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Патент USA US3082637

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March 26, 1963
Filed Sept. 14, 1959
United States Patent 0
‘Patented Mar. 26, 1963
cally in the drawing together with the circuit diagram
belonging ‘thereto. The arrangement is more fully de
scribed in the following detailed description where refer
ence is made to the drawing.
The gyro housing 1 comprises a gyro which revolves
Waldemar Miiller, Uberlingen (Bot-icnsee), Germany, as
signor to Bodenseewerlr Perkin-Elmer u. (30., G.m.b.H.,
Uberiingen {l‘scdensee}, Germany
at high speed about the axis U——U. The gyro housing
1 is supported on the precession axis 2. A picko? system
Filed Sept. 14,1959, Ser. No. 839,918
Claims priority, application Germany Sept. 16, 1958
4 Claims. (Cl. 74-54)
A and a torque transmitter B are connected with the pre
cession axis 2.
This invention is concerned with a gyroscope which
serves as a control value transmitter for the stabilization
The two systems A and B may be so
vdesigned that the coils A1, A2, B1, B2 form single coils
of a cylindrical coil body. The cylindrical coil body may
be arranged coaxially with the precession axis 2 in the air
of ?ying craft. As is well known, a precession mo
gap of a star shaped magnet as shown in my copending
mentum that is proportional to the angular speed about
patent application Serial Number 826,719 ?led July 13,
the axis of sensitivity is produced by stabilization gyros 15 1959. For the sake of simplicity, however, the magnet
in the event of any change in the position of the ?ying
is here shown to be movable about precession axis 2,
craft. The deviation of the ?ying craft from its pre
while the coils A1, A2 and B1, B2 are stationary.
scribed position can be obtained by integration of the
The coils A1 and A2 are connected to the negative pole
gyro’s precession velocity.
of the plate voltage supply. The positive pole is con
it is the object of the present invention to provide 20 nected to a corresponding point of the coil system B1, B2.
a stabilization gyro having simple and reliable electrical
The other end of each of the coils A1, A2 is connected
means to provide the control signals necessary for sta
through an adjustable resistor R1, R2 to the grid of an
This is done in such a manner that the con
ampli?er tube V1, V2. Each of the adjustable resistors
trolling forces may be conveniently adapted to the proper
R1, R2 forms an RC circuit together with one grounded
ties of the ?ying craft and its speed.
25 condenser C1, C2. The coils B1 and B2 are connected to
According to the invention, this object is accomplished
the plates of the ampli?er tubes V1 and V2. The cathodes
by coupling an inductive pickoff system and an electric
of the ampli?er tubes V1, V2 are ground connected
torque transmitter with the precession axis of the gyro.
through adjustable resistors R3 and R4. The adjusting
The voltage induced in the picltotf system which is pro
device of the symmetrically arranged resistors R1 and R2
portional to the angular velocity of the precession axis 30 are mechanically connected with each other. The same
is impressed across the torque transmitter via an ampli?er.
applies to the resistors R3 and R4.
The torque transmitter thereby generates a counter mo
ment attenuating the precession movement. Under these
conditions, a rotation takes place about the precession
axis which is proportional to the change of position, i.e.,
the time integral of the precession moment. The integra
With undisturbed ?ight, no moments whatsoever are
exerted on the gyroscope since the plate currents of the
amplifier tubes V1 and V2 cancel each other when ?owing
through the coils B1 and B2. If, however, there is any
deviation of the ?ying craft from its prescribed position,
tion constant depends on the ampli?er in?uence, for ex
a precession movement of the gyro about the precession
ample, the transconductance of the ampli?er. It is there
axis 2 is produced and the equilibrium existing on the
fore desirable to make the in?uence of the ampli?er elec
double-ampli?er, V1, V2 is disturbed. A voltage is in
trically variable and adjustable in order to provide for 40 duced in the pickoii system A which is proportional to
ease of adaptation. This can ‘be achieved if the transcon
the speed of revolution about precession axis 2. If the
ductance of the ampli?er is made variable by means of
‘RC circuits R1, C1 and R2, C2 were not present, the in
an adjustable cathode resistor, for example.
?uence of the voltages produced by system A impressed
it is normally necessary for the purpose of stabiliza
across the tube grids, would cause an unbalance of the
tion that a second value be superimposed upon the con
plate currents ?owing through the coils B1 and B2. A
trol value resulting from position deviation. This second
value is proportional to the velocity of deviation, i.e., to
proportional counter torque would be immediately ex
erted about precession axis 2 which would attenuate the
the precession momentum itself. Normally, such a con
precession movement.
The gyro would then act as a
rol value is obtained by lettering the precession axis to
real integration gyroscope. Its rotation about the pre
a central position by means of springs. A precession axis
cession axis 2 would correspond to the position variation
de?ection is then obtained which is proportional to the
of the ?ying craft. The integration constant would be
speed of revolution about the axis of sensitivity. The con
adjusted by varying the resistances R3 and R4 since the‘
stant of proportionality can be adjusted by varying the
transconductance of the double-ampli?er V1, V2 and thus
fettering springs. With a control gyroscope constructed
the countermoment would vary with the resistances R3
and conceived according to the present invention, such 55 and R4.
spring fettering of the precession axis may be avoided by
As a consequence of the presence of the RC circuits,
feeding the picko? voltage into the ampli?er via an ad
the countermoment increases with a certain time delay
and also dies down with a time delay. In this way, an
justable RC circuit. The RC circuit has the e?'ect of
additional component, Which is proportional to the pre
causing the counter-torque to come up with a certain
cession momentum, and which depends on the adjust
delay and also to die down with retardation after the
ment of the RC circuits R1, C1 and R2, C2, is superim
position deviation has come to an end. Thus, the RC
posed on the rotation of the gyro about its precession axis.
circuit acts like a spring in which a certain amount of
I claim:
power is stored. By varying the resistance of the RC cir
1. A stabilization gyroscope which comprises electrical
cuit, it is possible to adjust the spring constant of this
coil means; magnetic means in ?ux-linking relationship to
“electric spring.” With the arrangement described, a
de?ection of the precesdon axis is obtained which is com
posed of an integral component (change of position) and
another component that corresponds to the velocity of
A stabilization gyroscope constituting a preferred em
bodiment of the present invention is illustrated schemati~
said coil means; mechanical means operable about the axis
of precession adapted to provide relative motion between
said coil means and said magnetic means to generate an
electrical signal proportional to the precession velocity of
said gyroscope; and torquing means responsive to said
electrical signal in attenuating relationship with the preces
sion rotation.
2. The apparatus of claim 1 wherein the torquing means
includes RC circuit means.
3. A stabilization gyroscope which comprises gyro rotor
means rotatable. about a ?rst axis; rotor housing means
enclosing said rotor and supporting said ?rst axis therein;
‘means for rotating all of said rotor means and said hous
ing means about a second axis perpendicular to said ?rst
means for applying the mechanical output of said torque
motor means to said housing to attenuate the rotation of
said housing about said second axis.
4. The apparatus of ‘claim 3 wherein resistor means
are provided in series and capacitor means are provided
in parallel with said electrical generating means.
axis; electrical generating means comprising ?rst magnet
References Cited in the ?le of this patent
means and ?rst electrical coil means adapted for rela
tive motion therebetween; means for providing such rela 10
tive motion in accordance with the rotation of said hous
ing means about said second axis to generate a ?rst
Curry ______________ __ Oct. 28, 1947
Sylvan _______________ __ June 7, 1955
voltage responsive to the speed of said rotation; elec
Draper ______________ __ July 3, 1956
trical torque motor means comprising second magnet
Lower et al ___________ __ Oct. 16, 1956
means and second electrical coil means adapted for rela 15
,Ruckstahl et al _________ __ Apr. 9, 1957
Lynn ______________ __ Aug. 18, 1959
Burkam _____________ __ Aug. 9, 1960
tive motion therebetween; amplifying means adapted to
receive said ?rst voltage and provide a second voltage
to said torque motor means proportional thereto; and
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