| 摘要 |
A gyro rotor is freely suspended in a housing for simultaneous rotation about a spin axis and a pair of precession axes in turn orthogonal to the spin axis, by a pair of magnetic suspensions spaced along the spin axis. Each magnetic suspension comprises a magnetically permeable stator member and a cooperative magnetically permeable rotor member relatively arranged so as to define axially spaced annular magnetically permeable gaps. Each magnetic suspension includes a permanent magnet for producing a fixed or passive magnetic flux in each gap and an electromagnet coil for producing a controllable or active magnetic flux in each gap. The passive flux provides passive stabilized suspension of the rotor parallel to two of said axes, while the active flux provides active stabilized suspension of the rotor parallel to the third of said axes using a closed servo loop. The ratio of the axial distance between the annular magnetic gaps to the diameter thereof is such that the rotor tends to maintain its position upon tilt thereof; that is, the gyro exhibits substantially zero restoring spring rates about its sensing axes. By means of closed loop servo techniques including angular pick-offs and torquers, measures of rates of turn are provided in terms of torquer currents required to maintain the angular pick-off outputs at null values.
|
