RODGER C. FINVOLD

PAUL E. HUMPHREY

BACKGROUND OF THE INVENTION

The earth stores enough rotational inertial kinetic energy t power the world for about 100,000,000 years at current usage rates Gyroscopes, used only for orientation at present, could be configure to tap this energy similar in principle to the tidal generators tha have operated off the western coast of France.

Computations unequivocally demonstrate that energy can b converted directly from the earth's kinetic energy to electrica energy without violating any of the laws of physics, no withstanding misconceptions to the contrary. Such a system migh appear to violate the laws of conservation of energy and momentum but the inarguable facts are, that the energy extracted from th system is balanced by a reduction of the earth's rotational kineti energy (longer earth days) , and, rotational angular momentum losse are balanced by orbital momentum gain. This is accomplished throug the coupling element that is common to both the earth's rotation an the earth's orbital motions, namely: the earth's diameter and orbita incremental radius.

The gyrogenerator system of the present invention is similar t tidal generators in that both systems convert kinetic energy o planetary bodies to electricity, with planetary angular momentu adjusting itself accordingly for the conservation of both energy an momentum according to their respective laws. Tidal generator extract energy hydroelectrically from the exceptionally high rise an fall of the sun/moon-driven tides. But whereas conventiona hydroelectric generation transduces power ultimately derived fro solar radiation, tilal transduction taps energy from the lunar orbi and the earth's sun-referenced rotation and lunar orbit, with kineti energy losses from the spheres offsetting energy and power gains.

Supporting calculations using accepted physics and gyroscop formulae, detailing energy and momentum exchange among other things can be found in the priority document to this disclosure, U.S. Paten Number filed September 8, 1992 with Serial No. 08/872,51

for an EARTH/GYRO POWER TRANSDUCER.

Another energy conservation-related misconception may hav discouraged development of gyroscopically generated power. When torque is applied to a gyro rotor axis as must be done to extrac power, the rotor spin axis will precess until it is in alignmen with the earth's polar axis, at which point the gyro is in "gimba lock" and no further precession (and thus no more energy production will occur. The power output stroke of a gyrogenerator is thu limited to less than a 180 degree sweep, and intuitively would b thought to be repeatable only if more energy were put into the syste to re-orient the gyro rotor than was extracted during the powe stroke.

This is true to the extent that an efficient way to re-set th rotor must be implemented for there to be a net energy gain over complete cycle. Brute force exerted against the rotor to backtrac the rotor through the power stroke path would simply return all o the previously extracted output energy, plus a penalty, into th system, resulting in a negative net energy output. The powe generation concept would be invalidated were this the only way to re initiate the rotor orientation.

A clue to a successful approach to an energy-efficient roto recovery stroke can be found by examining the product of vecto multiplication used to derive work and applying it to gyroscop action. Energy equals a force (or torque) multiplied by th displacement through which it moves, i.e., E = F X d (or E = T X θ) . Power equals force (or torque) multiplied by the velocity of th applied force (or torque), i.e., P = F X v (or T x d0/dt) . The tw factors in the equations for energy and power are vector quantitie and must be aligned with each other, or have vectorial component that are aligned, in order to produce or dissipate power. No matte how large one factor in the equations may be, if the other is zer or totally orthogonal to the other one, no energy or power i produced, transduced, or dissipated, in either mathematical analysi or experimental result. This phenomenon, coupled with the uniqu orthogonal relationship of gyroscopic precession motion with th torque causing the precession, might be useable to achieve roto reorientation without energy input. In theory, by applying a re orientational torque around an axis in the equatorial plane of a earth-mounted gyro little energy would be consumed and the roto

could be precessed back to the beginning of its power stroke.

Yet another impediment to the development of gyrogenerators i the nature of the performance equations dealing with gyro powe output. For small gyros the equations show.a negative energy outpu under any set of conditions that could be realistically achieved. But because the potential power output is proportional to the fift power of the rotor radius with other factors being the same, th result is entirely different for large gyros.

SUMMARY

The apparatus of the invention overcomes the above-state difficulties and provides useable power from planetary kinetic energ on a continuing basis. In practice the described apparatus woul generally be one of a multiple unit array of transducer-equippe gyros cooperatively phased to supply an uninterrupted output voltage, powered by the earth, although a single unit could be used i intermittent output is acceptable, to charge a battery, for example In operation, the rotor of the gyroscope executes a complet cycle within a short period of time, with the cycle having tw phases. First, in the Power Phase, the rotor precesses as it react to the generator load, from a starting orientation to a orientation parallel to the earth's polar axis, at which point th rotor reaches stability (gimbal lock) and no further precessio reaction torque results. The generator (transducer) both causes th rotor to precess and is in effect driven by the precession.

The second phase of the cycle is the Recovery Phase, durin which a small quantum of energy must be returned into the system a the rotor is returned to the starting orientation, anti-parallel t the polar axis, ready for another power output stroke.

Structurally, the gyro has the conventional inner and oute gimbal and rotor, mounted in a stationary housing. The outer gimba is mounted in the housing on an axis parallel to the earth's pola axis. During the power stroke, a transducer operative between th outer gimbal and the housing generates power as the outer gimba executes apparent motion about the polar axis relative to th housing.

In addition to the conventional inner and outer gimbals, th invention defines an intermediate gimbal having an axis which i

always in the equatorial plane. During the Recovery stroke, a torqu motor mounted on the outer gimbal applies a re-precession torqu about this axis against the axis of the inner gimbal. Tw sequential, oppositely-directed torques exerted about th intermediate gimbal axis by the torque motor, separated in time b a brief torque from reverse-operation of the main power transduce to nudge the spin axis across the equatorial plane dead zone o gimbal lock, returning the rotor axis to the starting orientatio again, where it smoothly enters into another power stroke, and th cycle repeats.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the invention may be gleane from the following description and drawings.

Figure 1 diagrammatically illustrates the orientationa relationships among the gyroscope rotor, frame and gimbal rotationa axes, and with the earth;

Figure 2 is a diagrammatic representation of the complete cycl executed by the gyro;

Figure 3 is a graph of the load-induced torque and applie precession torques over the 360 degree cycle;

Figure 4 is a side elevation view of the gyro assembly;

Figure 5 is a sectional view taken on line 5-5 of Figure detailing the re-precession torquer installation;

Figure 6 is a view similar to Figure 4, illustrating th application of force between the outer gimbal frame and th intermediate gimbal for delivery of reprecession torque to the inne gimbal axis, as directed by the Control Unit.

Figure 7 is an enlargement of a portion of Figure A , partiall cut away to illustrate the rotor orientation adjustment;

Figure 8 is a wiring diagram of the output and contro circuitry;

Figure 9 diagrammatically illustrates of the rotor spin vecto angular orientation as a function of power-input/output precessio induced torque and applied rotor reorientation re-precession torques and.

Figure 10 is a diagrammatic illustration of a vehicle-mounte

system supported on a directionally stabilized platform.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

A typical gyroscope has four basic elements, comprising th frame or housing, two gimbals and the inner rotor. The gyr disclosed herein has an intermediate gimbal axis defined for re precession purposes in addition to the other two. The housing an gimbals nest one inside the other, each being journalled in th immediately outer element and in turn journalling an inner elemen on an axis orthogonal to the axis on which it itself is journalled The result of this chaining of orthogonal axes is three-dimensiona rotational freedom for the rotor axis. The rotor is orientationall completely independent from its surroundings absent deliberat interference and can maintain itself in a fixed orientation in spac irrespective of the housing orientation.

The two frames of reference essential to gyroscope discussio are the "space" frame of reference and the "earth" frame o reference. Space coordinates are universal in scope, with the eart both rotating and orbiting in the space reference frame, whereas i the earth frame of reference the earth itself is by definitio stationary and non-rotational. Since the rotor is fixed i orientation in space coordinates, and the housing is fixed in eart coordinates, the two will continually change their mutual orientatio as the earth rotates. A transducer is interposed between the oute gimbal and the housing. As the rotor resists following the earth' rotation, the outer gimbal drives the transducer, and the gyroscop system becomes a generator. When a disturbing torque is applie normal to the rotor axis, the rotor "precesses" around an axi perpendicular to the applied torque. The torques and motion involved are rotational in nature and thus define rotational axes The three axes involved in precessing are (1) the precessing Torqu Axis, (2) the precession Motion Axis, and (3) the rotor Spin Axis all of which have components that are mutually orthogonal. If ther is no three-way othogonality of vector components present there wil be no precession. The torque vector causes motion (precession around an axis perpendicular to the applied torque vector so that th vector multiplication product of the two mutually orthogonal torqu and displacement vectors is zero. Therefore, theoretically no energ

is required for equatorial axis torque re-precession of a polar oriented spin axis, permitting a substantially energy-free return o the rotor to the starting position.

This principle is essential in the creation of a workabl inertial energy production system using gyroscopes. The inventio employs the rotational inertial energy of the earth, as manifeste by its rotational inertial mass/velocity, coupled with the opposin reaction torque resulting from gyroscopic precessional torque, t generate power from the relative angular motion of the earth and th angularly spatially stable spinning gyro rotor and outer gimbal. Th rotor is re-set to the beginning of the power stroke in three steps two of which are essentially energyless precession strokes and th third requiring a slight energy input.

While the application of this invention to moving vehicles migh appear to be precluded by the large angular rates of maneuverin vehicles vs those of a planetary body, this difficulty may b circumvented by mounting this invention on a single axi directionally stabilized platform. Due to the fact that th sensitivity to outer-gi bal/polar-axis misalignment is a cosin function, a single axis platform stabilized in compass directio only, rotating in a plane tangential to the earth's surface, ma prove to be sufficient. Such a table would be servo controlled t the earth's magnetic field by slaving the directionality of th platform through the employment an earth magnetic field senso driving a servo controlled platform in accordance with well know state-of-the-art design procedures. Excessive torque loads on th basic structure of the invention would be avoided by monitoring th output power and modulating the output power to limit the load an consequent precession rate to acceptable values by the Control Uni 140.

STRUCTURE OF THE INVENTION

Referring now to the structure of the invention, it is assume that interested parties are already conversant with gyroscop construction and materials, or know how to access such information so that the material dealt with here does not cover engineerin details. Reference is again made to the more thorough treatment i the United States parent patent, although that document expands upo

theoretical and mathematical treatment more than it adds details o construction.

As shown in Figure 4, gyroscope 10 has an outer housing 12 tha is secured to the earth 30. Positioned in the housing 12 rotatabl about an axis parallel to the earth's polar axis is an outer gimba 14 supported by bearings 16 and 32. The outer gimbal in tur supports inner gimbal 83 which rotates about an axis 59, on bearing 66 and 86. The inner gimbal mounts the spinning rotor 52 journalle on shaft 53. Any suitable drive means may be used to drive th rotor, ordinarily a low-power electric motor powered by output fro the system. Inner gimbal frame 83 is in turn rotatable supported b shaft 68 in bearing supports on outer gimbal 14. The outer gimba 14 is positioned for rotational movement on shafts 34 and 36 i suitable bearings 16 and 32.

Bearings 16 and 32 include retainer bushings for spacing th outer gimbal 14 from the end wall of housing 12, and to position th main power gear 20 on shaft 34. Main power gear 20 is keyed to shaf 34 to rotate therewith. Pinion gear 22 interconnects with the gea 20 to rotate the shaft of transducer 26.

Mounted on the power end of inner gimbal shaft 68 is a powe output gear 60 secured to a sleeve 64 that is keyed to shaft 68 s that the gear rotates with the shaft in the bearing 66. A drive gear 84 engages gear 60 and drives a transducer such as generato 58. The transducer 58 is an alternative transducer to the mai transducer 26 and is connected by electric lines 56 to slip rings 3 and 40, exporting electricity through line 39. This transducer ca also be used to counter and adjust torque applied to the inner gimba by a torque producing 57, in the alternative embodiment of th invention in which the gyro is used like a rate gyro, wit essentially a single degree of freedom of the spin axis, namel precession in the equatorial plane.

Mounted on the inside of outer gimbal frame 14 is a sector switch device 82 which is shown in Figure 4 and diagrammaticall illustrated in Figure 8. Rotating contact 109 is secured to shaf 68 and rotates in sequential contact with the switch contact segment 100, 102, 104, and 106 that comprise ring sector switch 82, providin an inner gimbal angular orientation signal reflecting spin axi orientation for the control circuit through wires 85 and the sli ring assembly 40 to the external conductor wires 39.

The sequencing of the gyro is precessionally controlle automatically by the movement of the contactor around the secto switch. Each of the switch segments connects to one of the solenoid controlled switches 118, 124, 122, and 126.

At the beginning of the cycle and at the initiation of the powe stroke, the rotary contact 109 contacts conductor 1 (or 100) , an solenoid switch 118 is actuated through line 107 which connect through the solenoid to positive 28-Volt source line 114. Thi connects the generator output 120, from one or both of th transducers 26 and 58, to the load 116. This sector of the switc represents the power stroke. As the load is applied, the back torqu from the transducer opposing precession of the gyro rotor actuall causes the precession.

The rotary contact 109 continues to rotate in phase with th gyroscopic precession, reflecting the instantaneous spin axi orientation with respect to the polar axis and the equatorial plan due to the mounted position of the sector switch 82 shown in Figur 4. As the rotary contact exits sector 1 and passes to sector 2, i exits the power stroke of the cycle, disconnecting the generato from the load 116, and moves to the first step of the recover stroke. The sector switch actuates the torque motor 46 on line 13 by means of switch 124 on line 108, actuating the controller throug line 130, which energizes the motor 46 through line 136 and cause it to begin the first step of the recovery stroke.

The remaining two phases of the switch cycle are more or les self-explanatory. As the sector switch contact 109 continues aroun the sectors to sector 3, it connects the transducer output to +2 volts with solenoid switch 122 on line 110, which reverses th function of the generator 26, temporarily using it as a torque moto by supplying voltage to the generator output line through line 121 This powers the rotor axis across the equatorial zone, at whic point, at sector 4, the torque motor 46 is actuated again, this tim with reversed polarity which reverses torque to precess the roto through the remainder of the recovery stroke. This is accomplishe by actuating switch 126 through line 112 to signal the control uni 140 through line 128, this time with a negative signal, to continu with the second step of the re-precession stroke in same geometri direction that the spin axis was precessing during the first an second steps of the recovery cycle, which requires torque from th

torque motor in the opposite direction from the first step.

The electrical setup shown in Figure 8 is for the purpose o illustrating electrical control functions, and is not intended to b a blueprint, as solid state control devices having equivalent en functions would be appropriate in almost all conceivabl installations.

Turning to the physical aspect of the precession control, At th other side of inner gimbal 83, (see Figures 4, 5, 6 and 8) the en of shaft 68 passes through bearing 86. Bearing 86 is fitted int vertical slot 88 (See Figures 4 and 5) which allows end movement i outer gimbal frame 14 of the end of inner gimbal shaft/axis 68. Connected to the outer end of shaft 68 by a suitable bushing o bearing is plate 78 which has a side member or ear plate 72 that i threaded to receive screw 70 that is powered by a torquing devic such as jack screw motor 46, which is, in turn, secured to the sid of outer gimbal frame 14 by attachment 50 and moves the inner gimba axis in the directions indicated at 90. This structure, by allowin rotor axis angular displacement around an axis 53 normal to both th inner and outer gimbal axes, constitutes an "intermediate gimbal" fo illustrative purposes and is not intended to be restricted to th illustrated mechanization, the purposes of which may be also b accomplished with more conventional gimballing (i.e. , a complete hoo like the others) . The intermediate gimbal axis, which is paralle to the rotor axis 53 at the instantaneous position the rotor happen to be in in Figure 4, is the re-precession torque axis about whic the jack screw motor torques the rotor axis through two of the thre re-precession phases of the re-precession stroke.

Between re-precession uses of this motor, appropriate contro voltage is supplied to motor 46 by the Control Circuit 140 t maintain orthogonality of shaft 68 relative to the polar axis. Deviation from orthogonality tends to produce precession about a unwanted axis. A position sensor 54 connected to sensor finger 7 outputs a position signal through lines 42 to the control circuit, with the control signal being delivered back to the motor 46 throug lines 44 and 39 and the slip rings 40. Although not essential to th operation of the invention, this adjustability feature is easil added because of the presence of the re-precessing torque motor 46. The details of the processing in the controller to achieve thi adjustment will be apparent to one skilled in the art and are no

detailed here. The other end of axle 68 is positioned in spherica bearing 66 to allow pivoting movement of shaft 68 in slot 88.

Referring to Figure 10, the Earth/Gyro Power Transducer Assembl 12 is shown mounted on a directionally stabilized platform 170 o which is also mounted an earth magnetic field sensor 171. Directional deviation signals from this sensor are routed via lin 172 to slip ring assembly 173, from which they are routed via lin 174 to Control Unit 140 for amplification and conditioning. Th output servo control signal is routed via line 175 to platfor directional control servo motor 176. The physical angula orientation of the platform is accomplished via servo motor pinio gear 177 which, in turn drives the platform gear 178.

IN OPERATION

The apparatus continuously executes repeating cycles as ca best be understood from the geometrical standpoint by reference t Figure 9. The power stroke begins at position 148 in Figure 9 wit the rotor in near-polar alignment, but "antiparallel" to the earth' spin vector as indicated by the arrows. A load is applied to th transducer 26, and by resisting the rotor's attempt to maintai itself and the outer gimbal stationary in space reference despit earth rotation, causes the spin axis to precess through the 90 degre position at 142 to an orientation approaching polar alignment a indicated at 144 for a sweep of just under 180 degrees. The close the spin axis gets to polar alignment, the smaller the component o the spin axis in equatorial plane, the less torque it offers to th transducer, until the sector switch terminates the load on th transducer and actuates the torque motor 46 for the first 9 (almost)-degree sweep of the re-precessing recovery stroke.

During the power stroke, the system automatically outputs energ with no control signals required, as the spin axis precesses int gimbal lock. Recovery, however is orchestrated by the contro system. During the first stage of the recovery stroke, the torqu motor applies a re-precessing torque about the intermediate gimba axis, which is orthogonal to both of the other gimbal axes and lie in the equatorial plane. This causes precession of the spin axis fro near-polar alignment through an arc approaching 90 degrees, at whic point, indicated at 146 in Figure 9, the spin axis approaches th

equatorial plane and becomes gimbal locked vis-a-vis torque applied by the jack screw motor.

The spin axis is then nudged across the equatorial plane by the transducer 26, which is energized and driven as a torque motor about the polar axis which is fully effective to precess the no equatorially aligned spin axis.

Once the spin axis has swept through about 10 degrees of arc representing the equatorial dead zone, the torque motor, operating in reverse from the first phase, precesses the spin axis again about 90 degrees into the starting orientation at 148. Precessin directions are chosen such that the precession of the first half of the cycle is continued smoothly in the second half without any abrupt precession direction reversals.

Possible variations of materials and component configurations abound. One gimbal rather than three may be used for a rate gyro implementation in which the rotor has only one degree of freedom. A more complex control system can be implemented, and experimentation with many variations of control and energy output, balancing the loads on the two transducers to control precession, and tunin transducer load to counter the tension of a torsion spring such as spring 59 may produce beneficial results and increase the operating knowledge of the system. However, as described and claimed herein, the system comprises a gyroscope with multiple gimbals and a housing fixed to the earth so that there is mutual motion between the housin and other components, and a transducer interposed between the housing and a gimbal, or two gimbals.

Although it might appear that the friction and mechanical considerations of the gyro system are overwhelming considering the small amount of energy that could be extracted, mathematical analysis produces a startlingly opposite result. In fact, probably the mos significant result of all of the theoretical, analytical investigations involved in this project was the discovery that, all other parameters being held constant, the energy extractable from th gyro is proportional to the fifth power of the rotor radius.

The analysis is as follows:

E ₀ = T _p 0 _E

P ₀ = T _p d0 _E /dt T ₀ = T _p T _p = H-Ω _p

H _r = I _r ω _r T _p = I _r ω,-Ω _p I _r = ^(r ² .

If all three characteristic dimensions of a rotor (radius, rim width and rim thickness) are scaled uniformly by some constant and al three, radius, width, and thickness are varied by the same factor then,

m _r = K _r (r _r ) ³ .

Thus, we have the following:

I _r = K _r (r _r ) ³ (r _r ) ² = K _r (r _r ) ⁵

T ₀ = K _r (r _r ) ⁵ ω-Ω _P

E ₀ = K _r (r _r ) ⁵ ω-Ω _p 0 _E

P ₀ = K _r (r _r ) ⁵ _ωr Ω _p d0 _E /dt .

Within the range in which all parameters are held constan except rotor radius, every time the radius is doubled, the outpu energy and power capability are increased by a factor of 32. If th radius is incremented, the output is increased by five times tha percentage factor. For example, if Δr _r = 10%, ΔP ₀ > 50%. Even whe the destructive aspect of centrifugal/centripetal force becomes concern as the "bursting force" is proportional to r ² ω ² = (rω) ² , th damage potential may be capped by a corresponding decrease in ω _r dropping the radius power factor to the fourth power. This result in a sixteen-fold, rather than a thirty-two fold, multiplication o power production potential for each doubling of the radius, provide the precession rate remains unchanged.

While holding all other variables constant is unrealistic ove the complete range of possible rotor radii as the above burstin force analysis suggests, even with substantial parameter modificatio the available power extractable from a large-diameter gyroscope i enormous. It is misleading to think of gyros as exclusivel

instrumentation gadgets. In this alternative mode of use, the represent heavy construction, high-power-production systems akin t hydroelectric installations.

Normally, in gyro design, the rotor is centered and stati balancing weights are added to the inner gimbal to perfect th balancing. Because this equipment is intended to operate for lon periods of time, dynamic, real-time, remotely controlled motorize balancing weights 172 are used, with electrical control leads routed through slip rings on the inner and outer gimbal axes to the controller 140.

In the claims that follow, Claims one through twenty-seven ar the claims in the parent United States patent.

GLOSSARY

The manner in which several terms and phrases are used in this disclosure might be usefully related to the reader:

LAW OF CONSERVATION OF ANGULAR MOMENTUM: The total angular momentum of a

(restricted or isolated) system remains constant.

EARTH COORDINATES, or EARTH FRAME (OF REFERENCE): a set of coordinates referenced to the earth in which the earth is assumed to be stationary.

EQUATORIAL PLANE: any plane parallel to or coplanar with the earth's equatorial plane; never refers to "equator" of the rotor or of a gimbal except insofar as the plane referred to is parallel to the earth's equatorial plane, as is the outer gimbal.

FREE GYRO: a gyroscope in which gimbal motion is unrestricted (except by gimbal lock) and in which the precession motion axis angular displacement is limited to the product of applied torque magnitude and duration.

GIMBAL: a framework journalling a substructure on an axis and itself being journalled in a superstructure with an axis orthogonal to the first axis in this disclosure.

INTERMEDIATE GIMBAL: a gimbal journalled within the outer gimbal on an axis normal to the inner gimbal axis, which it (the intermediate gimbal journals, all three gimbal axes being mutually orthogonal

POLAR AXIS: in this disclosure parallel to the earth's polar axis. Not synonymous with "spin axis".

PRECESSION, OR PRECESSION MOTION, AXIS: the line in space around which a gyroscope rotor and inner gimbal rotate that is normal to the rotor spin axis, resulting from the application of precession-causing torque.

PRECESSION TORQUE AXIS: the axis around which torque is applied which causes precession motion.

RE-PRECESSION: actually "precession", but resulting in returning the rotor to its starting orientation.

SPACE COORDINATES: a set of three mutually orthogonal mathematical line referenced to unmoving space.

SPIN VECTOR: a mathematical construct consisting of a line in space with a lengt and direction corresponding to angular velocity and direction of rotation.

TORQUE: a rotational force couple mathematically defined as the product of th applied force normal to the radius of rotation multiplied by the radial distanc from the force to the axis of rotation.

TORQUE AXIS: the line around which a force couple is applied.

TABLE OF MATHEMATICAL SYMBOLS

Units

ft ft-lb , KWH lb sl-ft ² /s sl-ft ² ratio sl-ft ² /s si ft-lb/s , KW ft lb-ft sec ft/s

Dimensionless rad rad/s rad/s dt