[1]0,1950 Patented May 21507,14,5,1 UNITED STATE@S PATENT OFFICE 21507,451 FLIGHT STABILIZING CONTROL GYROSCOPE JuRus P. Molnar, Oakmont, elnd Anthony Carn-'@ vale, Pittsburgh, Pa.,.assignors to the Unitect, States of Anierica as represented by the Secretary of War Applicatiovi July 1, 1944, Serial No. 543,168 7 Claims. (Cl. 74-5.34) This invention relates to flight stabilizing control means for remotely controlled flight bodies, such as bombs, dirigible projectiles and 'the like, for stabilizing the flight thereof about their neutral flight axes during directional ni-ovemerit 5 thereof toward the target after release from an elevated support, such as an airlilane and, m,ore particularly , the invention a-ppertains to stabilizing gyroscope control means for aotomati-cally , :stabilizip-g these flight controlled bodies during 10@ their fight to prevent rotation thereof, or excess :oscillation about their flight axes during tl-ieir , travel from the point of release to the target to ,which they are directed. In flight controlled bodies of the above-noted 15 -types, stabili-zing gyroscope means have been em-ployed to control the direction and applicatlon @of torque to the flight controlled bodies to oppose rotation or oscillation of the bodies about their -ne'Litral or !9-ight axes. Rate gyroscopes have also 20 been employed to suppiement the control of the -ma,in or stabilizing .-Yroseopes, aperable incident to predetermined relative rates of rotative dis,placement or roll of the fli-ght bodies about their .@attemdt to reduce excessive hunting or oscillation i ,during their fligbt to the target. Some of these :flight control devices include provisions for hold.iii- the gyroscope rotors ca.-ed prior to release of i@-@ -.Eight body from the stipportinn_@ plone, and f o,, jr-L@,,intaining the gyroscope rotors in operation -,while in caged positions. An object of tl-ie present invention is the provision of improved stabilizing control mepns for stabilizir-ig the flight of remotely controlled bombs, 35 projectiles and similar bodies to more effici-ently control their rotative displacement or oscillation about their neutral flight axes to reduce oscillati-on or roli-over tendencies of the same to a minirnum when dropped or released from the slipporting 40 plane, which affords more accura-te flight control to the selected target. Another object is the provision of stabilizing fi-ight control means in the form of an im-oroved gyrosea-pe structure comprisi-ag a support adapted 45 to be fixed to the flight control body, in which a main stabilizing gyroscope and an associated rate of turn gyroscope -are mounted, including stabilizing control actuating means ir-termediate the gyroscopes and movably carried by the support, 50 arro,nged to be shifted by the rate gyroscope in proportion to the angular displacement of the rate gyroscope spin axis, to modify the stabilizing control relation between the movable stabilizing control actuating means and the main stabilizing 55 gyroscope means in a predetermined ratio to the angulardisplacement of the spin axis of the rate g3,roseope, to vary the application of stabilizing colitrol to the flight control body in a definite ratio to the rate of rotative displacement of the flight body. A further object is tl-ie provision of flight stabilizing coiitrol actuating means for flight bodies ir-cluding a main stabilizing gyroseope and a co@ operating shiftable control member for controlling the application of corrective torque to the flight body incident to rotative displacement of the body abotit its flight axis, in which a rate gyroscope is provided, carried by the support and variably responsive to the rate of rotative displa,cernent of the body about its fligb-t axis for shifting the cooperating shiftable control member relative to the main gyroscope to vary the cooperating control relation therebetween in a predetermined ratio to the relative displacement of the rate gyroscope spin axis, and releasable gyroscope retaining means for holding the gyroscoipes in predetermined oriented positions with respect to the fli , of ght body prior to the release, A furtl-ier object is the provision of gyroscope control means for stabilizing the flight of a.flight controlled body having flight control surfaces operable to control the rotative displacement of the body about its flight axis so tthat when the rate of rotative dispiacement of the body from a neutral position is below a Predetermined rate of roll or rotati-Ve displacement, as determined by the rat6 gyroscope, the control surfaces are immediately actuated to apply a corrective torque to th6 body to return the body to its neutral position and. if the rate of return of the body toward its neutral position is still below the minimum pr6dete@-mined rate, as controlled by the rate gyroscope, the corrective torque is applied to the body, rotating the saime toward the neutral position, but if the rate of return exceeds the prede.termined minimum rate of return, as cotitrolled by the rate gyroscope, the control surfaces are operated to apply an opposing torque to the body pri-or to its return to neutral position, the initiation of the opposing torque being controlled by the displacement of the rate of roll gyroscope incident to the rate of return of the body toward its neutral position. A further object is the provision of means whereby when the rate of roll or rotation of th6 -flight body exceeds the predetermined maximum rate, as determined by the rate gyroscope, a negative torque opposing the rotative displacement of -Eight axes to afford better stabilizin.- control in an 9-5 the flight body from the supporting plane.
[2]3 the body is av,)plied by the control surfaces so long as the rqte of roll exceeds the maximtu-i, rega.rdless of the positioii of the body rela,tive to its initial reference position. Another obi4ect is the provisio@n of impi@GveCi 5 stabilizin-. gyroseope means for -flight con'trol vp-. paratus such as dirigible projectiles, bom@bs, etc., in which a support is provided carryi-Lig a main stabilizing gyroscope mounted for -Liniversal@ freedom in pl,,ir,@l, gimbal means, and the provisioia cf; 10 a flight conti7olling commutator memb er shiftcible on the support and arranged to electricp.,Ily cooperate with the stabilizing . g@,roseop,, .-i-inbal means upon rotative displaqemerit of , tl-ie st<llbilizing gyroscope gimbal i-ea,-@is -in either di-rec15 tion with rest)ect to the flight cop-trolling cor-lmtitator meinber. This controls the.a ppl@ien,.tion of corrective torque to the support@to return thp@ flight controlling commutator member,@ toits former reference relation with respect to the 20 stabilizirg gyroscope giribal means, and - includes a, gimbaled ra+.e gyroscope responsi@7e to the rate of rotal.ive displacement of the support having an operating cbnnection with,.the shiftable fl@ight controlling commiitator member for shifting the 25 same relative to the stabilizing gyroscope gimb,@).l means. to vary the control, relatioii betiveen the stabilizing. gyroscope gimbal means and the shi ftable flight controlling member in p redetermiiied ratio to -the- relative diqplacement of tlie rite gy30 roscope gimbal means with refereiace to t,13@e support. A still further object is -the provision of improved- caging. means, for simultaneoiisly ori e.,-iting- the plural gimbal means for the st-cibij;@Zir@- ,@ 35 gyroscope rotor having- releasable gimbal locking means, and the provision,of means for rotatil'lg the gyroscope rotor when it is in,caged and locked position. Another object is the provision of a stabilizing 40 gyroscope ghniba-led on a support for. universal freedom about mutually perpendicular intersecting- axes itielitiding cooperating stabilizing circuit controlling commutator means rota-tably mounted on the support to cooperate with cir46 cuit controlling means, operable,by relative rotative movement of the@@gimbal means in one directiorl:from a-fixed.,reference position on support to energize a torque. controlling ei-rcuit, and..arranged to @energize a. second torque cor-- 50 trolling circuit upon relative rotative mov,.2me-@it of . the gimbal means, in the opposite direction frqm,the reference position, includin.- the provision-of a rate gyroscope havir@g its spin Pxis gimbaled-on the sup@port for yieldable tilting pre- 55 cession incident to rotative displacepierit of the support, and an operating connection betnveen the circuit controlling commutator means and the rate gyroscode gimbal,means for shifting tlie commutator means relative to the stabilizir,.g 6(l gyroscope gimbal means. and separate ei-rcuit controlling means between the rate g ,yroseope gimbal means and the support, opera@ble incident to predetermined dis-olacement of the i,?-i;e ith respect to tl-a ayroscore gimbal means w e sur,- 65 port,,to energize a torqlie controllina circuit. A -still further object is the provision of a gyroscope rotor mour@ted for univers,,il freedom in@gi,mbal members journaied@to rotate on mutually perpendicuinx intersectinly an(i, sei3- 70 arate- caging snd I iockin_g mean,,; shiftsbly co,rried by the,gimbal support-to-oriert-the @-,,i.rnbals to-pyedetermined reference@position.9 on the suc-port--and Iock,@the same in said.. Dositions,@ iyicluding means for,simililtaneously-moving es,,ch cag!7 71) 2,507,451 4 ing and locking means to operative position, and resilient means for yieldably urging each caging and locking means to inoperative position. Other objects and advantages of the invention will become apparent from the following descriptioi-i taken in connection with the accompanying drawings in which like reference charpeters refer to like parts in the severalfigures. Fig. 1 is a vertical section taken through our 'improved stabilizing control device showing the giinbal supporting frame and gyroscope rotor elements in elevation. Fig.. 2 is a fragmentary top plan view of o-Lir imp roved,.stabilizing control unit, a portion of the auxiliary supporting plate being shown in iahantom., Fig. 3 is, a verti.cal sectional view through the gyroscoe casing showing the gyroscope frame strilicture in elevation. Fig. 4 is a fragmentary horizoiital sectional view token through the gyroscope unit opproximately on the plone indicated by the line 4-4. in Mg. 1. Fig. 5 is a sectonal view takeii on,.the plane indicated by lin,@ U-5 in Fig. 1, portions -of the casing being broken away. Fig. 6 is a cross sectional view.taken approximately on the plane indicated.by line 6-6 in Fig. 1. Fig. 7 is. a sectional view taken approximately on line 7-7 of llig. 1. the gyroscope casing being, omitted. Fig. 8 is a detailed sectional view taken approxitnately oii the line 3-8 @ in Fig. 1. Fig. 9 is a fragmentary detailed vertical sf?.ctional vi@-w takeii approximately on the line 9-9. c>f Fig. 4. Fig. 10 is a diagrammatic perspective, view of our improved -Yroseope disclosing a - schematic applicat4on of the sam- e to the aileior@s, or control suriaces of a flight body, -Ane@uding a wirin,-,,diagram for coritrolling the operotion of the flight.control surfaces. Referring more partiruia,rly to Flgs. 1, 2 a-@ict 3. of the drawings, the reference numeral.1 ir,.dicates a circular to-o or siipporting p,-t'Lle 'lor tl,.ie @-yroseope unit, lnd a rectangular ,3rroscopo support or frame 2 is segured to tie urider@-,ide of the c4rcular plc,.te ( by suitable fastenings, S'Llell as screws 3. The su@>,@ort or fr,@yne is open o,,l bc)fh sides and c-@irries therein the gimbal,,d ktalilizi.ng gyroscope 4 mount.ed for uiivers-.tl freedom. A U-shaped open frame, or. main @--'r--r@ie extension 5 is secured to tb-e lower side of tl-icframe 2 by suita.,ble screw fa,-,tenin,@,,s 6.. Thi@-, frame cqrries gimba,.ed therein a- rate. gyroscope, later referred to. The main -or st-p@bilizing gyro-ec@-re structure 4, includes aTi outer gim-bai 7. rotptgbjy. joiirp-9,led in the s-anpart ?. or- u,i)per an,3 lclver, joiirnals or. trunnions 8 and 9 dispoq-ed on an oyis- perT.)ep-dicular to the top plat(- I and, the@@ iipper aD.(@i lower: end ni-eniberq of the -frame. ?, An i-nner gimbal meryiber 10 is in. tbp outp-r gimbal Piember 7 on trunnions@, II! 12 - disin Posed-' -suitsbl@,rfrictionlpssbearings,intheotiLter p,,imbal member on an axis perdendicnlpr to. tbe@ oiiier giinba.1 axis and. prefera,'bly interse(,tinp-@the outer gimbal ayis. The gyrpseopp rotor 13 forthe m,,,in e,,37roscope 0 @ is, jourrpled f or rotstion in, the @inner fimbpl me.,mlber-, 107 on @ln.-,xis 1.)e,,,T)endiellilar to the tilting axis of the@inner gitnbal in@ the outer -,aimbal on trunnions 14@15. This structure pyovides,unii7ersal tilting freedom for@ the@ spin axis: -of the rotor. Iii, the foi7m of rotor-
[3]operating meam disclosed In the dtawing I provide the periphery of the rotor with the usual air pockets or buckets 16 arranged to receive the air blast or fluid jet tangentially projected against the periphery of the rotor 13 from a fixed jet 17 secured in the lower end of a fluid delivery passage 16 extending through the upper journal or fixed trunnion member 8 for the outer gim,bal member 7. This upper hollow journgl is fixed in the upper frarne end member by a nut is secured on the threaded end of the tub@ular trunnion 8 and drawn tight. This arrangement causes the fluid jet passing from the jet nozzle 17 to: rotate the rotor 13 when the same is in a predetermined reference position in the xnain frame 2, as disclosed in Fig. I of the drawings, this being the caged or oriented position in which the inain gyroscbpe spin axis is retained up to the time that it is uncaged to establish its stabilizing control when the flight body carrying the g,vroseope is relea;sed from its carrier or supporting airplane for its controlled flight to the targ.et. As previously mentioned, this gyroscope device is primarily designed for use in connection With flight controlled bodies, such as dirigible bombs, flight controlled projectiles and similar apparatus, which may be either directed friom their ,point of release to the target by remote or radio coritrol or by any suitably preset controlling mechanism carried within the flight controlled b,ooy, this mechanism, not forming a part of the present invention, is neither shown in the drawings nor described in any detail in the specificatiqn. ThEi main purpose of this invention is to maint@in the flight body stab-le about its flight axis @Lfter its release from the supporting plane so that the same will not oscillate excessively about its flight axis, and to prevent any tendency cf the flight body ro-Iling over and thus rendering the just-mentioned diregtional control apparatus inaccurate as to the dirigible flight control of the body. , In, order to balance the moin gyroscope gimbal mountings and compensate for any precession tht,reof during operation, suitable adjustable weight members 20 of customary ty-pes are employed. , Caging, locking and release means for the gimbal members 7 and 10 for holding the rotor spin axis of the main rotor oriented in the main frame are provided, consisting of two caging and release devices, one for each gimbal member. The outer gimbal ilrame portion through which the trunnion 8 passes has a heart-shaped o,rienting cam member 22 fixed thereto by the screw fastenings 23 so that rotation of the ram member rotates the outer gimbal. The periphery of the cam opposite its apex is formed with a semicircular locking notch 24. Extending between the tvro side members of the frame, adiac.ent the end frame member, next to the circular supporting plate I are secured paraIlel guide bar members 25, on which are slidably mounted the oiiter gimbal orienting and release means 26, consisting of a frame having an elongated opening 27 surrounding the trunnion 8 and arms 28, 29 and 30 slidably engaging the guide rods 25. Referring more p2Lrticularly to Fig. 9, thia right-hand end of the slide frame carries a camming and locking roller 3 I disposed in the plane of the. heart-shaped cam so t-hat movement of the slide frame 26 to the left causes the roller 31 the daiii 6,hd gimbal until the foller drops fnta notch 24, which locks the cam 22 and gimbal 7 in oriented position on the main frame 2. A siinilar orienting, caging and locking means is pro6 vided for the inner gimbal member 10, consisting of aheart-shaped orienting cam member 32 fixed on the end of the extension 33 formed on the end of the inner gimbal trunnion 12. A nut 34 secures the cam in keyed position on the extension, 10 as best seen in Fig. 5, so that when the outer gimbal is oriented, as seen in Fig. 1, the heartshaped cam member 32, just referred to, is in the piane of a roller 35, carried by a slide frame 36, which is, in turn, slidably carried on a pair of 15 parallel guide rods 37 carried, as best seen in Fig. 3, by the main frame 2, in an opening 38 formed therein. This latter slide frame 36 is also provided'. with guide or supporting arms 39 engaging the! 20 guide rods 37. The heart-shaped cam 32 is also provided witlt. a locking notch 39 for the reception of the roller 35 upon movement of the camming or slide frame@ 36 upwardly from the position shown in . Fig. 1. 25 toward the plane of movement of the inner gimbat. axis. A spring 40 is interposed between the frame! 2 and the slide frame 26 for moving the frame 26 to release the roller 31 from the notch 24, and a caging and locking actuator in the form of a. 30 'wire or cable 41 extends through a suitable guide bushing 42 and axialiy through the spring 40 and is secured at one end to the siide plate 26:. The other end of this wire @or cable 41 is connected to any suitable release mechanism, not 36 shown, in order to provide a release of this wire or cable when the bomb or flight body- da-rrying our gyroscope device is dropped or reieased from the plane carrying the same. The other caging and locking plate 36 for the, 40 inner gimbal member is also provided with a release spring 43 connected at one end to an eye@ in the plate 44 secured to the -flange of the rate gyroscope frame 5, as best seen in Fig. 1, the other end of the spring being connected to an 45 eye plate 45 secured to the stud on which the roller 35 is mounted. Still referring to Fig. l@@. and to Figs. 3 and 4, the frame is provided with a pulley bracket 46, suitably secured by fastenings 47 The two plates 26 and 36 are connected 60 for sim'ultaneous caging, locking and release movements by a flexible operating connection or cable 48 which is passed over a guide pulley 49 carried in the bracket 46 with the opposite ends of the cable secured to the slide plates 26 and 55 36. The siide piate 36, as best seen in Fig. 3, is provided with means for adjusting the relativ6 operative length of the cable 48, comprising a screw threaded rod 50 to which the end of the cable 48 is attached. The rod passes . through an so opening in the slide frame, and nuts SI are provided for fixing the rod 50 in its adjusted position so t . hat the locking rollers 31 and 35 may be simultaneously moved into the recessos 24 and 85 39 as the tw6 gimbals are oriented to their prede-' termined reference positions with respect to the supporting frame 2, upon the application of tensiori to the cag,ing wire 4 1. Since th6 slide plate 36 for caging and locking the inner gimbal ID i 70 secured by the flexible cable 48 to the outer gimbal locking Dlate 26 and the spring 43 moves the locking -.olate 36 to release position, this spring 43, through the cable 48, moves the other, or outer, gimbal plate 36 to release position, a.@sisted, by t-6-engage the periphery of the cam 22 rotating 75 the spring 40. Release of the gimbal caging and
[4]2i/5.O7i46t 7 lgq,.@ing -,wire. or - cal3le, 41 tlier fqrip, @ckLU es --simul@ taneous mov mqn@@@pf,tlie caging 4nd@loQ!@ing means to releaap position while the appjlcation Of.@i@nsion to the cable or wire cip4uses the,cagin and,l c g clevi es for the,,tN@To gi al to orient 5 1-1 P. @in _c mb s @he@, gimbals and simultaneously Ipck t,'-ie gimbals in their predetermined oriented, positions. A stabilizing circuit7controllin commutptor . 9 member 5@ is rotatably moun'ted on the lower cross, member 53 with the axis of tlle,outer gim- 10 bal member as a center, thi@ journal,,,9 for the outer gir44:@kl 7, pa,@5ing. throlig4 th s epMpWtat-pr, is Journqlqd in@a suital?le antifriction bearing,, frame cross member, 53. qbe coramut4tor. member -52-is preferab@y in the forni of an annu ar 1.5 fiang,@' -odisc,asbestseeniapi s-1,3andlO held , 9 .1 in place by ieeper members or el-ips--54 @secured on the cross member 53 by@ so ew fastenings --55 v@ith undercut poi@tiotis receiving the annular rotary displacement between the. gimbal 7. ond t-he rotatablymounted@ commutator@ member 52 from a fixed referenee Dop,3"tion on the frame 2, this relativ,e rotary movement controlling the application of rotative torq ue to the support to restore the former reference. positions of the gimba-I and commutator with re,.3pect to the support or fra-me The rate of roll or rate of rotf-itive di-Splacemeit, controlling g@Troseope is indicated generplly at 61 and includes. a rate gyros@-ope rotor 62,ha@riTig its spin axis mounted for rotation on trlinnion-members C,3, fixed in a gimbal member 64 havin,g its ax,@s disposed perpendicular to the ' P,.xis of the rotor. The gimb,@,l mp-inber 64 is ,arriedlon-bearing membc-@-s or trunnion-, 6i and Sq, PrOjecting from the side-.barmembers:GT and 69 of the frame exteniion 5, ridinfy in suital,-Ie aniifrictiol.1 beai,ings (not shovm). fitted in t.Pie enlarged- ends 69 and 70. The rate gyroscope is yieldably and- adjustably stab@lized in the, frame eNtens@on:5 by a coil tension@ -,zpring 7 1 - connected at- one end, as indicate,d at T2 to the rate gimbal 64, just above the rate gimbal tilt axis while the otherena of'the spring is secured to a rod 73 adjustabl secured in the frame cross member 53 by a set screw 74. The rate gtroseope. gimbal member 64 -has secured to its: enlarged end 70. as best seen i-n Figs. 1 and 7, an actuating plate member T5, screws 76 -providing the- securing meam therefor. This plate 75 extends upwardly through an enlarged openin-@ 77 formed in the frame - eross member, the upper extremities of the@ plate being ber.t tG form a U-shaped actuating member 78 to. snugly receive the baII7-shaped head. or termination 57 of the handle member 56 car.ried--_by the cornmutator inember. 52. , Rooking, movement of the, rate gyroscope gimbal means a@atuates, the n The commiltator member 52 is.shiftable with respe@t to the main frame 2 by -a handle rod 56 terminatipg i I n a ball-shaped head 57 adapted to be shifted by the rate gyroscope, later to be described. 23 The commutator member 52, as best seen in F@gs. 6 and 10, is ptov-ided with stabilizing eirellit controlling. pontact@m ans in th form of semie circular contact s,triiis 58 and 59, imulated from 30 eaoh other and from theidise proper in any suitable maiiner. -Referring to Figs..l, 2 and 10, the oute.r. gimbal member 7 is providecl with a flexible contact, finger or blade 60 di-Sposed to: engage oy-ie or the mut4tor. member 52 to change the. contact ' @relstion between the contact,finger.@6D@_on.the-outer gimbal 7 of the stabilizing gyroscope and@tlie Pontact segments 58 and 59 of the. commutator mem@ ber 52. A dashpot.79 is secured to theeross frame riiember, 53 for controlling the rate of pre@ ciession of -,the rate gyroscope gimbal 64 incident to -the rotative --displacement of the supportuig frame about an axis perpendicular ta. tl@e gimbql axis. The dashpot is of conventional -colistrqqtion, compirisi g, a cy@iiider 80, piston 81 an tt@e d T o d eoianecti n 82 between the Piston and the Aqtuatin plate 75, also stop-screws 83 4nd 84 are@ tl@readably received in the cross frame member 53 and project into the operiing 77, in the pa Of MGVeMeat Of the ac'6i:,ating pic-,te 75 to limit tl@e 4@gree of tilt of the rate gimbal memi?,i@r 64 a-rid consequently l@mit the amount of relattve, o,t-her of the contact strips 58@59 upon relative :@4. tenings 9 1, this insulating plate carrying a pair of light flexible contact str-ips, or springs .92. and 9.3 secured thereto by screws 94, the ends, of the springs 92 and 93. being in contact with t.he r.ing so that tilting precesgion of the rate,, gimbal,iilcl@ dent to rotative displacement of the support causes relative displacement. of tl:ie contajqtin g portions of the spring blades 92 and 93 with re@ spject. to the,contact.and insulating :@egmeiats 85 to 88 of the ring. Wh,-n the rate, gyroscope. is in stabilized Dositiqn in the frame extension 5, as seen in Figs.-8 and 10, th@ co-ntact blade 93 i,s in contact with the contact segment 85 while the contact blade 92 is in engagement with the insulating segment 5,0.-,88. Displacement of the rate gyroscope g.imb.al in one direction beyoad a predetermined angular d@splacement moves the contact blade 93 on to the insulating segment G7 while the contaet blade 92 siill remains on the insulating segment 88. Tilt55.,ing displacement of the rate gYroScODe in the opposite direction beyond the aforernentioned ankui ar disi3lacement causes. the contact blade gi to engage the contact element 8.6 while the contact blade.03 still reniains in contact with @he contact segment 85. Referring particularly to Fig. 10, the arrow 95 indicates the neutral flight axis and flight.direetion of the gyroscope unit when @lie same is mounted in a flight controlled body such as a 35,dirigible bomb or projectile. Torque ap lying means are Provided on this body in the form of conventional flight control surfaces or aileron members 96 and 97,. hinged at 98 to the rear, end of tb-e flight. controlled body. Servomotors are 70 pref erably provided f or actuating the resi3ective aii.erons 96 aqd 97, these power ae-tuati.ng niem.- bers. being,, sbown iii the@ drawings in- the f rm .0 _Of sole?ioid. ma nets. 99 and 100. 9 Actuation of the a.ileron 96, causes @.Gt4tive,. handle meriaber, 50 carried by the@ smftable com-, . 7S torquetobe@appliedtothe,flightbod in,tlie.,O@,t trolling commutator member and the frame 2. Referring more particularly to Figs. 1, 7 - and 8 of the drawings, the U-shaped frame extension 4 carrying the rate gyroscope is provided with. an annular contact member or ring comprising spaced contact@seg ments 85 and 86 and@ intermediatei nsulatings-- grnents87and $S. Thisring-is secured to the side frame member 67 in insulating relation thereto by suitable fastern'ng members 89 and surrounds the trunnion 65 of the rate. gyroscope gimbal member 64. The left-hand end of the rate gyrosqope gimb4i member, as seen in Figs. 1 and 7, carries an, inswating plate 90 secured thereto. by screw. f.@sfia' ge around the periphery of the commutator. 20, displacernent between- the stabilizing cireuit c(.n-
[5]9 rection of the curved arrow 101 while actuation of the solenoid 100 causes reverse application of torque to the flight body through the aileron 97, In a direction opposite to the curved arrow 101. An on-and-off relay device ispreferably provided comprising a sdring loaded armature contact blade 102 pivoted at 103 and normally held in circuit closing contact with a contact 104 by a spring 105. Magnetic means are provided, as indicated at 106, which, when energized, cause the armature contact blade to be shifted, making a contact with the contact 104a Circuit closing conductor wires 106a and 107a, respectively, connect the solenoid coils 99 and I 00 to the relay contacts 104a and 104. The opposite ends of the solenoid coils 99 and 100 are con.nected together with a common feed wire 109 leading from the two magnetic coils to one side of the battery unit I I 0 with an interposed ground connection I I I grounded either to the frame Of the flight body or to the gyroscope frame. An electrical conductor 112 leads from the opposite side of the battery I 10 to the relay contact blade 102, and to one side of the reldy magnet means or coil 106. The other side of the magnet coil 106 is connected by a conductor 115 to both of the contact segments 85 and 86 of the annular contact ring that is flxed to the frame 67 of the rate gyroscope. The contact blade 93, shiftable with the rate gyroscope gimbal, is insulated from the gimbal member 64, but is connected by a flexible conductor II 6 to the semicircular icontact ring 58 in the shiftable commutator member 52 carried on the main frame. The other contact blade 92 Is grounded on the frame so as to establish a circuit to the negative side of the battery i 10 through the other ground connection I I I when ,the contact blade 92 engages the contact segment 86 with the contact blade 93 in contact with the contact segment 85. This energizes the relay magnet 106, closing the circuit to the solenoid 99 to cause actuation of the aileron member 96. . The rate gyroscope is driven, in the form disclosed in Figs. 1 and 7 of the drawings, like the main stabilizing gyroscope, by a fluid jet directedsubstantially tangentially against the periphery of the rotor, which is preferably provided with buckets 117, of conventional form, machined therein. The fluid Jet is formed in the end portion I 1 8 of the fluid conduit I I 9 which leads alongside the main frame and extension to a point 119a exteriorly above the circular supporting plate 1. The gyroscope unit is preferably disposed in a casing or air tight closure 120 having a suction tube 121 in the wail thereof, the casing being in the form of a cylindrical can member having a flanged rim 122 which is secured in seaied relation against the plate I by the screw members 123. When in operation, the air is withdrawn from the interior of the container 120 through tie ttibe 121, creating a partial vacuum within the container. Air then enters the tiibular conduits 119 and I 6-to relieve the semivacuum in the,container, this air being directed as it leaves these conduits against the peripheries of the two gyroscopes, causing rotation of the gyroscope wheels 13 and 62. In the operation of the device, as the flight body is suspended on the plane, the caging wire 41 is maintained under tension, holding the two slide plates 26@and 36 carrying the two camming .and locking rollers 31 and 35 in the respective notches 24 and 39 of the gimbal-orienting Carns 2,507,45@l 10 22 and'32. The switch 114, as shown in Flg. 4, controlling the circuit to the onand-off relay device, is disposed in circuit interrupting position by engagement of the projection 124 carried by the gimbal orienting frame 26. Air is withdrawn from the casing 120 by a suitable pump on the supporting plane, and 9, rubber slip connection between the pump and the ttibe 121, so that when the flight body is released from the 10 plane for its flight to the target, this connection is withdrawn, and simultaneously the gimbal caging and locking wire 41 is released, permitting the slide frames 26 and 36 to free the two girnbal niembers 7 and 10. The @projection 125 on the 15 slide frame 26 throws the control switch 114 into operative position. Referring now to Fig. 10, should the flight body rotate about its flight axis in either direction, the stabilizing gyroscope 4, being stationary in space, 20 will cause the contact i-(-nger 60 to be displaced with respect to the commutator member 52. The direction of displacement and the movement of the contact finger on to either the contact strip 58 or the contact strip 59 will depend on the 25 direction of rotation of the flight body about its flight axis. Should this roll or rotation be slow or below the minimum rate as set by the rate gyroscope, the rate gyroscope will not be shifted materially and the relationship between the two 30 contacts 92 and 93 on the rate gyroscope, and the contact segments 85 and 86 on the rate gyroscope frame will not be cha@nged, nor will the arm or shifter plate 75 move the commutator member 52 materially with respect to the frame. The 35 result is that a nagative aileron will be applied to exert opposing torque to the rotation of the flight body, and this negative torque will continue so long as the rate of return does not exceed the minimum return rate as controlled by the 40 rate gyroscope, that is, until the flight body is returned to its reference position, after which the contact finger 60 will engage the other contact, causing the on-a-nd-off relay to apply reverse torque to the flight body. 4.5 Should the rate of roll or the rate of return exceed the minimum rate as controlled by the rate gyroscope and still be below the maximum rate as controlled by the restoring spring 71 the rate gyroscope gimbal will precess or tilt. This 5o causes relative displacement between the com.mutator 52 and the contact flnger 60 carried by the stabilizing gyroscope so that the contact finger passes from one of the semicircular contacts 58 or 59 to the other semicircular contact, 5,5 thus applying a negative aileron control to the flight body before the same reaches the reference position, this negative control being adiusted in proportion to the rate of return of the flight body to the neutral axis. 60 In the event of a violent rotative displp-cement or accelerated return of the flight body with respect to its reference position the rate gyroscope will precess, shifting the gimbal 64 to its maximum tilted position. This displaces the two 65 contact fmgers 93 and 92 with resplct to the contact segments 85 and $6, and depending upon the direction of rotative displacement the circuit to the on-and-off relay will be either broken or established, and will remain in this condition so 7o long as the rate gyroscope remains -n its extreme tilted position, thus causing the control surfaces 96 or 97 opposing this rgtative displacement to remain in this opposing relation until the rate of rotation is reduced below the maximum control 75 rate, as set by the adjustment of the rate gyro-
