Closed loop fluidic angular rate gyro

• US 3,933,051 A
• Filed: 10/15/1974
• Issued: 01/20/1976
• Est. Priority Date: 10/15/1974
• Status: Expired due to Term

• Current Assignee: General Electric Company
• Original Assignee: General Electric Company
• Inventors: Ringwall, Carl Gustave
• Primary Examiner(s): Burns, Wendell E.
• Assistant Examiner(s): Anderson, William C.
• Application Number:
  US05/514,756
• Time in Patent Office: 462 Days
• Field of Search: 74/5.6 B, 74/5.6 D
• US Class Current: 74/5.60B
• CPC Class Codes: F15C 1/005 for measurement techniques, e.g. measuring from a distance; for detection devices, e.g. for presence detection; for sorting measured properties (testing); for gyrometers; for analysis; for chromatography fluid information or impulse transducers F15B5/00; postal sorting according to size B07C1/10; dial gauges, spherometers G01B3/22, G01B5/22; gyroscopic apparatus G01C19/00; viscosimeters G01N11/00; speed measurement, flowmeters G01P
• CPC Class Codes: G01C 19/14 Fluid rotors
• CPC Class Codes: G01C 19/28 Pick-offs, i.e. devices for taking-off an indication of the displacement of the rotor axis
• CPC Class Codes: Y10T 74/1268 Pneumatic
• CPC Class Codes: Y10T 74/1275 Electrical
• CPC Class Codes: Y10T 74/20558 Variable output force

Abstract

A closed loop fluidic angular rate gyro having a single sensitive axis. The gyro is comprised of a supporting member, fluidic means for sensing movement of the gyro about the sensitive axis, and means for pivotally mounting the sensing means to the supporting member and about a torsional axis which is perpendicular to the sensitive axis to maintain the sensing means in a normal null position and allow limited rotation of the sensing means about the torsional axis in response to the angular velocity of the gyro about the sensitive axis. The gyro is further comprised of fluidic or electrostatic means responsive to movement of the sensing means for providing a restoring torque to return the sensing means to the normal null position and for producing an output signal proportional to movement of the sensing means about the torsional axis, whereby the output signal is proportional to the angular velocity of the gyro about the sensitive axis. The gyro is fixed within an oil filled enclosure, and a flat damping plate is laterally positioned between the upper surface of the enclosure and the sensing means to stabilize the closed loop operation of the gyro.

Claims

1. A closed loop fluidic angular rate gyro having a single sensitive axis, comprising:

a. a supporting member;

b. means for sensing movement of said gyro about said sensitive axis;

c. means for pivotally mounting said sensing means to said supporting member and about a torsional axis which is perpendicular to said sensitive axis to maintain said sensing means in a normal null position and allow rotation of said sensing means about said torsional axis in response to the angular velocity of said gyro about said sensitive axis;

d. means responsive to movement of said sensing means for providing a restoring torque to return said sensing means to said normal null position and for producing an output signal proportional to movement of said sensing means about said torsional axis, whereby said output signal is proportional to the angular velocity of said gyro about said sensitive axis; and

e. said sensing means being comprised of a coil having a fluid flowing therethrough in a plane substantially parallel to a plane established by the intersection of said torsional axis and said sensitive axis when said coil is in the normal null position, whereby the angular momentum of said fluid flowing through said coil causes an angular displacement of said coil about said torsional axis in response to the angular velocity of said gyro about said sensitive axis.

2. A closed loop fluidic angular rate gyro according to claim 1, wherein said coil is comprised of a multiple turn spiral.

3. A closed loop fluidic angular rate gyro according to claim 2, wherein said coil is further comprised of at least first and second concentric adjacent sections fluidically coupled together.

4. A closed loop fluidic angular rate gyro according to claim 2, wherein said coil is comprised of a plurality of laminations fastened together, each of said laminations having a passageway defining the shape of said coil.

5. A closed loop angular rate gyro according to claim 1, wherein said fluid flowing through said coil is a liquid.

6. A closed loop angular rate gyro according to claim 5, wherein said liquid is comprised of oil.

7. A closed loop fluidic angular rate gyro according to claim 1, wherein said pivotally mounting means is comprised of:

a. first and second posts fixed to said supporting member; and

b. first and second flexure springs mechanically coupling said coil to said respective first and second posts.

8. A closed loop fluidic angular rate gyro according to claim 7, wherein said first and second flexure springs each has a passageway therethrough fluidically coupled to a respective end of said coil, and said first and second posts each has a passageway therethrough fluidically coupled to a respective one of said flexure spring passageways, whereby said fluid flows into said first post passageway through said first flexure spring passageway, said coil, said second flexure spring passageway and out of said second post passageway.

9. A closed loop angular rate gyro according to claim 7, wherein said coil is positioned between said first and second posts.

10. A closed loop angular rate gyro according to claim 7, wherein said coil surrounds said first and second posts.

11. A closed loop angular rate gyro according to claim 1, wherein the assembly of said supporting member, said coil and said pivotally mounting means is fixed within an oil filled enclosure.

12. A closed loop angular rate gyro according to claim 11, further comprising a flat damping plate laterally positioned between an upper surface of said enclosure and said coil to stabilize the closed loop operation of said gyro.

13. A closed loop angular rate gyro according to claim 11, wherein said sensing means is of equal weight to the weight of an equal volume of oil, whereby said gyro is rendered insensitive to shock and vibration.

14. A closed loop fluidic angular rate gyro having a single sensitive axis, comprising:

a. a supporting member;

b. means for sensing movement of said gyro about said sensitive axis;

c. means for pivotally mounting said sensing means to said supporting member and about a torsional axis which is perpendicular to said sensitive axis to maintain said sensing means in a normal null position and allow rotation of said sensing means about said torsional axis in response to the angular velocity of said gyro about said sensitive axis;

d. means responsive to movement of said sensing means for providing a restoring torque to return said sensing means to said normal null position and for producing an output signal proportional to movement of said sensing means about said torsional axis, said output signal being proportional to the angular velocity of said gyro about said sensitive axis, said responsive means being comprised of means for applying first and second fluidic signals to said sensing means at approximately equal respective distances from said torsional axis, the resultant pressure differential applied to said sensing means providing the restoring torque necessary to return said sensing means to the normal null position, and causes the generation of a differential output pressure signal proportional to movement of said sensing means about said torsional axis.

15. A closed loop fluidic angular rate gyro having a single sensitive axis, comprising:

a. a supporting member;

b. means for sensing movement of said gyro about said sensitive axis;

c. means for pivotally mounting said sensing means to said supporting member and about a torsional axis which is perpendicular to said sensitive axis to maintain said sensing means in a normal null position and allow rotation of said sensing means about said torsional axis in response to the angular velocity of said gyro about said sensitive axis; and

d. means responsive to movement of said sensing means for providing a restoring torque to return said sensing means to said normal null position and for producing an output signal proportional to movement of said sensing means about said torsional axis, said output signal being proportional to the angular velocity of said gyro about said sensitive axis, said responsive means being comprised of means for applying first and second electrostatic signals to said sensing means at approximately equal respective distances from said torsional axis, whereby upon movement of said sensing means about said torsional axis, the resultant electrostatically induced force differential applied to said sensing means provides the restoring torque necessary to return said sensing means to the normal null position, and causes the generation of an output differential voltage signal proportional to movement of said sensing means about said torsional axis.