Dual gyroscopic stabilizer

The present invention relates to a gyroscopic stabilizer consisting of two interlocking wheels which comprise the field and armature of a synchronous electric motor. The wheels of equal mass and moments of inertia revolve about a common stationary shaft in opposite directions at the same rate of speed. The wheels interlock so that they may revolve relative to each other, but all other motion of one wheel relative to the other is prevented. The total angular momentum of the system is zero. In case of sudden destructive deceleration, no angular momentum is transferred to the stabilized object. Gyroscopic action of the wheels is maximized, and the nongyroscopic mass of the mechanism is minimized.

TECHNICAL FIELD 
The present invention relates to a new type of gyroscope which may serve to 
stabilize a moving object such as a motor car, camera, gun, spacecraft, or 
human subject to imbalance. It may also serve as a reference for an 
automatic control apparatus. A simple gyroscope consisting of a spinning 
wheel has four limitations. First in the case of destructive deceleration 
(a wreck), the sudden immobilization of the spinning wheel would cause the 
angular momentum of the wheel to be transferred to the entire apparatus, 
thereby causing the entire apparatus to spin, and thus possibly worsening 
the damage that might otherwise occur. Second a torque on the spinning 
wheel which causes a precessional motion in a direction perpendicular to 
the torque may interfere with stability and be inconvenient regarding 
stabilization. Third the weight of the driving apparatus provides no 
useful purpose besides its motive function. Fourth a means of transmitting 
power to the gyroscope must be provided. This invention overcomes these 
four limitations in the use of gyroscopic stabilization. Note is hereby 
made of Disclosure Document No. 156101 filed on Sept. 18, 1986. 
BACKGROUND OF THE INVENTION 
The stabilizing effect of a spinning mass, a gyroscope, is well known. The 
rotor of an electric motor may be considered a simple gyroscope. Its 
design rarely maximizes the gyroscopic effect and the corresponding stator 
is not spinning at all. The present invention consists of a specially 
designed electric motor in which almost all of the mass of the motor 
spins, half in one direction and the other half in the opposite direction. 
The moment of inertia of each half is the same and is maximized to 
increase the gyroscopic effect per unit of mass. Furthermore, the two 
spinning masses are locked together. They are free to rotate, but no other 
motion of one independent of the other is permitted. 
BRIEF DESCRIPTION OF THE INVENTION 
Two interlocking wheels of identical mass and identical moments of inertia 
are made to spin in opposite directions about a central immobile shaft. 
The interlocking device permits the wheels to spin freely, however, any 
other motion of one wheel independent of the other is opposed. The total 
angular momentum of the system is zero. In the event of sudden destructive 
deceleration, the angular momentum of each wheel is countered by the equal 
and opposite angular momentum of the other wheel imparting none to the 
surrounding support assembly. 
The wheels are so constructed that one acts as the armature and the other 
as the field of an electric motor. However, since the armature wheel and 
the field wheel are each equally free to rotate, the torque that is 
created by energizing the magnetic fields serves to rotate both wheels in 
opposite directions. The type of motor is best described as a synchronous 
electric motor with certain special features. The field wheel receives 
direct current through brushes resting on slip rings. The armature wheel 
also receives direct current through brushes, but there is a method of 
repeatedly switching the direction in which the current flows, producing 
in effect alternating current in the armature wheel. The frequency of the 
alternating current created is directly related to the relative angular 
velocity of the wheels. As the wheels spin faster in opposite directions, 
the frequency of the alternating current increases proportionally. The 
increasing frequency provides the basis for the starting torque which is 
generally absent in a constant frequency synchronous motor. The torque 
between the wheels varies as the position of the wheels relative to each 
other varies. As the magnetic poles on one wheel come into alignment with 
the poles on the other wheel, North to South, the torque drops to zero. 
The two wheels are carried past the point of zero torque by their 
momentum. Without an alternation in the current, the wheels would then 
face a decelerating torque. However, the switching device causes the 
direction of the current in the armature wheel to alternate as the point 
of zero torque is reached. Then instead of a decelerating torque, there is 
a continuation of the accelerating torque. 
Against ever faster rotation of the wheels are the forces of friction in 
the bearings, the resistance of the air against the rotating wheels, the 
time for the switching device to act, and the time for the ferromagnetic 
material to switch direction of the magnetic field. The switching device 
may be sectional rings connected so as to produce the desired effect 
(essentially a commutator) or a relay or similarly acting electronic 
device activated by a photocell or another type of proximity switch. 
Since both wheels possess equal amounts of angular momentum but are 
rotating in opposite directions, the precessional motion of one wheel due 
to an outside torque is off set by the precessional motion of the other 
wheel reacting to the same outside torque. Also almost all of the mass of 
the machine is rotating minimizing unnecessary weight. Additionally, the 
motor is the gyroscope. This avoids the necessity of transmitting the 
power of the motor to the gyroscope. 
It is an object of this invention to provide a gyroscope that will not 
impart angular momentum to a surrounding apparatus in the event of a 
destructive deceleration. 
Another object of this invention is to provide a gyroscope in which the 
gyroscopic effect per unit of mass is maximized. 
A further object of this invention is to provide a gyroscope which does not 
require a transmission to transmit power from a motor to the gyroscope. 
To attain these and other objects, the present invention provides two 
interlocking wheels which comprise the field and armature of a synchronous 
electric motor. The wheels of equal mass and moments of inertia revolve 
about a common stationary shaft in opposite directions at the same rate of 
speed. The wheels interlock so that they may revolve relative to each 
other, but all other motion of one wheel relative to the other is opposed. 
The total angular momentum of the system is zero. Gyroscopic action of the 
wheels is maximized, and the nongyroscopic mass of the mechanism is 
minimized.

DETAILED DESCRIPTION 
FIG. 1 shows wheels 10 and 11 in position about shaft 12. Shaft 12 is fixed 
relative to an external framework or to the object that is to be 
stabilized. Shaft 12 does not rotate. Radial thrust bearings such as 13 
are provided to permit the rotation of wheels 10 and 11 relative to each 
other and relative to the external framework or containing object. In the 
preferred design each wheel should be of identical construction so that 
the moments of inertia of each wheel are likewise identical. 
Nonferromagnetic material should be used to avoid unwanted magnetic 
pathways. 
Attached to each wheel 10 and 11 or as an integral part of each wheel are 
interlocking units 14. The interlocking unit 14 that is visible in FIG. 1 
does not interlock with anything but is provided as part of wheel 10 so 
that the moments of inertia of wheels 10 and 11 remain identical. An 
identical unit like unit 14 is provided on wheel 11 as will be seen in 
FIG. 2 and interlocks with wheel 10. The interlocking of one wheel with 
the other is such that the wheels may rotate relative to each other about 
shaft 12, but other motion of one wheel relative to the other is opposed 
by the interlocking units. Assembly of the interlocking aspects of the 
wheels will generally be performed after the wheels are in place relative 
to each other, otherwise the method of moving the wheels to interlock 
could be reversed to disengage the interlocking parts. 
Each wheel is provided with the same number, one or more, ferromagnetic 
assemblies such as 15, each consisting of two poles 16 and 17, and a 
central section 18, about which is wrapped an insulated coil such as 19 
for the conduction of electrical current and the creation of a magnetic 
field. If only one ferromagnetic assembly is provided for each wheel, then 
special care should be exercised to maintain the correct balance of each 
wheel. The angular span of each pole 16 and 17 equals the angular span of 
the central section 18 and equals the angular span between the end 20 of 
one pole and the end 21 of the pole on the next ferromagnetic assembly 22. 
The angular span of all ferromagnetic assemblies is the same. The angular 
span of each ferromagnetic assembly may be divided into four equal 
sections, namely, one pole, the central section, the second pole, and the 
space to the next assembly on the same wheel. The central sections such as 
18 of the ferromagnetic assemblies on wheel 10 are placed so that they may 
be wound with coils such as 19 and yet not interfere with the coils 23 and 
24 wound on the central sections of the ferromagnetic assemblies 25 and 26 
on wheel 11. 
For descriptive convenience, the position when the central sections of the 
assemblies on one wheel are in line with the central sections of the 
assemblies on the other wheel shall be termed the zero position. The 
position in which the central sections of the assemblies on one wheel are 
in line with the interpole spaces on the other wheel shall be termed the 
antizero position. As drawn in FIG. 1, the wheels may be considered to 
have rotated either a total of approximately 67 degrees or a total of 
approximately 113 degrees from the zero position, depending on the 
direction of rotation. Each wheel would normally have rotated half the 
total angular distance. As drawn with two rim assemblies per wheel, each 
pole such as 16 or 17 and each central section such as 18 and each 
interpole space such as the interpole space between pole ends 20 and 21 
measures 45 degrees in angular span and the total angular distance from 
the zero position to the antizero position is 90 degrees. The angular span 
of each pole is termed the pole span. For one ferromagnetic assembly per 
wheel, the pole span is 90 degrees and the angular distance between the 
zero position and the antizero position is a total of 180 degrees. For 
three assemblies per wheel, the pole span is 30 degrees and the angular 
distance between the zero position and the antizero position is 60 
degrees. In general the pole span is found by dividing 90 degrees by the 
number of ferromagnetic assemblies per wheel. The total angular distance 
from the zero to the antizero position is twice the pole span. 
Direct current reaches coil 19 from slip ring 27 via insulated wire 28 
which continues as insulated wire 29 after passage through interlocking 
unit 14. The brushes which are bring electric current from an external 
source of power and which ride on the slip rings such as 27 are not shown 
in FIG. 1. The other end of coil 19, namely wire 30, is connected to coil 
31 and then from the other end of coil 31 by means of wire 32 through slip 
ring 27 to slip ring 33 and then to the external source by means of a 
brush that contacts slip ring 33 as it rotates with wheel 10. 
Alternatively, direct current may be supplied by a battery attached to 
wheel 10 avoiding the use of slip rings and brushes. 
The direction of current flow is such that the poles carried by wheel 10 
alternate one North, the next South and so on around the wheel. The 
direction of current flow is unchanging, as is the magnetic polarity of 
each pole carried by wheel 10. Current reaches coils 23 and 24 on wheel 11 
in a different manner to be described below. On wheel 11 the poles 
alternate polarity as they do on wheel 10 but the direction of the current 
flowing in coils 23 and 24 is switched at opportune times. The switching 
of the direction of the current and thus the magnetic polarity of the 
poles provides a continuous torque on the wheels. 
In the beginning, with both wheels 10 and 11 at rest, electric current in 
coils 19 and 31 of wheel 10 and coils 23 and 24 of wheel 11 cause half the 
poles of each wheel to act as North magnetic poles alternating with the 
other half acting as South magnetic poles. The North magnetic poles of 
wheel 10 attract the South magnetic poles of wheel 11 and repel the North 
magnetic poles of wheel 11. The South magnetic poles of wheel 10 attract 
the North magnetic poles of wheel 11 and repel the South magnetic poles of 
wheel 11. The net effect is that whatever the original direction of 
current flow through coils 23 and 24 on wheel 11, there will be a torque 
between the two wheels 10 and 11 causing them to rotate in opposite 
directions until the North poles of wheel 10 are aligned with the South 
poles of wheel 11 and the South poles of wheel 10 are aligned with the 
North poles of wheel 11. When the wheels are so aligned the torque between 
them will be zero. This condition of alignment is obtained either in the 
zero position or in the antizero position depending on the initial 
directions of the electric current flowing in the coils of each wheel. If 
the direction of the flow of current in the coils of wheel 11 were not 
alternated, any overshooting of this alignment position due to the angular 
momentum of the wheels would be opposed by a torque in the direction 
opposite to the direction of the original torque. To obtain a torque 
acting in the same direction as the original torque and to cause the 
wheels to continue to rotate as they had initially, the direction of 
current in coils 23 and 24 on wheel 11 is switched, thereby switching the 
magnetic polarity of the poles on wheel 11 and thus causing further 
rotation of each wheel in the same directions as first manifest. 
The switching of the direction of the current in coils 23 and 24 of wheel 
11 at the moment of alignment of the poles may be obtained by various 
methods. Segmented slip rings may be used on the top of wheel 11 in 
conjuction with brushes on the underside of wheel 10. The brushes bring 
the electric current to the commutator-like device on wheel 11 which 
serves to alternate the direction of current in the coils at the correct 
moment of alignment. Another method to secure the alternation of the 
current in the coils of wheel 11 at the opportune moment is to bring 
direct current to slip rings on wheel 11. The brushes needed to achieve 
this may reach wheel 11 either from the support structure as is done for 
the brushes in contact with the slip rings on wheel 10 or from the 
underside of wheel 10 as described above. Instead of segmenting the rings, 
the electric current may be alternated by a relay or similar electronic 
device which is activated by a switch which is sensitive to the relative 
positions of the two wheels 10 and 11. Examples of such position sensitive 
switches are magnetic proximity switches and photocell activated switches. 
However the current is switched back and forth in terms of polarity, 
insulated wire 34 serves to deliver the current to coil 23. Insulated wire 
35 brings the current from coil 23 to coil 24 and insulated wire 36 
returns the current to the switching device employed. 
FIG. 2 shows the apparatus in cross section with the surrounding framework 
37. The interlocking unit 38 on wheel 11 is seen as is the mating part 39 
on wheel 10. A part identical to the mating part 39 on wheel 10 is shown 
as 40 on the underside of wheel 11 even though there is nothing there with 
which to interlock. Its repetition there is to maintain the equivalence of 
the moments of inertia of the two wheels. Many different designs are 
feasable to provide for the interlocking of the wheels. 
Brushes 41 and 42 bring current to slip rings 27 and 33 respectively on 
wheel 10. On the underside of wheel 10 are brushes 43 and 44 which are in 
electrical continuity with slip rings 27 and 33 respectively. These 
brushes 43 and 44 bring current to the segmented rings 45 and 46 
respectively on wheel 11. If a switching device other than segmented rings 
are used, then rings 45 and 46 would be solid rather than segmented. 
Current flows from one of these rings, say 45 to the coils 23 and 24 on 
wheel 11 before returning to the other ring, in this case 46. As wheel 11 
moves relative to wheel 10, brushes 43 and 44 contact different segments 
of rings 45 and 46 respectively, causing the direction of the current 
flowing through coils 23 and 24 to reverse direction. Brush springs such 
as 47 are utilized to help maintain electrical contact between the brushes 
and their respective rings. 
The arrangement of radial thrust bearings such as 48 is apparent. Also 
visible is pin 49 which holds shaft 12 fixed to the enveloping framework 
37. 
Several obvious refinements of the system include the evacuation of the air 
within framework 37 to reduce friction with the air. The spinning wheels 
10 and 11 may even carry the impellers of such a vacuum pump. Another 
refinement may include a tachometer and brake feedback system wherein any 
increase in the speed of one wheel relative to the other because of 
differences in bearing friction or other cause brings about the 
application of the brakes on the overspeeding wheel. 
FIG. 3 is a top view of segmented rings 45 and 46. Brushes 43 and 44 are 
also drawn. The number of segmentations on each segmented ring should 
equal the number of poles that are present on each wheel. For each 
revolution of wheel 11 relative to the supporting framework 37, the poles 
on wheel 11 will be switched by twice the number of segmentations that 
there are on each segmented ring. This apparent doubling of the rate at 
which the poles on wheel 11 are switched reflects the angular rate of 
motion of brushes 43 and 44 moving in one direction as wheel 10 rotates 
and the angular rate of motion of segmented rings 45 and 46 moving in the 
opposite direction as wheel 11 rotates. Alternate segments of ring 45 are 
in electrical continuity with non-adjacent alternate segments of ring 46 
by insulated conductors such as 50. Similarly, the remaining segments of 
both rings are in electrical continuity by means of insulated conductors 
such as 51. Each segment of rings 45 and 46 thus is in electrical 
continuity with half of the segments and in electrical isolation from the 
other half. Each segment is in electrical isolation from adjacent segments 
on the same ring as well as the adjacent segment on the neighboring ring. 
Insulated conductors 34 and 36 are each in electrical continuity with one 
half of the segments of rings 45 and 46. As drawn, brush 43 is in 
electrical continuity with conductor 34 and brush 44 is in electrical 
continuity with conductor 36. These conductors 34 and 36 serve to bring 
current to and from coils 23 and 24 on wheel 11. 
FIG. 4 is a schematic representation of a switching device that may be used 
in place of segmented rings 45 and 46. Direct current is supplied either 
by a battery carried on wheel 11 or by slip rings 52 and 53 on wheel 11 in 
contact with brushes either on wheel 10 or support structure 37. This 
direct current is made to alternate by means of relay 54 at the moment the 
poles of wheels 10 and 11 are in alignment. A method by which this is 
caused includes a lamp 55 which in electrical continuity between slip 
rings 52 and 53 shines. Photocell 56 has a high resistance to the flow of 
electricity when no light strikes its surface and has a low resistance 
when light does strike its surface. The light from lamp 55 to photocell 56 
is interrupted intermittantly by barrier 57 which is carried about by 
wheel 10. There are half as many barriers such as 57 on wheel 10 as there 
are poles on the same wheel. Barrier 57 has an angular span equal to two 
pole spans or in this instance 90 degrees. There is a space equal in 
angular span to barrier 57 on either side of it so that there is barrier, 
space, barrier, space alternating around wheel 10. As wheel 10 spins, a 
barrier is brought between lamp 55 and photocell 56 followed temporally by 
empty space. This action causes a current to flow through photocell 56 
intermittantly. A circuit from the source of power through photocell 56 is 
continued in series through coil 58 of relay 54 or its electronic 
equivalent. Contact 59 is held in contact with contact 60 by a spring, and 
similarly contact 61 is held in contact with contact 62 by a spring. When 
barrier 57 is present between lamp 55 and photocell 56, photocell 56 
presents a high resistance to current flow and essentially no current 
flows through coil 58 of relay 54. Assuming the electric potential between 
rings 52 and 53 is such that current would flow from ring 52 to ring 53, 
then the current flows from ring 52 to contact 59 and thence to contact 60 
and thence to coils 23 and 24. The current flows in coils 23 and 24 in the 
direction from end 63 to end 64. Current flows to contact 62 and thence to 
contact 61 and to ring 53. When barrier 57 moves out of the space between 
lamp 55 and photocell 56 allowing light to shine upon photocell 56, the 
resistance in photocell 56 drops. This permits current to flow through 
photocell 56 and thence through coil 58 of relay 54. The current through 
coil 58 "activates" the relay causing the separation of contact 59 from 60 
and of contact 61 from 62. Contact 59 now contacts contact 65, and contact 
61 now contacts contact 66. The current from ring 52 to contact 59 now 
flows to contact 65 and thence to end 64 of coils 24 and 23 to end 63 to 
contact 66 to contact 61 and thence to ring 53. Thus the action of barrier 
57 as it is carried about by wheel 10 causes the current in coils 23 and 
24 to flow first one way and then the other. This reversal of the 
direction of the current flow causes a reversal of magnetic flux in the 
poles carried by wheel 11. This reversal of flux in the poles just as the 
torque is approaching zero causes a renewal of the torque to continue the 
wheels spinning. 
The above description shall not be construed as limiting the ways in which 
this invention may be practice but shall be inclusive of many other 
variations that do not depart from the broad interest and intent of this 
invention.