 ## Electronic Pendulum 1

170. Diagram 25 shows Electronic Pendulum 1. It can be used in sea and air vehicles. In this context, it is assumed that such vehicles will be driven by Heat Engines and electric motor,  but it can be used in any vehicle. Distance Controller

171. Electronic Pendulum 1 supplies direction information about the angular position of a moving vehicle in space to the Main Signal Processor that is in such vehicles.

172. The original Electronic Water Level that is described above can also be built into such vehicles in order to measure their tilt away from the vertical position, but during deliberate turns, the values from the Electronic Water Level are ignored, because the tilt is sometimes needed so that the vehicle can make a turn.

173. In stable circumstances, the weighted part of the Electronic Pendulum 1 is vertical in reference to the ground and the Pivot.

A. A change in the direction of the moving vehicle will cause the pendulum to move in the same direction, but with a delay. That delay is caused by the inability of an inert object to move without an external force acting on it. In this case that force is gravity. The delay and settling time can be controlled by introducing friction at the Pivot of the pendulum.

B. In this analogy, the vertical pendulum is a weighted object that hangs by a solid connection to a pivot in a vehicle, whereby in the inert state, the solid connection points vertical along the Y-axis. If a change in the relationship between the pivot and the weight causes gravitational energy to be applied to the weight, the weighted part of the pendulum will move in the X and Z directions. The movement is complete when the weighted part of the pendulum is directly below the pivot in the vertical direction.

C. There are Electronic Water Levels mounted around the weight of the pendulum. Each one can measure tilt in the four directions +X, -X, +Y, and -Y.

D. The viscosity of the liquid used in the Electronic Water Levels is set so that it will react and move 100 times faster than the Pendulum. That means they will track the movement of the vehicle 100 times faster than the weight of the pendulum.

E. The reference for the measurement is the vertical position, just before the pivot of the pendulum is moved by the vehicle in a direction that is not perpendicular.

F. The average of the maximum and minimum values that the Electronic Water Levels supply up until the pendulum has returned to the perpendicular position will be the new incremental angular amount that the vehicle has turned since the last instruction to turn was given.

G. The graph in Diagram 25 shows that the instructions that the Main Signal Processor gives a vehicle in order to execute a turn in space are made in incremental steps.

H. The feedback measurements from the Electronic Pendulum 1 are used to check that the vehicle really has made the turning movements specified.

I. In this case time division multiplexing is used to pass the measured values to the Main Signal Processor over an antenna, because any one error will cause all measurements to become unusable.

J. The turning movement of the vehicle can be outside the range of the standard Electronic Water Level described in Diagram 23, but when the vehicle  returns to the range of that Water Level, it's measurements will be used to ensure that the vehicle really is once again traveling in the upright position, because it does not have a tracking error.

174. This formula defines how the Electronic Pendulum 1 is designed:
Energy = Weight x sqr(Velocity)
E = W x V²
Weight is in      Kg
Velocity is in  Meters per Second  (M/S)  This is speed.
sqr(Velocity)   This is acceleration.

Diagram 25
Page 22

# The Electronic Pendulum Type 1 measures the dynamic tilt of a vehicle electronic-

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