WO2003042632A1 - Actuador giroscopico - Google Patents
Actuador giroscopico Download PDFInfo
- Publication number
- WO2003042632A1 WO2003042632A1 PCT/ES2002/000482 ES0200482W WO03042632A1 WO 2003042632 A1 WO2003042632 A1 WO 2003042632A1 ES 0200482 W ES0200482 W ES 0200482W WO 03042632 A1 WO03042632 A1 WO 03042632A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- nutation
- rings
- actuator according
- gyroscopic actuator
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/285—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using momentum wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G3/00—Other motors, e.g. gravity or inertia motors
- F03G3/08—Other motors, e.g. gravity or inertia motors using flywheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
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- 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
- Y10T74/1218—Combined
-
- 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
- Y10T74/1221—Multiple gyroscopes
-
- 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
- Y10T74/1229—Gyroscope control
-
- 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
- Y10T74/1282—Gyroscopes with rotor drive
Definitions
- the gyroscopic actuator is a device that allows to orientate the platform on which it is installed, applying for this the law of conservation of the kinetic moment. This orientation is achieved without resorting to the physical properties of the surrounding environment (water or air), so the platform will not need to have control surfaces (aerodynamic or hydrodynamic).
- Aeronautics for fixed-wing aircraft being able to replace the aerodynamic control surfaces of aircraft (ailerons, rudders, etc.), making turns in pitch, swing or yaw with the gyroscopic actuator.
- Helicopters by replacing the tail rotor that generates the compensating torque of the reaction torque due to the main rotor.
- the actuator is responsible for producing this compensating torque and allowing the helicopter to yaw.
- Naval when replacing the rudders of ships and boats, and performing maneuvers with the gyroscopic actuator.
- the invention in terms of its applications, has to do with the aeronautical, naval and automotive sectors. It uses the following branches of engineering: mechanics, electrical engineering and electronics.
- the way to produce more or less torque on a given axis of the reference system is by accelerating or decelerating the spin spin of the corresponding RWA or MWA. With this device it is possible to generate a maximum torque of 1.6 Newton - meter (N-m).
- RWA / MWA devices offered by Honeywell, such as models HR12, HR14, HR16, HM 4520 and HR2010 / HR4510, whose basic characteristics are spin speeds around 5000 rpm, weight between 9 and 11 kg, maximum diameters from 300 to 400 mm and resulting pairs from 0.1 to 0.2 Nm. Due to the small values in the resulting torque, other devices have been developed that increase it slightly.
- CMG moment gyroscope control
- Torque generating devices in space due to the very limited values they deliver and the high cost they have, are practically unfeasible for ground operations, where the required pairs can be, depending on the applications, very high.
- the gyroscopic actuator is conceived as a device of dimensions appropriate to the application where it will be requested and capable of generating the range of pairs required by this application. Get these capabilities by combining spin and nutation movements with a particular geometry; instead of inertia wheels, it uses rings, which gives it great possibilities as will be seen in this exhibition.
- a spin speed of 3000 rpm, a maximum diameter of 300 mm and a height of 350 mm, with a total weight of 10 kg manages to generate pairs greater than 650 Nm, during An indefinite time. Obviously, with other dimensions you can achieve significantly higher resulting pairs.
- the philosophy of the conception of the gyroscopic actuator is based on the limitations of the supplied torque are established by the rigidity of the constituent material of the mechanism rings and the electronics associated with the motor that drives the nutation movement.
- Aeronautics The governance of fixed-wing aircraft in pitching, balancing and yaw, is done by the aerodynamic control surfaces that are arranged on the wings, stabilizers and tail rudder. Although there are many variants on the basic configuration, this type of government is based on the aerodynamic resistance produced by such surfaces, by varying their initial disposition to perform the requested maneuver. Through resistance Aerodynamics that produce, the forces and resulting moments appear on the structural set of the aircraft thus performing the desired maneuver.
- the gyroscopic actuator produces a series of pairs on the structural assembly of the aircraft so that it is forced to change its orientation in the three axes of the reference system linked to it, thus producing the turns in pitch, roll and yaw that They get the requested maneuver.
- Helicopters As is known, the helicopter is a type of rotating-wing aircraft that has a main propeller driven by an engine, with which it can be supported while traveling. The pair that moves the main propeller creates another pair of opposite sign that would rotate in the opposite direction to that of the propeller to the flight cell, if not for several solutions that have been developed to date. The most important are the following (Modern Fighting Helicopters, Bill Gunston and Mike Spick, 1998 Greenwich Editions): Tail compensating propeller (Penny - farthing). An example of this configuration is the Lynx. It is the most common of all. The compensating torque is caused by a propeller on the tail of the fuselage that also allows controlling the yaw orientation of the aircraft.
- Tandem rotors (Twin tandem).
- Rotors from side to side (Twin side).
- Cross-linked side-by-side rotors (Twin intermeshing).
- Example HH-43 It is a variant of the previous one in which the rotors approach until the blades intersect, thus achieving a more compact configuration.
- Coaxial rotors (Twin coaxial).
- Example Ka-25 The axes of the two rotors are coaxial and originate equal pairs and of opposite sign.
- the gyroscopic actuator properly arranged inside the fuselage of the helicopter, will allow it to have only one rotor; the main rotor, so that the generated torque is compensated by the actuator, also allowing the winked orientation.
- the rudder is used to perform the maneuver that, in the same way that happens with the aircraft, ultimately what it produces is a resulting moment on the structure, getting it to orient in the desired direction.
- the rudder generates a hydrodynamic resistance, associated with its own performance, the greater the larger the equivalent surface of it is facing the water stream lines.
- the gyroscopic actuator on board a vessel sized for this purpose and conveniently arranged, generates in it the appropriate torque capable of varying the orientation of the entire assembly, so that the desired maneuvers can be performed avoiding the use of the rudder or rudders.
- the advantage of this device mainly lies in the capacity that the actuator confers to the boat to be able to maneuver without added resistance due to the increase in equivalent surface area compared to the water current lines.
- the assembly formed by the gyroscopic actuator, together with a stabilized turn platform and a processor is capable of generating the torque opposite to the vehicle's overturning, stabilizing it during the execution of the turn that produces instability.
- the way of working of the set is as follows: the gyro-stabilized platform detects the deviation produced in pitching, balancing and yawning by the vehicle, with respect to its resting position (vehicle stopped or moving without instabilities). The measurements taken are transmitted to the processor that generates the appropriate commands to the actuator to generate the pairs that attenuate the instabilities of the vehicle structure.
- the actuator has an application similar to that described for motor vehicles, as one of the most important limiting factors of train speed is the radius of horizontal curvature of the track layout, since When a train takes a curve, a centrifugal acceleration occurs over the passengers, whose maximum value is limited by the regulations in force in each country.
- the first one has been developed by the PATENTES TALGO company and consists of a structure of the cars formed by a porch from which the cabin structure hangs, so that when taking a curve, the cabin tilts tilting and the centrifugal acceleration that the occupants suffer is divided into a normal one towards the base of the cabin and another perpendicular to it that is the one that penalizes the regulations, but that is diminished with what would have been if the cabin had remained perfectly horizontal (pendular effect).
- the second type of solution consists of an active damping, similar to that mentioned for motor vehicles, which produces the appropriate inclinations of the car interiors.
- the gyroscopic actuator forming part of an assembly as described above can not only produce the desired inclination of the car interior, but also contribute to the complete stability of the structure by generating the corresponding anti torque I overturn.
- the fundamental advantage for rail transport is the possibility of being able to drive with greater speeds than the current ones, with safety and comfort conditions, if possible, even greater.
- Figure 1 represents a particle of mass m in space following a path with velocity v, in an Oxyz reference system in which it has a position vector r and a kinetic moment h. It serves to illustrate the physical law on which the invention is based.
- Figure 2 shows a ring on a plane ⁇ and also the same ring on another plane ⁇ 'which is rotated with respect to the first.
- the axis of rotation passes through a diametral line of the ring.
- Figure 3 shows the reference system linked to a generic ring used in the mechanism.
- the center O coincides with the center of the ring
- the Z axis coincides with the main axis perpendicular to the circumferential plane middle of the ring
- the X and Y axes are orthogonal to Z and with each other forming a dextrogyric system and are in the middle circumferential plane.
- Figure 4 shows the four rings that form the mechanism projected on the ZY plane of an inertial reference system whose Z and X axes are coincident with the reference system linked to the solid exposed in Figure 3.
- the coaxially arranged rings are rotated in this plane: 1 and 3 an angle - ⁇ , 2 and 4 an angle + ⁇ .
- the lower quadrant rings (1 and 3) have a negative spin speed.
- Those in the upper quadrant (2 and 4) have the positive spin speed.
- the arrows indicate the twists in nutation made by the rings in the conditions already indicated.
- Torque Inverter It realizes, according to its name it indicates the inversion of pair produced by the combined movement of the 4 rings, when it is necessary to realize it. As described below, the operating cycle of the rings that alternately produce pairs of opposite signs. This device alternately inverts the pairs so that it is finally pairs of the same sign. Therefore, the device can be activated (left position) or deactivated (right position). It consists of a planetary gear e2, whose axis has a rod that can be positioned in A (left scheme) or B (right scheme). This rod will cause the Torque Inverter to be activated or deactivated. The planetary gear e2 is in contact with an satellite e3, which also meshes (in the activated position) with which it is an inner gear.
- Gear e3 has 2 bolts that can be inserted in two holes located in the inner gear (position deactivated). The operation of this device is explained later.
- Figure 6 presents the scheme of the mechanism of the four crowns that can perform in a coordinated way the spin and nutation turns that generates the object torque of the gyroscopic actuator. It is a projection on the XZ plane of the inertial reference system. The projections of the 4 rings on this plane (its straight sections) are observed. The form of support of the rings is also seen by means of pieces (Cl, C2, C3, C4) called cradles. They consist of sectors that embrace the rings, allowing them to slide through them (spin spin). You can see the kinematic chains that make the spin spin ( ⁇ ) and the twist turns ( ⁇ ) reach the corresponding pairs.
- Figure 7 is a graph in which ordinates show angular nutation values that have a generic ring at the time of starting and in the abscissa the times are indicated. This figure serves to explain the transient that takes place when a ring begins its nutation movement.
- Figure 8 is analogous to the previous one, but referred to the stopping of the nutation movement of a generic ring.
- Figure 9 is a graph showing the value of the generated torque Ny (t) during a cycle of the combined operation of the four rings.
- the cycle consists of two half cycles. In the first one, rings 1 and 2 start (between 0 and you), then the rings evolve according to the assigned nutation function (between you and t2) and finally stop (between t2 and ta). During this last interval the rings 3 and 4 start (between 0 and you of their half cycle), starting the second half cycle. Then they also evolve according to the assigned nutation function (between you and t2) and finally stop (between t2 and ta), thus completing the second half cycle and completing the operating cycle. A performance of the mechanism will require many consecutive cycles.
- FIG. 10 shows a block diagram of the Gyroscopic Actuator. Its explanation is detailed in the Technical Description section.
- the gyroscopic actuator is based on the law of conservation of the kinetic moment.
- the definition of the kinetic moment of a particle (figure 1) of mass m, moving with velocity v with respect to a Newtonian reference system Oxyz, is defined as the value h resulting from the vector product of the vector of the amount of movement mv with the vector r of particle position.
- the actuator has a mechanism consisting of a set of rings that, by means of coordinated turns of spin and nutation, produce a torque N that meets the following requirements:
- the vector of the pair N must have a fixed direction and direction in the inertial reference system.
- the torque module N must be constant as long as the parameters that produce it are not intentionally changed.
- the mechanism has 4 rings that, acting sequentially in pairs, ensure that the N pair produced meets the three previous requirements.
- the 4 rings have, as said, two degrees of freedom: spin ( ⁇ ) and nutation ( ⁇ ), the precession ( ⁇ ) being zero at all times. It must be fulfilled that all the rings, of cylindrical form, have the same moments of inertia in their main axes.
- Figure 3 shows the reference system linked to one of the rings. The spin spin occurs around the Z axis and the nutation around the X axis. The rings will be referred to as 1, 2, 3 and 4, with 1 being the innermost and 4 the outer. The rings spin in spin with the same speed, but in alternating directions: the ring 1 in +, the 2 in -, the 3 in +, the 4 in -.
- the combined operation of the rings is in pairs, that is, ring 1 is associated with ring 2 and 3 with 4. This means that 1 and 2 when acting together generate a pair, then 3 and 4 when acting they generate the same pair, so that an operating cycle consisting of two half cycles is created: first performance half cycle of 1 and 2, second performance half cycle of 3 and 4.
- the performance of the pairs of rings means the rotation in nutation (in spin they are moving continuously).
- rings 3 and 4 When rings 3 and 4 come into operation they make the same rotation in nutation as indicated for rings 1 and 2, thus completing the cycle.
- the rings 3 and 4 also do the same as the 1 and 2. Specifying, in a first cycle the rings, acting in pairs make a turn in nutation and in the next cycle undo the turn in nutation.
- Figure 4 shows the projections of crowns on the ZY plane.
- the direction of the spin speed (+ or -) is indicated for each crown and the direction and direction of the rotation turns by means of arrows.
- the moments that occur are also observed;
- only the Y and Z components are represented, because the X component is orthogonal to the represented plane.
- the Y components have the same direction and direction for both rings, so they add up. This is the basis of the mechanism and thus it is represented in Figure 4, therefore, the useful component of the moment generated by the wanted pair is going to be Ny.
- Iz is the main moment of inertia on the Z axis of the ring in question according to the reference system indicated above.
- the value of the spin function, denoted by ⁇ (t) is of the linear type, whereby the rings spin in spin at constant speed. Notwithstanding the nutation function ⁇ (t), it must be one of the inverse circular type, such that the projection of the torque on the Y axis is constant during the evolution of the nutation rotation.
- the shape of these functions and the combined operation in pairs of the rings ensures a constant direction torque vector (not the sense, which will be discussed later), constant module and controllable actuation time (as desired), which are part of the requirements outlined above that the gyro actuator must meet.
- Figure 6 shows the scheme of the mechanism of the gyroscopic actuator with its four rings projected on the XZ plane and the kinematic chains, consisting of gear trains that make the spin spin ⁇ and nutation 0. reach the crowns. figure can be understood the combined operation of the mechanism.
- Ring 2 receives the same spin movement of the gear 5 through the chain el6, el7, el8, el9, e21, e22, e23, e24, e25, e26 and e27.
- the latter communicates to the ring 2 the spin movement which in turn is communicated in the opposite direction to the ring 1 by means of e28 and e29 in the same manner as indicated for rings 4 and 3.
- the nutation movement is transmitted independently to ring pairs 1,2 and 2,3.
- the nutation ⁇ is received through the gear e36, which by means of the kinematic chain e35, e34, e33, e8 and e7 whose axis is integral to the cradle C2.
- This is a piece that embraces a sector of ring 2, serving as a support; the ring moves hugged by this piece (cradle) that will support it and also force it to rotate in nutation ⁇ even when it is spinning esp. Therefore, when turning e7 in nutation from + ⁇ to - ⁇ , the cradle C2 will rotate in solidarity and therefore ring 2. It is understood that ⁇ must not exceed the value of 70 °.
- the kinematic functions of spin ⁇ (t) and nutation ⁇ (t) reach the respective gears on 5, el4 and e36 generated by a power set consisting of three motors with electronic speed and torque control.
- One of the motors supplies the function ⁇ (t) to the gear 5
- another supplies the function ⁇ (t) to the gear e36 and the latter also supplies the function ⁇ (t) to the gear el4.
- the torque inverter is presented on the left in the activated position (performs the torque inversion) and on the right deactivated (does not perform torque inversion and delivers the same torque it receives to the frame).
- the inverter is a first inner gear with two holes rigidly connected by its axis to the frame, a set consisting of two gears forming satellite and planetary, this one with two studs, and a rod attached to the axis of the planetary gear.
- the operation of the inverter is as follows: when the rod is in position A, the torque inverter is activated and the teeth of the satellite are facing the inner gear. The torque of the mechanism is received by the planetarium axis which reverses the torque that is received by the inner gear by means of the satellite. This inverted torque is transmitted to the frame and therefore to the platform on which the gyro actuator is located. When the rod is in position B the torque inverter is deactivated and the teeth of the satellite are no longer facing the inner gear, however, the planetary lugs are inserted in the holes of the inner gear. In this situation, when the torque is received on the planetary shaft, it is transmitted without any inversion to the inner gear, which transmits it to the frame without any investment.
- the direction of the torque vector is achieved during all the cycles of operation of the mechanism, thus fulfilling the three requirements set forth at the beginning of this point.
- the transient start functions apply to the pair of rings that are acting (1 and 2, or 3 and 4). They will coincide in time with the temporary stop functions of the opposite ring pair (3 and 4, or 1 and 2), so that the pairs produced by each pair (one at the start and one at the stop), when added do not produce a significant alteration of the torque that is providing the mechanism. In these situations, an overlap is reached in the combined operation of the rings, as can be seen in Figure 9. This area is critical to achieve a good functioning of the mechanism, without any abrupt behavior, which affects the Ny torque module ( t).
- Figure 10 is a schematic of the gyroscopic actuator architecture in which the parts that have been considered during the previous explanation can be seen schematically. You see a device not mentioned so far that is the Control of Actions. It is an electronic control device that generates the actions that must be produced by the motors, in the form of kinematic laws to produce the desired pairs and their durations.
- the orders of the motors are received in the kinematic chains that spin and spin the rings, thus producing the torque. This is passed through the Torque Inverter that will or will not be activated depending on the cycle in question. The activation is governed by the Control of Actions. Then the pair goes to through the shock absorber to soften alterations in the zone of overlap of the cycle and finally it is arrived at the platform causing its change of orientation.
- the torque generated by the mechanism depends basically on three parameters: • Inertia of the rings. It implies the geometry (dimensions) and the constituent material of the rings.
- Time of action of the nutation function (t a in Figure 9) in each coordinated pair of rings is the last (nutation time) fundamentally used to increase or decrease the module of the even vector, when required. It is the fastest response, because it depends on the actions of the corresponding engines, which generate the kinematic law according to the order received from the Performance Control.
- pair Ny (t) it is observed how the dependence of the time of action of the nutation function, which is implicit in the expression d ⁇ (t) / dt, is inversely proportional; The shorter the duration of the nutation, the greater the torque generated.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/487,120 US7051608B2 (en) | 2001-10-17 | 2002-10-11 | Gyroscopic actuator |
JP2003544417A JP4447911B2 (ja) | 2001-10-17 | 2002-10-11 | ジャイロアクチュエータ |
AT02779585T ATE478323T1 (de) | 2001-10-17 | 2002-10-11 | Gyroskopisches stellglied |
DE60237390T DE60237390D1 (de) | 2001-10-17 | 2002-10-11 | Gyroskopisches stellglied |
EP02779585A EP1452830B1 (fr) | 2001-10-17 | 2002-10-11 | Verin gyroscopique |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200102290A ES2188404B1 (es) | 2001-10-17 | 2001-10-17 | Actuador giroscopico. |
ESP-200102290 | 2001-10-17 |
Publications (1)
Publication Number | Publication Date |
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WO2003042632A1 true WO2003042632A1 (es) | 2003-05-22 |
Family
ID=8499195
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2002/000482 WO2003042632A1 (es) | 2001-10-17 | 2002-10-11 | Actuador giroscopico |
Country Status (8)
Country | Link |
---|---|
US (1) | US7051608B2 (es) |
EP (1) | EP1452830B1 (es) |
JP (1) | JP4447911B2 (es) |
AT (1) | ATE478323T1 (es) |
DE (1) | DE60237390D1 (es) |
ES (1) | ES2188404B1 (es) |
RU (1) | RU2295705C2 (es) |
WO (1) | WO2003042632A1 (es) |
Families Citing this family (11)
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US7470217B2 (en) * | 2004-09-21 | 2008-12-30 | Jones-Glaser Danielle E | Grip strength device |
US7520466B2 (en) * | 2005-03-17 | 2009-04-21 | Nicolae Bostan | Gyro-stabilized air vehicle |
WO2007099177A1 (es) * | 2006-02-28 | 2007-09-07 | Advanced Dynamic Systems, S.L. | Actuador giroscópico para el control de satélites |
TR200605622A2 (tr) * | 2006-10-10 | 2008-05-21 | Erke Erke Ara�Tirmalari Ve M�Hend�Sl�K Anon�M ��Rket� | Erke üreten bir kuvvet makinesi ve bunun çalışma yöntemi |
US7554283B2 (en) * | 2007-06-14 | 2009-06-30 | Shahriar Yazdani Damavandi | Non-reaction torque drive |
US20120298437A1 (en) * | 2010-02-10 | 2012-11-29 | Scott Gregory Dietz | Motorized apparatus and moment imparting device |
US9124150B2 (en) * | 2013-07-12 | 2015-09-01 | The Boeing Company | Active-active redundant motor gear system |
US9612117B2 (en) | 2014-07-10 | 2017-04-04 | Honeywell International Inc. | Integrated reaction wheel assembly arrays and multi-rotor chassis suitable for usage therein |
WO2017020097A2 (ru) * | 2015-02-23 | 2017-02-09 | Национальная Академия Авиации | Способ и устройство повышения стабилизации и маневренности беспилотных летательных аппаратов (бла) с применением гироскопического эффекта |
WO2017105293A1 (ru) * | 2015-12-14 | 2017-06-22 | Игорь Викторович РЯДЧИКОВ | Устройство для стабилизации положения объемного тела в пространстве с силовой компенсацией отклоняющих воздействий |
EA030859B1 (ru) * | 2016-02-25 | 2018-10-31 | Национальная Академия Авиации | Способ и устройство повышения стабилизации и маневренности беспилотных летательных аппаратов (бла) с применением гироскопического эффекта |
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- 2002-10-11 US US10/487,120 patent/US7051608B2/en not_active Expired - Fee Related
- 2002-10-11 JP JP2003544417A patent/JP4447911B2/ja not_active Expired - Fee Related
- 2002-10-11 EP EP02779585A patent/EP1452830B1/fr not_active Expired - Lifetime
- 2002-10-11 DE DE60237390T patent/DE60237390D1/de not_active Expired - Lifetime
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Also Published As
Publication number | Publication date |
---|---|
DE60237390D1 (de) | 2010-09-30 |
EP1452830A1 (fr) | 2004-09-01 |
JP4447911B2 (ja) | 2010-04-07 |
ES2188404B1 (es) | 2004-10-16 |
RU2004114847A (ru) | 2005-03-27 |
ES2188404A1 (es) | 2003-06-16 |
ATE478323T1 (de) | 2010-09-15 |
RU2295705C2 (ru) | 2007-03-20 |
JP2005539202A (ja) | 2005-12-22 |
US20040173037A1 (en) | 2004-09-09 |
US7051608B2 (en) | 2006-05-30 |
EP1452830B1 (fr) | 2010-08-18 |
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