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Патент USA US3078738

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Feb- 26, 1963
> w. M. D. WRIGHT
3,078,729
OSCILLATION DRIVE AND PICK-OFF DEVICE FOR A RATE’ GYRO
Filed July 12, 1960
INVEN TOR.
United States Patent 0 "ice
3,078,729
Patented Feb. 26, 1953
2
1
A detailed description of the oscillation drive and pick
off device of this invention follows and refers to the
3,078,729
?gClllA'll‘ii?N DRIVE AND PiCK-OFF
DEVICE FOR A RATE GYRO
drawing'in which:
FIG. 1 is a diagrammatic view of the oscillation drive
William M. D. Wright, Boston, Mass.
and pick-off device provided by this invention;
(Concord, Mass.)
FIG. 2 is a graph indicating the phase relation be‘
Filed July 12, 1960, Ser. No. 42,318
tween superimposed oscillation drive frequencies;
13 Claims. (61. 74-56)
FIG. 3 is a partial diagrammatic view similar to FIG.
1 showing ‘an alternative embodiment of this invention;
The field of this invention is that of gyro instrumenta
FIG. 4 is a partial diagrammatic view similar to FIG.
tion, and the invention relates, more particularly to a rate 10
gyro oscillation drive and pick-off device.
1 showing another alternative embodiment of this inven
A rate gyro is adapted to be associated with a body
so that the gyro is de?ected as the body deviates from a
position of static or dynamic equilibrium, and means are
FIG. 5 is a partial diagrammatic view similar to FIG.
1 showing another alternative embodiment of the inven
provided for sensing said de?ections or excursions of the
gyro and for transmitting signals in accordance therewith.
tion.
-
‘
Referring to the drawing, ill, in FIG. 1, indicates a rate
gyro such as might be mounted upon a body (not shown)
for indicating deviations of the body from a position of
static or dynamic equilibrium. Such a rate gyro might
be used, for example, for regulating means for restoring
Generally other means are also incorporated in a rate
gyro for oscillating the gyro to reduce static friction
therein, whereby gyro deflections can more accurately
correspond with said deviations of the body.
Objects of this invention are to provide inexpensive
the body to its original position of equilibrium.
and reliable means for sensing de?ections of a rate gyro;
The rate gyro includes a gyro 12 of conventional design
to provide inexpensive and reliable means for transmitting
having a member 14 which is mounted in bearings 16 in
an inner gimbal ring 18 for rotation on ‘an axis 20.
signals which accurately correspond with de?ections of
a rate gyro; to provide inexpensive and reliable means 2-5 The inner gimbal ring is mounted for rotation in bear
ings 22 in an outer gimbal ring 24 which in turn is
‘for oscillating a rate gyro to reduce static friction therein;
to provide an oscillation .drive for a rate gyro which will
' mounted for rotation in bearings 26 in a gyro housing
28. Suitable means (not shown) are provided on the
gyro housing for securing the housing to said body in
to provide means for oscillating a rate gyro wherein cer
tain of said means can be utilized for indicating de?ections 30 the manner conventional with rate gyros, whereby the
housing is adapted to move with the body so that de?ec
of the gyro.
A brief summary of the nature and principal char ‘ ': tions of the gyro housing relative to the axis of rotation
substantially eliminate static friction within the gyro; and
acteristics of the oscillation drive and pick-off device pro
vided by this invention follows.
2d of the gyro member 14 correspond with deviations of
said body from a position of equilibrium. Alternatively,
The invention comprises a gyro, including a gyro hous
ing which is adapted to move with a body and a gyro
a separate gyro housing can be omitted and the outer
gimbal ring of the gyro can be mounted for rotation in
member which is rotatable on an axis, said axis being free
to move to any orientation relative to said housing; a plate
which is movable with said gyro member; and a plurality
of plates which are ?xed relative to said housing and 40
which are arranged in capacitive coupling with the mov
' .2
able plate.
Within the scope of this invention, the gyro can be driven
by any suitable means for constantly rotating the mem~
ber 14 on its axis 20.
According to this invention, a plate 30 of conductive
The invention further comprises means for applying
earings which are housed directly within said body.
material is secured to the gyro member 14 and is adapted
to rotate with the member on its axis 2% and to move with
the member relative to the gyro housing.
a frequency to at least one ?xed plate for oscillating ‘the
Four other plates of conductive material, 32, 34, 36 and
movable plate, thereby to reduce static friction within the 45
38 respectively, are fixed relative to the gyro housing by
gyro; means for applying differing carrier frequencies to
1 any suitable means as indicated at 35, either by being se
at least a pair of ?xed plates so that the carrier fre
cured to said body or by being secured directly to said
quencies are adapted to be modulated as the movable
housing. The ?xed plates are insulated from each other
plate is deflected relative to the fixed plates in accord
ance with deviations of said body from a position of 50 and from the gyro in ‘any suitable manner, and are ar
ranged in capacitive coupling with the movable plate 30.
equilibrium; and means for discriminating said carrier
frequencies to derive signals which are modulated in ac ' 1 Preferably the ?xed plates are arranged symmetrically
around a point 40, which point is aligned with the axis 20
cordance with said deviations of the body.
of the rotating gyro member 14 when the body to which
In one embodiment of this invention, the ?xed plates
the rate gyro is attached is at a normal position, for ex
are four in number and are arranged symmetrically
ample, at a position of equilibrium.
around a point in capacitive coupling with the movable
A transformer 42 having a primary winding 44 and a
plate. Means are provided for applying two superim
secondary winding 46 is associated with the gyro, and
posed frequencies to each of a pair of oppositely located
the ends, 48 and 50, of the secondary winding are con
plates with each frequency applied to one of the plates
nected to the ?xed plates 32 and 34 respectively. A bias
being in phase opposition with a corresponding frequency
applied to the other plate of the pair, thereby continu
voltage is then impressed upon the capacitive couplings
between the movable plate 30 and the ?xed plates 32 and
34 by connecting the movable plate 30 and the center 52
of the transformer secondary to a voltage source, here in
ing carrier frequencies to each of the four ?xed plates 65 dicated by the terminals 54. Any conventional means
such as graphite brushes, indicated at 31, for connecting
so that said frequencies are adapted to be modulated as
the movable plate 30 to said voltage source is within the
the movable plate is deflected relative to the ?xed plates
scope of this invention. Preferably, also, a current-lim~
in accordance with deviations of said body from a posi
iting resistor 56 is inserted in this circuit in conventional
tion of equilibrium. Further means are provided for dis
manner, in addition to a choke c-oil for stopping the RF
criminating each of said carrier frequencies ‘to derive
70 voltages used in the read-out system.
>
signals which are modulated in accordance with said de~
ously to oscillate the movable plate at two frequencies be
tween said ?xed plates for eliminating static friction with
in the gyro. Means are also provided for applying differ
viations of the body.
In this construction, a signal comprising two superim
3,072,729
4
3
posed frequencies can be applied to the primary winding
44 of the transformer by any suitable means for impress
ing a signal similarly comprising two superimposed fre
quencies across each of the capacitive couplings between
the movable plate 30 and the ?xed plates 32 and 34, re
spectively, with each frequency applied to one of the ca
pacitive couplings being in phase opposition with a corre—
corresponding features are identi?ed by similar decimal
numbers, are alternative constructions especially adapted
for particular purposes.
Thus, in FIG. 3, the movable plate 30.1 is shown to be
of spherical segmental shape and the ?xed plates 32.1,
34.1, only two of which are shown for purposes of illus
tration, each have the shape of a segment of a hollow
sphere of larger diameter than the movable plate. When
sponding frequency applied to the other of said capacitive
the ?xed plates are arranged concentric with the movable
couplings. As 'FIG. 2 graphically illustrates, the signal
60 applied to the transformer primary comprises two su 10 plate, the device provided by this invention is adapted to
read deviations of a body from normal position over a
perimposed frequencies 62 and 64, for example of 50
relatively wide range.
c.p.s. and 5000 c.p.s. respectively, whereby the complete
wave for the signal 60 would equal 100 cos A 501r+1 cos
B 50001.’, where A and B are the phase angles of the super
imposed frequencies.
Application of said superimposed frequencies to the
‘In the construction shown in FIG. 4, the movable
plate 30.2 is of conical shape and is ?xed to the movable
15 gyro member 142 so that the apex of the cone is located
at the center of movement of the movable plate and
?xed plates 32 and 34 as above described oscillates the
movable plate 30, and therefore the gyro member '14, as
gyro member. Each of the ?xed plates 32.2, 34.2, 36.2
will be readily understood, for substantially eliminating
larger conical angle than said movable plate and hav
and 38.2 has the shape of a segment of a hollow cone of
static friction within the rate gyro. Preferably, the direc 20 ing a common apex therewith. When the ?xed plates
tion of said oscillatory motion is adapted to be oblique to
are so arranged, the device provided by this invention is
the axes of rotation of the inner and outer gyro gimbal
adapted to read deviations of said body from a normal
rings, whereby said oscillatory motion will maintain all
position with the greatest accuracy.
parts of the gyro in substantially constant motion for
vIn the construction shown in FIG. 5, the movable
eliminating static friction from all gyro bearings.
25 plate 30.3 is a spherical segmental shape and the ?xed
According to this invention, oscillators 66 and 68 are
plates 32.3, ‘34.3, 36.3 and 38.3 each have the shape of
associated with the gyro and are connected to the mov
an uniformly narrow segment of a cylinder of larger di~
able plate 30, and to the ?xed plates 36 and 38 respec
ameter than the movable plate. When the ?xed plates
tively, for applying differing carrier frequencies across
are arranged so that each is concentric with the mov
the capacitive couplings between the movable plate and 30 able plate as shown, amplitude modulation of respective
said ?xed plates. The primary winding 70 of a trans
carrier frequencies will be more nearly linear relative to
former 72 is inserted in this circuit and the two secondary
deviations of the body from normal position, thereby
transformer windings 74 and 76 are connected to conven
providing signals corresponding to said deviation which
tional band-pass ?lters 78 and 80 respectively. The ?l
can be more easily interpreted.
ters are tuned to the respective carrier frequencies pro 35
It should be understood that, although speci?c em
vided by the oscillators 66 and 68 whereby the ?lters are
bodiments of the rate oscillation drive and pick-off de
adapted to discriminate said frequencies to detect signals
vice provided by this invention have been described for
X1 and X2 respectively, carried by said frequencies.
the purposes of illustration, this invention includes all
Preferably, also, a capacitor 82 is inserted in the oscillator
modi?cations and equivalents which fall within the scope
circuit for ?ltering direct current components therefrom. 40 of the appended claims.
In this construction, the carrier frequencies impressed
I claim:
across the capacitive couplings between the movable plate
1. In combination with a gyro, including a gyro hous~
30 and the ?xed plates 36 and 38 are adapted to be ampli
ing and a member rotatable on an axis which is free to
tude modulated as the movable plate changes position
move to any orientation relative to the housing; a plate
relative to said ?xed plates. Therefore, as the body to 45 movable with said member; a plurality of plates ?xed
which the rate gyro is attached moves from a normal .posi
relative to the housing in capacitive coupling with the
tion such as a position of equilibrium, causing the gyro
movable plate; means for applying a frequency to at
housing to move relative to the axis 20 of the rotating
least one of the ?xed plates for oscillating the movable
gyro member 14, the movable plate 30 will correspond
plate, thereby to reduce static friction within the gyro;
ingly change its position relative to the ?xed plates 36 50 means for applying differing carrier frequencies to at
and 38 providing amplitude modulation of said ‘carrier
least a pair of ?xed plates so that said frequencies are
frequencies. Therefore the frequencies discriminated by
adapted to be modulated in accordance with movement
the ?lters 78 and 80 will be amplitude modulated in ac
of the movable plate relative to said ?xed plates; and
cordance with deviations of said body from normal posi
means for discriminating said carrier frequencies for de
tion. As will be readily understood, said discriminated 55 riving signals modulated in accordance with said move
frequencies can then be demodulated by conventional
ment of the movable plate.
means for deriving signals which directly correspond to
2. -In combination with a gyro, including a gyro hous
deviations of said body from normal position.
ing and a member rotatable on an axis which is free
It should be understood that although in the embodi
to move to any orientation relative to the housing; a
ment of this invention here illustrated, carrier frequencies 60 plate movable with said member; a plurality of plates
are applied to two ?xed plates only, this construction has
?xed relative to the housing in capacitive coupling with
been selected primarily for convenience in illustration and
the movable plate; means for applying two ‘superimposed
that preferably carrier frequencies are applied to ?xed
frequencies to each of a pair of ?xed plates, each fre
plates 32, 34, 36 and 38 whereby deviations of said body
quency applied to one of said plates being in phase op
from normal position can be detected with greater ac 65 position with a corresponding frequency applied to the
curacy.
other of said plates, thereby to oscillate the movable
‘In FIG. 1, the movable plate 30 is shown to comprise a
plate at two frequencies between said pair of plates for
disc which is secured to the rotating gyro member 14 in
eliminating static friction within the gyro; means for ap
plying ditfering carrier frequencies to a least a pair of
and 38 each have the shape of a segment of a disc. When 70 ?xed plates so that said ‘frequencies are adapted to be
the ?xed plates are concentrically arranged around point
modulated in accordance with movement of the movable
40, as shown, the rate gyro construction is relatively inex
plate relative to said ?xed plates, and means for dis
pensive and is provided with a rate gyro oscillation drive
criminating said carrier frequencies for deriving signals
and pick-off device which is satisfactory for most purposes.
modulated in accordance with said movement of the
coaxial relation thereto, and the ?xed plates 32, 34, 36
However, the constructions illustrated in FIGS. 3-5, where 75 movable plate.
3,078,729
5
6
'1 3. In combination with a gyro, including a gyro hous
ing and a member rotatable on an axis which is free to
movable with said gyro member; a plate ?xed relative to
move'to any orientation relative to the housing; a plate
movable with said member; four plates ?xed relative to
said housing which are arranged symmetrically around
a point in capacitive coupling with said movable plate;
means for applying two superimposed frequencies to each
of a pair of oppositely-located ?xed plates, each fre
and means for applying a frequency to the ?xed plate
for oscillating the movable plate, thereby to reduce static
quency applied to one of said plates being a phase op
the housing in capacitive coupling with the movable plate;
friction within the gyro.
10. In combination with a gyro, including a gyro hous
ing and a member rotatable on an axis which is free to
move to any orientation relative to the housing; a plate
movable with the gyro member; a plurality of plates ?xed
position with a corresponding frequency applied to the 10 relative to the housing in capacitive coupling with the
movable plate; oscillator means for applying differing
other plate of the pair, thereby to oscillate the movable
carrier frequencies to the ?xed plates so that said fre
plate at two frequencies between said pair of plates for
quencies are adapted to be modulated in accordance with
movement of the movable plate relative to the ?xed
so that said frequencies are adapted to be modulated in 15 plates; and band-pass ?lter means for discriminating said
carrier frequencies for deriving signals modulated in ac
accordance with movement of the movable plate relative
cor-dance with said movement of the movable plate.
to said ?xed plates; and means for discriminating said
11. In combination with a gyro, including a gyro hous
carrier frequencies for deriving signals modulated in ac
ing and a member rotatable on an axis which is free to
cordance with said movement of the movable plate.
move to any orientation relative to the housing; a plate
4. The combination as set forth in claim 3 wherein
movable with the gyro member; four plates ?xed relative
said movable plate is disc-shaped and is ?xed to said
to said housing which are arranged symmetrically around
gyro member in coaxial relation thereto, and wherein
a point in capacitive coupling with the movable plate;
said ?xed plates each have the shape of a segment of
means for applying two superimposed frequencies to each
a disc, said ?xed plates being insulated from each other
eliminating static friction within the gyro; means for ap
plying differing carrier frequencies to the four ?xed plates
and being concentrically arranged in capacitive coupling
with said movable plate.
5. The combination as set forth in claim 3 wherein
said movable plate is of spherical segmental shape and
is ?xed to said gyro member for movement with said
member, said plate being arranged concentric with the
path of movement of said plate, and wherein said ?xed
‘plates each have the shape of a segment of a hollow
sphere of larger diameter than said movable plate, said
?xed plates being insulated from each other and being
concentrically arranged with said movable plate in ca
pacitive coupling with said movable plate.
6. The combination ‘as set forth in claim 3 wherein
25 of a pair of oppositely-located ?xed plates, each frequency
applied to one of said plates being in phase opposition
with a corresponding frequency applied to the other plate
of the pair, thereby to oscillate the movable plate at two
frequencies between said pair of plates for eliminating
30 static friction within the gyro; oscillator means for apply
ing differing carrier frequencies to each of the ?xed plates
so that said frequencies are adapted to be modulated in
accordance with movement of the movable plate relative
to said ?xed plates; and band-pass ?lter means for dis
criminating said carrier frequencies for deriving signals
modulated in accordance with said movement of the mov
able plate.
12. In combination with a gyro, including a gyro hous
ing and a member rotatable on an axis which is free to
member, said plate being arranged concentric with the 40 move to any orientation relative to the housing; a plate
said movable plate is of spherical segmental shape and
is ?xed to said gyro member for movement with said
cylinder of larger diameter than said movable plate, each
movable with the gyro member; four plates ?xed relative
to said housing which are arranged symmetrically around
a point in capacitive coupling with the movable plate;
of said plates being of uniform ‘width narrow relative to
transformer means having a primary and a secondary
7. In combination with a gyro, including a gyro hous
ing and a member rotatable on an axis which is free to
move to any orientation relative to the housing; a plate
Winding of the transformer, whereby two superimposed
path of movement of said plate and wherein said ?xed
plates each have the shape of a segment of an hollow
said movable plate, said ?xed plates being insulated from 45 winding; said secondary winding being connected at its
ends to respective plates of a pair of oppositely-located
each other and being symmetrically arranged in capaci
?xed plates and at its center to said movable plate; means
tive coupling with said movable plate so that each ?xed
for applying two superimposed frequencies to the primary
plate is concentric with said movable plate.
frequencies are applied to each of said pair of ?xed
plates with each frequency applied to one of said plates
being in phase opposition with a corresponding frequency
applied to the other plate of the pair, thereby to oscillate
movable with the gyro member; a pair of plates ?xed
relative to the housing in capacitive coupling with the
the movable plate at two frequencies between said ?xed
movable plate; and means for applying two super imposed
frequencies to each of the ?xed plates, each frequency 55 plates for eliminating static friction within the gyro; oscil
lator means for applying differing carrier frequencies to
applied to one of the ?xed plates being in phase opposi
each of the four ?xed plates so that said carrier frequencies
tion with a corresponding frequency applied to the other
are adapted to be modulated in accordance with move
?xed plate, thereby to oscillate the movable plate at two
ment of the movable plate relative to said ?xed plates
frequencies between said ?xed plates for eliminating static
60 and band-pass ?lter means for discriminating said carrier
friction Within the gyro.
frequencies for deriving signals modulated in accordance
8. In combination with a gyro, including a gyro hous
with the movement of said movable plate.
ing and a member rotatable on an axis which is free to
move to any orientation relative to the housing; a plate
13. #In combination with a gyro, including a gyro hous
ing and a member rotatable on an axis which is free to
movable with the gyro member; a plurality of plates ?xed
relative to the housing in capacitive coupling with the 65 tilt in any direction relative to the housing: a conical plate
coaxially attached to said member for movement there
movable plate; means for applying differing carrier fre
with, said plate being positioned relative to said member
quencies to the ?xed plates so that said frequencies are
so that the apex of the cone is stationary with respect to
adapted to be modulated in accordance with movement
said housing; four plates ?xed relative to said housing,
of the movable plate relative to the ?xed plates; and means
for discriminating said carrier frequencies for deriving 70 said ?xed plates each having the shape of a segment of
a hollow cone which is of larger conical angle than said
signals modulated in accordance with said movement of
conical plate and has a common apex therewith, said
the movable plate.
?xed plates being arranged symmertically around said
9. In combination with a gyro, including a gyro hous
hollow cone and insulated from each other for capacitive
ing and a member rotatable on an axis which is free to
move to any orientation relative to the housing; a plate 75 coupling with said movable plate; means for applying two
3,078,729
7
8
superimposed frequencies to each of a pair of oppositely
plates; and means for discriminating said carrier fre
located ?xed plates, each frequency applied to one of
quencies for deriving signals modulated in accordance
said plates being in phase opposition with a corresponding
frequency applied to the other plate of the pair, thereby
with said movement of the movable plate.
to oscillate the movable plate at two frequencies be
tween said pair of plates for eliminating static friction
within the gyro; means for applying differing carrier fre
quencies to said four ?xed plates such that said frequencies
are adapted to be modulated in accordance with move
ment of said conical movable plate relative to said ?xed 10
References Cited in the ?le of this patent
UNITED STATES PATENTS
2,393,473
Jones ________________ __ Jan. 22, 1946
2,633,028
2,919,585
Fillebrown __________ __ Mar. 21, 1953
Schroeder _____________ __ Jan. 5, 1960
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