System for multi-axis gyroscopic impulse control

Abstract

Gyroscopic system, including: a) a support frame; b) a primary axle which is rotatably mounted within the support frame; c) a first flywheel and a second flywheel mounted on the primary shaft; d) an axle drive motor operationally connected to rotate the primary axle; e) a first flywheel motor operationally connected to drive the first flywheel; f) a second flywheel motor operationally connected to drive the second flywheel; and g) a control system that is operationally connected to the axle drive motor, the first flywheel motor and the second flywheel motor; where the control system is configured to: • to control the first flywheel motor and the second flywheel motor to rotate the first flywheel and the second flywheel in opposite directions; and • to independently control the speed of the primary axle via the axle drive motor.

Description

1. Title

[0001] System for multi-axis gyroscopic impulse control - 20 2025 002 814.6 2. Technical field

[0002] The present invention relates generally to gyroscopic systems and in particular to a system comprising counter-rotating flywheels mounted on a common driven axis for the purposes of variable position control, vibration damping and hybrid energy storage and conversion. 3. State of the art

[0003] Gyroscopic systems are used in aerospace and maritime applications for stabilization and attitude control. Conventional control moment gyroscopes (CMGs) and reaction wheels generate control torques by changing the speed or orientation of a rotating rotor. A limitation of these systems is their fixed gyroscopic stiffness once the rotor is rotating. Furthermore, systems with a single rotating rotor transmit a reactive torque to the vehicle structure, often requiring a complex array of multiple units for compensation. There is a need for a more agile gyroscopic system capable of dynamically varying its inertial properties and generating control forces with greater efficiency and reduced internal counter-torques. 4. Summary of the invention

[0004] The invention provides a system for improved gyroscopic control. In one embodiment, the system comprises a primary shaft rotatably mounted in a support frame. A first flywheel and a second flywheel are mounted on the primary shaft and configured to rotate in opposite directions relative to each other. A first hub motor independently rotates the primary shaft about its longitudinal axis. Two second hub motors independently control the counter-rotation of the first and second flywheels. A control system is operationally connected to the first and second hub motors and configured to independently modulate the rotational speed of the primary shaft and the rotational speeds of the flywheels, thereby controlling the inertial and gyroscopic properties of the system.The system also functions as a hybrid energy storage device, in which a controlled deceleration of the rotating masses can simultaneously release electrical energy and generate control torques, and in which energy can be transferred internally between flywheels to generate torque. 5. Brief description of the drawings Fig. : Mechanical structure (simplified sketch) Fig. : Block diagram of the control system 6. Detailed Description 6.1 Core Components number Component name Description type 100 system The entire gyroscopic assembly. device 110 support frame The structural housing that supports the system components. device 120 Primary axis A central shaft configured to rotate around its longitudinal axis (axisA). device 130 First flywheel A rotating mass mounted on the primary axis (120). device 140 Second flywheel A rotating mass, mounted on the primary axis (120), configured for counter-rotation with the first flywheel (130). device 150 Axle drive motor A motor (e.g. hub motor) that is operationally connected to rotate the primary axis (120). device 160 First flywheel engine A motor (e.g. hub motor), integrated or connected to drive the first flywheel (130). device 170 Second flywheel motor A motor, integrated or connected to drive the second flywheel(140). device 180 Electronic Control Unit (ECU) A processor and memory that are operationally connected to the motors and configured to implement the control system logic. steering 181 Control algorithms Software modules within the ECU

[180] for stiffness control, damping and energy management. Control (SW) 182 Signal processing & command logic Hardware / software within the ECU

[180] that processes sensor inputs and generates engine control commands. Control (HW / SW) 183 Motor controllers & power outputs Electronic circuits within the ECU

[180] that provide power and control for the motors [150, 160, 170]. Control (HW) 184 User input interface The interface of the ECU

[180] for receiving operating commands. Control (I / 0) 190 power supply A battery or a power supply system. Support 200 Storage arrangement Bearings that are mounted in the support frame (110) to enable low-rotational rotation of the primary axis (120). device 300 Force sensor A force transducer (external to the stressed system) that measures the force between the support frame

[110] and an external structure. Sensor unit 400 Accelerometer A sensor (external to the stressed system) that provides vibration and acceleration data to the control system

[180] . Sensor unit 410 Position sensor A sensor (external to the system under load) that provides orientation and angular position data to the control system

[180] . Sensor unit 6.2 Operating principle

[0005] The system's operation is based on the controlled interaction of angular momentum. The counter-rotation of the first (130) and second (140) flywheels results in a net zero angular momentum for the flywheel subsystem about axis A. This configuration minimizes the gyroscopic resistance to changes in the orientation of the primary axis (120) itself.

[0006] The primary axle (120) is driven independently by the axle drive motor (150). The rotation of the primary axle (120) imparts a significant angular momentum to the entire assembly consisting of the axle and the mounted flywheels (130), (140).

[0007] The control system (180) is configured to perform the following operations: • Control of the axle drive motor (150) to set a speed of the primary axle (120). • Control of the first (160) and second (170) flywheel motor to set equal but opposite speeds of the first (130) and second (140) flywheel. • Modulation of these speeds in real time to achieve a desired system state. • Processing of sensor signals via signal processing and command logic (182) and sending commands to motor controllers and power outputs (183) to control the motors (150, 160, 170).

[0008] Key effects: • Variable gyroscopic stiffness: The resistance of the system (100) to external torques is primarily a function of the angular velocity of the primary axis (120). The control system (180) can command a high rotational speed to make the system (100) highly rigid, or a low speed to make it more compliant. • Vibration damping: The control system (180) can receive inputs from sensors (e.g. accelerometers) and modulate the rotational speeds of the flywheels (130), (140) and / or the axle (120) to generate inertial counterforces that dampen vibrations in the support frame (110). • Torque-free control authority: Due to the counter-rotation of the flywheels (130), (140), the modulation of their speeds for control purposes generates equal and opposite internal torques, resulting in a minimal net disturbance torque on the support frame (110). 6.3 Power transmission and energy management

[0009] The control system

[180] and the hub motors [150, 160, 170] require a continuous supply of electrical power from the power supply

[190] . Furthermore, in order for the system to function as a hybrid energy storage device, electrical energy must be transferred bidirectionally between the rotating components and the stationary support frame

[110] .

[0010] In various embodiments, electrical power and control signals are transmitted to the first

[160] and second

[170] flywheel motors via conductor tracks that pass through the primary shaft

[120] . These tracks can include rotational interfaces, such as slip rings and brushes, to enable continuous transfer between the rotating primary shaft

[120] and the stationary support frame

[110] . Alternatively, wireless power transmission systems can be used for this purpose.

[0011] The primary axle drive motor

[150] performs a dual function. Primarily, it rotates the primary axle assembly. Secondarily, it operates as a generator. To gain stored rotational kinetic energy, the control system

[180] is configured to operate the axle drive motor

[150] as a generator, applying a counter-torque to slow down the assembly and convert its kinetic energy into electrical energy, which is then fed back to the power supply

[190] and / or external loads. 6.4 Optional embodiments and considerations

[0012] The system's performance can be optimized based on specific application requirements. Available in various configurations: • The first flywheel

[130] and the second flywheel

[140] can be positioned in close proximity along the primary axis

[120] to minimize bending moments and structural deflection at high speeds, thereby increasing system stability and control authority. • Alternatively, the flywheels can be positioned at a greater distance to achieve other technical objectives, such as maximizing the moment of inertia for energy storage capacity. • In a preferred embodiment, the challenge of powering the counter-rotating flywheels is solved by a contactless system integrated into each flywheel assembly. Each flywheel contains a permanent magnet rotor and dual stator coils, enabling the assembly to function as a combined motor and generator without any physical electrical contacts. This configuration allows for efficient internal power transfer between flywheels for position control and with the main power bus for energy storage. This specific contactless power supply system is the subject of a separate, concurrently pending application entitled "Contactless Power Transfer System for Counter-Rotating Flywheels Using an Integrated Dual-Stator Architecture". 6.5 Technical Advantages • Offers dynamically variable gyroscopic stiffness in a single unit. • Enables precise position control and vibration damping with minimal net reaction torque to the carrier vehicle or structure. • The system is configured to function as a hybrid flywheel energy storage system, in which controlled deceleration of the rotating masses can simultaneously deliver electrical power and generate control torques.

[0013] Legends for Fig. :

[110] Support frame The structural housing for the system.

[120] Primary axis The central shaft that rotates around axis A.

[130] First flywheel rotates clockwise (UCS).

[140] Second flywheel rotates counterclockwise (CV).

[150] Axle drive motor Drives the rotation of the primary axle

[120] .

[160] First flywheel motor Drives the first flywheel

[130] .

[170] Second flywheel motor Drives the second flywheel

[140] .

[200] Bearing arrangement Supports the primary axle within the frame.

[300] Force sensor (force transducer) Measures the resultant force between the support frame

[110] and an external mounting structure. Legend for Fig. :

[180] Electronic Control Unit (ECU): The central electronic control unit.

[181] Control algorithms Software modules for stiffness control, damping, energy management.

[182] Signal processing & command logic Hardware / software that processes sensor inputs and generates command signals for the motors.

[183] ​​Motor controls & power outputs The electronic circuits that provide power and control for the motors [150, 160, 170] based on commands from the ECU.

[184] User input / External commands The interface for receiving operating commands.

[185] Sensor feedback Input from sensors (e.g. accelerometers, position sensors) used for closed-loop control.

[186] Position sensor: Sensor that provides orientation / position data. Sensor feedback: The data path from the sensors [185, 186] to the control logic

[182] .

Claims

[1] Gyroscopic system, comprising: a) a support frame; b) a primary axle which is rotatably mounted within the support frame; c) a first flywheel and a second flywheel mounted on the primary shaft; d) an axle drive motor operationally connected to rotate the primary axle; e) a first flywheel motor operationally connected to drive the first flywheel; f) a second flywheel motor operationally connected to drive the second flywheel; and g) a control system that is operationally connected to the axle drive motor, the first flywheel motor and the second flywheel motor; where the control system is configured to: • to control the first flywheel motor and the second flywheel motor to rotate the first flywheel and the second flywheel in opposite directions; and • to independently control the speed of the primary axle via the axle drive motor. [2] System according to claim 1, wherein the control system is further configured to modulate the rotational speed of the primary axis in order to vary a gyroscopic stiffness of the system. [3] System according to claim 1, wherein the control system is further configured to modulate a rotational speed of at least one of the first flywheel or the second flywheel in response to a sensor signal in order to generate a damping force. [4] System according to claim 1, wherein the axle drive motor comprises a regenerative drive motor, and wherein the control system is configured to operate the regenerative drive motor in generator mode to decelerate the primary axle and convert rotational kinetics of the primary axle into electrical energy. [5] System according to claim 4, wherein the first flywheel motor and the second flywheel motor comprise regenerative drive motors, and wherein the control system is configured to operate the first and second flywheel motors in generator mode to decelerate the first and second flywheels and convert rotational kinetics of the flywheels into electrical energy. [6] System according to claim 1, further comprising a power supply and a bearing arrangement mounted within the support frame, wherein the bearing arrangement is configured to allow rotation of the primary axis. [7] System according to any of the preceding claims, wherein the control system is further configured to perform an internal power transfer by operating the first flywheel motor in generator mode to decelerate the first flywheel and supplying the electrical power thus generated to the second flywheel motor to accelerate the second flywheel, thereby generating a net control torque on the support frame. [8] System according to claim 7, further comprising a power switching assembly which is connected between the first and second flywheel motors and is connected to the control system, wherein the power switching assembly is configured to control the internal power transfer between the first and second flywheel motor. [9] System according to any of the preceding claims, wherein the control system is configured to respond to a sensor signal to effect a controlled deceleration of at least one of the primary axles or flywheels in order to simultaneously output electrical power and generate a control torque on the support frame.

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