Abstract of
GB886305
886,305. Gyroscopic apparatus. DE HAVILLAND AIRCRAFT CO. Ltd. Oct. 10, 1960 [Oct. 10, 1959], No. 34415/59. Class 97(3). In gyroscopic apparatus in which a gyroscopic rotor 66 is mounted for rotation about a rotor axis 67 in an inner frame member 44 mounted for angular movement about a first axis 45, normal to the axis 67, in a gimbal frame member 30 mounted for angular movement about a second axis 33 normal to the first axis 45 and transverse to the rotor axis 67, in an outer frame member 31, each of the inner and gimbal frame members 44, 30 has a torque motor including a magnetic polepiece structure 14, 16, 18 or 46, 48 carried by a frame member 31 or 44 and having substantially planar parallel faces defining therebetween a part annular space in which is a magnetic field and a coil carried by another frame member 30 for connection to an electrical energizing circuit, and including force-generating conductor elements which extend across the flux path in the field and are relatively movable, upon relative movement of the frame members, in a plane parallel to and between the faces of the polepiece structure. Three parallel polepieces 14, 16, 18 are connected to a base-plate 10 on which the outer frame member 31 is mounted. The polepieces have faces 22, 24, 26, 28 defining two parallel spaces in which there is a magnetic field. Two coils 36, 38 are carried by the gimbal frame member 30. As the frame member 30 is pivoted relative to the base-plate 10 the coils 36, 38 are movable with the member 30 along the polepieces 14, 16, 18. The coils 36, 38 are connected in series so that current flows through the force-generating conductor elements in the same direction. The inner frame member 44 supports a pair of magnetic polepieces 46, 48 of reverse polarity. Each pole is built up of two halves which together form a pole having an inverted T-shaped groove 50. The polepieces have planar parallel faces 52, 54 which define a part annular space in which there is a magnetic field. An arcuate coil 40 of I-shaped is secured to the frame member 30. The gyroscopic rotor 66 contains a stator 68 which is continuously supplied with current to drive the rotor 66 at high speed. This stabilizes the rotor axis 67 in space. If it is desired to move the axis 67 angularly about the axis 33 the coil 40 is supplied with current. This current flows through the forcegenerating, conductor elements in the magnetic fields and produces a force tending to pivot the polepieces 46, 48 about the axis 45. This is resisted by the rotor 66, which is precessed about the axis 33. If it is desired to move the axis 67 angularly about the axis 45 the coils 36, 38 are supplied with current. The current may be applied simultaneously to the coils of both torque motors. The current may also be varied so as to obtain a cyclic movement of the axis 67.
Inventor: PADDICK RICHARD RAYMOND; QUARM BRIAN THOMAS HENRY; (+1)
Applicant: DEHAVILLAND AIRCRAFT
EC:G01C19/30
IPC: G01C19/30;G01C19/00
Publication info: GB886305 A - 1962-01-03
List of citing documents
1
DIRECT TORQUE CONTROL MOMENT GYROSCOPE
Inventor: HAVENHILL DOUGLAS D
Applicant: HONEYWELL INC (US)
EC:B64G1/28D; G01C19/30; (+1)
IPC: G01C21/24; B64G1/28; G01C19/00(+11)
Publication info: WO9414653 - 1994-07-07
Claims
**WARNING** start of CLMS field may overlap end of DESC **.
elements which extend across the flux path in the magnetic field between the faces 26 and 28. The conductor elements which connect up the transverse force-generating conductor elements surround the appropriate pole piece.
As the frame member is pivoted relative to the base plate1O, the coils are movable with the frame member along the pole pieces.
During such angular movement the forcegenerating conductor elements move in a plane parallel to and between the faces of the pole pieces. The faces are therefore accurately parallel not only with each other but with the coil faces as well. The coils 36 and 38 are connected in series so that current flows through the force-generating conductor elements in the same direction.
Extending from the ends of the frame member 30 is a ring 42 which supports bearings for an inner frame member 44. The frame member 44 is pivoted about an axis 45 normal to the axis 33 about which the frame member 30 is pivoted.
The frame member 44 supports a pair of magnetic pole pieces 46and 48. Each pole piece is built up of two halves which together form a pole having an inverted T-shaped groove 50. The pole pieces are of arcuate form centred about the axis 45 and have planar parallel faces 52 and 54. The faces 52 and 54 define therebetween a part annular space in which there is a magnetic field, the magnetisation of the pole piece being across the width thereof. The pole pieces 46 and 48 are of reverse polarity, of equal length and of close end-to-end proximity.
Secured to the inside of the frame member30 is an arcuate coil 40. The coil 40 is
I-shape in cross section, one flange being disposed in the groove5O, one flange external to the pole pieces and secured to the frame member 30 and the web being disposed in the space between the faces 52 and 54.
Adjacent its ends, the web is formed by force-generating conductor elements, one group of which lies in the space in each pole piece between the faces thereof. The force-generating conductor elements lie transverse to the direction of relative movement parallel to the planar faces, that is radial to the axis 45. Connecting conductor elements extend in the direction of relative movement and are bent over on either side of the web to form the flanges of the Ishape section. An arcuate stiffener completes the web.
As the pole pieces 46 and 48 and the frame member 44 are pivoted relative to the frame member30, the pole pieces move along the coil during relative angular movement and the pole piece faces move in planes parallel to and on either side of the forcegenerating conductor elements of the coil.
The frame member 44 carries ball bearings 64 in which a gyroscope rotor 66 is rotatable about an axis 67 normal to the axis 45. The rotor 66 is hollow and contains a wound stator 68 mounted on the frame member 44.
In use, the stator 68 is continuously supplied with electrical current so that the gyroscope rotor 66 is continuously driven at high rotational speed. This stabilises the gyroscope rotor axis 67 in space. If it is desired to move the axis 67 angularly about the axis 33, then the coil41) is supplied with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the pole pieces 46 and 48 about the axis 45. This is resisted by the gyroscopic effect of the rotation of the rotor 66, which is precessed about the axis 33 normal to the axis 45.
If it is desired to move the axis 67 angularly about the axis 45, then the coils 36 and 38 are supplied with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the frame member 30 about the axis 33. This is resisted by the gyroscopic effect of the rotation of the rotor 66 which is precessed about the axis 45 normal to the axis 33.
The force obtained about either axis is dependent in direction and magnitude upon the direction and magnitude of the current supplied. Current may be supplied simultaneously to the coils of both torque motors.
The currents may also be varied so as to obtain a cyclic movement of the axis 67, for example about the surface of a cone.
It will be appreciated that, due to the parallel nature of the pole piece faces and co-operating force-generating conductor elements, a substantially constant torque current relationship is obtained, whatever the position of the coil on the pole piece. The pole pieces are magnetised evenly along their length so that the flux density remains substantially constant between the ends of the arcuate spaces.
WHAT WE CLAIMIS:-
1. Gyroscopic apparatus in which a gyroscopic rotor is mounted for rotation about a rotor axis in an inner frame member mounted for angular movement about a first axis normal to the rotor axis in a gimbal frame member mounted for angular movement about a second axis normal to the first axis and transverse to the rotor axis in an outer frame member, each of the inner and gimbal frame members having a torque motor including a magnetic pole piece structure carried by a frame member and having substantially planar parallel faces defining therebetween a part annular space in which is a magnetic field and a coil carried by another frame member for connection to an electrical energising circuit, and including force-generating conductor elements which extend across the flux path in the field and are relatively movable, upon relative movement of the members, in a plane parallel to and between the faces of the pole piece structure.
2. Apparatus according to Claim 1, in which the gimbal frame member carries the coils of both torque motors.
3. Apparatus according to Claim 2, in which the torque motor of the gimbal frame member has two coils and a pole piece structure which includes three pole pieces which extend in the direction of relativemovement to define two parallel spaces.
4. Apparatus according to Claim 3, in which the transverse force-generating conductor elements of each coil are connected up by conductor elements which extend transversely to the direction of relative movement and surround an outer pole piece.
5. Apparatus according to Claim 3 or 4, in which the coils are connected in series.
6. Apparatus according to Claim 2, 3, 4 or 5, in which the inner frame member has a torque motor, the transverse forcegenerating conductor elements of whose coil are connected up by conductor elements which include longitudinal elements which extend in the direction of relative movement to beyond the magnetic pole piece structure.
7. Apparatus according to Claim 6, in which the longitudinal elements are connected by transverse conductor elements external to the space in which the forcegenerating conductor elements are disposed.
8. Apparatus according to Claim 7, in which the external transverse conductor elements constitute force-generating conductor elements disposed in a space between substantially planar parallel faces of an additional pole piece structure of reverse polarity.
9. Apparatus according to Claim 7 or 8, in which the connecting conductor elements are disposed to form flanges of an I-shape section, part of the web of which is formed by the transverse conductor elements.
10. Apparatus according to Claim 9, in which a stiffener extends between the transverse conductor elements to complete the web.
11. Gyroscopic apparatus substantially as hereinbefore particularly described and as shown in the drawings accompanying the provisionalspecification.
PROVISIONAL SPECIFICATION
Improved Gyroscopic Apparatus
We, THE DE HAVILLAND AIRCRAFT
COMPANY LIMITED, a British Company, of
Hatfield, in the county of Hertford, do hereby
declare this invention to be described in the
following
statement:
This invention reIates to gyroscopic ap
paratus in which a gyroscopic rotor is
mounted for rotation about a rotor axis in
an
inner
frame
member
rncunted
for
tugular
movement
lalbout
a
first
'axi
normal to
the
Útor
axis in
a
giinbal
frame
There are torque motors for the inner
and gimbal frame members and each of these
comprises a magnetic pole piece structure
carried by one relatively angularly movable
member and a coil for connection to an
electrical energising circuit carried by the
other member.
According to the invention, the pole piece
structure of each torque motor has substan
tially planar parallelfaces defining there
between a part annular space in which is
a magnetic field, and the coil of each torque
motor includes force-generating conductor
elements which extend across the fluxpath-
in the field and are relatively movable, upon relative movement of the members, in a plane parallel to and between the faces of the pole piece structure.
Preferably, the gimbal frame member carries the coils of both torque motors.
In order that the invention may be more clearly understood5 an embodiment thereof will now be described by way of example with reference to the accompanying drawings, in which:
Figure 1 is a side view partly in section and partly broken away, of gyroscopic apparatus according to the invention; and
Figure 2 is a section on the lineIl-il of Figure 1.
The frame of the gyroscopic apparatus includes a base plate10 which has two curved arms 12 and to which is secured the central pole piece 14 of three parallel pole pieces 14,1-6 and 18. The pole piece 14 is rectangular in cross section and of long arcuate form in side view (Figure 1). Attached to the ends of the pole piece 14 by bolts 20 are the ends of the pole pieces16 and 18 These are also of long arcuate form in side view, but are parallelogrammic in cross section (Figure2). The pole pieces have substantially planar parallel faces22, 24! 26 and28 The faces 22 and 24 define therebetween a part annular space in which there is a magnetic field, the magnetisation of the pole piece 14 being across the width.
The faces 26 and 28 define a similar space.
A gimbal frame member 30 is mounted in ball bearings 32 on arms 31 connected to the base plate 10 for pivotation about the centre of the arcuate pole pieces that is, about the axis 33. To the outside of the centre of the frame member 30 is secured a bracket 34, carrying two coils 36 and 38.
Each coil consists of a conductor wound around a former of parallelogrammic cross section and is secured by an epoxy resin in the bracket 34. The conductor of the coil 36 includes force-generating conductor elements which extend across the flux path in the magnetic field between the faces 22 and 24 of the pole piece structure. Similarly the conductor of the coil 38 has forcegenerating conductor elements which extend across the flux path in the magnetic field between the faces 26 and 28. The conductor elements which connect up the transverse force-generating conductor elements surround the appropriate pole piece.
The frame member 30 being pivoted relative to the base plate 10, the coils are movable with the frame member along the pole pieces. During such angular movement the force-generating conductor elements move in a plane parallel to and between the faces of the pole pieces. The faces are therefore accurately parallel not only with each other but with the coil faces as well. The coils 36 and 38 are connected in series so that current flows through the force-generating conductor elements in the same direction.
Extending from the ends of the frame member 30 is a ring 42 which supports bearings for an inner frame member 44. The frame member 44 is pivoted about an axis 45 normal to the axis 33 about which the frame member 30 is pivoted.
The frame member 44 supports a pair of magnetic pole pieces 46 and 48. Each pole piece is built up of two halves which together form a pole piece having an inverted
T-shaped groove 50. The pole pieces are of arcuate form centred about the axis 45 and have planar parallel faces 52 and 54.
The faces 52 and 54 define therebetween a part annular space in which there is a magnetic field, the magnetisation of the pole piece being across the width thereof. The pole pieces 46 and 48 are of reverse polarity of equal length and of close end-to-end proximity.
Secured to the inside of the frame member 30 is an arcuate coil 40. The coil 40 is I-shape in cross section one flange being disposed in the groove 50, one flange external to the pole pieces and secured to the frame member 30 and the web being disposed in the space between the faces 52 and 54.
Adjacent its ends, the web is formed by force-generating conductor elements, one group of which lies in the space in each pole piece. The force-generating conductor elements lie transverse to the direction of relative movement parallel to the planar faces, that is radial to the axis 45. Connecting conductor elements extend in the direction of relative movement and are bent over on either side of the web to form the flanges of the I-shape section. An arcuate stiffener completes the web.
The pole pieces 46 and 48 and the frame member 44 being pivoted relative to the frame member 30, the pole pieces move along the coil during relative angular movement and the pole piece faces move in planes parallel to and on either side of the force-generating conductor elements of the coil.
In ball bearings 64 in the frame member 44 a gyroscope rotor 66 is rotatable about an axis 67 normal to the axis 45. The rotor 66 is hollow and contains a wound stator 68 mounted on the frame member 44.
In use the stator 68 is continuously supplied with electrical current so that the gyroscope rotor 66 is continuously driven at high rotational speed. This stabilises the gyroscope rotor axis 67 in space. It is desired to move the axis 67 angularly about the axis 33 then the coil 40 is provided with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the pole pieces 46 and 48 about the axis 45. This is resisted by the gyroscopic effect of the rotation of the rotor 66, which is precessed about the axis 33 normal to the axis 45.
It is desired to move the axis 67 angularly about the axis 45, then the coils 36 and 38 are supplied with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the frame member 30 about the axis 33. This is resisted by the gyroscopic effect of the rotation of the rotor 66 which is precessed about the axis 45 normal to the axis 33.
The force obtained about either axis is dependent in direction and magnitude upon the direction and magnitude of the current supplied. Current may be supplied simultaneously to the coils of both torque motors.
The currents may also be varied so as to obtain a cyclic movement of the axis 67, for example about the surface of a cone.
It will be appreciated that, due to the parallel nature of the pole piece faces and co-operating force-generating conductor elements, a substantially constant torque current relationship is obtained, whatever the position of the coil on the pole piece. The pole pieces are magnetised evenly so that the flux density remains substantially constant between the ends of the arcuate spaces.
Description
COMPLETE SPECIFICATION
Improved Gyroscopic Apparatus
We, THE DE HAVILLAND AIRCRAFT
COMPANY LIMITED, a British Company, of
Hatfield, in the county of Hertford, do hereby declare the invention, for which we pray that a patent may be granted to us, and the method by which it is to be performed, to be particularly described in and by the followingstatement:
This invention relates to gyroscopic apparatus in which a gyroscopic rotor is mounted for rotation about a rotor axis in an inner frame member mounted for angular movement about a first axis normal to the rotor axis in a gimbal frame member mounted for angular movement about a second axis normal to the first axis and transverse to the rotor axis in an outer frame member.
There are torque motors for the inner
and gimbal frame members and each of these comprises a magnetic pole piece structure carried by one relatively angularly movable member and a coil carried by the other member for connection to an electrical energising circuit.
According to the invention, the pole piece structure of each torque motor has substantially planar parallel faces defining therebetween a part annular space in which is a magnetic field, and the coil of each torque motor includes force-generating conductor elements which extend across the flux path in the field and are relatively movable, upon relative movement of the members, in a plane parallel to and between the faces of the pole piece structure.
Preferably, the gimbal frame member carries the coils of both torque motors.
The scope of the invention is defined by the appended claims, and how it can be carried into effect is hereinafter particularly described, with reference to the drawings accompanying the provisional specification, inwhich:-
Figure 1 is a side view partly in section and partly broken away, of gyroscopic apparatus according to the invention; and
Figure 2 is a section on the line11-11 of Figure 1.
The frame of the gyroscopic apparatus includes a base plate 10 which has two curved arms 12 and to which is secured the central pole piece 14 of three parallel pole pieces 14, 16 and 18. The pole piece 14 is rectangular in cross section and of long arcuate form in side view (Figure 1). Attached to the ends of the pole piece 14 by bolts 20 are the ends of the pole pieces 16 and 18. These are also of long arcuate form in side view, but are parallelogrammic in cross section (Figure 2). The pole pieces have substantially planar parallel faces 22, 24, 26 and 28. The faces 22 and 24 define therebetween a part annular space in which there is amaguetic field, the magnetisation of the pole piece 14 being across the width thereof.
The faces 26 and 28 define a similar space.
A gimbal frame member 30 is mounted in ball bearings 32 on arms 31 connected to the base plate 10 for pivotation about the centre of the arcuate pole pieces that is, about the axis 33. To the outside of the centre of the frame member301 is secured a bracket 34, carrying two coils 36 and 38. Each coil consists of a conductor wound around a former of parallelogrammic cross section and is secured by an epoxy resin in the bracket 34. The conductor of the coil 36 includes force-generating conductor elements which extend across the flux path in the magnetic field between the faces 22 and 24 of the pole piece structure. Similarly the conductor of the coil 38 has force-generating conductor elements which extend across the flux path in the magnetic field between the faces 26 and 28. The conductor elements which connect up the transverse force-generating conductor elements surround the appropriate pole piece.
As the frame member is pivoted relative to the base plate1O, the coils are movable with the frame member along the pole pieces.
During such angular movement the forcegenerating conductor elements move in a plane parallel to and between the faces of the pole pieces. The faces are therefore accurately parallel not only with each other but with the coil faces as well. The coils 36 and 38 are connected in series so that current flows through the force-generating conductor elements in the same direction.
Extending from the ends of the frame member 30 is a ring 42 which supports bearings for an inner frame member 44. The frame member 44 is pivoted about an axis 45 normal to the axis 33 about which the frame member 30 is pivoted.
The frame member 44 supports a pair of magnetic pole pieces 46and 48. Each pole piece is built up of two halves which together form a pole having an inverted T-shaped groove 50. The pole pieces are of arcuate form centred about the axis 45 and have planar parallel faces 52 and 54. The faces 52 and 54 define therebetween a part annular space in which there is a magnetic field, the magnetisation of the pole piece being across the width thereof. The pole pieces 46 and 48 are of reverse polarity, of equal length and of close end-to-end proximity.
Secured to the inside of the frame member30 is an arcuate coil 40. The coil 40 is
I-shape in cross section, one flange being disposed in the groove5O, one flange external to the pole pieces and secured to the frame member 30 and the web being disposed in the space between the faces 52 and 54.
Adjacent its ends, the web is formed by force-generating conductor elements, one group of which lies in the space in each pole piece between the faces thereof. The force-generating conductor elements lie transverse to the direction of relative movement parallel to the planar faces, that is radial to the axis 45. Connecting conductor elements extend in the direction of relative movement and are bent over on either side of the web to form the flanges of the Ishape section. An arcuate stiffener completes the web.
As the pole pieces 46 and 48 and the frame member 44 are pivoted relative to the frame member30, the pole pieces move along the coil during relative angular movement and the pole piece faces move in planes parallel to and on either side of the forcegenerating conductor elements of the coil.
The frame member 44 carries ball bearings 64 in which a gyroscope rotor 66 is rotatable about an axis 67 normal to the axis 45. The rotor 66 is hollow and contains a wound stator 68 mounted on the frame member 44.
In use, the stator 68 is continuously supplied with electrical current so that the gyroscope rotor 66 is continuously driven at high rotational speed. This stabilises the gyroscope rotor axis 67 in space. If it is desired to move the axis 67 angularly about the axis 33, then the coil41) is supplied with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the pole pieces 46 and 48 about the axis 45. This is resisted by the gyroscopic effect of the rotation of the rotor 66, which is precessed about the axis 33 normal to the axis 45.
If it is desired to move the axis 67 angularly about the axis 45, then the coils 36 and 38 are supplied with current from an electrical energising circuit. This current flowing through the force-generating conductor elements in the magnetic fields produces a force tending to pivot the frame member 30 about the axis 33. This is resisted by the gyroscopic effect of the rotation of the rotor 66 which is precessed about the axis 45 normal to the axis 33.
The force obtained about either axis is dependent in direction and magnitude upon the direction and magnitude of the current supplied. Current may be supplied simultaneously to the coils of both torque motors.
The currents may also be varied so as to obtain a cyclic movement of the axis 67, for example about the surface of a cone.
It will be appreciated that, due to the parallel nature of the pole piece faces and co-operating force-generating conductor elements, a substantially constant torque current relationship is obtained, whatever the position of the coil on the pole piece. The pole pieces are magnetised evenly along their length so that the flux density remains substantially constant between the ends of the arcuate spaces.
WHAT WE CLAIMIS:-
1. Gyroscopic apparatus in which a gyroscopic rotor is mounted for rotation about a rotor axis in an inner frame member mounted for angular movement about a first axis normal to the rotor axis in a gimbal frame member mounted for angular movement about a second axis normal to the first axis and transverse to the rotor axis in an outer frame member, each of the inner and gimbal frame members having a torque motor including a magnetic pole piece structure carried by a frame member and having substantially planar parallel faces defining therebetween a part annular space in which
**WARNING** end of DESC field may overlap start of CLMS **.
