CN100419379C - Single end support type magnetic suspension control moment gyro of single framework - Google Patents
Single end support type magnetic suspension control moment gyro of single framework Download PDFInfo
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- CN100419379C CN100419379C CNB2007100655501A CN200710065550A CN100419379C CN 100419379 C CN100419379 C CN 100419379C CN B2007100655501 A CNB2007100655501 A CN B2007100655501A CN 200710065550 A CN200710065550 A CN 200710065550A CN 100419379 C CN100419379 C CN 100419379C
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Abstract
A single end supported single-frame magnetic-levitation torque-controlling gyro is composed of magnetically levitated rotor system and frame system. Said magnetically levitated rotor system consists of gyro rotor, axial and radial magnetic bearings, and axial and radial displacement sensors, protecting bearing, drive motor and gyro room. Said frame system comprises frame jointer, end covers, mandrel, torque motor, angular position sensor, electrically conductive slide ring, mechanical bearing, and base. It has high rotation speed and long service life.
Description
Technical field
The present invention relates to single end support type magnetic suspension control moment gyro of single framework, can be used for of the large angle maneuver attitude control of middle-size and small-size spacecraft such as moonlet or microsatellite.
Background technology
Modern Application has proposed more and more higher requirement in earth observation or the satellite platform of scientific research or small-sized spacecraft to the dirigibility of stability and large angle maneuver, and the satellite of energy large angle maneuver can improve the efficient and the quality of earth observation.The single frame control-moment gyro is one of spacecraft main execution unit of being used for attitude control.Existing single frame control-moment gyro, the gyrorotor system all adopts mechanical bearing to support, because there are wearing and tearing in mechanical bearing, so also there are a lot of restrictions aspect rotating speed and serviceable life, while is owing to the mechanical axis moment of friction is non-linear, can bring a disturbance torque to Space Vehicle System, thereby influence the stability of spacecraft; Existing single frame control-moment gyro all adopts the mode of two end supports, as accompanying drawing 1, frame system has two strong points (strong point 1,2), the frame system of the control-moment gyro of this structure need provide rotary space for rotor-support-foundation system, so the volume and weight of frame system is relatively large, and and the mechanical interface of satellite is also bigger, is not suitable for the control-moment gyro of medium and small moment output.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, the magnetic suspension bearing technology is applied in the rotor-support-foundation system of control-moment gyro, a kind of single end support type magnetic suspension control moment gyro of single framework is provided, has can be used for of the large angle maneuver attitude control of middle-size and small-size spacecraft such as moonlet or microsatellite.
Technical solution of the present invention is a single end support type magnetic suspension control moment gyro of single framework, it is characterized in that: mainly form by magnetic suspension rotor system and frame system two large divisions, wherein magnetic suspension rotor system is mainly by gyrorotor, axial magnetic bearing, radial direction magnetic bearing, radial displacement transducer, shaft position sensor, the protection bearing, drive motor, rotor case is formed, drive motor is positioned at the middle part of magnetic suspension rotor system, both sides are radial direction magnetic bearing from inside to outside successively, radial displacement transducer, the protection bearing, shaft position sensor, axial magnetic bearing is positioned at the outside of drive motor radial direction, gyrorotor wherein, radial direction magnetic bearing rotor portion and drive motor rotor portion are formed the rotor assembly of magnetic suspension rotor system, all the other are stator module, realize that by radial direction magnetic bearing and axial magnetic bearing the on-mechanical stabilized contact suspends between stator module and the rotor assembly, the stationary part of radial direction magnetic bearing wherein, the stationary part of axial magnetic bearing, the stationary part of drive motor, radial displacement transducer, shaft position sensor and protection bearing and rotor case link together, form the protection gap between protection bearing and the gyrorotor, form between radial displacement transducer and the gyrorotor and radially survey the gap, form the axial detection gap between shaft position sensor and the gyrorotor; Frame system is mainly by the framework web member, the framework end cap, the framework mandrel, the framework torque motor, angular position pick up, conducting slip ring, mechanical bearing, base is formed, its middle frame mandrel and framework torque motor rotor portion, angular position pick up rotor portion and framework web member are connected to form the rotating part of framework, all the other are stationary part, the base inboard is equipped with the stationary part of framework torque motor from top to bottom successively, the stationary part of angular position pick up and mechanical bearing, the rotor portion of framework torque motor, the rotor portion of angular position pick up is installed on the framework mandrel, the conducting slip ring rotating part is installed on framework mandrel inboard, stationary part is connected with base, the framework mandrel links to each other with base by mechanical bearing, link to each other with the framework web member by screw, the rotor case of framework web member and magnetic suspension rotor system is connected, and makes rotor-support-foundation system and frame system form one.
Wherein, radial direction magnetic bearing and axial magnetic bearing are the active magnetic bearing of permanent magnet bias, Electromagnetic Control, or the magnetic bearing of pure electric excitation, or the passive type magnetic bearing.Radial direction magnetic bearing and axial magnetic bearing are the symmetrical structure that magnetic force equates, or the unequal unsymmetric structure of magnetic force.Drive motor no longer contains mechanical bearing, and radial direction magnetic bearing, axial magnetic bearing are that drive motor plays radial and axial support positioning action.
Wherein, angular position pick up is a rotary transformer, also can be photoelectric code disk.
The principle of such scheme is: the magnetic suspension rotor system of single end support type magnetic suspension control moment gyro of single framework keeps the radial and axial gap and the radial and axial gap of drive motor stator and rotor of the rotor assembly of rotor-support-foundation system and stator module even by radial direction magnetic bearing and axial magnetic bearing.After the rotor assembly of magnetic suspension rotor system is subjected to the interference of a certain factor, the rotor assembly of magnetic suspension rotor system radially or end play can change, this moment radial displacement transducer and shaft position sensor will in time detect radially or the variation of end play, send detection signal to adding controller, add controller by increasing or reduce electric current in the solenoid of radial direction magnetic bearing or axial magnetic bearing, increase or reduce the magnetic force of radial direction magnetic bearing or axial magnetic bearing, thereby the stator module of maintenance magnetic suspension rotor system and the radial and axial gap of rotor assembly are even, eliminate the influence of disturbing, keep normal stable the running up of magnetic suspension rotor system; When control-moment gyro receives that steering order is carried out the attitude adjustment to spacecraft, the framework torque motor drives the frame system rotating part and rotates with a fixed angular speed, the angle that this moment, angular position pick up detection block frame system was turned over, and this angle signal and instruction signal in controller carried out FEEDBACK CONTROL, thereby realized the accurate control of angular velocity, the angular momentum direction of the turning axle of frame system and the rotor assembly of magnetic suspension rotor system is all the time in spatial vertical, according to the gyroscopic couple equation, control-moment gyro will be exported a control moment, this control moment is delivered on the spacecraft by the base of frame system and the mechanical interface of spacecraft, thereby spacecraft is carried out attitude control.Rotor-support-foundation system adopts the mode of series connection to be connected with frame system, and the strong point has only one, thereby realizes single-ended support.
The present invention's advantage compared with prior art is: the present invention is owing to adopted the magnetic suspension bearing technology, promptly eliminated the moment of friction of mechanical bearing, improved the rotating speed of rotor-support-foundation system, thereby improved the ratio of output torque and angular momentum, reduce volume, the vibration noise of control-moment gyro system simultaneously, improved the reliability and the serviceable life of system; Adopt single-ended supporting way that rotor-support-foundation system is placed the outside of frame system fully, reduced the volume and weight of frame system, also reduced the bonded area of frame base bottom, for control-moment gyro and satellite provide mechanical interface easily.
Description of drawings
Fig. 1 is existing two end supports formula single frame control-moment gyro;
Fig. 2 is a single end support type magnetic suspension control moment gyro of single framework structural representation of the present invention;
Fig. 3 is a permanent magnet offset radial magnetic bearing sectional view of the present invention;
Fig. 4 is a permanent-magnetic biased axial magnetic bearing stator sectional view of the present invention;
Fig. 5 is a radial displacement transducer sectional view of the present invention;
Fig. 6 is a shaft position sensor sectional view of the present invention;
Fig. 7 is a drive motor sectional view of the present invention;
Fig. 8 is a framework torque motor sectional view of the present invention;
Fig. 9 is an angular position pick up sectional view of the present invention.
Embodiment
As Fig. 2, the present invention mainly is made up of magnetic suspension rotor system and frame system two large divisions, wherein magnetic suspension rotor system is mainly by gyrorotor 1, axial magnetic bearing 2, radial direction magnetic bearing 3, radial displacement transducer 4, shaft position sensor 5, protection bearing 6, drive motor 7, rotor case 8 is formed, two drive motor 7 are positioned at the middle part of magnetic suspension rotor system, both sides are radial direction magnetic bearing 3 from inside to outside successively, radial displacement transducer 4, protection bearing 6, shaft position sensor 5, two axial magnetic bearings 2 are positioned at the outside of drive motor 7 radial direction, wherein gyrorotor 1, radial direction magnetic bearing 3 rotor portions and drive motor 7 rotor portions are formed the rotor assembly of magnetic suspension rotor system, all the other are stator module, realize that by radial direction magnetic bearing and axial magnetic bearing the on-mechanical stabilized contact suspends between stator module and the rotor assembly, the stationary part of radial direction magnetic bearing 3 wherein, the stationary part of axial magnetic bearing 2, the stationary part of drive motor 7, radial displacement transducer 4, shaft position sensor 5 and protection bearing 6 link together with rotor case 8, form the protection gap between protection bearing 6 and the gyrorotor 1, form between radial displacement transducer 4 and the gyrorotor 1 and radially survey the gap, form the axial detection gap between shaft position sensor 5 and the gyrorotor 1; Frame system is mainly by framework web member 9, framework end cap 10, framework mandrel 11, framework torque motor 12, angular position pick up 13, conducting slip ring 14, mechanical bearing 15, base 16 is formed, its middle frame mandrel 11 and framework torque motor 12 rotor portions, angular position pick up 13 rotor portions and framework web member 9 are connected to form the rotating part of framework, all the other are stationary part, base 16 inboards are equipped with the stationary part of framework torque motor 12 from top to bottom successively, the stationary part of angular position pick up 13 and mechanical bearing 15, the rotor portion of framework torque motor 12, the rotor portion of angular position pick up 13 is installed on the framework mandrel 11, conducting slip ring 14 rotating parts are installed on framework mandrel 11 inboards, stationary part is connected with base 16, framework mandrel 11 links to each other with base 16 by mechanical bearing 15, link to each other with framework web member 9 by screw, rotor case 8 on framework web member 9 and the magnetic suspension rotor system is connected, make rotor-support-foundation system and frame system form one, rotor-support-foundation system and frame system are connected up and down, the strong point has only one, rotor-support-foundation system places the outside of frame system fully, thereby has realized single-ended support.
Radial direction magnetic bearing 3 of the present invention, axial magnetic bearing 2 are the magnetic bearing of on-mechanical contact, can be the active magnetic bearings of permanent magnet bias, Electromagnetic Control, or the magnetic bearing of pure electric excitation, or the passive type magnetic bearing.
Permanent magnet offset radial magnetic bearing shown in Figure 3 mainly is made up of magnetic bearing rotor installation sleeve 31, magnetic guiding loop 32, magnetizing coil 33, stator core 34, stator installation sleeve 35, rotor core 36, rotor magnetism-isolating loop 37, permanent magnet 38, wherein magnetic bearing rotor installation sleeve 31, magnetic guiding loop 32, rotor core 36, rotor magnetism-isolating loop 37, permanent magnet 38 are rotating part, and all the other are stationary part.
Permanent-magnetic biased axial magnetic bearing stator shown in Figure 4 mainly is made up of magnetic steel of stator 21, axial magnetic bearing stator yoke 22, magnetizing coil 23, axial magnetic bearing stator seat 24, and axial magnetic bearing rotor is a gyrorotor 1.
In radial displacement transducer shown in Figure 5, it mainly is made up of four radial displacement transducer probes 41,42,43,44, wherein pop one's head in 41 and 43 along the 180 degree placements of Y direction, in order to survey the displacement signal of Y direction, probe 42 and 44 is placed along directions X 180 degree, and in order to survey the displacement signal of directions X, the prime amplifier of these 4 passages and probe are integrated, can in time detect the variation of radial play, send detection signal to adding controller.
The described shaft position sensor of Fig. 6 mainly contains 1 shaft position sensor probe 51, detects axial displacement signal, eliminates the axial detection signal errors by mathematical operation, in time detects the variation of radial play, sends detection signal to adding controller.
Drive motor 7 of the present invention is the drive part of gyrorotor system rotor assembly, drive motor shown in Figure 7 mainly is made up of rotor outer press ring 71, motor outer rotor lamination 72, motor outer rotor installation sleeve 73, cup-shaped stator 74, motor internal rotor lamination 75, motor internal rotor installation sleeve 76, motor internal rotor pressure ring 77, magnetic steel of motor 78, wherein cup-shaped stator 74 is the motor stationary part, and all the other are the motor rotating part.
Framework torque motor 12 of the present invention is the drive part of framework, can be DC permanent-magnetic brushless torque motor shown in Figure 8, also can be the permanent magnet synchronous torque motor.
Framework torque motor shown in Figure 8 mainly is made up of motor stator lamination 121, stator winding 122, rotor magnetic steel 123, rotor laminated pressing plate 124, threaded pressure ring 125, rotor laminated 126, rotor installation sleeve 127, wherein stator lamination 121 and stator winding 122 are the motor stationary part, and all the other are rotating part.
Angular position pick up shown in Figure 9 is a rotary transformer, mainly is made up of stator installation sleeve 131, stator coil 132, rotor winding 133, rotor installation sleeve 134, and wherein stator installation sleeve 131 and stator coil 132 are stationary part, and all the other are rotating part.
Framework end cap 10 of the present invention and base 16 formed the supporter of total systems, and base 16 bottoms link to each other with spacecraft, for total system provides mechanical interface with spacecraft.
Claims (6)
1. single end support type magnetic suspension control moment gyro of single framework, it is characterized in that: mainly form by magnetic suspension rotor system and frame system two large divisions, wherein magnetic suspension rotor system is mainly by gyrorotor (1), axial magnetic bearing (2), radial direction magnetic bearing (3), radial displacement transducer (4), shaft position sensor (5), protection bearing (6), drive motor (7), rotor case (8) is formed, drive motor (7) is positioned at the middle part of magnetic suspension rotor system, both sides are radial direction magnetic bearing (3) from inside to outside successively, radial displacement transducer (4), protection bearing (6), shaft position sensor (5), axial magnetic bearing (2) is positioned at the outside of drive motor (7) radial direction, gyrorotor (1) wherein, radial direction magnetic bearing (3) rotor portion and drive motor (7) rotor portion are formed the rotor assembly of magnetic suspension rotor system, all the other are stator module, realize that by radial direction magnetic bearing and axial magnetic bearing the on-mechanical stabilized contact suspends between stator module and the rotor assembly, the stationary part of radial direction magnetic bearing (3) wherein, the stationary part of axial magnetic bearing (2), the stationary part of drive motor (7), radial displacement transducer (4), shaft position sensor (5) and protection bearing (6) link together with rotor case (8), form the protection gap between protection bearing (6) and the gyrorotor (1), form between radial displacement transducer (4) and the gyrorotor (1) and radially survey the gap, form the axial detection gap between shaft position sensor (5) and the gyrorotor (1); Frame system is mainly by framework web member (9), framework end cap (10), framework mandrel (11), framework torque motor (12), angular position pick up (13), conducting slip ring (14), mechanical bearing (15), base (16) is formed, its middle frame mandrel (11) and framework torque motor (12) rotor portion, angular position pick up (13) rotor portion and framework web member (9) are connected to form the rotating part of framework, all the other are stationary part, base (16) inboard is equipped with the stationary part of framework torque motor (12) from top to bottom successively, the stationary part of angular position pick up (13) and mechanical bearing (15), the rotor portion of framework torque motor (12), the rotor portion of angular position pick up (13) is installed on the framework mandrel (11), conducting slip ring (14) rotating part is installed on framework mandrel (11) inboard, stationary part is connected with base (16), framework mandrel (11) links to each other with base (16) by mechanical bearing (15), link to each other with framework web member (9) by screw, framework web member (9) is connected with the rotor case (8) of magnetic suspension rotor system, makes rotor-support-foundation system and frame system form one.
2. single end support type magnetic suspension control moment gyro of single framework according to claim 1, it is characterized in that: described radial direction magnetic bearing (3) and axial magnetic bearing (2) are the active magnetic bearing of permanent magnet bias, Electromagnetic Control, or the magnetic bearing of pure electric excitation, or passive type magnetic bearing.
3. single end support type magnetic suspension control moment gyro of single framework according to claim 1 is characterized in that: described radial direction magnetic bearing (3) and axial magnetic bearing (2) are the symmetrical structures that magnetic force equates, or the unequal unsymmetric structure of magnetic force.
4. single end support type magnetic suspension control moment gyro of single framework according to claim 1, it is characterized in that: described drive motor (7) no longer contains mechanical bearing, and radial direction magnetic bearing (3), axial magnetic bearing (2) play radial and axial support positioning action for drive motor (7).
5. single end support type magnetic suspension control moment gyro of single framework according to claim 1 is characterized in that: described framework torque motor (12) is a brushless D. C. torque motor, or the permanent magnet synchronous torque motor.
6. single end support type magnetic suspension control moment gyro of single framework according to claim 1 is characterized in that: described angular position pick up (13) is a rotary transformer, also can be photoelectric code disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100655501A CN100419379C (en) | 2007-04-16 | 2007-04-16 | Single end support type magnetic suspension control moment gyro of single framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100655501A CN100419379C (en) | 2007-04-16 | 2007-04-16 | Single end support type magnetic suspension control moment gyro of single framework |
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| Publication Number | Publication Date |
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| CN101049860A CN101049860A (en) | 2007-10-10 |
| CN100419379C true CN100419379C (en) | 2008-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100655501A Expired - Fee Related CN100419379C (en) | 2007-04-16 | 2007-04-16 | Single end support type magnetic suspension control moment gyro of single framework |
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| DE102008015613A1 (en) * | 2008-03-26 | 2009-10-01 | Schaeffler Kg | Arrangement for mounting a shift rail |
| CN101708778B (en) * | 2009-11-27 | 2012-07-25 | 北京航空航天大学 | Magnetically suspended gyroscope flywheel |
| CN101941527B (en) * | 2010-09-08 | 2012-11-14 | 北京航空航天大学 | Multi-sensor integrated attitude determining system structure |
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| CN107539498B (en) * | 2017-07-28 | 2019-10-22 | 北京控制工程研究所 | A kind of Modularized micro control-moment gyro overall structure |
| CN108827207A (en) * | 2018-08-06 | 2018-11-16 | 南京磁谷科技有限公司 | Using the magnetic suspension bearing radial displacement transducer component and its control method of triplex redundance control |
| CN109245467B (en) * | 2018-10-23 | 2023-10-17 | 桂林电子科技大学 | Nested double-rotor gyro mechanism |
| CN113523747B (en) * | 2021-06-29 | 2022-11-11 | 北京控制工程研究所 | Rotary joint ground gravity Lorentz force magnetic suspension unloading system |
| CN113719540B (en) * | 2021-08-27 | 2022-12-20 | 中国人民解放军海军工程大学 | Asymmetric axial magnetic bearing device with one-way high bearing capacity density |
| CN115123584A (en) * | 2022-06-27 | 2022-09-30 | 山东大学 | Structure and control dual-backup reaction flywheel system suitable for satellite S shaft and control method |
| CN117734969A (en) * | 2023-12-19 | 2024-03-22 | 北京航空航天大学 | Electric propulsion device thrust inversion method based on single-frame control moment gyro |
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