Centrifugal gyro devices and associated systems and methods

Abstract

Centrifugal gyro devices are described herein. A representative device may include a shaft, an arm coupled to the shaft, a rotor coupled to the arm, and a control system operably coupled to the shaft, the arm, and / or the rotor. The shaft is rotatable about a first axis, and the arm is configured to rotate with the shaft. The arm is pivotable about a second axis, and the rotor is configured to pivot with the arm about the second axis. The rotor is also pivotable about a third axis. The control system is configured to bring the shaft, the arm, and the rotor into a resonant mode in which the shaft rotates at a rate of rotation, the arm oscillates about the second axis at a first frequency substantially equal to the rate of rotation, and the rotor rotates about the second axis at a second frequency substantially equal to the rate of rotation. And the rotor oscillates around the third axis at a second frequency substantially equal to the first frequency.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 332,196, filed on April 18, 2022, entitled “CENTRIFUGAL GYROSCOPIC DEVICES, AND ASSOCIATED SYSTEMS AND METHODS,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present technology relates to centrifugal gyroscopic devices and associated systems and methods for generating power and / or efficiently summing energy. Background Art

[0004] U.S. Patent No. 5,457,993, entitled "Pendulous Oscillating Gyroscopic Accelerometer," describes a Pendulous Oscillating Gyroscopic Accelerometer. The accelerometer utilizes the principle that a gyroscopic torque is generated when an oscillating gyroscope oscillates about a lateral axis. When the gyroscopic torque is balanced by the oscillating torque, a measurement of acceleration is provided. If the accelerometer is attached to the earth, gravity is measured. In this way, the accelerometer operates as a sensing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Many aspects of the present technology may be better understood with reference to the following drawings. The components in the drawings are not necessarily drawn to scale. Instead, emphasis is placed on clearly illustrating the principles of the present technology.

[0006] Figure 1A and 1B is a partially schematic isometric view of a centrifugal gyro apparatus in accordance with an embodiment of the present technology.

[0007] Figure 1C is a side cross-sectional view of a centrifugal gyroscope device taken in a plane extending along a first axis and a second axis of the centrifugal gyroscope device according to an embodiment of the present technology.

[0008] Figure 2 is an isometric view of a representative arm assembly and arm motor assembly of a centrifugal gyro apparatus according to an embodiment of the present technology.

[0009] Figure 3 is an isometric side view of a representative arm assembly of a centrifugal gyroscope device with the housing of the arm assembly removed in accordance with an embodiment of the present technology.

[0010] Figure 4is a block diagram illustrating the physical properties / forces acting on a centrifugal gyroscopic device during operation in accordance with an embodiment of the present technology.

[0011] Figure 5A and 5B is a graph showing the components of the oscillating rotor angular momentum and the oscillating arm assembly angular velocity over time for a centrifugal gyro device according to an embodiment of the present technology.

[0012] Figure 6 is a flow chart of a method or process for operating a centrifugal gyroscopic device to generate electrical power in accordance with an embodiment of the present technology.

[0013] Figure 7 Continuing with a perspective side view of a centrifugal gyroscope device according to another embodiment of the present technology.

[0014] Figures 8A-8D According to an embodiment of the present technology Figure 7 An enlarged perspective view of a centrifugal gyroscopic device showing the movement of the arm assembly and rotor of the centrifugal gyroscopic device during a complete rotation of the arm assembly in a resonant operating mode.

[0015] Fig. 9 is a schematic diagram of a control assembly for controlling a spindle according to an embodiment of the present technology.

[0016] Fig.10 is a schematic diagram of a control assembly for controlling a spindle according to another embodiment of the present technology.

[0017] Fig.11 is a schematic diagram of an analog control assembly for controlling a spindle according to an additional embodiment of the present technology.

[0018] Fig.12 is a graph showing the normalized net power versus the phase angle between the rotor oscillation and the arm oscillation.

[0019] Fig.13A It is shown Figures 1A-1C A graph of sample test results of a centrifugal gyro device showing the variation of the mechanical power of the spindle with respect to the oscillation amplitude of the rotor.

[0020] Fig. 13B It is shown Figures 1A-1C A graph of sample test results of a centrifugal gyro device showing the extraction of gyro power from the spindle rate harmonics.

[0021] FIG. 14A to FIG. 14C It is shown Figures 1A to 1C A graph showing sample test results of a centrifugal gyro device.

[0022] Figures 15A-15D is a graph showing the oscillation of the rotor Figures 1A-1C A graph of sample test results of the effects of motion of the arm assembly of a centrifugal gyro device.

[0023] Figures 16A-16F is a diagram showing the oscillation of the arm assembly to Figures 1A-1C A graph of sample test results of the effect of the torque of the rotor of a centrifugal gyro device. DETAILED DESCRIPTION

[0024] Aspects of the present disclosure generally relate to centrifugal gyroscopic devices and associated systems and methods for generating power and / or efficiently summing energy. In several embodiments described below, a representative centrifugal gyroscopic device includes (i) a shaft, (ii) an arm coupled to the shaft, (iii) at least one rotor coupled to the arm, and (iv) a control system operably coupled to at least one of the shaft, the arm, and the rotor. The shaft is rotatable about a first axis, and the arm is configured to rotate with the shaft. The arm is pivotable about a second axis different from the first axis, and the at least one rotor is configured to pivot about the second axis with the arm. The at least one rotor is also pivotable about a third axis different from the first axis and the second axis. The control system is configured to cause the shaft, the arm, and the rotor to enter a resonant operating mode, wherein (a) the shaft rotates at a rotational rate, (b) the arm oscillates about the second axis at a first frequency approximately equal to the rotational rate, and (c) at least one rotor oscillates about the third axis at a second frequency approximately equal to the first frequency. Energy can be input into the device via a control system to control the movement of the shaft, arms, and rotor; and energy can be output from the device via the shaft, for example via a generator coupled to the shaft and configured to convert mechanical energy from the rotation of the shaft into electrical energy.

[0025] During operation, the rotation of the shaft rotates the arm and generates a centrifugal force that acts on the arm to cause the arm to oscillate around the second axis. The oscillatory motion of the arm and the at least one rotor combine to generate a gyroscopic torque that is used to rotate the shaft around the first axis. In some embodiments, the control system is configured to change the phase relationship between the frequency of the oscillation of the arm around the second axis and the frequency of the oscillation of the at least one rotor around the third axis to change the average value of the gyroscopic torque. For example, the control system can drive the arm and / or at least one rotor via one or more motor assemblies to make the frequency of the oscillation of the arm around the second axis and the frequency of the oscillation of the at least one rotor around the third axis more in phase to increase the gyroscopic torque.

[0026] In some aspects of the present technology, it is expected that the net energy output from the device will exceed the net energy input into the device via the control system. In some aspects of the present technology, even if the energy output from the device is not greater than the energy input to the device, the device can provide a more efficient energy output than a conventional motor assembly. Specifically, the control system may include one or more relatively small motor assemblies configured to drive shafts, arms and / or rotors. The power input to each motor assembly can be relatively small compared to the total power output of the device via the shaft. Such smaller motors can be relatively more efficient than comparable motor assemblies that are configured to directly rotate the shaft to achieve the same output power. Therefore, the arrangement of the device can advantageously allow power input from several smaller motor assemblies to drive a series of motions (e.g., oscillations and rotations) that effectively combine to produce a relatively large power output.

[0027] Certain details are set forth in the following description and Figures 1-16F to provide a thorough understanding of various embodiments of the present technology. In other cases, well-known structures, materials, operations, and / or systems typically associated with gyroscopes, oscillating and rotating systems, generators, motors, pivotable connectors, and the like are not shown or described in detail in the following disclosure to avoid unnecessarily obscuring the description of various embodiments of the present technology. However, one of ordinary skill in the art will recognize that the present technology may be practiced without one or more of the details set forth herein and / or with other structures, methods, components, and the like. The terminology used below will be interpreted in its broadest reasonable manner, even if it is used in conjunction with a detailed description of certain examples of embodiments of the present technology.

[0028] The accompanying drawings depict embodiments of the present technology and are not intended to limit the scope thereof unless expressly indicated. The sizes of the various depicted elements are not necessarily drawn to scale, and these various elements may be enlarged to improve readability. Component details may be abstracted in the accompanying drawings to exclude details such as the location of components and certain precise connections between these components when these details are unnecessary for a complete understanding of how to make and use the present technology. Many of the details, sizes, angles, and other features shown in the accompanying drawings are merely illustrations of specific embodiments of the present disclosure. Therefore, other embodiments may have other details, sizes, angles, and features without departing from the present technology. In addition, it will be appreciated by those of ordinary skill in the art that other embodiments of the present technology may be practiced without some of the details described below.

[0029] If any material incorporated by reference herein conflicts with the present disclosure, the present disclosure controls.The headings provided herein are for convenience only and are not to be construed as limiting the disclosed subject matter.

[0030] I .Selected embodiments of centrifugal gyroscopic devices and associated systems and methods

[0031] Figure 1A and 1B is a partially schematic isometric view of a centrifugal gyro apparatus 100 ("apparatus 100") configured in accordance with embodiments of the present technology. Figure 1B The view in is relative to Figure 1A The view shown in is rotated about 90 degrees. Figure 1C is a side cross-sectional view of the device 100 taken along a plane extending along the first axis A1 and the second axis A2 of the device 100 according to an embodiment of the present technology. Figures 1A-1C In the illustrated embodiment, the device 100 includes a frame 102 that includes (i) a plurality of legs 104 (e.g., four legs), (ii) a lower support 106 coupled to the legs 104 (e.g., upper portions thereof) or formed integrally with the legs 104, and (iii) an upper support 108 rotatably coupled to the lower support 106 and the legs 104 via a first shaft 120 (e.g., an upper portion thereof). Figure 1C The upper support 108 can be rotatable about a first axis A1 (e.g., a main axis, a drive shaft, an output shaft, and / or an elongated member). In some embodiments, the device 100 can be oriented so that the first axis A1 extends substantially parallel to the surrounding gravitational field. The legs 104 can be fixedly secured (e.g., via one or more fasteners) to the ground, a floor, and / or another surface. In some embodiments, the frame 102 also includes a plate 109 secured between the legs 104.

[0032] In the illustrated embodiment, the device 100 also includes an arm assembly 110 that is connected to the arm assembly 110 via a second shaft 126 ( Figure 1C ) is pivotally mounted to the upper support member 108 within the opening 107 in the upper support member 108. The arm assembly 110 may also be referred to as an arm, a torque summing assembly, etc. The arm assembly 110 includes (i) a housing 112 that houses one or more motor assemblies, as described below with reference to Figure 4Detailed description, and (ii) a pair of rotors 114 (which may also be referred to as masses, individually identified as first rotor 114a and second rotor 114b) pivotably mounted to housing 112. More specifically, first rotor 114a may be pivotably coupled to / at first end 113a of housing 112, and second rotor 114b may be pivotably coupled to / at second end 113b of housing 112 opposite to first end 113a. Housing 112 also includes a center portion 113c between first end 113a and second end 113b, pivotably coupled to housing 112 via second shaft 126, such that arm assembly 110 may pivot about a second axis A2 (e.g., an arm axis and / or hinge axis) orthogonal to first axis A1. The rotors 114 can each independently pivot about a third axis A3 (e.g., a rotor axis and / or a momentum reference axis) that is orthogonal to the first axis A1 and the second axis A2 in their reference state. In some embodiments, the lower support 106 and / or the upper support 108 and / or the first shaft 120 can be omitted and can be directly coupled to the arm assembly 110.

[0033] like Figure 1C As best shown in FIG. 1 , the first shaft 120 extends through the interior of the lower support 106 along the first axis A1 and includes a lower end 121a and an upper end 121b. In some embodiments, the lower support 106 can at least partially support the first shaft 120 via one or more bearings (not shown). The upper end portion 121b of the first shaft 120 is coupled to the upper support 108. Figures 1A-1C , the device 100 includes a shaft motor assembly 130, which is coupled to the plate 109 and operably coupled to the lower end portion 121a of the first shaft 120. The shaft motor assembly 130 may include a motor (e.g., a rotary motor) and an associated gearbox, and is configured to drive the first shaft 120 to Figure 1A The first shaft 120 is rotated clockwise and / or counterclockwise around the first axis A1 as shown by the arrow C in the figure to drive the upper support member 108 and the arm assembly 110 to rotate together around the first axis A1. Although for the sake of clarity, the first shaft 120 is Figures 1A-1C 1 and 2. Although shown as spaced apart from the shaft motor assembly 130, these components may be directly attached together and / or operably coupled together via intermediate structures such as connecting rods, couplings, shafts, and / or the like.

[0034] In some embodiments, the device 100 may further include a brake mechanism 122 operably coupled to the first shaft 120. The brake mechanism 122 may include a brake plate 123 fixed to the first shaft 120 and a brake actuator 124 configured to selectively engage the brake plate 123 to slow or stop the rotation rate of the first shaft 120. In some embodiments, the brake mechanism 122 may include other components for selectively slowing the rotation rate of the first shaft 120. In some embodiments, the brake mechanism 122 may be omitted and / or the shaft motor assembly 130 may be configured to brake / slow the rotation of the first shaft 120.

[0035] In the illustrated embodiment, the apparatus 100 also includes a pair of arm motor assemblies 132 (individually identified as a first arm motor assembly 132 a and a second arm motor assembly 132 b ) coupled to the upper support 108 and operably coupled to the arm assembly 110 . Figure 2 is an isometric view of an arm assembly 110 and an arm motor assembly 132 configured in accordance with a representative embodiment of the present technology. Figure 1C and 2 More specifically, the second shaft 126 may include a first end 127a operably coupled to the first arm motor assembly 132a and a second end 127b operably coupled to the second arm motor assembly 132b. The arm motor assembly 132 may include a motor (e.g., a rotary motor) and an associated gearbox, and is configured to drive the second shaft 126 ( Figure 1C ) rotates around the second axis A2 to drive the arm assembly 110 to rotate around the second axis A2 respectively by Figure 1A and Figure 2 In some embodiments, the arm assembly 110 is constrained (e.g., via one or more mechanical devices) to pivot a selected (e.g., predetermined) maximum amplitude about the second axis A2 in the directions of arrows F1 and F2. In some embodiments, the arm motor assemblies 132 are identical and are positioned and oriented symmetrically about the first axis A1. Thus, the arm motor assemblies 132 may together define a center of mass positioned along or substantially along the first axis A1. In some embodiments, the device 100 may include only a single one of the arm motor assemblies 132 or more than two of the arm motor assemblies 132.

[0036] Figure 3 is an isometric side view of an arm assembly 110 according to an embodiment of the present technology, wherein the housing 112 is omitted for clarity ( Figures 1A-1C). In the illustrated embodiment, the arm assembly 110 includes a pair of rotor motor assemblies 334 (individually identified as a first rotor motor assembly 334a and a second rotor motor assembly 334b) that are fixed within the housing 112 on opposite sides of the second shaft 126. The first rotor motor assembly 334a and the second rotor motor assembly 334b ​​can each include a motor (e.g., a rotary motor) and an associated gearbox, and are configured to drive the first rotor 114a and the second rotor 114b, respectively, to respectively Figure 1A The rotor 114 is configured to pivot in the first direction and / or the second direction about the third axis A3 as shown by the arrows G1 and G2 in FIG. In some embodiments, the rotor 114 is constrained (e.g., via one or more mechanical devices) to pivot by a selected (e.g., predetermined) amplitude about the third axis A3 in the directions of the arrows G1 and G2. In some embodiments, the rotor motor assemblies 334 are identical and are positioned and oriented to be symmetrical about the first axis A1 and the second axis A2. Therefore, the rotor motor assemblies 334 can together define a center of mass positioned along or substantially along the second axis A2. In some embodiments, the device 100 can include only a single rotor motor assembly 334 or more than two rotor motor assemblies 334.

[0037] Continue to refer Figure 3 In some embodiments, the rotors 114 may be identical, for example, having the same shape, mass, density, geometry, etc. In some embodiments, the rotors 114 may have a spoke shape so that they are each symmetrical about the third axis A3. More specifically, the rotors 114 may each include a central portion 335 coupled to a corresponding one of the rotor motor assemblies 334, an outer portion 336 (e.g., an outer ring), and a plurality of spokes 337 extending radially outward from the central portion 335 and the third axis A3 and connecting the central portion 335 to the outer portion 336. In some embodiments, the outer portion 336 may have a greater mass than the central portion 335, so that most of the mass of the rotor 114 is positioned radially outward from the third axis A3. In some embodiments, the rotors 114 may have different shapes, sizes, and / or configurations, and / or one of the rotors 114 may be omitted. For example, in some embodiments, each rotor 114 may have a planar disk shape. In some embodiments, the rotors 114 are each positioned at a distance D from the second shaft 126 and the second axis A2, and each has a radius R. The distance D, radius R, and / or shape of rotors 114 may be selected to alter the inertia and / or torque summing characteristics of arm assembly 110, as described in more detail below. In some embodiments, apparatus 100 includes only one of rotors 114, such that arm assembly 110 is arranged in a cantilevered manner.

[0038] Reference together Figure 1A and 1B, the device 100 may also include a control and power subsystem 140, which in turn includes one or more power supplies 142, one or more sensors 144, one or more generators 146, and a controller 148. The control and power subsystem 140 may be operably coupled to the shaft motor assembly 130, the arm motor assembly 132, the rotor motor assembly 334 ( Figure 3 ), brake mechanism 122, and / or other components of device 100. For example, in the illustrated embodiment, shaft motor assembly 130, arm motor assembly 132, and rotor motor assembly 334 each have one or more electrical connectors 141 that can be electrically coupled to control and power subsystem 140 for transmitting data, power, and / or other signals therebetween.

[0039] The power source 142 may be an AC power source and / or a DC power source and, in some embodiments, may include / contain a servo drive 143 ( Figure 1B ). The power source 142 can provide power to the shaft motor assembly 130, the arm motor assembly 132, and the rotor motor assembly 334. The sensor 144 may include one or more sensors configured (e.g., positioned) to detect (i) the rotation and / or pivot rate of the first shaft 120, the arm assembly 110, and / or the rotor 114, (ii) the power usage of the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334, and / or (iii) the power output of the device 100 (e.g., via the generator 146), etc. The generator 146 can be or can include a generator coupled to the first shaft 120 or other suitable generator for converting the mechanical rotation of the first shaft 120 into electrical energy.

[0040] In some embodiments, the generator 146 may include / contain the shaft motor assembly 130. That is, the shaft motor assembly 130 may drive the first shaft 120 to rotate in the first operating configuration, and convert the rotation of the first shaft 120 into electrical energy in the second operating configuration. In some embodiments, the generator 146 may be or may include a mechanical device for converting the mechanical rotation of the first shaft 120 into another useful output. In some embodiments, the generator 146 may generate electrical energy and provide the electrical energy to the power source 142 or directly to the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334. That is, the generator 146 may be used as the power source 142 and / or may provide feedback to the power source 142. In other embodiments, the generator 146 may include / contain one or two of the arm motor assemblies 132. That is, the arm motor assembly 132 may drive the second shaft 126 to pivot in the first operating configuration, and convert the pivotable motion of the second shaft 126 into electrical energy (and / or another useful output, such as mechanical energy) in the second operating configuration.

[0041] The controller 148 may receive data from the sensor 144 and control the power supply 142 to operate the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334. Specifically, as described in further detail below, the controller 148 may cause (i) the shaft motor assembly 130 to rotate the first shaft 120 about the first axis A1 at a selected (e.g., predetermined) rotation rate, (ii) the arm motor assembly 132 to pivot the arm assembly 110 about the second axis A2 at a selected amplitude and frequency, and (iii) the rotor motor assembly 334 to pivot the rotor 114 about the third axis A3 at a selected amplitude and frequency. In some embodiments, the controller 148 may include / comprise a printed circuit board (PCB) 149 ( Figure 1B ).

[0042] The controller 148 may include a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, perform the functions attributed to the controller 148 as described herein. Although not required, aspects and embodiments of the present technology may be described in the general context of computer-executable instructions, such as routines executed by a general-purpose computer (e.g., a server or a personal computer). Those skilled in the relevant art will appreciate that the present technology may be practiced with other computer system configurations, including Internet appliances, handheld devices, wearable computers, cellular or mobile phones, multiprocessor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, minicomputers, mainframe computers, and the like. The present technology may be embodied in a special-purpose computer or data processor that is specifically programmed, configured, and / or constructed to execute one or more computer-executable instructions explained in detail below. In fact, as generally used herein, the terms "controller" and "computer" (and similar terms) refer to any of the above devices, as well as any suitable data processor or any suitable device capable of communicating with a network, including consumer electronics or other electronic devices having a processor and other components (e.g., network communication circuits).

[0043] The present technology can also be practiced in a distributed computing environment, where tasks or modules are performed by remote processing devices linked by a communication network such as a local area network ("LAN"), a wide area network ("WAN"), or the Internet. In a distributed computing environment, program modules or subroutines can be located in local and remote memory storage devices. The various aspects of the present technology described below can be stored or distributed on computer-readable media, including magnetic and optically readable and removable computer disks, stored as chips (e.g., EEPROM or flash memory chips). Alternatively, various aspects of the present technology can be distributed electronically through the Internet or through other networks (including wireless networks). Those skilled in the relevant art will recognize that parts of the present technology can reside on a server computer, while corresponding parts reside on a client computer. Data structures and data transmissions specific to various aspects of the present technology are also included in the scope of the present technology.

[0044] In some embodiments, the control and power subsystem 140, the shaft motor assembly 130, the arm motor assembly 132, and the rotor motor assembly 334 may be collectively referred to as a "control system" or the like for controlling the motion of the first shaft 120, the arm assembly 110, and the rotor 114. Figure 1A-3Typically during operation of the device 100, the control system is configured to control the rotation rate of the first shaft 120 around the first axis A1, the frequency and / or amplitude of the oscillation of the arm assembly 110 around the second axis A2, and the frequency and / or amplitude of the oscillation of the rotor 114 around the third axis A3. More specifically, the shaft motor assembly 130 can guide the first shaft 120 and the connected arm assembly 110 to rotate around the first axis A1 at a selected rotation rate and / or at a selected rotation rate. The rotating arm assembly 110 generates a centrifugal force that acts on the arm assembly 110 to cause the arm assembly 110 to rotate along the second axis A2. Figure 1A In some embodiments, the arm motor assembly 132 can drive the arm assembly 110 about the second axis A2 (enhancing the centrifugal force acting on the arm assembly 110) so that the arm assembly 110 oscillates at a selected frequency and maximum amplitude. The resulting motion of the arm assembly 110 can be periodic (e.g., sinusoidal). The maximum angular amplitude is limited by the torque caused by the centrifugal force from the rotation of the arm assembly 110.

[0045] The rotor motor assembly 334 can drive the rotor 114 to pivot about the third axis A3 in an oscillating / modulating manner, wherein the rotor 114 is between arrows G1 and G2 ( Figure 1A ) about the third axis A3 to a selected frequency and maximum angular amplitude. The resulting motion of the rotor 114 may be periodic (e.g., sinusoidal). In some embodiments, the periodic motion of the first rotor 114a is opposite (e.g., 180 degrees out of phase) to the periodic motion of the second rotor 114b and is at the same frequency, such that the rotors 114 move past each other in opposite directions and reach their maximum angular amplitudes in opposite directions at the same time or at least approximately at the same time.

[0046] In some embodiments, the power supply 142 can provide an oscillating / modulated voltage to the arm motor assembly 132 and the rotor motor assembly 334 to generate an oscillating motion of the arm assembly 110 and the rotor 114. The oscillating angular momentum of the rotor 114 and the arm assembly 110 together exerts a gyroscopic torque on the first shaft 120 about the first axis A1, which is used to rotate the first shaft 120. Therefore, the rotation of the first shaft 120 drives the arm assembly 110 to oscillate about the second axis A2, and the resulting oscillations of the arm assembly 110 and the rotor 114 are used to drive the rotation of the first shaft 120 in a feedback loop. The mechanical rotation of the first shaft 120 can be coupled to the generator 146 to generate output power.

[0047] Figure 4 is a block diagram that more specifically illustrates representative physical properties / forces when the device 100 operates according to an embodiment of the present technology. Figure 1A-3In the illustrated embodiment, the rotor motor assembly 334 provides a driving force 450 that oscillates the rotor 114 about the third axis A3. The oscillation of the rotor 114 generates an oscillating rotor angular momentum 451. The oscillation of the arm assembly 110 about the second axis A2 generates an oscillating arm assembly angular velocity 452. The oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 generate a gyroscopic torque 454 about the first axis A1, and the gyroscopic torque 454 is defined as their vector cross product 453. The gyroscopic torque 454 has an oscillation amplitude and an average value, which drives the first shaft 120 to rotate at a rotation rate 455. The rotation of the first shaft 120 can transfer mechanical energy to an output load 459, such as a generator 146. The rotation of the first shaft 120 also rotates the arm assembly 110, thereby generating a centrifugal force 456 on the arm assembly 110, which is used to oscillate the arm assembly 110 about the second axis A2 and generate the oscillating arm assembly angular velocity 452. The torque generated by the centrifugal force 456 on the arm assembly 110 reaches a maximum value when the arm assembly is oriented at a 45 degree angle (e.g., above or below the horizontal plane) relative to the second axis A2 and is always pointed at the horizontal plane. Therefore, the torque caused by the centrifugal force 456 can (i) be the main force driving the arm assembly 110 to have an oscillating arm angular velocity 452, and (ii) limit the angular deviation of the arm assembly 110 about the second axis A2 (e.g., the maximum angular deviation is typically about 45 degrees).

[0048] In some embodiments, the shaft motor assembly 130 can provide an auxiliary drive force 457 that increases the gyroscopic torque 454 to control the rotation rate 455 of the first shaft 120. In some embodiments, the shaft motor assembly 130 can initially provide an input auxiliary drive force 457 during startup of the device 100 until the first shaft 120 rotates at or near the desired rotation rate. Similarly, in some embodiments, the arm motor assembly 132 can provide an auxiliary drive force 458 that oscillates the arm assembly 110 to control the oscillating arm assembly angular velocity 452.

[0049] In some embodiments, the device 100 is configured to operate in a "resonance" mode or at least a near-resonance mode (e.g., within at least 1%, 2%, 5%, 8%, or 10% of resonance), wherein the gyroscopic torque 454 is maximized or approximately maximized. In some embodiments, in the resonant mode, the rotation rate of the first shaft 120 (and the arm assembly 110) around the first axis A1 is equal to or at least approximately equal to the oscillation frequency of the arm assembly 110 around the second axis A2 and the oscillation frequency of the rotor 114 around the third axis A3. For example, if the first shaft 120 rotates at 18 revolutions per second, the arm assembly 110 and the rotor 114 may each have an oscillation frequency of 18 Hz in the resonant mode. In some embodiments, in the resonant mode, the rotation rate of the first shaft 120 is different (e.g., slightly different) from the oscillation frequency of the arm assembly 110 and / or the oscillation frequency of the rotor 114. That is, there may be a slight incoordination in the rotation rate of the first shaft 120, the oscillation frequency of the arm assembly 110, and / or the oscillation frequency of the rotor 114. For example, if the arm assembly 110 and the rotor 114 each have an oscillation frequency of 18 Hz, then in the resonant mode where the gyroscopic torque 454 is maximized or approximately maximized, the first shaft 120 may rotate at a rotational speed between about 15-21 revolutions per second, and at a rotational speed different from 18 revolutions per second. In other embodiments, the device 100 may operate in a "non-resonant" operating mode, wherein the rotation rate of the first shaft 120 (and the arm assembly 110) about the first axis A1 is not equal to the oscillation frequency of the arm assembly 110 about the second axis A2 and the oscillation frequency of the rotor 114 about the third axis A3.

[0050] Additionally, device 100 may drive arm assembly 110 and / or rotor 114 to adjust the phase angle and / or phase relationship between oscillations of rotor 114 and arm assembly 110 , and thereby adjust the phase angle between the associated oscillating rotor angular momentum 451 and the associated oscillating arm assembly angular velocity 452 . Figure 5A and 5B is a diagram showing an embodiment according to the present technology Figure 4 451 and the components of the oscillating arm assembly angular velocity 452 as a function of time. Figures 1A-5B , the oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 may each be periodic due to the oscillating motion of the rotor 114 and the arm assembly 110, respectively. The oscillating rotor angular momentum 451 may have a maximum amplitude M max , and the oscillating arm assembly angular velocity 452 may have a maximum amplitude V max .exist Figure 5A and 5B In the embodiment, the oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 have the same frequency (e.g., as in the resonant operating mode). The oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 have the same frequency (e.g., as in the resonant operating mode). Figure 5A The phase angle Φ is shifted in Figure 5B are in phase (eg, Φ=0).

[0051] In some embodiments, the device 100 is configured to adjust the phase angle Φ (and / or another phase relationship) between the oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 (and the corresponding motion of the rotor 114 and the arm assembly 110) to an optimal value so that the device 100 operates in a resonant or substantially resonant mode and / or maximizes the gyroscopic torque 454 applied to the first axis 120. To achieve such a change in the phase angle Φ, the controller 148 can control the arm motor assembly 132 and / or the rotor motor assembly 334 to adjust the oscillation of the arm assembly 110 and / or the rotor 114, respectively. Because the oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 are each sinusoidal (or quasi-sinusoidal), the vector cross product 453 therebetween will produce an average value and a second harmonic of the gyroscopic torque 454. The average value of the gyroscopic torque 454 depends on the phase angle Φ and is zero when the oscillating rotor angular momentum 451 and the oscillating arm assembly angular velocity 452 are orthogonal.

[0052] In some embodiments, the average value of gyro torque 454 is maximized when phase angle Φ is 0 degrees or 180 degrees. However, the optimal phase angle Φ that maximizes the value of gyro torque 454 may have a value other than 0 degrees or 180 degrees based on the operating conditions of device 100. In particular, device 100 may generate other torques on arm assembly 110 and / or rotor 114 that inhibit or even prevent the oscillations of arm assembly 110 and rotor 114 from being completely in phase, i.e., causing arm assembly 110 and rotor to have oscillation components that are always out of phase.

[0053] Figure 6 is a flow chart of a method or process 650 for operating a representative device to generate electricity according to an embodiment of the present technology. Although for illustration purposes, reference is made to Figures 1A-5B Certain features of the method 650 are described in the context of the apparatus 100 described in detail, but those skilled in the art will readily appreciate that the method 650 may be performed using other suitable devices and / or systems described herein.

[0054] Beginning at block 651, the method 650 includes rotating a first shaft 120 (e.g., a drive shaft) and an arm assembly 110 attached thereto about a first axis A1 at a selected rotation rate. In some embodiments, the shaft motor assembly 130 may provide an initial (starting) torque to rotate the first shaft 120 until the arm assembly 110 generates a gyroscopic torque 454, at which point the torque from the shaft motor assembly 130 may be reduced or eliminated, and the rotation of the first shaft 120 may be driven entirely or substantially entirely by the generated gyroscopic torque 454. In some embodiments, the shaft motor assembly 130 may be omitted, and the rotation may be driven entirely by the generated gyroscopic torque 454.

[0055] At block 652, the method 650 includes pivoting the arm assembly 110 in an oscillating manner about the second axis A2 at a first frequency. In some embodiments, the arm motor assembly 132 can provide an initial (starting) torque to rotate the arm assembly 110 until the centrifugal force 456 acts to oscillate the arm assembly 110, at which point the torque from the arm motor assembly 132 can be reduced or eliminated, and the oscillation of the arm assembly 110 is driven entirely or substantially entirely by the generated centrifugal force 456. In some embodiments, the arm motor assembly 132 can be used only to adjust the oscillation frequency of the arm assembly 110 (and the resulting phase relationship between the generated oscillating arm assembly angular velocity 452 and the oscillating rotor angular momentum 451).

[0056] At block 653, the method 650 includes pivoting the rotor 114 in an oscillating manner about the third axis A3 at a second frequency. As described in detail above, when the first shaft 120 rotates (block 651), the arm assembly 110 oscillates (block 652), and the rotor 114 oscillates (block 653), the device 100 includes a feedback loop in which (i) the angular velocity 452 of the arm assembly 100 and the angular momentum 451 of the rotor 114 combine to produce a gyroscopic torque 454 for rotating the first shaft 120, and (ii) the rotation of the first shaft 120 rotates the arm assembly 110 to produce a centrifugal force 456 for oscillating the arm assembly 110.

[0057] At block 654 , the method 650 includes applying the output load 459 to the first shaft 120 . The output load 459 extracts energy from the device 100 to slow the rotation rate of the first shaft 120 without making any adjustments to the operating parameters of the device 100 .

[0058] At box 655, the method 650 includes controlling the device 100 to operate in a resonant mode, wherein the rotation rate of the first shaft 120 is equal to or at least approximately equal to the first oscillation frequency of the arm assembly 110 and the second oscillation frequency of the rotor 114. In some embodiments, controlling the device 100 to operate in the resonant mode includes setting / adjusting the phase angle Φ to increase the gyroscopic torque 454 applied to the first shaft 120 to compensate for the load 459 and maintain the resonant operating mode. Therefore, in some aspects of the present technology, the phase angle Φ can control the resonance of the device 100. In some embodiments, the device 100 can be specifically designed for a known load so that the phase angle Φ does not need to be adjusted / set during operation. However, in some embodiments, the load 459 can be variable, and the oscillation of the arm assembly 110 and / or the rotor 114 can be automatically controlled by the controller 148 or manually controlled by the user to maintain the device 100 in the resonant mode during changes in the load 459. In other embodiments, controlling the device 100 to operate in the resonant mode includes controlling the device 100 so that the rotation rate of the first shaft 120 is different (e.g., slightly different) from the first oscillation frequency of the arm assembly 110 and / or the second oscillation frequency of the rotor 114. That is, the device 100 can operate with slight inconsistencies in the rotation rate of the first shaft 120, the first oscillation frequency of the arm assembly 110, and / or the second oscillation frequency of the rotor 114 to promote / generate a centrifugal resonance in which the gyroscopic torque is maximized.

[0059] In some aspects of the present technology, it is expected that the net energy output from the device 100 (e.g., via the first shaft 120 to the load 459) will exceed the net energy input into the device 100 via, for example, the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334. That is, for example, the net mechanical power available from the gyroscopic torque 454 can exceed the sum of the input power of the rotor motor assembly 334 to drive the rotor 114 and the input power of the arm motor assembly 132 to provide auxiliary power to the arm assembly 110 to control the phase angle Φ, even when accounting for obstructions (e.g., friction and / or other losses) of the various components of the device 100.

[0060] For example, Section II below utilizes equations to model the motion of the device 100. In Section II, the first axis A1 is referred to as the "spindle axis," the second axis A2 is referred to as the "hinge axis," the third axis A3 is referred to as the "rotor axis," the first shaft 120 is referred to as the "spindle," and the arm assembly 110 is referred to as the "arm." As outlined in Section II, the difference between the output power and the total input power of the device 100 depends on the phase angle Φ, and even taking into account obstructions to the motion of the first shaft 120, the arm assembly 110, and / or the rotor 114, there can be a range of phase angles where the output is greater than the input. For example, as shown in Section II, the device 100 can generate net power (e.g., the output power is greater than the input power) for phase angles Φ between approximately 5-75 degrees, and can generate a maximum amount of net power when the phase angle Φ is between approximately 30-45 degrees (e.g., approximately 40 degrees).

[0061] In some aspects of the present technology, the device 100 can provide a more efficient energy output via the first shaft 120 than conventional motor assemblies, even if the power output of the device 100 is not greater than the power input of the device 100. Specifically, the power input to the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334 can each be relatively small compared to the total power output of the device 100. Such smaller motors can be relatively more efficient than a comparable motor assembly configured to directly rotate the first shaft 120 with the same output power. Thus, the arrangement of the device 100 advantageously allows power input from several smaller motor assemblies to drive a range of motions (e.g., oscillations and rotations) that effectively combine to produce a relatively large power output.

[0062] In general, the operating / design parameters of the device 100 can be optimized to maximize power output (e.g., based on the equations detailed in Section II) based on the selected application of the device 100. For example, the device 100 can have a small form factor (e.g., for powering a watch or cellular phone), a medium form factor (e.g., for powering household appliances), a large form factor (e.g., for powering a remote well or elevator station), etc. Depending on the application, the operating / design parameters that can be optimized include: (i) the oscillation frequency of the rotor 114, (ii) the oscillation amplitude of the rotor 114, (iii) the oscillation frequency of the arm assembly 110, (iv) the oscillation amplitude of the arm assembly 110, (v) the number of arm assemblies 110 (e.g., including one or more arm assemblies), (vi) the number of rotors 114 mounted to each arm assembly 110, (vii) the rotation rate of the first shaft 120, (viii) the size and / or mass of any component that can directly affect the inertia, momentum, velocity and / or force generated by the component. For example, Sections III and IV below provide examples of representative design parameters that may be selected for a centrifugal gyroscopic device according to the present technology that may operate very efficiently or even produce more output than input, even when obstacles are taken into account.

[0063] Figure 7 is a perspective side view of a centrifugal gyro apparatus 700 ("apparatus 700") configured in accordance with another embodiment of the present technology. Apparatus 700 may include the same Figure 1A-6 Corresponding features of the device 100 described in detail are at least substantially similar in structure and function or some features that are identical in structure and function, and can operate in a manner substantially similar or identical to the device 100. In the illustrated embodiment, for example, the device 700 includes: (i) a drive shaft 720 rotatable along a first axis A1, (ii) an arm assembly 710 rotatable with the drive shaft 720 and pivotable about a second axis A2, (iii) a pair of rotors 714 (individually identified as a first rotor 714a and a second rotor 714b) pivotable about a third axis A3, and (iv) a control and power subsystem 740 operable to drive (via one or more motor assemblies) the arm assembly 710 about the second axis A2 (extending to the third axis A3). Figure 7 ) and drives the rotor 714 to oscillate around the third axis A3 (and / or drives the drive shaft 720 to rotate around the first axis A1).

[0064] In some embodiments, the device 700 is configured to operate in a resonant mode or a substantially resonant mode, wherein the rotation rate of the drive shaft 720 (and the arm assembly 710) about the first axis A1 is equal to or substantially equal to the oscillation frequency of the arm assembly 710 about the second axis A2 and the oscillation frequency of the rotor 714 about the third axis A3. Figures 8A-8Dis an enlarged perspective view of a device 700 illustrating the movement of the arm assembly 710 and the rotor 714 during one complete revolution of the arm assembly 710 about the first axis A1 in a resonant mode of operation in accordance with an embodiment of the present technology. Figures 8A-8D The arm assembly 720 is sequentially shown rotating at different quarter revolutions (e.g., 90 degrees) about the first axis A1. If the rotation rate of the arm assembly 720 is sufficient to obscure the oscillating motion of the arm assembly 720, the optical illusion manifests itself as the rotation axis of the arm assembly 720 being tilted. Figure 8B and 8D Angle shown.

[0065] exist Fig. 8A In the embodiment, the arm assembly 710 extends generally parallel to a horizontal plane (e.g., horizontally relative to gravity). That is, the third axis A3 extends orthogonally to the first axis A1 (e.g., such that the angle between the first axis A1 and the third axis A3 is approximately 90 degrees). Thus, the arm assembly 710 can be Fig. 8A The position shown has the smallest angular amplitude. In addition, the rotors 714 are each in a first angular position relative to the third axis A3.

[0066] exist Figure 8B In the embodiment, the arm assembly 710 has been Fig. 8A The position shown is rotated about the first axis A1 by approximately 90 degrees (e.g., in a clockwise direction) and causes the arm assembly 710 to extend at an angle T relative to the horizontal plane. In the illustrated embodiment, the second rotor 714b is located above the first rotor 714a relative to the horizontal plane. In some embodiments, the angle T can be the maximum angular amplitude of the oscillation of the arm assembly 720. In addition, in Figure 8B In some embodiments, when the phases of the arm assembly 710 and the rotor 714 are substantially the same (e.g., the phase angle is equal to zero), the rotor 714 can have (same as the arm assembly 720) Figure 8B The maximum angle amplitude and Fig. 8A The minimum angle amplitude in .

[0067] exist Figure 8C In the embodiment, the arm assembly 710 has been Figure 8B The illustrated position is rotated approximately 90 degrees (e.g., in a clockwise direction) about the first axis A1 and causes the arm assembly 710 to extend generally parallel to the horizontal plane and again have a minimal angular amplitude. Figure 8C , the rotors 714 are each at a third angular position relative to the third axis A3. In a resonant mode where the oscillation frequency of the arm assembly 710 is equal to the oscillation frequency of the rotor 714, the third angular position may be the same as the first angular position (e.g., both are at a minimum angular amplitude), or the third angular position may have an opposite sign to the first angular position.

[0068] exist Fig.8D In the embodiment, the arm assembly 710 has been Figure 8C The illustrated position is rotated approximately 90 degrees (e.g., in a clockwise direction) about the first axis A1 and causes the arm assembly 710 to again extend at an angle T relative to the horizontal plane. However, in the illustrated embodiment, the first rotor 714a is located above the second rotor 714b relative to the horizontal plane. Fig.8D , the rotors 714 are each at a fourth angular position relative to the third axis A3. In a resonant mode where the oscillation frequency of the arm assembly 710 is equal to the oscillation frequency of the rotor 714, the fourth angular position may be the same as the second angular position (e.g., both are at maximum angular amplitude), or the fourth angular position may have an opposite sign to the second angular position.

[0069] The arm assembly 710 returns to Fig. 8A The position shown completes the rotation. Figures 8A-8D , as Figures 8A-8D When viewed from the side at the particular azimuth angle shown, the movement of the device 700 in the resonant mode can produce an optical illusion. That is, the arm assembly 710 can appear to move in a particular direction about the second axis A2 ( Figure 7 ) are pivoted in unison away from vertical (e.g., typically at a 45 degree tilt angle). This is because, for example, when the rotors 714 are located at the same or substantially the same circumferential position about the first axis A1 (e.g., as Figure 8B and 8D When the rotors 714 are at the same or substantially the same circumferential position around the first axis A1 (e.g., as shown on the left side of the page), the rotors 714 each reach a maximum angular amplitude below the horizontal plane. Similarly, when the rotors 714 are at the same or substantially the same circumferential position around the first axis A1 (e.g., as shown on the left side of the page), the rotors 714 each reach a maximum angular amplitude below the horizontal plane. Figure 8B and 8D When the device 100 is detuned, the optical illusion will rotate in azimuth.

[0070] Fig. 9 is a schematic diagram of a control assembly for controlling a main axis (eg, first axis 120 ) according to an embodiment of the present technology. Fig.10 is a schematic diagram of a control assembly for controlling a main axis (eg, first axis 120 ) according to another embodiment of the present technology. Fig.11 is a schematic diagram of an analog control assembly for controlling a main axis (eg, first axis 120 ) according to additional embodiments of the present technology.

[0071] II. Additional equations representing the operation of the centrifugal gyro device

[0072] According to the right-hand rule, a set of gyroscope axes are defined by vector cross products. These axes are called the rotor reference axis, the main axis, and the hinge axis. For convenience, the main axis is considered to be vertical. If the rotor axis is at an angle to the rotor reference axis around the hinge axis, the vector cross product automatically takes it into account. The vector cross product of (vector along the rotor axis) x (vector along the main axis) produces (vector along the hinge axis). Similarly, the vector cross product of (vector along the main axis) x (vector along the hinge axis) produces (vector along the rotor axis). And, similarly, the vector cross product of (vector along the hinge axis) x (vector along the rotor axis) produces (vector along the main axis). The reverse vector cross product is also applicable. Specifically, the vector cross product of (vector along the main axis) x (vector along the rotor axis) produces (vector along the negative hinge axis). Similarly, the vector cross product of (vector along the hinge axis) x (vector along the main axis) produces (vector along the negative rotor axis). And, similarly, the vector cross product of (vector along the rotor axis) x (vector along the hinge axis) yields (vector along the negative spindle axis). The six vector cross products are summarized as follows:

[0073] τ R ×τ S =τ H

[0074] τ S ×τ H =τ R

[0075] τ S ×τ R =-τ H

[0076] τ H ×τ S =-τ R

[0077] τ R ×τ S =τ H

[0078] τ S ×τ R =-τ H

[0079] Where: τ R = unit vector along the rotor axis

[0080] τ S = unit vector along the principal axis

[0081] τ H = unit vector along the hinge axis

[0082] In terms of gyroscopic action, each vector can represent either angular momentum or angular velocity. The vector cross product of the angular momentum and its angular velocity about an orthogonal axis produces a gyroscopic torque about a third axis. Thus, in general, the angular momentum of the rotor, arm, and main shaft can each have an angular velocity about either of two orthogonal axes, producing six combinations of gyroscopic torques.

[0083] In this particular case, the spindle has only one degree of freedom, rotation about the spindle axis. Therefore, its angular momentum is constrained to rotate about an orthogonal axis, eliminating two of the generalized gyroscopic torques, leaving four.

[0084] Furthermore, the arms are prohibited from rotating about the rotor axis. Thus, the gyroscopic torque caused by the angular momentum of the arms rotating about the rotor axis is eliminated, leaving three. Furthermore, although the spindle causes the angular momentum of the arms to rotate, thereby exerting a gyroscopic torque on the arms about the rotor axis, the arms are prohibited from rotating about the rotor axis. This gyroscopic torque exerts stress on the support structure of the hinge axis. Since this gyroscopic torque that has an effect on the dynamic motion in the system is eliminated, there are still two gyroscopic torques that do affect the dynamic motion of the system. The effective two gyroscopic torques are as follows:

[0085] M R / S =-I R / R ω R / R ω R / H cosθ A / H

[0086] M R / H =I R / R ω R / S cosθ A / H

[0087] Where: I R / R = Rotor moment of inertia about the rotor axis

[0088] ω R / R = angular velocity of the rotor about the rotor axis

[0089] ω RS = angular velocity of the rotor and arms about the main axis

[0090] ω RH = angular velocity of the rotor and arm about the hinge axis

[0091] θ A / H = Angle of the arm from the horizontal plane about the hinge axis

[0092] M RS = gyroscopic torque on the rotor and arm about the main axis

[0093] M R / H = gyroscopic torque on the rotor and arm about the hinge axis

[0094] If the angular momentum about one axis and its velocity about the orthogonal axis are both constant, the gyroscopic torque about the third axis is constant. If either the angular momentum or the angular velocity is oscillating and the other is constant, the gyroscopic torque is oscillating. If both the angular momentum and the angular velocity oscillate at the same frequency, the gyroscopic torque has two components, a constant (zero if the oscillations are orthogonal, i.e., 90 degrees apart in phase) and a second harmonic.

[0095] For an arm balanced along the rotor reference axis and along the spindle axis, the differential equations for the rotor oscillation about the rotor axis, the spindle rotation, and the arm oscillation about the hinge axis are given by:

[0096]

[0097] Where: I R = Rotor moment of inertia about the rotor axis

[0098] I SS = Moment of inertia of the spindle (including the arm) about the spindle axis

[0099] I AH = Moment of inertia of the arm about the hinge axis

[0100]

[0101] θ A / H =Angle of arm horizontal

[0102] (M R ) IN = Input torque of rotor oscillation

[0103] (M S ) IN = Input torque used to start the spindle rotation

[0104] (M A ) M = Input torque about the hinge axis

[0105] (M R ) I = the torque that opposes the rotor's oscillations about the rotor axis

[0106] (M A ) I = the torque that opposes the oscillation of the arm about the hinge axis

[0107] (M S) I = Torque that hinders the spindle rotation

[0108] M LOAD = Load torque on the spindle

[0109] m A = mass of the arm

[0110] r G / R = Radius of gyration along the rotor reference axis

[0111] r G / S = Radius of gyration along the spindle axis

[0112] These equations are mathematically intractable, primarily because the expression for the torque due to the centrifugal force contains the product of the sine and cosine of the angle of the arm about the hinge axis, which is itself a quasi-sinusoidal function. Under ideal obstacle-free conditions and for oscillations of small amplitude (where the small angle approximation is valid), a closed form solution is available.

[0113] The spindle speed is assumed to be constant. The torque from the motor is assumed to be in phase with the rotor angular acceleration. The rotor and arm oscillate at the same oscillation frequency. The differential equation for motion about the hinge / arm axis can be rewritten using slightly different nomenclature as follows:

[0114]

[0115] I A = Moment of inertia of arm and rotor about the arm axis

[0116] I R = Rotor moment of inertia about the rotor axis

[0117] M A = Torque provided by the arm motor

[0118] ω S = angular velocity of the spindle

[0119] I C = constant relating spindle speed to centrifugal torque on the arm

[0120] Assume that the arm position at time t = 0 has amplitude θ A,max The rotor acceleration and the arm torque have a phase φ with respect to the arm position.

[0121] θ A =θ A,max cosωt

[0122]

[0123] M A =-M A,maxcos(ωt+φ)

[0124]

[0125] Let ω=ω R =ω A = Oscillation frequency

[0126] Let ω S =ω

[0127] M A and In-phase

[0128] θ R =θ R,max cos(ωt+φ)

[0129]

[0130] Substitute these values ​​of rotor and arm position, velocity, and acceleration into the torque equation.

[0131]

[0132] Replace cos(ωt) with

[0133] cos(ωt+φ-φ)sinφsin(ωt+φ)+cosφcos(ωt+φ).

[0134]

[0135] Collecting the sin(ωt+φ) terms leads to:

[0136]

[0137] definition

[0138] The resonance of the arm will occur at This means that o <ω S Because I C <I A .

[0139]

[0140] For ω S=ω, the arms are not resonant. If the small angle approximation remains valid at large amplitudes and the impeding torque acts on the arms, resonance is indicated when the spindle speed is slightly above the oscillation frequency of the rotor and arms. The stiffness provided by the centrifugally forced torque is not constant at larger amplitudes. However, it is an interesting concept as to whether some resonance-like behavior can be used to advantage at larger amplitudes. Note that as the oscillation amplitudes of the arms increase, they become limited by the centrifugal effect.

[0141] There is no indication of rotor resonance.

[0142] Collecting the cos(ωt+φ) terms gives:

[0143]

[0144] Separating these two equations:

[0145]

[0146] The gyroscopic torque applied to the main axis is given by the following equation:

[0147]

[0148] Integrate with respect to time to get the average gyro torque. The sin(2ωt) and sin(ωt) terms integrate to zero.

[0149]

[0150] As before, for θ A,max As mentioned, if a solution with a small angle approximation is usually a prerequisite for performance, the average gyro torque can be enlarged by approaching resonance.

[0151] Substituting θ for the expression from the sin term above R,max :

[0152]

[0153] When the spindle is used as the output power source, it is inconvenient to compare the output torque with the input torque, because the output is an average value and the input torque is oscillating. However, the output power can be compared with the total input power. The output power is the product of the average output torque and the spindle speed. Each input power is the average power over one quarter of the oscillation period (independent of the algebraic sign and the same in each of the other three quarters) and is given by the average of the product of the oscillating input torque and the instantaneous angular velocity due to the input torque. The expressions for the output power and the input power from the auxiliary motor to the rotor and to the arm are given by the following formula:

[0154]

[0155] The difference between the output power and the total input power can be expressed in a normalized form as follows:

[0156]

[0157] Fig.12 is a graph showing the normalized net power versus the phase angle between the rotor oscillation and the arm oscillation. As shown, for a set of practical design geometries, the normalized net power depends on the phase angle between the rotor oscillation and the arm oscillation. There is a range of phase angles where the output is greater than the input.

[0158] Alternatively, the input power is given by the in-phase components of the product of torque and speed. The expression for the rotor and arm motor is:

[0159] P-in-r=2x(Mr-max*sin(2*pi*f*t))*(wr-max*sin(2*pi*f*t+phi-r) / time integral of T

[0160] P-in-a=time integral of (Ma-max*sin(2*pi*f*t))*(wa-max*sin(2*pi*f*t+phi-a) / T

[0161] Mr-max=Kt-r*Amp-r-max

[0162] Ma-max=Kt-a*Amp-a-max

[0163] Where: P-in-r = Input power from each rotor motor (watts)

[0164] P-in-a = Input power from the arm motor (watts)

[0165] Mr-max = the magnitude of the torque provided by the rotor motor (Nm)

[0166] Ma-max = Torque amplitude provided by the arm motor (Nm)

[0167] Kt-r = Torque constant of the rotor motor (Nm / amp)

[0168] Kt-a = Torque constant of arm motor (Nm / amp)

[0169] Amp-r-max = current amplitude in the rotor motor (amperes)

[0170] Amp-a-max = current amplitude in the arm motor (amp)

[0171] wr-max = the magnitude of the rotor angular velocity about the rotor axis (radians / second)

[0172] wa-max = the amplitude of the arm's angular velocity about the arm's axis (rad / sec)

[0173] f = frequency of oscillation of the rotor and arms (Hz)

[0174] phi-r = phase angle between rotor torque and angular velocity waveforms (rad)

[0175] phi-a = phase angle between arm torque and angular velocity waveform (rad)

[0176] t = time (sec)

[0177] T = 1 / f = oscillation period of the rotor and arm (sec)

[0178] pi = 3.14159

[0179] Mechanical efficiency expressed as a percentage is:

[0180] Eff-mech=P-out / (P-in-r+P-in-a)x 100

[0181] Where: Eff-mech = efficiency of mechanical power in the instrument (%)

[0182] When the arm is used as an output power source, it provides AC power at an oscillating frequency. The input power is provided by the spindle motor and the rotor motor. The expression for the spindle motor is given by:

[0183] P-in-s=Ms*ws=Ms*(w-s')*(2*pi / 60)

[0184] Ms=Kt-s*Amp-s

[0185] Where: P-in-s = input power from the spindle motor (watts)

[0186] Ms = Torque provided by the spindle motor (Nm)

[0187] Kt-s = Torque constant of the spindle motor (Nm / amp)

[0188] Amp-s = Current in the spindle motor (Amp)

[0189] ws = spindle speed (radians / second)

[0190] w-s'=spindle speed (rps)

[0191] The expression for the rotor motor power used to oscillate the rotor is given by:

[0192] P-in-r = time integral of 2×(Mr-max*sin(2*pi*f*t))*(wr-max*sin(2*pi*f*t+phi-r) / t

[0193] The input power supplied to the arm by the rotor motor is given by:

[0194] Pr / a-max=2×(Mr-max*sin(2*pi*f*t))*(wa-max*sin(2*pi*f*t+phi-r / a)

[0195] Where: Pr / a-max = the magnitude of the power supplied to the arm by the rotor motor (Nm / sec)

[0196] phi-r / A = Phase angle between rotor torque and arm angular velocity waveforms (rad)

[0197] The input power provided to the arm by the centrifugal forced torque is given by:

[0198] P-cent-max=(2x I-cent*(ws)^2*sin(Theta-a)*cos(Theta-a)*wa-max*sin(2*pi*f)

[0199] Theta-a=Theta-a-max*sin(2*pi*f*t)

[0200] Where: P-cent-max = the amplitude of the centrifugal force supplied by the power (Nm / sec)

[0201] I-cent = constant relating spindle speed to centrifugal torque on the half-arm (Nm-sec^2)

[0202] Theta-a=arm angle (rad)

[0203] Theta-a-max = Amplitude of arm oscillation (rad)

[0204] The power required to oscillate the arm is given by:

[0205] Pa-osc-max=2x(MOI-a*(2*pi*f*t)*Theta-a-max*sin(2*pi*f*t))*(wa-max*sin(2*pi*f*t)

[0206] Where: Pa-osc-max = Power (watts) required to oscillate the arm to Theta-a-max amplitude

[0207] MOI-a = Moment of inertia of half arm (Nm-sec^2)

[0208] The output power that can be obtained from the oscillation of the arm is the difference between the total power applied to the arm and the power required to make the arm oscillate. The expression for the output power is given by the following equation:

[0209] P-out=(Pr / a-avg+P-cent-avg)-Pa-osc-avg

[0210] Where: P-out = Available mechanical power (watts)

[0211] Pr / a-avg = Power contribution of the rotor motor to the oscillating arm (Watts)

[0212] P-cent-avg = power contribution of centrifugal force to the oscillating arm (watts)

[0213] Pa-osc-avg = Power (Watts) required to oscillate the arm to Theta-a-max amplitude

[0214] The input power supplied by the spindle motor and the rotor motor is uniform:

[0215] P-in=P-in-s+P-in-r+Pr / a-max

[0216] Where: P-in = total input power provided by the operating instrument (watts)

[0217] The mechanical efficiency in percent is given by:

[0218] Eff-mech = P-out / (P-in) x 100

[0219] III. Selected Examples of Representative Design Parameters and Performance Calculations of Centrifugal Gyroscope Devices

[0220] Table 1 below provides Figures 1A-1C A listing of design parameters and calculated performance for a representative embodiment of the centrifugal gyro device 100 is shown in FIG.

[0221]

[0222]

[0223]

[0224]

[0225] Table 1

[0226] Fig.13Ais a graph showing sample test results of the centrifugal gyro device 100 having the characteristics described in Table 1 above, which shows the change of the mechanical power of the main shaft relative to the oscillation amplitude of the rotor. Table 2 below provides corresponding sample test results, which shows the change of the mechanical power of the main shaft relative to the oscillation amplitude of the rotor. Fig. 13B is a graph showing sample test results for a centrifugal gyro apparatus 100 having the characteristics described in Table 1, which illustrates the extraction of gyro power from spindle rate harmonics. Fig.13A and 13B The data shown in were calculated from measurements of two-cycle torque in the spindle using discrete Fourier transform (DFT) analysis. Fig.13A , Fig. 13B and the test results shown in Table 2, the pair of rotors oscillate synchronously with each other. The arms swing the rotors about orthogonal axes. The oscillations of the arms are synchronized with the rotor oscillations. The oscillations produce an output gyroscopic torque about the spindle axis. In testing, the gyroscopic torque was not sufficient to overcome the large obstructive torque on the spindle, so the help of the spindle motor was needed. The rotating spindle feeds back the gyroscopic torque and the centrifugal torque to amplify the amplitude of the arm oscillations. The spindle velocity is adjusted for the central resonance. Test data shows that for certain operating regions, the mechanical power output can be greater than the input (for example, the rotor amplitude is 18 degrees, 27 degrees, or 36 degrees).

[0227]

[0228] Table 2

[0229] Figures 14A-14C is a graph showing additional sample test results of a centrifugal gyro device 100 having the characteristics described in Table 1 above. During the test, (i) a pair of rotors 114 ("rotors") oscillate synchronously with each other, (ii) an arm assembly 110 ("arm") oscillates the rotors 114 about orthogonal axes, and (iii) the oscillation of the arm assembly 110 is synchronized with the oscillation of the rotors 114. In addition, the arm assembly 110 and the rotor 114 oscillate at the same amplitude and frequency and in phase with each other. The target position, load position, and current of a controller (e.g., controller 148) of the arm assembly 110, the rotor 114, and the first shaft 120 ("spindle") are recorded. The target position is the position that the controller 148 is programmed to reach, and the load position is the actual position of the motor at the time of sampling.

[0230] The generated oscillation outputs a gyroscopic torque about an axis A1 of a first shaft 120 (e.g., a main shaft). The rotating first shaft 120 feeds back the gyroscopic torque and the centrifugal torque to amplify the oscillation amplitude of the arm assembly 110, and the rotation rate of the first shaft 120 is adjusted for centrifugal resonance. Under some parameters, the mechanical power output appears to be greater than the mechanical power input.

[0231] refer to Fig.14A , the arm motor controller reports the current provided by the controller every 4 milliseconds. The average current (Amp) is a sample of the current in amperes averaged over an integer number of oscillation cycles. The fact that this current is negative means that the arm is moving in the opposite direction to the direction that current of this sign would normally move. The rms current (A) is the root mean square value of the recorded current. This value is used to calculate the I2R power (watts). The average power (watts) is the torque (Nm) multiplied by the speed (rad / s). The torque is calculated from the current by multiplying the current by Kt, which is the torque constant of 0.34Nm / Amp. In this graph, the average power is negative, which means that the mechanical power output from the arm is greater than the mechanical power put into the arm by the motor controller (e.g., the average current). I2R (watts) is the power consumed in the motor windings. This is calculated as the square of the rms current multiplied by the winding resistance.

[0232] refer to Fig. 14B , which shows data for one of the rotors in the rotor under the same setup as the previous arm measurement graph. The rotor motor controller acquires position and current data at 10 millisecond intervals. The rotor AVE_CUR(A) line is the average value of the current measured by the rotor motor controller over an integer number of cycles of the oscillation frequency. The rms cur(A) line is the root mean square value of the rotor motor current. This is used to calculate the I2R power dissipated in the resistance of the motor windings. The average power (watts) line is the torque averaged over an integer number of cycles of the oscillation frequency multiplied by the average value of the rotor speed. The torque is calculated from the current by multiplying the current (in amperes) by the torque constant Kt of the motor, which is 0.06N / ampere for the rotor motor.

[0233] refer to Fig. 14C , the spindle motor controller records position and current at 4 milliseconds per sample. The AVE_CUR(A) line is the average of the current over an integer number of cycles of the oscillation frequency. The rms cur(A) line is the root mean square of the current. Since the spindle current is always in the same direction, the rms and average are very close to each other. The ave pwr(watts) line is the torque multiplied by the speed of the spindle. The torque is calculated from the current by multiplying the current by Kt, which is 0.34Nm / amp. I2R pwr(watts) is the power dissipated in the motor winding resistance.

[0234] It is noteworthy that the power required by the spindle motor decreases as the amplitude of the oscillation increases. The arm motor also shows a decrease. The rotor motor shows an increase, which may but does not necessarily offset this decrease. If it is further confirmed that the spindle power decreases with increasing amplitude, this can be taken as evidence that the oscillations of the arm and rotor cause power to be added to the spindle.

[0235] Figures 15A-15D1 is a graph of sample test results showing the effect of the oscillation of the rotor 114 on the movement of the arm assembly 120 of the centrifugal gyro device 100. These effects were studied under two different conditions. First, the arm was held in position with a motor controller while the rotor oscillated. The current drawn by the arm motor was used to calculate the torque on the arm. In the second method, the arm motor controller was loaded with code with the PID gains all set to zero. This allows position and current data to be recorded, but the controller does not react to position. In this case, the current is the current produced by the motor when the motor moves under the influence of the rotor motion.

[0236] refer to Fig.15A , which shows the arm held in position by the arm motor. During the test, the position changed only a small amount (+-0.3 degrees) and the velocity was almost zero. This is the torque calculated from the current by multiplying the current by Kt (0.34Nm / amp). The data shows the gyroscopic torque applied to the arm due to the oscillation of the rotor combined with the rotation of the spindle.

[0237] refer to Fig. 15B , in this case the arm remains free to move and the arm motor controller is loaded with a PID gain of zero so that the motion and current can be recorded. The graph shows that the arm oscillates due to the effects of the rotor oscillation and the spindle rotation.

[0238] refer to Fig. 15C , the torque applied to the arm is calculated by multiplying the current in the arm by the Kt of the arm motor (0.34Nm / Amp).

[0239] refer to Fig.15D , which shows a graph of torque versus speed to illustrate whether the device is consuming or generating power. If the signs of the torque and speed are the same, the motor is transferring power to the device. If the signs are different, the device is transferring power to the motor. In the case of a controller, this power transfer to the motor may be wasted by generating heat. In this case, the speed and torque have opposite signs, which means that the arm motor is not transferring energy to the device.

[0240] Figures 16A-16F is a graph of sample test results showing the effect of oscillations of the arm assembly 120 on the torque of the rotor 114 of the centrifugal gyro device 100. When collecting data on the effect of the rotor on the arm motion, the position and current data of the rotor are also collected. This data is collected to determine whether the rotor is supplying energy to the arm.

[0241] refer to Fig.16A, the data in this figure shows one of the rotors oscillating between 0 and 72 degrees. The actual position is arbitrary and is an artifact of the algorithm used to generate the oscillation. The oscillation of the rotor can be thought of as oscillating + / - 36 degrees. The actual oscillation amplitude is slightly greater than this, and the phase lags slightly from the programmed target position. In this case, the arm remains in a nearly fixed position while the rotor oscillates, and the spindle rotates.

[0242] refer to Fig. 16B , the rotor amplitude is reduced when the arm is free to move compared to when the arm is held in place by the arm motor. This is probably due to some energy being transferred from the rotor to the arm.

[0243] refer to Fig. 16C , which shows the current and speed data for the rotor with the arms held in place.

[0244] refer to Fig.16D , which shows the current and speed in the rotor with the arm moving freely. When the arm is moving freely, the current in the arm is less. The torque versus speed graph shows whether the rotor motor is transferring energy to the device or the device is transferring energy to the motor. When the signs are the same, the motor is transferring energy to the device. When the signs are opposite, the transfer is the other way.

[0245] refer to Fig.16E , with the arm held in position by the arm motor, the resulting motion is an ellipse with equal amounts of energy transferred in both directions.

[0246] refer to Fig.16F , with the arm moving freely, the graph tilts to place more points in both quadrants where the signs of speed and torque are the same. This indicates that more energy is being transferred from the rotor motor to the rotor than from the rotor to the motor. This is evidence that the rotor motor is providing energy to the arm movement. It is noteworthy that the amplitude of the current oscillations is not the factor that determines the amount of power transferred, but the relative phase of the torque and speed curves, which is confirmed by the fact that the amplitude of the current oscillations is larger where little energy is being transferred from the motor, and smaller where the energy transfer from the motor to the rotor is larger.

[0247] IV. Selected Examples of Additional Representative Characteristics and / or Operating Parameters of Representative Elements of Centrifugal Gyroscope Devices

[0248] Table 3 below provides representative characteristics and / or operating parameters of various elements of the centrifugal gyroscopic devices described herein.

[0249]

[0250]

[0251]

[0252]

[0253]

[0254] Table 3

[0255] V. Additional Examples

[0256] The following examples illustrate several embodiments of the present technology:

[0257] 1. A centrifugal gyroscope device, comprising:

[0258] a shaft rotatable about a first axis;

[0259] an arm coupled to the shaft and configured to rotate with the shaft, wherein the arm is pivotable about a second axis different from the first axis;

[0260] at least one rotor coupled to the arm and configured to pivot with the arm about the second axis, wherein the at least one rotor is also capable of pivoting about a third axis that is different from the first axis and different from the second axis; and

[0261] a control system operably coupled to at least one of the shaft, the arm, and the at least one rotor, wherein the control system is configured to cause the shaft, the arm, and the at least one rotor to enter an at least approximately resonant operating mode in which (a) the shaft rotates about the first axis at a rotational rate, (b) the arm oscillates about the second axis at a first frequency, and (c) the at least one rotor oscillates about the third axis at a second frequency at least approximately equal to the first frequency.

[0262] 2. The centrifugal gyroscopic device of example 1, wherein the first frequency and the second frequency are at least approximately equal to the rotation rate.

[0263] 3. The apparatus of embodiment 1 or embodiment 2, wherein the control system comprises a motor assembly positioned to drive the at least one rotor to oscillate about the third axis at the second frequency.

[0264] 4. An apparatus according to any one of embodiments 1-3, wherein the oscillation of the arm and the oscillation of the at least one rotor generate a gyroscopic torque, the gyroscopic torque being used to rotate the shaft about the first axis, and wherein the gyroscopic torque is substantially maximized in the resonant operating mode.

[0265] 5. The apparatus of embodiment 4, wherein the control system is configured to change a phase relationship between a first frequency of the arm and a second frequency of at least one rotor to change an average value of the gyroscopic torque.

[0266] 6. An apparatus according to Example 4 or Example 5, wherein the control system further comprises a motor assembly positioned to drive the arm to oscillate about the second axis at the first frequency.

[0267] 7. The apparatus of embodiment 6, wherein the control system is configured to control the motor assembly to change a phase relationship between a first frequency of the arm and a second frequency of at least one rotor to change an average value of the gyroscopic torque.

[0268] 8. The device of any one of embodiments 1-7, wherein rotation of the arm generates a centrifugal force that is used to cause the arm to oscillate about the second axis.

[0269] 9. The apparatus of any one of embodiments 1-8, further comprising a generator coupled to the shaft and configured to generate output power from rotation of the shaft.

[0270] 10. The apparatus of any one of embodiments 1-9, further comprising a generator coupled to the arm and configured to generate output power from the pivotable movement of the arm.

[0271] 11. An apparatus according to any of Examples 1-10, wherein the second axis is orthogonal to the first axis.

[0272] 12. The apparatus of any one of embodiments 1-11, wherein the third axis is orthogonal to the second axis.

[0273] 13. The device of any one of embodiments 1-12, wherein the at least one rotor comprises a first rotor coupled to a first end of the arm and a second rotor coupled to a second end of the arm.

[0274] 14. A method of operating a centrifugal gyroscopic device, the method comprising:

[0275] rotating the shaft of the centrifugal gyro device about a first axis;

[0276] pivoting an arm of the centrifugal gyroscopic device about a second axis different from the first axis, wherein the arm is pivotally coupled to the shaft and configured to rotate with the shaft;

[0277] pivoting at least one rotor of the centrifugal gyroscopic device about a third axis that is different from the first axis and different from the second axis, wherein the at least one rotor is pivotably coupled to the arm and configured to pivot with the arm about the second axis; and

[0278] Controlling the rotation of the shaft, the pivoting of the arm and / or the pivoting of the at least one rotor so that the shaft, the arm and the at least one rotor enter a resonant operating mode, wherein (a) the shaft rotates at a rotational rate, (b) the arm oscillates about the second axis at a first frequency, and (c) the at least one rotor oscillates about the third axis at a second frequency that is at least approximately equal to the first frequency.

[0279] 15. The method of embodiment 14, wherein the first frequency and the second frequency are at least approximately equal to the rotation rate.

[0280] 16. A method according to Example 14 or Example 15, wherein the method also includes generating a gyroscopic torque through oscillation of the arm and oscillation of the at least one rotor, and the gyroscopic torque is used to rotate the shaft about the first axis.

[0281] 17. The method of Example 16, wherein the method further comprises changing a phase relationship between a first frequency of the arm and a second frequency of at least one rotor to change an average value of the gyroscopic torque.

[0282] 18. The method of any one of embodiments 14-17, wherein the method further comprises generating electricity by rotating the shaft using a generator coupled to the shaft.

[0283] 19. A method according to any one of embodiments 14-18, wherein the second axis is orthogonal to the first axis, and wherein the third axis is orthogonal to the second axis.

[0284] 20. A centrifugal gyroscope device, comprising:

[0285] a spindle rotatable about a first axis;

[0286] an arm coupled to the spindle and configured to rotate with the spindle, wherein the arm has a first end and a second end, and wherein the arm is pivotable about a second axis different from the first axis;

[0287] a first rotor coupled to the first end of the arm;

[0288] a second rotor coupled to the second end of the arm, wherein the first rotor and the second rotor are each pivotable about a third axis that is different from the first axis and different from the second axis; and

[0289] a control system operably coupled to at least one of the shaft, the arm, the first rotor, and the second rotor, wherein the control system is configured to cause the shaft, the arm, the first rotor, and the second rotor to enter a resonant operating mode in which (a) the shaft rotates at a rotational rate, (b) the arm oscillates about the second axis at a first frequency at least approximately equal to the rotational rate, and (c) the first rotor and the second rotor oscillate about the third axis at a second frequency at least approximately equal to the first frequency.

[0290] VI. in conclusion

[0291] The above detailed description of the embodiments of the present technology is not intended to be exhaustive or to limit the present technology to the precise form disclosed above. Although specific embodiments and examples of the present technology are described above for illustrative purposes, various equivalent modifications within the scope of the present technology are possible, as will be appreciated by those skilled in the relevant art. For example, although the steps are presented in a given order, other embodiments may perform the steps in a different order. The various embodiments described herein may also be combined to provide further embodiments.

[0292] It can be understood from the foregoing that, for the purpose of illustration, specific embodiments of the present technology have been described herein, but well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the present technology. Where the context permits, singular or plural terms may also include plural or singular terms, respectively.

[0293] As used herein, the terms "about", "approximately", "generally", "substantially", etc. refer to values ​​within 10% of the stated value. As used herein, the phrase "and / or" as in "A and / or B" refers to A alone, B alone, and A and B. If any material incorporated herein by reference conflicts with the present disclosure, the present disclosure shall prevail. In addition, the term "including" is used throughout the text to indicate that at least the described features are included, so that any greater number of the same features and / or other features of additional types are not excluded. It should also be understood that specific embodiments have been described herein for illustrative purposes, but various modifications may be made without departing from the present technology. In addition, although the advantages associated with some embodiments of the present technology have been described in the context of these embodiments, other embodiments may also exhibit these advantages, and not all embodiments must exhibit these advantages to fall within the scope of the present technology. Therefore, the present disclosure and associated technologies may cover other embodiments not explicitly shown or described herein.

Claims

1. A centrifugal gyroscope device, comprising: a shaft rotatable about a first axis; an arm coupled to the shaft and configured to rotate with the shaft, wherein the arm is pivotable about a second axis different from the first axis; at least one rotor coupled to the arm and configured to pivot with the arm about the second axis, wherein the at least one rotor is also capable of pivoting about a third axis that is different from the first axis and different from the second axis; and a control system operably coupled to at least one of the shaft, the arm, and the at least one rotor, wherein the control system is configured to cause the shaft, the arm, and the at least one rotor to enter an at least approximately resonant operating mode in which (a) the shaft rotates about the first axis at a rotational rate, (b) the arm oscillates about the second axis at a first frequency, and (c) the at least one rotor oscillates about the third axis at a second frequency at least approximately equal to the first frequency.

2. The centrifugal gyroscope device according to claim 1, wherein: The first frequency and the second frequency are at least approximately equal to the rotation rate.

3. The device according to claim 1, wherein: The control system includes a motor assembly positioned to drive the at least one rotor to oscillate about the third axis at the second frequency.

4. The device according to claim 1, wherein: Oscillations of the arm and of the at least one rotor generate a gyroscopic torque that acts to rotate the shaft about the first axis, and wherein the gyroscopic torque is substantially maximized in the resonant mode of operation.

5. The device according to claim 4, wherein: The control system is configured to change a phase relationship between the first frequency of the arm and the second frequency of the at least one rotor to change an average value of the gyroscopic torque.

6. The device according to claim 4, wherein: The control system also includes a motor assembly positioned to drive the arm to oscillate about the second axis at the first frequency.

7. The device according to claim 6, wherein: The control system is configured to control the motor assembly to change a phase relationship between the first frequency of the arm and the second frequency of the at least one rotor, thereby changing an average value of the gyroscopic torque.

8. The device according to claim 1, wherein: Rotation of the arm generates a centrifugal force that acts to cause the arm to oscillate about the second axis.

9. The apparatus of claim 1, further comprising a generator coupled to the shaft and configured to generate output power from rotation of the shaft.

10. The apparatus of claim 1, further comprising a generator coupled to the arm and configured to generate output power from the pivotable movement of the arm.

11. The device according to claim 1, wherein: The second axis is orthogonal to the first axis.

12. The device according to claim 1, wherein: The third axis is orthogonal to the second axis.

13. The device according to claim 1, wherein: The at least one rotor includes a first rotor coupled to a first end of the arm and a second rotor coupled to a second end of the arm.

14. A method of operating a centrifugal gyroscopic device, the method comprising: rotating the shaft of the centrifugal gyro device about a first axis; pivoting an arm of the centrifugal gyroscopic device about a second axis different from the first axis, wherein the arm is pivotally coupled to the shaft and configured to rotate with the shaft; pivoting at least one rotor of the centrifugal gyroscopic device about a third axis that is different from the first axis and different from the second axis, wherein the at least one rotor is pivotably coupled to the arm and configured to pivot with the arm about the second axis; and Controlling the rotation of the shaft, the pivoting of the arm and / or the pivoting of the at least one rotor so that the shaft, the arm and the at least one rotor enter a resonant operating mode in which (a) the shaft rotates at a rotational rate, (b) the arm oscillates about the second axis at a first frequency, and (c) the at least one rotor oscillates about the third axis at a second frequency at least approximately equal to the first frequency.

15. The method according to claim 14, wherein: The first frequency and the second frequency are at least approximately equal to the rotation rate.

16. The method according to claim 14, wherein: The method also includes generating a gyroscopic torque through oscillation of the arm and oscillation of the at least one rotor, the gyroscopic torque being used to rotate the shaft about the first axis.

17. The method according to claim 16, wherein: The method also includes changing a phase relationship between the first frequency of the arm and the second frequency of the at least one rotor to change an average value of the gyroscopic torque.

18. The method according to claim 14, wherein: The method also includes generating electricity by rotating the shaft with a generator coupled to the shaft.

19. The method according to claim 14, wherein: The second axis is orthogonal to the first axis, and wherein the third axis is orthogonal to the second axis.

20. A centrifugal gyroscope device, comprising: a spindle rotatable about a first axis; an arm coupled to the spindle and configured to rotate with the spindle, wherein the arm has a first end and a second end, and wherein the arm is pivotable about a second axis different from the first axis; a first rotor coupled to the first end of the arm; a second rotor coupled to the second end of the arm, wherein the first rotor and the second rotor are each pivotable about a third axis that is different from the first axis and different from the second axis; and a control system operably coupled to at least one of the shaft, the arm, the first rotor, and the second rotor, wherein the control system is configured to cause the shaft, the arm, the first rotor, and the second rotor to enter a resonant operating mode in which (a) the shaft rotates at a rotational rate, (b) the arm oscillates about the second axis at a first frequency at least approximately equal to the rotational rate, and (c) the first rotor and the second rotor oscillate about the third axis at a second frequency at least approximately equal to the first frequency.

Images