The following assumptions have been made to simplify the equations of the Newton-Euler methodology:. The mass and inertia of the gimbal frame is neglected because the flywheel has the major contribution in the mass and inertia of the gyroscopes. Data of the links For the Newton-Euler approach, one gyroscope is composed of three links: base body, gimbal and flywheel. Each of these links is joined by a rotational joint, Fig.
Before computing the forward kinematics and backward dynamics, each link must have a coordinate frame. A new frame, , is used to express the forces and moment exerted by the gyroscopes.
This frame is fixed in the base body. The other two frames are and , with the former being the frame of the gimbals link and the latter being the frame of the flywheel link.
These two frames are located at the same point, the center of the flywheel. The homogeneous matrix between the frames fixed in the base body, and , is,. Where , , , and stands for , , , and respectively; is the radius of the circle where the gyroscopes are located; is the angle of the turn around axis to align with , and it has any of the values of radians. The Denavit-Hantemberg parameters for one gyroscope according to Fig.
In this table , where is the vector from frame to frame. The vector defines the position of related to. The mass centre of each link is defined by vectors and. These vectors have the following values,. Forward Kinematics The following equations are derived after using the forward kinematics, table 1. Because and are parallel. Backward Dynamics The following dynamics equations for one gyroscope are obtained after applying the equations in table 2.
Inertial Forces and Moments. Dynamic Equation for Base Body The total force and moment exerted on the base body, is the sum of the force and torque for each gyroscope's equation, 32 and If , , , and are defined by the following expressions,. Then eq. The equation of forces is obtained after replacing 45 in This preliminary result is simplified if the relationship for is used in conjunction with the fact that for a symmetrical 4-CMG the vectors are,.
Before computing the dynamic equation for moments, the expression is simplified by using the following relations,. Both of these first devices were of the single pendulum type. Upon completing this trial the unit was brought back to New York and installed aboard the U. Navy and Sperry Gyroscope was a reality. The first serially produced unit, Serial Number , was installed aboard the U.
UTAH on November 13, Upon successful installation and trial aboard the U. Navy to have another of his gyros installed aboard the U. From this trial resulted the Repeater Compass and the target bearing pointer. During this period Admiral Joseph Strauss, Chief of Naval Ordnance, encouraged Sperry to examine the basic fundamentals of fire control problems faced by ship borne long range guns.
From this beginning, the Sperry Gyroscope Company developed the first full gun battery fire control system, which were ultimately placed aboard every U. During the War another famous Sperry product was developed; "Metal Mike" or the first gyro pilot system for ship's steering.
In fact, the impact of the war on Sperry Gyro was tremendous. Not only had the U. For a variety of reasons, not the least of which was the impending war in Europe, Sperry Gyroscope Company Limited was formed in the U. Note: Production of Sperry gyro's continued in the U. Also about this time Sperry provided the Navy with its first gyro stabilizer system. The gyro weighed five tons and was installed aboard the U.
The gyro kept the ship from rolling as it was designed to do. From this successful demonstration of the gyro stabilizer, the U. Navy ordered a second system that was installed aboard the submarine E4. World War One started soon thereafter and further orders were put "on ice" as it was not considered an "essential" device.
At the conclusion of the first world war the Sperry Gyroscope Company focused its attention on expanding its marine business involvement around the world. The Sperry Gyroscope company, and Elmer Sperry in particular, spent considerable effort appointing agents and representatives around the world. One of the first, established in , was the Mitsubishi Zosen Kaisha Company Mitsubishi Shipbuilding of Japan, a company that was licensee for all products there.
In field trials commenced on the Sperry standard Gyro Pilot. The first recorded crossing of the Atlantic with a ship under complete gyro pilot control is credited to the Standard Oil Company's Tanker W. Captain Mackay, according to the record, initially had a very low opinion of "Iron Mike" but became a believer soon after the transit of the Atlantic had started.
Thomas A. Sperry to manufacture Sperry's gyrocompass. Production in Britain of the Sperry Mk. After completing the trial the unit was brought back to New York and installed aboard the U.
After the trials an order for four systems soon arrived from the U. Navy and Sperry Gyroscope was a reality. The first serially produced unit, Serial Number , was installed aboard the U. UTAH on November 13, Another of his gyros was installed aboard the U. Testing of the gyroscopic car - today we'd call it a self-balancing motorbike.
A large spinning mass provided the gyroscopic forces to keep the two-wheeled car upright. It never took off but, in a way, nearly years later the two-wheeled Segway Human Transporter is a derivative of this conceptual mode of transport - see It started with a factory in Pimlico, London in , manufacturing gyroscopic compasses for the Royal Navy. We regard this major event to be the birthplace and time of our present day company.
During WWI another Sperry product was developed called "Metal Mike" which was the first gyro pilot system for ship's steering. The impact of the war on Sperry Gyro business was tremendous. Not only did the U. The first Airplane Stabilliser from Sperry. Lawrence Sperry won 50,00 francs for his demonstration over Paris. Sperry's first Guided 'Missile'. Three axis stabilization platform.
Patent number: Abstract: A stabilization system is provided with at least one sensor to measure and correct orientation of a platform relative to an inertial reference frame.
A roll motor is affixed to a platform for pivoting the platform about a roll axis and an elevation motor is configured to rotate the platform about an elevation axis. A rotation motor pivots the platform about an azimuth axis. A control system using the sensor measurements, actuates the roll motor, elevation motor and the rotation motor to maintain a substantially constant orientation of the platform relative to the inertial frame of reference.
The rotation motor, the elevation motor and the roll motor are spaced apart from each other along the azimuth axis. Type: Grant. Filed: September 15, Date of Patent: September 28, Gyroscopic hang-off system. Abstract: A hang-off gimbal system is disclosed. The hang-off gimbal system comprises a gimbal assembly. The gimbal assembly includes a gimbal frame with a passage therethrough.
A first gimbal module is disposed within the passage of the gimbal frame. The first gimbal module comprises a passage therethrough. A second gimbal module is disposed within the passage of the first gimbal module.
The second gimbal module comprises a passage therethrough. The second gimbal module extends upwardly beyond the gimbal frame and first gimbal module.
An adapter sleeve is disposed in the passage of the second gimbal module. The adapter sleeve comprises a passage therethrough. The adapter sleeve protrudes upwardly and protrudes above the second gimbal module. Filed: October 16, Date of Patent: October 15, Assignee: Nustar Technologies Pte Ltd.
Determination of gyroscopic based rotation. An exemplary aspect relates to the use of a gyroscope and periodicity sensor e. Filed: November 14, Date of Patent: April 24, Assignee: Verifi LLC.
Inventors: Richard K. Jordan, Yan Glina, Mark F. Roberts, Eric P. Vibrator element and method of manufacturing the same. Abstract: A vibrator element has a first vibration mode in which first and second detection portions perform flexural vibration in opposite directions in the opposite phase to first and second driving portions which vibrate in opposite directions according to a Coriolis force, and a second vibration mode in which the first and second detection portions perform flexural vibration in opposite directions in the same phase as the first and second driving portions which vibrate in opposite directions according to a Coriolis force.
Filed: March 26, Date of Patent: June 20, Assignee: Seiko Epson Corporation. Inventors: Keiji Nakagawa, Ryuta Nishizawa. Method and devices for determining noise variance for gyroscope.
Abstract: Methods and devices for determining a noise variance of an axis of a gyroscope are described. In one aspect, the method includes: representing a plurality of gyroscope readings for the axis in a histogram, the histogram including a plurality of bins associated with respective ranges; determining a bias for the axis of the gyroscope by identifying a concentration of the gyroscope readings within the histogram; and determining a noise variance for the axis of the gyroscope based on the histogram and based on the identified concentration of gyroscope readings.
Filed: August 24, Date of Patent: October 18, Assignee: BlackBerry Limited. Power-efficient chopping scheme for offset error correction in MEMS gyroscopes. Abstract: Embodiments of the present invention eliminate the high bandwidth buffer from the analog chopper circuit. In some specific embodiments, the buffer is replace with a comparator-based loop that can be used to apply offset correction and achieve N-bit settling performance with sharp up to 1 ns rise and fall time with significantly lower power than with a buffer.
Other specific embodiments include overcharging circuitry in combination with the comparator-based loop or in lieu of the comparator-based loop. Importantly, exemplary embodiments result in total power dissipation around the theoretical limit needed to charge the capacitor to the DAC output voltage. Filed: June 15, Date of Patent: August 16, Assignee: Analog Devices Global. Publication number: Abstract: Gyroscopic systems to stabilize vehicles and provide kinetic energy recovery are disclosed.
The gyroscopic system uses gyroscopic forces to maintain a vertical orientation at zero and low speeds, as well as maintain stability at all speeds. The gyroscopic forces are also be used to affect the bank angle of vehicles in turns, and to improve cornering by shifting forces to the inside wheels. The gyroscopes are also used to store kinetic energy, which is later used to accelerate the vehicle.
Type: Application. Filed: November 28, Publication date: May 28, Inventor: Clyde Igarashi. Abstract: This invention provides an improved Retail Display Cabinet with built in Gyroscope and servomotors to be primarily use at retail stores to showcase an item behind a transparent LCD.
It has a built in gyroscope that identifies the position of the unit to determine the screen layout relevant to the aspect ratio of the screen to direct the lighting where is required. It also has built in servomotors to better show the product inside by rotating the product according to the pre-programmed commands. Filed: April 16, Publication date: January 22, Applicant: Holografyx Canada Inc.
Inventor: Alfonso Fabian de la Fuente Sanchez. Abstract: Spherical mechanical linkages may include a yoke defining a first axis and a second axis, a crank rotatably coupled to the yoke about the first axis; a deflecting member that defines a plane and that is coupled to the crank along a third axis, and a rocking frame slideably coupled to the yoke in the plane defined by the deflecting member and rotatably coupled to the yoke about the second axis.
One or more components of the spherical mechanical linkage may be symmetric about an axis. A payload, such as a mirror or a camera, can be mounted on the linkage as part of a multi-axis tracker.
Filed: July 7, Publication date: January 8, Inventor: Donald E. Abstract: An anti-rolling gyroscopic stabilizer for boats provides a stationary frame fixed to the hull, an oscillating frame and a flywheel. The angular velocity of oscillation of the oscillating frame is limited by hydraulic dampers. Elastic return elements are coupled to the dampers and urge the oscillating frame so as to orient the axis of rotation of the flywheel towards a given angular position in which the gyroscopic device acts with maximum efficiency.
Filed: June 16, Publication date: December 18, Abstract: A method comprises computing a metric based on the accelerometer signal to remove an acceleration due to gravity. A bandwidth of a gyroscope filter is set based on the accelerometer signal and the computed metric.
The gyroscope filter uses a low-pass filter to filter a signal from the gyroscope. Publication date: October 2, Applicant: Texas Instruments Incorporated. Inventors: Deric W. Waters, Tarkesh Pande. Abstract: A gyroscope system comprises a MEMS gyroscope coupled to a drive system and a sense system.
The drive system maintains the MEMS gyroscope in a state of oscillation and the sense system for receiving, amplifying, and demodulating an output signal of the MEMS gyroscope that is indicative of the rate of rotation. Finally, the gyroscope system includes a controller operating on the system clock sets an operating state of the drive system and the sense system and also controls a state of the PLL.
0コメント