To provide a biaxial attitude control device that is lightweight and can be miniaturized, and an attitude control method.SOLUTION: An attitude control device 20 which is installed to an unmanned submersible so as to control its attitude comprises: a flywheel 21; a drive motor 27 that rotates the flywheel 21; a first gimbal 24 that rotatably supports the flywheel 21, and has a tilt shaft 25 extending outward in the diametrical direction of the flywheel 21; and a second gimbal 31 that rotatably supports the tilt shaft 25, and fixes a mounting shaft 32 extending in a direction perpendicular to the tilt shaft 25. The attitude control device 20 is installed to an unmanned submersible via a support 40 that rotatably supports the mounting shaft 32.SELECTED DRAWING: Figure 3
【課題】軽量で小型化することができる2軸方向における姿勢制御装置及び姿勢制御方法を提供する。【解決手段】姿勢を制御する無人潜水機に設ける姿勢制御装置20は、フライホイール21と、フライホイール21を回転させる駆動モータ27と、フライホイール21を回転可能に支持し、フライホイール21の直径方向で外側に延在する傾動軸25を有する第1ジンバル24とを備える。更に、傾動軸25を回転可能に支持し、傾動軸25と直交する方向に延在する取付軸32を固定した第2ジンバル31とを備える。そして、取付軸32を回動可能に支持した支持部40を介して、無人潜水機に取り付ける。【選択図】図3
ATTITUDE CONTROL DEVICE AND ATTITUDE CONTROL METHOD
姿勢制御装置及び姿勢制御方法
2021-11-25
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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