| 摘要 |
PURPOSE:To suppress vibrations of a nutation shaft, to use high-rigidity torsion bars, and to improve the safety by further improving a flywheel type gyroscope and providing a DC motor capable of canceling the torsional torque of the torsion bars. CONSTITUTION:A displacement command (r) is set to, for example, zero. When torsion bars 31 and 32 are to twist, the DC motor capable of canceling their reaction forces is used. Transistors (TR) TR1 and TR2 are output-stage TRs which generate a current (i), and also flow the current (i) through a coil 67 so that when there is a difference generated between the displacement command (r) and the displacement detection signal X, etc., of a magneto-resistance element 51, the difference is canceled. This current is used for current feedback and converted into a digital signal by an A/D converter ADC. This digital value is proportional to the torque generated by an A/D converter ADC, so this is analyzed by a CPU to calculate the direction variation speed of a running car and then find the current position. |
