CONTROLLING METHOD AND DEVICE FOR REVOLVING ATTITUDE OF HUNG LOAD USING GYROSCOPE

PROBLEM TO BE SOLVED: To provide a revolving attitude control device for a hung object using a gyroscope whereby it is possible to make resetting of a flywheel without influencing the azimuth attitude in the condition that the device is hung down. SOLUTION: A rotational driving part 9 having a brake function is installed as fixed to the inside wall of an outer frame 15, and through this drive part 9 a rotary shaft 17 is installed inside the outer frame 15 in the horizontal direction perpendicular to a tilting shaft 21. Beside the rotary shaft 17, a gimbal is chiefly composed of a gimbal frame 19, flywheel frame 23 and a flywheel 25, and the positional relationship of the center of gravity with the gimbal should be such that the center of gravity of the gimbal lies nearer the direction of gravitational force including the axis of the rotary shaft 17 when the tilting shaft 21 is in the horizontal condition. A gyroscope is chiefly composed of the mentioned tilting shaft 21, flywheel frame 23 and flywheel 25, and the positional relationship of the center of gravity with the gyroscope is such that the center of gravity of the gyroscope lies nearer the direction of gravitational force including the axis of the tilting shaft 21 when the spinning shaft 27 is in the horizontal condition.