Abstract:
Electric Machines (i.e., electric motors or generators) convert electricity to mechanical work (or vice versa) by applying mechanical power to the shaft of the electric machine or extracting mechanical power form the shaft of the electric machine. This restricts the electrical characteristics, such as frequency or voltage, to the movement of the shaft of the electric machine in accordance to electric machine theory. In some cases, it is desired to perform electromechanical conversion from unorthodox movement, such as pulsating movement, slow movement, or low power movement. In many cases this is not possible with even electronic control without a transmission to convert the mechanical power to a compatible motion. However, by pre-establishing the compatible speed and inertial momentum of the rotor body of the electric machine while moving the entire body of the electric machine in accordance to the incompatible movement, the mechanical energy of the movement can be readily produced or absorbed to desired electrical characteristics.

Description:
PRIOR ART 
       [0001]    The properties of a gyroscope are well known. The properties are based on conservation of angular momentum, rotational kinematics (description of rotational motion), and rotational dynamics (the physics of body and environment in rotational motion). The fundamental relation for a gyroscope (or any moving body with angular momentum) is: 
         [0000]    
       
         
           
             T 
             = 
             
               
                 
                   Δ 
                    
                   
                       
                   
                    
                   L 
                 
                 
                   Δ 
                    
                   
                       
                   
                    
                   t 
                 
               
               = 
               
                 
                   
                      
                     
                       ( 
                       
                         I 
                         × 
                         w 
                       
                       ) 
                     
                   
                   
                      
                     t 
                   
                 
                 = 
                 
                   I 
                   × 
                   α 
                 
               
             
           
         
       
     
       Where: 
       [0000]    
       
         
           
             T Torque 
             ΔL change in angular momentum 
             Δt change in time 
             I scalar inertia 
           
         
       
     
         [0000]    
       
         
           
             ( 
             
               I 
               = 
               
                 
                   1 
                   2 
                 
                 × 
                 M 
                 × 
                 
                   R 
                   2 
                 
               
             
             ) 
           
         
       
       
         
           
              where:
           M mass   R radius   
         
             W angular velocity 
             A angular acceleration 
           
         
       
     
         [0010]    Since inertia is scalar 
         [0000]    
       
         
           
             
               ( 
               
                 I 
                 = 
                 
                   
                     1 
                     2 
                   
                   × 
                   M 
                   × 
                   
                     R 
                     2 
                   
                 
               
               ) 
             
             , 
           
         
       
     
         [0000]    a torque, T, will change the angular velocity, w, with time, which is angular acceleration, α. 
         [0011]    Gyroscopes have been used to establish a reference for navigation and equilibrium due to two of its classic behaviors of precession and nutation as a result of applying external forces that cause torque (i.e., acceleration). To be a reference, a gyroscope must continually rotate at a constant reference speed (or angular velocity). Electric motors are commonly used to establish a constant angular velocity, w, while overcoming damping effects, such as bearing friction and wind resistance. Precession is the rotation of the gyroscope including its own spinning axis about an axis, like a top, perpendicular to the applied torque. 
         [0012]    Force, torque (or product of force and distance), or angular momentum are vectors. In contrast, angular velocity and inertia are scalar quantities. Applying torque to an inertial mass with angular momentum (i.e., a spinning top) will change its angular momentum in a direction parallel to the applied torque with no change in the angular velocity (scalar value) of the spinning top with inertial mass. This movement in angular momentum is precession or rotation about an axis that is perpendicular to the applied torque. Since angular momentum is the vector sum of all angular momentum components of the system, which is the angular momentum of the spinning top and the angular momentum of precession of the spinning top, conservation of angular momentum is preserved and conservation of energy (do to the applied torque) is preserved. 
         [0013]    U.S. Pat. No. 7,375,436 indirectly couples or transforms the precession of a standalone gyroscope due to an applied torque, which is always produced by gravity as the result of ocean waves, to a standalone electric generator through a set of cranks and transmissions. The standalone electric generator does not need moving electrical connections, such as slip-rings and brushes, because the cranks and gears fix the generator to the stationary frame of the platform. 
         [0014]    U.S. Pat. No. 3,726,146 and U.S. Pat. No. 5,353,655 are exercising gadgets that holds a mass with angular momentum (i.e., spinning mass) within a groove during precession. This will cause the axle on each side of the spinning mass to act like wheels against the groove, which roll the axle and thereby increasing its speed. The purpose of the invention is to apply increasing force only with oscillating wrist movement but without regard to speed control or balancing of the inertial mass of angular momentum by synchronizing precession or using more than one spinning masses. 
       OBJECT OF THE INVENTION 
       [0015]    One object of the invention is an electric motor or generator apparatus that directly transfers controlled power between mechanical power of pulsating, oscillating, varying, and slow moving motion and electrical power by using gyroscopic principles or precession. The motional force could be applied by gravity, such in the case of a tidal wave generator, or applied to a shaft by a prime mover, such as an internal combustion engine or a wind turbine. Transferring between mechanical power of pulsating, oscillating, varying, and slow moving motion and electrical power is not compatible with the performance requirements of a rotating electric generator or motor (i.e., electric machine). Traditionally for these specific cases of motion, a transmission with gears and cranks is used to convert the unusual motion to compatible high speed rotary motion for the electric machine.
       As used herein, “electric machine” is a rotating electric motor or electric generator.       
 
         [0017]    Still another object of this invention is to change the inertia of the rotating rotor of an electric machine by motoring to smooth and compatibly produce or extract the pulsating, oscillating, or varying external energy with electric energy. 
         [0018]    Still another object of this invention among other purposes is to establish an electrical means to stabilize structures, such as building, boats, etc., to produce electricity from oscillating tidal or wave energy, or to produce electricity directly at the speed of the wind turbine without high pole count electric generators. 
         [0019]    Still another object of this invention is to apply two or more electric machines together in a configuration that balances the overall movement and electrical power of the apparatus. 
         [0020]    Still another object of this invention is to change the characteristics of the oscillating motion, such as resonance, by changing the electrical parameters, changing the inertia, changing the damping, changing the speed of the inertial moving body, arranging more than one electric machines, or synchronizing the precession speed with the oscillating motion. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0021]      FIG. 1  illustrate the apparatus of the invention where wheels roll along a circular track do to the angular momentum of the rotor of an electric machine modulated with precession resulting from an applied vector of motion to the plane of the track. As a result, power is transfer between mechanical power of the vector of motion and electrical power of the electric machine. 
           [0022]      FIG. 2  illustrates how more than one electric machine are evenly arranged in a star configuration or spoke configuration to balance electrical power or the affects of precession as the result of mechanical motion. In this case, four machines are arranged in a star configuration. 
           [0023]      FIG. 3  illustrates the direction of precession, ΔL precession , by applying torque, Torque Applied , to an object with angular momentum, L orig , showing L orig  becomes L origB  with applied torque.  FIG. 3  is available in any physics book, is for reference only, and will not be explained further. It is noted that the direction of the vector of precession, ΔL precession , is parallel to the direction of the applied torque, Torque Applied , and as a result, the direction of the vector of precession will be the same or in the z axis direction, if the mirror image of vector, L orig , was in the xy plane of the minus x axis, which demonstrates precession oscillates with a constantly applied torque. Beyond the two conditions described, the details of precession under the same applied torque becomes complex. 
           [0024]      FIG. 4  illustrates another embodiment of the apparatus of  FIG. 1  but within another body of coupled articulation. Effectively, the apparatus of  FIG. 1  rotates along an axis by an applied vector of motion that is orthogonal to and is the result of another applied vector of motion. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0025]    There are situations where very slow rotation or oscillation motion must be converted to electricity or vise-versa. These types of motions burden or complicate the well known performance requirements and operating principles of rotating electric machines (i.e., electric motors or electric generators), which prefer high speed rotation. For instance, low speed electric machines require a high pole count, which means a very large diameter electric machine. Oscillating movement applied to electric machines is more onerous to the performance of the electric machine. Furthermore, the electrical power is pulsating as is the motion. 
         [0026]    Traditionally, slow rotating or oscillating motion is converted to a high speed rotary motion, which is compatible with a rotary electric machine, by a transmission arrangement of multiple stages of gears, cranks, etc. These transmissions are inefficient, complex, and expensive with a motivation for innovative alternatives. One need only look at the wind turbine industry, which uses a complex, expensive, inefficient, multiple ratio stage gearbox to increase the low speed rotation of the propeller blades to a compatible high speed rotation for an electric generator. Besides long design and manufacture times that delay wind turbine deliveries, the transmission is large, heavy, and unreliable, which are incompatible with the logistics of the wind turbine installation. 
         [0027]    Without a mechanical transmission of gears or cranks, etc. but by the gyroscopic principles of precession, the apparatus of this invention smoothly and efficiently transfers power between mechanical power with various styles, such as oscillating or low speed rotating motion, and high speed rotational power that is compatible with the performance requirements of a rotating electric machine, which results in electrical generating or motoring with various styles of motion. 
         [0028]      FIG. 1  shows the precession conversion method of the invention with a top and side view. The axis  12  of an electric machine  9 , which is an electric motor and generator that consists of a stator body  1  and a rotor  2  body with an axle, rotates in a direction  6  but is confined parallel to a plane depicted by path  5  by an upper raceway  5   a  and lower raceway  5   b  of a channeled ring structure (also depicted by path  5 ). As a result, the axis  12  will rotate, if the rotor body  2  of the electric machine  9 , has an angular momentum and in addition, will process (i.e., act of precession), if a vector of external motion  7  is applied, such as an external torque applied parallel to the plane of path  5 . The axis  12  of the electric machine, which references the axle of the electric machine, is prevented from straying outside of the circular path  5  by any means, such as a thrust raceway on the outside circumference of the ring structure, which is not shown for simplicity. It is noted that other structural methods or configurations with other articulated components are necessary and realizable that keeps the electric machine  9  confined to the path  5  as described. The culmination of all realizable methods that confine the axis of the electric machine within the plane as described will be referred to as the “Tracking Mechanism.” Further noted, the stator body  1  is fixed to the plane of the ring structure or tracking mechanism by any means that preserve precession of the axis of the electric machine, while allowing the rotor body to rotate relative to the stator body. 
         [0029]    As shown, the wheels  4  are fixed to the axle  3 , which is attached to the rotor body  2  of the electric machine. The rotor body  2  of the electric machine, the axle  3 , and the wheels  4  are spinning at a rotational speed to allow the combined inertia and angular momentum to be a dynamic state of the system and an ingredient for precession. When a vector of external motion  7 , such as oscillating or rotating torque, is applied in any direction (i.e., clockwise or counter-clockwise) parallel to the plane of the path  5 , the rotor  2  of the electric machine  9  will process or rotate in a direction  6  within the circular path  5  by the gyroscopic physics of precession. The actual direction  6  is a formulated vector function of the vector of external motion  7  and the angular momentum of the rotor body  2  of the electric machine  9 , which acts like a gyroscope. On each end of the axle  3 , the wheels  4  are applied to the upper  5   a  or lower  5   b  raceways of the ring structure or tracking mechanism and roll in a fashion that preserve the direction and angular velocity of the angular momentum of the rotor body assembly as a result of friction between the wheels and the raceways. Any precession movement (or power) as a result of the vector of external motion will be transferred to the rotor  2  of the electric machine do to friction between the wheels  4  and the upper  5   a  or lower  5   b  raceways of the tracking mechanism. The force arrow  11  indicates opposing wheels  4  of the rotor body  2  may be applied on the upper or lower raceways depending on the vector of external motion  7  and the angular momentum of the rotor of the electric machine. It is noted that many means are available that keeps the wheels on its respective raceway to preserve the direction of angular momentum with respect to the direction  6  of the axis rotation of the electric machine, including the timely connection and disconnection of the wheels from the raceway.
       As used herein, “Tracking Mechanism” will be synonymous with the mechanism that keeps the axis  12  of the electric machine within the circular plane of path  5  but allows the rotor body  2  to move relative to the stator body  1  of the electric machine  9 , while allowing the wheels  4  to rotate on respective raceways.       
 
         [0031]    Since the axis  12  of the electric machine  9  is free to move within the tracking mechanism, an electricity propagation means  8  is required for an electrical connection between the electric machine and the stationary plane of the entire invention apparatus. This electricity propagation means  8  can be a slip-ring and brush assembly, a position-independent (i.e., circular) transformer assembly, or a position-dependent (i.e., balanced phase) transformer assembly. The electricity propagation means may be single phase or multiphase. The transformers can be of any frequency but since the mutual inductance decreases with increasing frequency, the compactness and efficiency of the transformer will improve with frequency and high frequency transformers are preferred. Similarly, electricity propagation means  10  will propagate electricity to the stationary plane of the vector of external motion  7 , if necessary. 
         [0032]    Initially, electricity is applied to the electric machine  9  to establish an angular momentum of the rotor body  2  together with the wheels  4 , and the axle  3 . If the wheels are applied against the raceways of the tracking mechanism, the axis of the electric machine will rotate at a speed and direction dictated by the speed of the wheels within the plane of the tracking mechanism  5 . Therefore, the rotational speed of the axis of the electric machine can be changed by changing the angular velocity (or angular momentum) with the rate of electricity applied to the electric machine  9 . In addition, a vector of applied external motion  7  (such as an applied external torque) simply modulates the axis rotational speed by the precession force developed in accordance to the gyroscopic principles based on an applied external vector of motion and at least the angular momentum of the rotor body  2  of the electric machine  9 . This disclosure uses “Vector of motion” as a term to describe a motional force, such as a continuous torque, a varying torque, a pulsating torque or an oscillating torque, and is a term of mechanical power. In accordance to the gyroscopic principles, the precession force on the axis of the electric machine with an angular momentum, which is applied to the wheels, the axle, and rotor body of the electric machine, is at its maximum when the axle  3  of the electric machine is perpendicular to the vector of external vector of motion  7 . Since precession is kept rotating within the confines of the ring structure or tracking mechanism, the precession torque decreases to zero, which is the null position, as the axle moves parallel to the vector of external motion  7 . Therefore, the power of the applied external vector of motion  7  is with periodic sinusoidal peaks and valleys with a frequency based on the rotational velocity of the axis of the electric machine. If the external vector of motion is continuously applied in a fixed direction, the precession force will oscillate about the null positions (i.e., zero torque locations or when the axis is parallel to the vector of external motion  7 ) with sinusoidal peaks and valleys on a cycle period of the rotational speed of the axis  12 . If the applied vector of motion  7  is oscillating but synchronized to the cycle period of the rotational speed of the axis  12 , the precession force will continue in one direction and accumulate. In essence, the precession force as a result of an external vector of motion  7  causes the rotational speed of the axis  12  of the electric machine to be modulated by the precession force. Since the rate of electricity applied to the electric machine, which also controls the angular momentum of the rotor body, can be control, the mechanical and electrical dynamics of this invention can be controlled, including precession. For instance, the intensity or style of the torque of the external vector of motion  7  can be controlled. Furthermore, the apparatus as described can motor or generator with slow rotating or oscillating external motions at the mechanical port (i.e., the location of the external vector of motion  7 ) and the electrical port at the electric machine, such as at the electricity propagation means  10 . The process just described is reciprocal, by controlling the rate of electricity supplied or extracted from the electric machine, the angular momentum of the rotor body can be controlled and the motion and intensity of the applied torque can be controlled, including the motoring or generating of oscillating torque. 
         [0033]    To reiterate, the force of precession modulation depends on the applied external vector of motion  7  and the angular momentum of the rotor of the electric machine. As a result, the base angular momentum determines the base frequency of electrical and vector of motion “power” and the rotation frequency of the axis of electric machine within the tracking mechanism. The rate of electrical power of the electric machine and the rate of mechanical power of vector of external motion are ideally equal. Ideally, the angular velocity of the angular momentum of the rotor body is set to a base speed that shows highest performance for the electric machine. This could mean the wheel diameter is smaller than the axle to increase the step up speed ratio between the slow speed of the axis of rotation of the electric machine and the speed of the rotor body for high performance electrical conversion 
         [0034]    Since the wheels, the axle, and the rotor body rotate together, their combined function of angular momentum is of little difference from a static mechanical point of view. For instance, the diameter of the wheel may be the same as the diameter of the axle and effectively, there may be no wheel in this configuration. Or the diameter of the rotor body and the diameter of the wheel may be the same and effectively, there may be no axle in this configuration without electrical considerations for the magnetic core and the electrical windings. However, the diameter of the axle entity, such as the wheel rolling on the raceway (when applied), determines the angular momentum and the base rotational speed of the electric machine axle within the tracking mechanism and accordingly, determines the precession of the axis of the electric machine as a result of a vector of motion. As a result, the diameter of the wheel (or whatever rolls on the raceways) has affect on the mechanical and electrical dynamics of the apparatus, such as the frequency of power do to the rotational frequency of the axis or the angular velocity of the rotor body. Therefore, there may be other configurations that duplicate the wheels, the axle, and the rotor body, such as a single rotor body entity or wheels coupled to a gear coupled to the axle, or the axle without the wheels, etc.
       As used herein, “axle” refers to the total combination of the wheel  4 , axle  3 , and rotor body  2  connections. As a result, the axle rolls on the race way is tantamount to saying the wheel, axle, and rotor body roll together on the raceway.       
 
         [0036]    The advantages of the apparatus of this invention far outweigh the disadvantage. The disadvantage, which is unique to this invention, is the requirement of at least one articulated electrical connection or electricity propagation means  8  to propagate electricity from the rotating axis of the electric machine to the stationary tracking mechanism of the apparatus. Furthermore, another electricity propagation means  11  is needed to propagate electricity from the tracking mechanism to the stationary platform of the apparatus, if the tracking mechanism continually rotates as well. The advantages, which are unique to this invention, are: 1) the inertia of the gyro entity, which is the rotor body of the electric machine, is already substantial because of the materials used in the rotor core of the electric machine and is integral to the conversion method of this invention. But of course additional inertia may be needed; 2) The angular momentum of the inertia can be controlled with the rate of electricity of the inherent electric machine (i.e., electric motor and generator) and as a result, the vector of motion  7  can be controlled. 
         [0037]    Since for every action there is a reaction, the potential oscillating force of precession will propagate to the stationary frame of the entire system and it may be necessary to incorporate more than one apparatus of this invention to cancel the reaction by synchronously working the dynamics of the system together. Furthermore, it is possible to control reaction somewhat by controlling the rate of electricity or the connection and disconnection of the axle of the electric machine from the raceway on a timely basis, such as by means of a discontinuous raceway, reapplying the axle to the raceway by lifting and lowering the axle, etc.  FIG. 2  shows the invention with four electric machines  9  that are held together with a common hub  13  and rotate together. The hub  13  might incorporate articulation means, such as wheel connection or disconnection means to at least one raceway. The four electric machines are electrically connected and equally positioned within the plane  5  of the tracking mechanism like spokes of a wheel or a “star configuration.” Furthermore, the inertia and mass of each electric machine are balanced. Although  FIG. 2  shows four electric machines, any number of electric machines beyond one that are equally positioned in the plane of the tracking mechanism will smooth the discontinuity of precession. For instance, three electric machines may be more compatible with a three phase AC circuit and with at least three electric machines in a star configuration, there will never be a null position or a position of zero precession torque. With the exception of more than one electric machine, the ingredients, such as the tracking mechanism, of  FIG. 1  still apply but are not shown for simplicity. The precession force with its peaks and valleys is the sum of the precession force for each electric machine as these electric machines travel along their circular path, which for  FIG. 2  equates to four precession forces that are 90 degrees out of phase with the four electric machines  9  and as a result, the total precession force, which is the sum of all phases of precession forces, becomes more smooth and constant. The more electric machine in a star configuration, the smoother and more constant is the total precession force. Furthermore, the star configuration is fail-safe because if one electric machine electrically fails in the star configuration, the hub connection keeps all electric machines (including the failed electric machine) at the same rotational speed and direction and the rolling axle or wheels of rotor body of each electric machine keep the rotor body of each electric machine at the same angular momentum. 
         [0038]    There are other obvious arrangements for the precession conversion method of this invention. For instance, multiple instances (i.e., entities) of the apparatus shown in  FIG. 1  could be stacked parallel to the circular plane  5 , perpendicular to the circular plane  5 , or at any angle to the circular plane  5 .
       As used herein, “electric machine” refers to an electric motor and generator with a rotor (or moving) body and a stator (or stationary body). The electromagnetic principles of electric machine operation are well known, which may require electronic control for optimum performance.   As used herein, “axle” or “wheel” or “rotor body” is mechanically synonymous because they mechanically move together and add to angular momentum, regardless if connected directly or through a set of gears.   As used herein, “axis” is the axial reference of an electric machine, such as the line drawn through the axle of the rotor body.   As used herein, “motion” or “vector of motion” is applying a mechanical force along a path with time, such as a torque vector that applies oscillating or rotating motion with the direction of a torque vector following the right-hand-rule of physics. As a result vector of motion exhibits mechanical power.   As used herein, “raceway” confines the axis of the electric machine. Therefore, a raceway could be a bearing surface or a gear surface, such as a pinion gear, which is connected to the axle of the electric machine, rolling on a ring gear.   As used herein, “tracking mechanism” is any method that keeps the axis of the electric machine confined to the plane of precession, such as one or more bearing surfaces or raceways.   As used herein, a “star configuration” of electric machines is an arrangement of more than one electric machine distributed evenly within the circular plane of the tracking mechanism.   As used herein, “electricity propagation means” is an articulated method for electrical connection integrity between a moving body and a stationary body, such as slip-rings and brush assembly or a circular rotating transformer.       
 
         [0047]      FIG. 4  is another embodiment of  FIG. 1  where the tracking mechanism  5  rotates along an axis  15  by an applied vector of motion  7  which rotates  14  about an axle  16 . The axle  16  of the plane of the tracking mechanism  5  rotates within another ring structure  21 . The ring structure  21  rotates along its axis  19  by an applied second vector of motion  17  which rotates  18  about an axle  20 . When a second vector of motion  17  is applied, a pinion gear  22  rotates along its ring gear  23  becomes a transmission means that applies or couples the second vector of motion  17  to the vector of motion  7  that is parallel to the plane of the tracking mechanism  5  as previously described using  FIG. 1 . Together, the ring gear  23  and pinion gear  22  is a simple approach and description of the transmission means. Other styles of transmission means should be obvious, such as hydraulic and electric pumps and motors as well as simple rolling or more complex gearing mechanisms. Not shown is the electric machine of  FIG. 1  which rotates within the plane of the tracking mechanism  5 . The principle of this embodiment is to give another level of articulation to the plane of the tracking mechanism  5 , where an applied second vector of motion  17  is coupled to the vector of motion  7  of the plane of the tracking mechanism  5  by a transmission means, which may have advantages for styles of second vectors of motion  17 . It should be noted that there are chassis structures and bearing assemblies of many styles, which are not shown or described but are necessary for static and dynamic mechanical integrity of the embodiment of  FIG. 4 . Furthermore, the gear or rolling ratio between the ring gear  23  and pinion gear  22  and the angular momentum of the rotor of the electric machine are related. Although axis  15  and axis  19  are orthogonal to each other, their special relation may be of other angles. The embodiment of  FIG. 4  has two axis of coupled articulation of the tracking mechanism  5 , which are axis  15  and axis  19 , and several levels of electricity propagation means, which are not shown for simplicity of the figure, may be needed to propagate the electricity of the electric machine to some stationary plane of the entire platform.
       As used herein, “coupled articulation” as describe in  FIG. 4  is at least one level of articulation of the apparatus means described in  FIG. 1 , which includes the tracking mechanism and the electric machine where the vector of motion applied to the plane of the tracking mechanism results from a second vector of motion.