CN107097978A - A kind of magnetic suspension control torque gyroscope device - Google Patents
A kind of magnetic suspension control torque gyroscope device Download PDFInfo
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- CN107097978A CN107097978A CN201710280178.XA CN201710280178A CN107097978A CN 107097978 A CN107097978 A CN 107097978A CN 201710280178 A CN201710280178 A CN 201710280178A CN 107097978 A CN107097978 A CN 107097978A
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- 239000000523 sample Substances 0.000 description 3
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 239000010959 steel Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of magnetic suspension control torque gyroscope device; it is made up of fly wheel system and frame system; fly wheel system is made up of flyball, radial magnetic bearing, radial-direction position sensor, the passive magnetic suspension bearing in axial direction, motor, protection bearing, capsul and axle bed etc.; bearing is protected to be in the middle part of flywheel; both sides are that both sides are flyball, radial magnetic bearing, axially radial-direction position sensor, passive magnetic suspension bearing, motor successively from inside to outside above and below capsul and axle bed, protection bearing；Frame system is made up of support, rotating disk, torque motor, bearing, sleeve, locknut, conducting slip ring, photoelectric code disk, end cap and base, frame system medium-height trestle is connected with axle bed, support is connected with rotating disk, it is conducting slip ring in the middle part of rotating disk, is outwards sleeve, bearing, locknut, photoelectric code disk and end cap.Present invention employs axially passive magnetic suspension bearing and photoelectric code disk, volume, weight and vibration are reduced, control accuracy and response speed is improved.
Description
Technical field
The present invention relates to the technical field of control-moment gyro, and in particular to a kind of magnetic suspension control torque gyroscope device,
Large angle attitude control and pose stabilization control available for spacecrafts such as quick maneuvering satellite and Large-scale satellites.
Background technology
Modern Application is in the quick maneuvering satellite such as Tactics of Urban Surveying, precision agriculture, disaster monitoring or Large-scale satellite earth observation
Or the flexibility of the spacecraft to stability and large angle maneuver such as the satellite platform of scientific research propose it is higher and higher will
Ask, the satellite of energy large angle maneuver can improve the efficiency and quality of earth observation.Single-gimbal control momentum gyro is spacecraft
One of main execution unit for gesture stability.Existing single-gimbal control momentum gyro, flywheel rotor system all uses machine
Tool bearings, wear and tear because mechanical bearing is present, so also there are many limitations in terms of rotating speed and service life, while by
In the non-linear of mechanical axis moment of friction, a disturbance torque can be brought to Space Vehicle System, so as to influence the stabilization of spacecraft
Property；Chinese invention patent ZL200710065550.1, the gyro in magnetic suspension control moment gyro of single framework as shown in Figure 1
Rotor uses inner rotor core, due to phase homogenous quantities and the rotor of volume, and the rotary inertia of the gyrorotor of inner rotor core will
Less than the angular momentum of the gyrorotor of outer-rotor structure, in same angular velocity, the angular momentum of the gyrorotor of inner rotor core
It is less than the angular momentum of the gyrorotor of outer-rotor structure, so when exporting identical angular momentum, the controling power of inner rotor core
The volume and quality of square gyro are relatively large；By the way of some magnetic suspension control moment gyro of single framework are supported using two ends, such as
Accompanying drawing 2, frame system has two strong points (strong point 1,2), and two ends are required to a pair of mechanical bearings, the controling power of this structure
The frame system of square gyro needs to provide larger rotary space for rotor-support-foundation system, so the volume and weight of frame system is relative
It is larger, and be not suitable for the control-moment gyro of medium and small torque output also than larger with the mechanical interface of satellite；Chinese invention is special
Sharp ZL200710065551.6, flywheel in single-gimbal control momentum gyro and framework as shown in Figure 3 all use magnetic suspension
Bearing, the control-moment gyro structure and control system of this structure are all more complicated, volume and quality are relatively large, are not suitable for
The control-moment gyro of medium and small torque output.
Chinese patent application CN200710098750.7, gives a kind of magnetic suspension reaction fly-wheel, without frame system,
Output torque is relatively small；Chinese patent application CN200610011561.7, gives a kind of magnetic-levitation revolving table, is not suitable as
Spacecraft Attitude Control executing agency；Chinese patent application CN200610011579.7, gives a kind of magnetic levitation energy storage flywheel,
But this accumulated energy flywheel is used for the energy storage device of spacecraft, be not suitable for as Spacecraft Attitude Control executing agency；Chinese patent
Apply for CN200710304236.4, give a kind of double-frame magnetic suspension control moment gyro, there are two frame systems, structure is multiple
It is miscellaneous, and inner frame system and outer framework system exist and couple, controls difficulty larger.CN201510555829.2；Patent application
CN201510555829.2, gives a kind of high-torque magnetic suspension control sensitive gyro, but frame system has two strong points, two
End is required to a pair of mechanical bearings, and the frame system of the control-moment gyro of this structure needs to provide larger for rotor-support-foundation system
Rotary space, so the volume and weight of frame system is relatively large, and is not suitable for the mechanical interface of satellite also than larger
The control-moment gyro of medium and small torque output.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, magnetic suspension bearing technology is applied to control
There is provided a kind of single end support type magnetic suspension control moment gyro of single framework in the flywheel subsystem of moment gyro processed, it can be used for
The large angle maneuver gesture stability of middle-size and small-size spacecraft such as moonlet and the pose stabilization control of Large-scale satellite.
The present invention solve the technical scheme that uses of above-mentioned technical problem for：A kind of magnetic suspension control torque gyroscope device, it is main
To be made up of fly wheel system and frame system two large divisions, wherein fly wheel system is main by flyball, radial magnetic bearing, radial direction
Position sensor, axially passive magnetic suspension bearing, motor, protection bearing, capsul and axle bed composition, protection bearing are in flywheel
Middle part, both sides are capsul and axle bed, and both sides are flyball, radial magnetic bearing, radial position successively above and below protection bearing
Sensor, axially passive magnetic suspension bearing, motor, wherein, flyball, axially radial magnetic bearing rotor portion, passive magnetcisuspension
Floating bearing rotor portion and rotor part constitute the rotor assembly of fly wheel system, and remaining is stator module, stator module
By radial magnetic bearing and axially, passive magnetic suspension bearing realizes the stable suspersion that on-mechanical is contacted between rotor assembly,
The wherein stationary part of radial magnetic bearing and the axially stationary part of passive magnetic suspension bearing, the stationary part of motor, footpath
Link together, formed radially between protection bearing outer ring and flyball to position sensor, protection bearing and capsul and axle bed
Portable protective gaps and axial portable protective gaps, form radially detection gap between protection radial-direction position sensor and flyball；Frame system
Mainly it is made up of support, rotating disk, torque motor, bearing, sleeve, locknut, conducting slip ring, photoelectric code disk, end cap and base, wherein
Support, rotating disk, the rotor portion of torque motor, the rotating part of photoelectric code disk, the rotating part of conducting slip ring and bearing
Rotating part is connected to form the rotating part of frame system, and remaining is stationary part, and support is connected with rotating disk, is to lead in the middle part of rotating disk
Electric slip ring, is outwards to be sequentially installed with conduction from the inside to surface on the downside of sleeve, bearing, locknut, photoelectric code disk and end cap, rotating disk successively
The rotating part of slip ring, sleeve, the rotating part of bearing, the rotating part of torque motor, the rotating part of photoelectric code disk and
Locknut, base inner side is sequentially installed with the quiet of the stationary part, the stationary part of bearing, photoelectric code disk of torque motor from outside to inside
Stop point, the stationary part and end cap of conducting slip ring, support are connected with the axle bed of fly wheel system, make fly wheel system and framework system
System composition one, torque motor and photoelectric code disk are mounted in parallel with bearing.
Wherein, described radial magnetic bearing is permanent magnet bias, the active magnetic bearing of Electromagnetic Control.
Wherein, described axially passive magnetic suspension bearing is permanent magnetism passive magnetic bearing.
Wherein, described radial magnetic bearing and axially passive the magnetic suspension bearing symmetrical structure that to be magnetic force equal, or
The unequal unsymmetric structure of magnetic force.
Wherein, described motor no longer contains mechanical bearing, and radial magnetic bearing, axially passive magnetic suspension bearing are electricity
Machine plays radial and axial support positioning action.
Wherein, described torque motor is brushless D. C. torque motor, or permanent magnet synchronous torque motor.
The principle of such scheme is：A kind of fly wheel system of magnetic suspension control torque gyroscope device passes through axial magnetic axle
Hold and axially passively magnetic suspension bearing keeps the rotor assembly and the radial and axial gap of stator module and motor of fly wheel system
The radial and axial gap uniformity of stator and rotor.When fly wheel system rotor assembly by a certain factor interference after, fly wheel system
The axially or radially gap of rotor assembly can change, and now radial displacement transducer will detect the change of radial clearance in time
Change, send detection signal to additional controller, additional controller is by increaseing or decreasing the magnet coil of radial magnetic bearing
In electric current, increase or the magnetic force for reducing radial magnetic bearing, while axially passive magnetic suspension bearing passes through suction or repulsion
Prevent fly wheel system rotor assembly position change so that keep the stator module of fly wheel system and the radial direction of rotor assembly and
Axial gap is uniform, eliminates the influence of interference, maintains the normal table of fly wheel system to run at high speed；When control-moment gyro is received
When control instruction carries out pose adjustment to spacecraft, torque motor driver framework system rotating part is rotated with a fixed angular speed,
The angle that now photoelectric code disk detection framework system is turned over, and this angle signal is carried out with command signal in the controller
Feedback control, it is achieved thereby that the angle of the accurate control of angular speed, the rotary shaft of frame system and the rotor assembly of fly wheel system
Momentum direction is all the time in spatial vertical, according to gyroscopic couple equation, and control-moment gyro will export a control moment, this
Control moment is delivered on spacecraft by the base of frame system and the mechanical interface of spacecraft, so as to carry out appearance to spacecraft
State is controlled.Fly wheel system is connected with frame system by the way of series connection, strong point only one of which, so as to realize single-ended support.
The advantage of the present invention compared with prior art is：The present invention is as a result of radial magnetic bearing and axial quilt
Dynamic magnetic suspension bearing technology, gyrorotor uses outer-rotor structure, that is, eliminates the moment of friction of mechanical bearing, improve flywheel
The rotating speed of system, thus the ratio of output torque and angular momentum is improved, while reducing the power consumption of control-moment gyro system, body
Product, vibration noise, improve the reliability and service life of system；The present invention is complete by fly wheel system using single-ended supporting way
The outside of frame system is placed in, compared with the control-moment gyro of existing single-ended supporting way, angular position pick up uses body
The high photoelectric code disk of the small, light weight of product, precision；Torque motor and photoelectric code disk are mounted in parallel with bearing, and compact conformation is reduced
The volume and weight of frame system, also reduces the bonded area of frame base bottom, is provided for control-moment gyro with satellite
Convenient mechanical interface.
Brief description of the drawings
Fig. 1 is existing inner rotor core magnetic suspension control moment gyro of single framework；
Fig. 2 is existing two ends brace type single-gimbal control momentum gyro；
Fig. 3 is existing completely non-contacting magnetic suspension control moment gyro of single framework；
Fig. 4 is magnetic suspension control torque gyroscope structural representation front view of the invention；
Fig. 5 is magnetic suspension control torque gyroscope structural representation left view of the invention；
Fig. 6 is axial magnetic magnetic bearing profile of the invention；
Fig. 7 is axially passive magnetic suspension bearing profile of the invention；
Fig. 8 is radial-direction position sensor profile of the invention；
Fig. 9 is motor profile of the invention；
Figure 10 is torque motor profile of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment further illustrates the present invention.
Such as Fig. 4 and Fig. 5, the present invention is mainly made up of fly wheel system and frame system two large divisions, wherein fly wheel system master
Will be by flyball 2, radial magnetic bearing 8, axially radial-direction position sensor 6, passive magnetic suspension bearing 5, motor 4, protection bearing
1st, capsul 3 and axle bed 7 are constituted, and protection bearing 1 is in the middle part of flywheel, and both sides are on capsul 3 and axle bed 7, protection bearing 1
Lower both sides are flyball 2, radial magnetic bearing 8, axially radial-direction position sensor 6, passive magnetic suspension bearing successively from inside to outside
5th, motor 4, wherein, flyball 2, the axially rotor portion of radial magnetic bearing 8, the passive rotor portion of magnetic suspension bearing 5 and electricity
The rotor portion of machine 4 constitute fly wheel system rotor assembly, remaining is stator module, stator assembly and rotor assembly between pass through footpath
The stable suspersion of on-mechanical contact, wherein radial magnetic bearing are realized to the passive magnetic suspension bearing 5 of magnetic suspension bearing 8 and axial direction
8 stationary part and the axially stationary part of passive magnetic suspension bearing 5, the stationary part of motor 4, radial-direction position sensor 6, guarantor
Shield bearing 1 and capsul 3 are linked together with axle bed 7, and portable protective gaps are formed between protection bearing 1 and flyball 2, and radial position is passed
Radially detection gap is formed between sensor 6 and flyball 2；Frame system is main by support 9, rotating disk 10, torque motor 11, bearing
13rd, sleeve 14, locknut 15, conducting slip ring 16, photoelectric code disk 17, end cap 19 and base 12 are constituted, its medium-height trestle 9, rotating disk 10, power
The rotor portion of torque motor 11, the rotating part of photoelectric code disk 17, the inner ring of the rotating part of conducting slip ring 16 and bearing 13
The rotating part of frame system is connected to form, remaining is stationary part, support 9 is connected with rotating disk 10, the middle part of rotating disk 10 is conductive
Slide the rotating part for being sequentially installed with conducting slip ring 16 on the downside of 18, rotating disk 10 from the inside to surface, sleeve 14, the inner ring of bearing 13, power
Install successively from outside to inside rotating part, the rotating part of photoelectric code disk 17 and the locknut 15 of torque motor 11, the inner side of base 12
Stationary part, the outer ring of bearing 13, the stationary part of photoelectric code disk 17, the stationary part of conducting slip ring 16 of strong torque motor 11
And end cap 18, support 9 is connected with the axle bed 7 of fly wheel system, fly wheel system and frame system is constituted one, fly wheel system and
Connected above and below frame system, strong point only one of which, fly wheel system is completely disposed at the outside of frame system, it is achieved thereby that single-ended
Support.
The radial magnetic bearing 8 of the present invention is the magnetic bearing that on-mechanical is contacted, and is permanent magnet bias, the active of Electromagnetic Control
Formula magnetic bearing, axially passive magnetic suspension bearing 5 is the magnetic bearing that on-mechanical is contacted, and is permanent magnetism passive type magnetic bearing.
Radial magnetic bearing shown in Fig. 6 is located in the middle part of fly wheel system, positioned at radial-direction position sensor 6 and protection bearing
Between 1, as shown in figure 4, it is main by magnetic suspension bearing external stator iron core 81, rotor core 82, permanent magnet 83, interior fixed core 84,
Magnetizing coil 85 is constituted, and wherein magnetic suspension bearing rotor iron core 82, permanent magnet 83 are rotating part, and remaining is stationary part；Its
Function be realize fly wheel system stator assembly and rotor assembly between radial direction noncontact stable suspersion.
Axially passive magnetic suspension bearing shown in Fig. 7 is located at the outside of the radial magnetic bearing 8 of fly wheel system, such as Fig. 4
It is shown, mainly it is made up of stator permanent magnet 51, rotor permanent magnet 52, rotor permanent magnet is rotating part, remaining is stationary part,
Axially the function of passive magnetic suspension bearing be realize fly wheel system stator assembly and rotor assembly between axial noncontact it is steady
It is fixed to suspend.
Radial-direction position sensor 6 used in the fly wheel system of the present invention is the structure shown in Fig. 8.In the footpath shown in Fig. 8
Into displacement transducer, it is mainly made up of four radial displacement transducers probes 61,62,63,64, wherein 61 and 62 edges of probe
X-direction 180 degree is placed, the position signalling to detect X-direction, and probe 63 and 64 is placed along Y-direction 180 degree, to detect Y side
To position signalling, the preamplifiers of this 4 passages and pop one's head in integrated, the change of radial clearance can be detected in time,
Detection signal is sent to additional controller, radial-direction position sensor 6 fly wheel system shown in Fig. 4 radial magnetic bearing it is outer
Side.
The motor 4 of the present invention is the drive part of fly wheel system rotor assembly, positioned at the outside of fly wheel system shown in Fig. 4,
The concrete structure of motor 4 is as shown in figure 9, main by motor outer rotor lamination 41, magnetic steel of motor 42, motor internal rotor lamination 44, cup
Shape stator 43 is constituted, and wherein cup-shaped stator 43 is motor stationary part, and remaining is motor rotating part, and the function of motor 4 is to drive
The rotor assembly of dynamic fly wheel system is rotated at a high speed, and constant angular momentum is provided by rotor assembly.
The torque motor 11 of the present invention is the drive part of frame system, driving fly wheel system rotation, positioned at frame shown in Fig. 4
The outside of frame system, can be the permanent-magnet brushless DC torque motor or permanent magnet synchronous torque motor shown in Figure 10.
Torque motor shown in Figure 10 is main by motor stator lamination 111, stator winding 112, rotor magnetic steel 113, rotor
Lamination 114, threaded pressure ring 116, rotor installation set 115 are constituted, and wherein stator lamination 111 and stator winding 112 are torque motor
Stationary part, remaining is rotating part.
The base 12 of the frame system of the present invention is the supporter of whole system, and is provided and spacecraft for whole system
Mechanical interface.
The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.
Claims (6)
1. a kind of magnetic suspension control torque gyroscope device, it is characterised in that：Mainly by fly wheel system and frame system two large divisions
Composition, wherein fly wheel system are main by flyball (2), radial magnetic bearing (8), axially radial-direction position sensor (6), passive magnetic
Suspension bearing (5), motor (4), protection bearing (1), capsul (3) and axle bed (7) composition, protection bearing (1) are in flywheel
Middle part, both sides are capsul (3) and axle bed (7), and both sides are flyball (2), radial magnetic bearing successively to protection bearing (1) up and down
(8), radial-direction position sensor (6), axially passive magnetic suspension bearing (5), motor (4), wherein, flyball (2), axial magnetic axle
Hold (8) rotor portion, axially passive magnetic suspension bearing (5) rotor portion and motor (4) rotor portion constitute fly wheel system
Rotor assembly, remaining is stator module, stator assembly and rotor assembly between pass through radial magnetic bearing (8) and axially passive
Magnetic suspension bearing (5) realizes the stable suspersion of on-mechanical contact, the wherein stationary part of radial magnetic bearing (8) and axial quilt
The stationary part of dynamic magnetic suspension bearing (5), the stationary part of motor (4), radial-direction position sensor (6), protection bearing (1) and close
Capsule (3) is linked together with axle bed (7), and radial direction portable protective gaps and axial direction are formed between protection bearing (1) outer ring and flyball (2)
Portable protective gaps, form radially detection gap between protection radial-direction position sensor (6) and flyball (2)；Frame system is main by propping up
Frame (9), rotating disk (10), torque motor (11), bearing (13), sleeve (14), locknut (15), conducting slip ring (16), photoelectric code disk
(17), end cap (19) and base (12) composition, its medium-height trestle (9), rotating disk (10), rotor portion, the photoelectricity of torque motor (11)
The rotating part of the rotating part of code-disc (17), the rotating part of conducting slip ring (16) and bearing (13) is connected to form framework system
The rotating part of system, remaining is stationary part, and support (9) is connected with rotating disk (10), is conducting slip ring (16) in the middle part of rotating disk (10),
It is outwards from inner successively on the downside of sleeve (14), bearing (13), locknut (15), photoelectric code disk (17) and end cap (18), rotating disk (10)
To outer rotating part, sleeve (14), the rotating part of bearing (13), the torque motor (11) for being sequentially installed with conducting slip ring (16)
Rotating part, the rotating part of photoelectric code disk (17) and locknut (15), be sequentially installed with from outside to inside on the inside of base (12)
Stationary part, the stationary part of bearing (13), the stationary part of photoelectric code disk (17), the conducting slip ring (16) of torque motor (11)
Stationary part and end cap (18), support (9) is connected with the axle bed (7) of fly wheel system, makes fly wheel system and frame system group
Integrally, torque motor (11) and photoelectric code disk (17) are mounted in parallel with bearing (13).
2. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that：Described radial direction magnetcisuspension
Floating axle holds (8) for permanent magnet bias, the active magnetic bearing of Electromagnetic Control.
3. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that：Described is axially passive
Magnetic suspension bearing (5) is permanent magnetism passive magnetic bearing.
4. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that：Described radial direction magnetcisuspension
Floating axle holds (8) and axially passive magnetic suspension bearing (5) is the equal symmetrical structure of magnetic force, or the unequal unsymmetrical knot of magnetic force
Structure.
5. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that：Described motor (4)
No longer contain mechanical bearing, radial magnetic bearing (8), axially passive magnetic suspension bearing (2) are that motor (4) plays radial direction and axle
To support positioning action.
6. a kind of magnetic suspension control torque gyroscope device according to claim 1, it is characterised in that：Described torque motor
(11) it is brushless D. C. torque motor, or permanent magnet synchronous torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710280178.XA CN107097978B (en) | 2017-04-26 | 2017-04-26 | A kind of magnetic suspension control torque gyroscope device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280178.XA CN107097978B (en) | 2017-04-26 | 2017-04-26 | A kind of magnetic suspension control torque gyroscope device |
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| CN107097978A true CN107097978A (en) | 2017-08-29 |
| CN107097978B CN107097978B (en) | 2019-08-06 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741746A (en) * | 2017-10-13 | 2018-02-27 | 北京航空航天大学 | A kind of control-moment gyro frame system |
| CN107813963A (en) * | 2017-10-16 | 2018-03-20 | 北京航空航天大学 | A kind of single-gimbal control momentum gyro of full suspension both-end support |
| CN108591750A (en) * | 2018-05-10 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Large-scale precision magnetic suspension rotary table |
| CN109597438A (en) * | 2018-11-30 | 2019-04-09 | 上海航天控制技术研究所 | A kind of control-moment gyro |
| CN109781085A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of three float-type gyroscopes of miniaturization |
| CN110654573A (en) * | 2019-09-11 | 2020-01-07 | 上海航天控制技术研究所 | Single-point reliability redundancy method of photoelectric encoder for satellite |
| CN110748563A (en) * | 2019-09-29 | 2020-02-04 | 肇庆市衡艺实业有限公司 | Magnetic suspension device and rotary lifting mechanism thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101049861A (en) * | 2007-04-16 | 2007-10-10 | 北京航空航天大学 | Completely non - contacting magnetic suspension control moment gyro of single framework |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107741746A (en) * | 2017-10-13 | 2018-02-27 | 北京航空航天大学 | A kind of control-moment gyro frame system |
| CN107813963A (en) * | 2017-10-16 | 2018-03-20 | 北京航空航天大学 | A kind of single-gimbal control momentum gyro of full suspension both-end support |
| CN107813963B (en) * | 2017-10-16 | 2020-07-28 | 北京航空航天大学 | Single-frame control moment gyro with full-suspension double-end support |
| CN108591750A (en) * | 2018-05-10 | 2018-09-28 | 中国科学院国家天文台南京天文光学技术研究所 | Large-scale precision magnetic suspension rotary table |
| CN109597438A (en) * | 2018-11-30 | 2019-04-09 | 上海航天控制技术研究所 | A kind of control-moment gyro |
| CN109781085A (en) * | 2018-12-09 | 2019-05-21 | 西安航天精密机电研究所 | A kind of three float-type gyroscopes of miniaturization |
| CN110654573A (en) * | 2019-09-11 | 2020-01-07 | 上海航天控制技术研究所 | Single-point reliability redundancy method of photoelectric encoder for satellite |
| CN110748563A (en) * | 2019-09-29 | 2020-02-04 | 肇庆市衡艺实业有限公司 | Magnetic suspension device and rotary lifting mechanism thereof |
| CN110748563B (en) * | 2019-09-29 | 2020-12-25 | 肇庆市衡艺实业有限公司 | Magnetic suspension device and rotary lifting mechanism thereof |
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