sensing signal has (in the ideal case) a frequency of 2 N.
  • a timing signal having a frequency 2 N is generated.
  • a C-shaped timing generator 51 is shown aflixed to the outer case 11 by supporting member 12 and comprises a C-shaped permanently magnetized ferrite structure with a sensing coil (and output lead) -11 Wound thereon.
  • a rotating ferrite member 36 (which forms part of the closed flux path) is constructed with a very slight ellipsoidal conformation so as to vary the reluctance of the magnetic path between the legs of the C-shaped timing generator 51.
  • the electromotive force is used to provide a timing signal of frequency of 2 N.
  • the two maximum amplitude points (or minimum amplitude points) of the timing signal can be made to occur when the torsion bars 28, 28 are parallel and orthogonal, respectively, to one of the case-referenced orthogonal axes. If such coincidence does not occur, the timing signal will be resolved into components along orthogonal axes rotated a determinable angle from the case-referenced axes. These two set of axes can be brought into coincidence, however, by shifting the phase of the timing signal.
  • the timing signal from the timing generator is fed via lead 51' into a standard phase shifter 54 which provides two timing signals, one shifted in phase from the other by
  • a second timing generator may be employed displaced 45 circumferentially from timing generator 51 to provide the second timing signal shifted in phase by 90.
  • the timing signals are coupled along with the sensing signals from the sensor arrangements 40, 40' (via leads 47, 47') to standard demodulators 50, 50 (of the type, for example, described in the above-cited patent application).
  • the demodulato-rs 50, 50- provide signals 0(X) :2N(X), 0(Y):2N(Y) which represent the magnitudes of the components of the rotational displacement plus or minus the components of the 2N frequency movements of the shaft 20 along the X and Y coordinates of the case-referenced axes. Since demodulators 50, 50' receive each two timing signals and provide each two output signals, demodulators 50, 50' may each consist of two separate demodulators or a single composite demodulator with two input and output channels. In addition, demodulators 50, 50' may also include R-C networks to filter the signals generated thereby.
  • each of the output signals from the vibnating rotor gyroscope is composed of signals generated by true rotational displacement forces and spurious 2N frequency forces. Since, however, the output signals caused by such spurious forces are generated by two inertial elements having their axes of vibration (i.e. suspension means) orthogonal and thus are opposite in polarity, the output from demodulator 50' contains spurious signals of one polarity while the output from demodulator 50 contains the same spurious signals but of opposite polarity.
  • the output signals from demodulators 50 and 50 are thus coupled to standard summing circuits 70, 70, composed of addition circuit 97 and sign inverter 99, which add the Y and X components, respectively, of the sensor outputs and, in so doing, provide signals 0(X), 9(Y) representative of the magnitudes of the rotational displacement free from the spurious signals 2N (X), 2N(Y) generated by the 2N frequency forces.
  • the suspension means do not have to be orthogonal but may be angulariy disposed. In such a case, however, the 2N frequency tennis are not completely eliminated but partially remain with their magnitude being proportional to the cosine of the angle between the suspension means.
  • Equation 13 Since the validity of Equation 13 describing the angular excursion 0 of the inertial elements 25, 26 is predicated upon the time of application of a particular shaft displacement rate being very much less than the time constant of the system, it is desirable that torquing forces be applied to the vibrating rotor gyroscope to null such vibratory motion.
  • the vibratory motion is usually nulled by rotating the platform upon which the vibrating rotor gyroscope is mounted (and hence applying a mechanical torquing force to displace the shaft
  • the X and Y outputs are thus shown as coupled to networks 74, 76 (which may, for example, be standard switching circuits or s-witchin circuits coupled with mixing circuits) adapted to apply via terminals 71, 71' such signals to the rotators of the inertia guidance platform, as illustrated in the above-cited patent application.
  • networks 74, 76 which may, for example, be standard switching circuits or s-witchin circuits coupled with mixing circuits
  • feedback leads 7?, 80 are shown leading from networks 7 76 to the vibrating rotor gyroscope itself to apply X axis and Y axis torquing forces, respectively, as explained hereafter, to the inertial elements 26, 26.
  • inputs 82, 84 are coupled to the networks 74, 76 to allow external biasing signals to be introduced (via such switching circuits) when desired into the system.
  • the vibratory motion of the inertial elements 26, 26 can be nulled (or induced) by applying torquing forces directly to the inertial elements 26, 26 (and the iron rings 32, 32) of the vibrating rotor gyroscope.
  • two E-shaped torquer arrangements 62, 62 are mounted to the outer case 11 of the vibrating rotor gyroscope by support arrangements 66, 66' along, for example, the X axis of the case-referenced coordinate system.
  • the E-shaped torquer arrangements 62, 62' are composed of C-shaped ferrite pieces with permanent magnet central legs.
  • the network 74 provides torquing signals via leads 78, 78 to the outer legs of the torquer arrangements 62, 62 acting along the X axis; similarly, the network '76 provides torquing signals via leads 80, G9 to the outer legs of the torquer arrangements acting along the Y axis.
  • the magnetic field between the central leg and one of the two outer legs of each of the E-shaped X axis torquer arrangements 62, 52 is increased, while the magnetic field between the central leg and the other outer leg is decreased.
  • Network 76 effects a like result in the Y 'axis torquing arrangements.
  • the selective application of torquing signals by the networks 74, 76 to the X axis and Y axis torquer arrangements generate magnetic torquing fields which can oppose, reinforce, or induce vibnatory motion of the inertial elements 25, 26 in the same manner as if an angular displacement were applied to the shaft 20.
  • FIGURE 4 A modification of the vibrating rotor gyroscope of the present invention is illustrated (symbolically) in FIGURE 4.
  • two inertial elements 26, 26 are shown with their suspension means 28, 28' parallel to one another.
  • One of the inertial elements (26) has its center of mass (C.M.) displaced (as described previously), a preselected distance along the shaft 2% from the point of suspension of the inertial element. Since the center of mass is displaced from the point of suspension, an acceleration along any direction, except that of the shaft, produces a moment on the inertial element. This moment.
  • C.M. center of mass
  • the output signal from the sensor of a vibrating rotor gyroscope with its center of mass displaced contains components not only of rotational displacement but also of acceleration.
  • a second inertial element is used which is substantially identical to the first but with its center of mass at its point of suspension.
  • output signals H(X)+2N(X), 6(Y) +2N(Y) are derived by phase shifter 54 and demodulator 50 from inertial element 26 having its center of mass at its point of suspension while output signals 6(X) +A (X) +2N(X), 0(Y) +A(I) +2N(Y) representative of the magnitude of the components of the rotational displacement plus the acceleration plus the 2N frequency movements of the shaft 213 are derived by phase shifter 54 and demodulator 50 from inertial element 26 having its center of mass displaced a preselected distance from its point of suspension.
  • the output signals from the inertial element 26 are then subtracted from those of inertial element 26' by standard differencing networks, 0, 9i) to yield the signals A(X), A(Y) representative of the components of the acceleration.
  • Terminals 73, 73 are provided to couple the signals A(X), A(Y) to an external recording means, such as a computer.
  • the accelerational information is really the acceleration times the time it has been applied, or the velocity.
  • the output signals A(X), A(Y) are fed back via leads 78, to the torquing elements of the vibrating rotor gyroscope to operate it in a closed loop operation. Since the angular excursion of the inertial element is constantly being torqued back to null, the informational output is therefore a true acceleration.
  • the signals 0(X), 6(Y) may be fed back to the torquers by coupling the signals from terminals 71, '71 to terminals 91, 93.
  • the embodiment of the gyroscope 10 and the circuitry therefor shown in FIGURE 5 can be used.
  • the suspension means 23, 28' for the inertial elements 26, 26 are orthogonal, while the centers of mass of the inertial elements 26, 26 are displaced in opposite directions from their respective axes of vibration, i.e. towards one another or away from one another rather than in the same direction (as in FIGURE 7).
  • the output signals obtained from each of the sensors 43, 4d of the inertial elements 26, 26' are demodulated and mixed in a manner similar to that in FIGURES 3 and 4 to yield the output signals K )l It can easily be recognized that with only four outputs available from a two inertial element vibrating rotor gyroscope (X and Y terms from each inertial element), the six variables in the output signals, i.e., (X), 0(Y), A(X), A(Y), 2N(X), and 2N(Y) cannot be individually determined.
  • FIGURE 6 This limitation, however, is overcome by the embodiment of the gyroscope 10 (and the circuitry therefor) shown in FIGURE 6 in which three inertial elements 26, 26, 26" are coaxially mounted on a single shaft 20.
  • One of the elements (26) has its center of mass displaced a preselected distance from its point of suspension, while the other two inertial elements (26, 26") have their suspension means 28', 28" orthogonally disposed. Since there are now 6 outputs (X and Y terms from each inertial element), the six variables recited above can be individually determined.
  • the output signals of each of the three inertial elements are demodulated and mixed in a manner similar to the previous embodiments to yield the signals 0(X), 0(Y), A(X), A(Y), 2N(X), 2N(Y) on terminals 71, 71', 73, 73' and 75, 75. It should be noted that the signals 2N(X), 2N(Y) are coupled back to the torquers via leads 78, 80 to prevent undue oscillations being built up by the 2N vibrational forces.
  • FIGURES 3 through 6 can be used as the sensing elements on an inertial platform. Since, however, a single vibrating rotor gyroscope can only measure acceleration and rotational displacement -(or rate) along two axes, two or more of such gyroscopes must be combined to give complete three-dimensional information. As stated above, moreover, unless there are sufficient outputs from the inertial elements of the gyroscope all of the rotational, accelerational, and 2N frequency terms cannot be individually determined.
  • the eight outputs therefrom yield a sulficient amount of information to individually determine the seven variables, i.e. the three rotational terms and the four 2N frequency terms (two from each gyroscope). If the gyroscopes in FIGURES 4 and 5 are utilized, however, it can be easily recognized that the eight outputs therefrom will be unable to yield sufficien-t information to separate the ten variables, i.e. three rotational terms, the three accelerational terms, and the four 2N frequency terms.
  • the twelve outputs obtainable therefrom are more than suflicient to resolve the three accelerati nal, three rotational, and four 2N frequency terms.
  • FIGURE 7 an embodiment of the vibrating rotor gyroscope utilizing only two inertial elements on a single shaft to determine rotational, acce'lerational and 2N frequency terms is illustrated.
  • three vibrating rotor gyroscopes 19a, 12, 0 are mounted on an inertial element 13 orthogonal to one another.
  • a single vibrating rotor gyroscope (such as shown in FIGURE 4) can determine acceleration only along two coordinate axes, at least two of the gyroscopes r1042, 11, 0 must have the center of mass of an inertial element spaced a preselected distance from the point of suspension to determine A(X), A(Y), A(Z). Since there are now three sucn gyroscope-s, it can be recognized that there are twelve variables, i.e. three rotational terms, three accelerational terms, and six 2N frequency terms (two for each gyroscope). Thus, the twelve outputs of the three gyroscopes yield just enough information to separate all the variables.
  • the centers of mass of the inertial elements of the various gyroscopes must be properly placed so as to avoid duplication of output signals. If the inertial elements of one of the three gyroscopes generate the same information as the inertial elements of another one of the three gyroscopes, then all of the variables cannot be individually determined.
  • the gyr0scope (10a) supplying the X and Z coordinate rotational and accelerational terms has the centers of mass of the inertial elements displaced from the points of sus ension a preselected distance away from the origin O of the stationary reference coordinate system located in the inertial elix 13.
  • the gyroscope (10c) supplying the Y and Z coordinate rotational and accelerationa'l terms has the centers of mass of the inertial elements displaced from the point of suspension a preselected distance towards the center of such coordinate system. If the centers of mass of the inertial elements of the gyroscopes 10a and were not displaced in an opposite manner with respect to the origin of the reference coordinate system, the A(Z) terms would be of the same polarity and the 0(Z)+A (Z) ter'm could not be separated.
  • the rota tional and accelerational output signals generated by each of the gyroscopes 1012:, b, 0 can be demodulated and mixed to yield all six rotational and accelerational variables; since each of the gyroscopes has its suspension means orthogonal, it is apparent that all six of the 2N frequency terms can be eleminated (and solved for if desired).
  • the output signals available on terminals 71, 71', 711" 73, 73', 73", can be fed back to X, Y, Z torquer terminals 91, 93, 95, respectively, coupled to the rotators of an inertial platform such as shown in the aforementioned patent application, or stored in a computer for processing.
  • An inertial instrument comprising: a frame; a plurality of inertial elements rotatable with respect to said frame about a first axis, said inertial elements being capable of rotationally restrained vibratory motion about axes of vibration rotating with said inertial elements and angularly disposed 'with respect to said first axis; and means for rotating said inertial elements about said first axis.
  • the inertial instrument of claim 1 further comprising sensor means responsive to the vibratory motion of said inertial elements for generating signals representative of said vibratory motion.
  • the inertial instrument of claim 2 further comprising means coupled to said sensor means and responsive to signals therefrom for generating output signals representative of rotational movements of said inertial instrument.
  • the inertial instrument of claim 3 further comprising means for reducing the magnitude of the components of said output signals caused by vibrational forces acting on said inertial elements.
  • the inertial instrument of claim 5 further comprising means operable on said inertial elements and responsive to said output signals representative of said vibrational forces for substantially continuously nulling the vibratory motion of said inertial elements caused by said vibrational forces.
  • the inertial instrument of claim 7 further comprising means responsive to the vibratory motion of said inertial elements for generating output signals representative of accelerational movements of said inertial instrument.
  • the inertial instrument of claim 8 further comprising means operable on said inertial elements and responsive to said signals representative of said accelerational movements for substantially continuously nulling the vibratory motion of said inertial elements caused by said accelerational movements.
  • the inertial instrument of claim 1 further comprising means for applying torquing forces to said inertial elements to control the vibratory motion thereof.
  • An inertial instrument comprising: a frame; a plurality of inertial elements rotatable with respect to said frame about a first axis, said inertial elements being capable of rotationally restrained vibratory motion about axes of vi ration rotating with said inertial elements and substantially orthogonal to said first axis; and means for rotating said inertial elements about said first axis.
  • a gyroscope comprising: support means; first and second inertial elements; first and second suspension means for t-orsionally coupling said first and second inertial elements, respectively, to said support means, said first and second suspension means being orthogonal; and means for rotating said support means.
  • the gyroscope of claim 13 further comprising means responsive to the vibrations of each of said inertial elements for generating output signals representative of rotational movements of said inertial instrument and means coupled to the last recited means for reducing the magnitude of the components of said output signals gen erated by vibrational forces acting on said support means.
  • a gyroscope comprising: support means; a pair of inertial elements; first and second suspension means for torsionally coupling said inertial elements to said support means, said first and second suspension means being substantially parallel and one of said inertial elements having its center of mass displaced a preselected distance from its point of suspension; means for rotating said inertial elements; and means responsive to vibratory motions of said inertial elements for generating output signals representative of rotational and accelerational movements of said gyroscope.
  • An inertial instrument comprising: a frame; first and second inertial elements rotatable with respect to said frame about a preselected axis, said first and second inertial elements being capable of vibratory motion about first and second axes of vibration angularly disposed with respect to said preselected axis and each of said inertial elements having its center of mass displaced a preselected distance from its axis of vibration, the centers of mass of said inertial elements being displaced in opposite directions from their respective axes of vibration; and means 12. for rotating said first and second inertial elements about said preselected axis.
  • a gyroscope comprising: support means; a plurality of inertial elements; suspension means for torsionally coupling said inertial elements to said support means, at least one of said suspension means being angularly disposed to the others of said suspension means and at least one of said inertial elements having its center of mass displaced a preselected distance from its center of suspension; and means for rotating said plurality of inertial elements.
  • a gyroscope comprising: support means; a trio of inertial elements; suspension means for t-orsionally coupling said inertial elements to said support means, two of said inertial elements having their suspension means parallel to one another and orthogonal to the suspension means of said third inertial element and one of said trio of inertial elements having its center of mass displaced a preselected dista cc from its center of suspension; and means for rotating said support means.
  • the combination comprising: a stable element; and a plurality of gyro scopes positioned on said stable element along preselected axes, each of said gyroscopes comprising a plurality of inertial elements and means for rotating said plurality of inertial elements with respect to said stable element about one of said preselected axes, said plurality of inertial elements being capable of vibratory motion about axes of vibration angularly disposed with respect to the axes of rotation of said plurality of inertial elements.

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US457740A 1965-05-21 1965-05-21 Vibrating rotor gyroscope Expired - Lifetime US3382726A (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
US457740A US3382726A (en) 1965-05-21 1965-05-21 Vibrating rotor gyroscope
SE06060/70A SE359918B (lt) 1965-05-21 1966-05-18
SE06938/66A SE326838B (lt) 1965-05-21 1966-05-18
GB29232/67A GB1093550A (en) 1965-05-21 1966-05-20 Gyroscopic inertial instruments and guidance systems
DE19661798394 DE1798394A1 (de) 1965-05-21 1966-05-20 Kreisel mit Schwingrotor
BE681307D BE681307A (lt) 1965-05-21 1966-05-20
GB22719/66A GB1093549A (en) 1965-05-21 1966-05-20 Gyroscopic inertial instruments and guidance systems
FR62293A FR1480645A (fr) 1965-05-21 1966-05-20 Dispositif de guidage par inertie
DE19661523213 DE1523213B2 (de) 1965-05-21 1966-05-20 Kreisel mit Schwingrotor
JP3208766A JPS4811257B1 (lt) 1965-05-21 1966-05-21
NL6607061A NL6607061A (lt) 1965-05-21 1966-05-23

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US457740A US3382726A (en) 1965-05-21 1965-05-21 Vibrating rotor gyroscope

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JP (1) JPS4811257B1 (lt)
BE (1) BE681307A (lt)
DE (1) DE1523213B2 (lt)
GB (2) GB1093549A (lt)
NL (1) NL6607061A (lt)
SE (2) SE326838B (lt)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3540289A (en) * 1966-12-08 1970-11-17 Gen Motors Corp Tuned rotor gyro-accelerometer
US3678764A (en) * 1967-11-20 1972-07-25 Litton Systems Inc Gyroscope having vibrating gimbals
US3678765A (en) * 1969-12-15 1972-07-25 Ambac Ind Magnetically-tuned resonant gyroscope
US3697968A (en) * 1971-04-16 1972-10-10 Nasa Dual purpose momentum wheels for spacecraft with magnetic recording
US3779087A (en) * 1972-03-30 1973-12-18 Singer Co Gyroscope pickoff means
US3805625A (en) * 1973-02-21 1974-04-23 Northrop Corp Asymmetric gyroscope
US4258577A (en) * 1978-02-27 1981-03-31 National Research Development Corporation Gyroscopic apparatus
EP0059628A1 (en) * 1981-02-27 1982-09-08 General Electric Company Angular rate measuring device
US4744249A (en) * 1985-07-25 1988-05-17 Litton Systems, Inc. Vibrating accelerometer-multisensor
US4841773A (en) * 1987-05-01 1989-06-27 Litton Systems, Inc. Miniature inertial measurement unit
US5007289A (en) * 1988-09-30 1991-04-16 Litton Systems, Inc. Three axis inertial measurement unit with counterbalanced, low inertia mechanical oscillator

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55155912A (en) * 1979-05-20 1980-12-04 Takao Ishii Nut and washer structure
CN109483394B (zh) * 2018-09-13 2023-12-12 西安航晨机电科技股份有限公司 半球谐振子超精密球面加工装置及加工方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2716893A (en) * 1949-10-18 1955-09-06 Gen Dynamics Corp Means and apparatus for utilizing gyrodynamic energy
US3077785A (en) * 1959-09-09 1963-02-19 Gen Precision Inc Pivot spring suspended gyro
US3147627A (en) * 1959-11-19 1964-09-08 Vickers Armstrongs Aircraft Rate gyroscopes
US3241377A (en) * 1960-01-13 1966-03-22 Jr George C Newton Method of and apparatus for detecting angular motion

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2716893A (en) * 1949-10-18 1955-09-06 Gen Dynamics Corp Means and apparatus for utilizing gyrodynamic energy
US3077785A (en) * 1959-09-09 1963-02-19 Gen Precision Inc Pivot spring suspended gyro
US3147627A (en) * 1959-11-19 1964-09-08 Vickers Armstrongs Aircraft Rate gyroscopes
US3241377A (en) * 1960-01-13 1966-03-22 Jr George C Newton Method of and apparatus for detecting angular motion

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3540289A (en) * 1966-12-08 1970-11-17 Gen Motors Corp Tuned rotor gyro-accelerometer
US3678764A (en) * 1967-11-20 1972-07-25 Litton Systems Inc Gyroscope having vibrating gimbals
US3678765A (en) * 1969-12-15 1972-07-25 Ambac Ind Magnetically-tuned resonant gyroscope
US3697968A (en) * 1971-04-16 1972-10-10 Nasa Dual purpose momentum wheels for spacecraft with magnetic recording
US3779087A (en) * 1972-03-30 1973-12-18 Singer Co Gyroscope pickoff means
US3805625A (en) * 1973-02-21 1974-04-23 Northrop Corp Asymmetric gyroscope
US4258577A (en) * 1978-02-27 1981-03-31 National Research Development Corporation Gyroscopic apparatus
EP0059628A1 (en) * 1981-02-27 1982-09-08 General Electric Company Angular rate measuring device
US4445375A (en) * 1981-02-27 1984-05-01 General Electric Company Tuned coriolis angular rate measuring device
US4744249A (en) * 1985-07-25 1988-05-17 Litton Systems, Inc. Vibrating accelerometer-multisensor
US4841773A (en) * 1987-05-01 1989-06-27 Litton Systems, Inc. Miniature inertial measurement unit
US5007289A (en) * 1988-09-30 1991-04-16 Litton Systems, Inc. Three axis inertial measurement unit with counterbalanced, low inertia mechanical oscillator

Also Published As

Publication number Publication date
DE1523213B2 (de) 1970-08-06
JPS4811257B1 (lt) 1973-04-12
SE326838B (lt) 1970-08-03
GB1093550A (en) 1967-12-06
NL6607061A (lt) 1966-11-22
BE681307A (lt) 1966-11-21
GB1093549A (en) 1967-12-06
SE359918B (lt) 1973-09-10
DE1523213A1 (de) 1969-06-12

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