| 摘要 |
PURPOSE:To also judge an angular velocity acting direction by a simple apparatus, in relation to a gas rate gyroscopic apparatus used in the posture control of a vehicle or robot, by calculating the velocity of flow wherein an angular speed component accompanied by Coriolis force is combined with the velocity of flow at a nozzle position by converting the same to the discharge frequency of a Karman vortex by two symmetric vortex generating means. CONSTITUTION:The fluid sent in by a pump 11 is injected at a constant velocity of flow by a nozzle 12 and the velocity of flow thereof is measured by a velocity-of-flow measuring means 13. Corresponding to the Karman vortices generated by two vortex generating means at symmetric positions on the side downstream by a predetermined distance from the nozzle 12, the outputs corresponding to the strains generated in the means 14, 15 are issued by two sensors 16, 17. Vibration frequency measuring means 18, 19 receive those output signals to measure the respective discharge frequencies thereof and the discharge frequencies are compared by a direction judging means 20 to judge the direction of angular velocity generating the deflection of flow. From the discharge frequency on the judging side, the synthetic velocity of flow at the position of the means 14, 15 is calculated by a synthetic velocity-of-flow calculation means 21 and the angular velocity generating the deflection of flow is calculated on the basis of the synthetic velocity of flow and the velocity of flow in the nozzle 12 by an angular velocity calculation means 22. |
