CN109347284B - Electrodynamic type magnetic suspension double-frame momentum sphere device - Google Patents
Electrodynamic type magnetic suspension double-frame momentum sphere device Download PDFInfo
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- CN109347284B CN109347284B CN201811156737.7A CN201811156737A CN109347284B CN 109347284 B CN109347284 B CN 109347284B CN 201811156737 A CN201811156737 A CN 201811156737A CN 109347284 B CN109347284 B CN 109347284B
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 68
- 239000000725 suspension Substances 0.000 title claims abstract description 35
- 230000005520 electrodynamics Effects 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 6
- 239000004020 conductor Substances 0.000 claims description 4
- 230000005294 ferromagnetic effect Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 239000002131 composite material Substances 0.000 claims 1
- 239000006247 magnetic powder Substances 0.000 claims 1
- 238000003491 array Methods 0.000 abstract 1
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- 238000005339 levitation Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
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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
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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
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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Abstract
The invention discloses an electric magnetic suspension double-frame momentum sphere device which is used for an actuating mechanism of a spacecraft attitude control system. The device consists of an electrodynamic magnetic suspension driving motor module, an inner adjusting frame, an outer adjusting frame and an end part supporting and locking mechanism, wherein the electrodynamic magnetic suspension driving motor module is connected with the inner adjusting frame through a shaft and the supporting and locking mechanism, and the inner adjusting frame is connected with the outer adjusting frame through the shaft and the supporting and locking mechanism. The electric magnetic suspension driving motor module is composed of two layers of parallel stator arrays, a spherical rotor and a central retainer. Sinusoidal alternating currents with different frequencies, amplitudes and phases are applied to the stator coils to form rotating magnetic fields in different directions, and then the spherical rotor is driven to realize rotation driving while stabilizing magnetic suspension.
Description
Technical Field
The invention belongs to the technical field of spacecrafts, and particularly relates to an electric magnetic suspension double-frame momentum sphere device serving as an actuating mechanism of a spacecraft attitude control system.
Background
At present, momentum wheels and control moment gyros are generally adopted as actuators of attitude control systems of spacecrafts such as artificial satellites.
However, a single flywheel can only provide attitude control with respect to a specific direction of the spacecraft, and therefore, at least 3 momentum flywheels are required to achieve full control of the spacecraft three-axis attitude. 4-6 momentum flywheels are usually configured to realize fault-tolerant design and optimization of a control algorithm, so that a large space volume is occupied. The control moment gyro adopts an additional moment motor to drive the frame to rotate, and the space orientation of the frame is adjusted, however, the structure of the moment motor is complex, so that the whole control moment gyro also occupies a larger space. In addition, the contact type momentum flywheel and the control moment gyro have mechanical abrasion and mechanical vibration, so that the attitude control precision is limited and the service life is prolonged.
In the development of spacecraft technology, the light-weight, small-volume and low-cost small satellite technology attracts more and more attention from countries in the world. From the perspective of reducing the size of the satellite, increasing the satellite payload, and reducing the cost, the conventional momentum wheel scheme greatly hinders the trend of miniaturization and cost reduction of the satellite.
Although patent with application number CN201410384117.4, a four-degree-of-freedom double-frame magnetic suspension control moment gyro, and patent with application number CN200710304236.4, double-frame magnetic suspension control moment gyro, have proposed a multi-degree-of-freedom double-frame control moment gyro, the structure is complex, and the end of the frame is mounted with a moment motor to drive the frame to rotate, and the volume of the moment motor is large, so that the whole double-frame magnetic suspension control moment gyro occupies a large space volume. In the patent CN201510813055.9, an inner rotor magnetic suspension spherical gyro flywheel adopts a spherical magnetic bearing as a supporting component, which can realize five-degree-of-freedom active suspension of the magnetic suspension gyro flywheel, but the adjustment range of the rotor shaft direction is limited.
Disclosure of Invention
The invention provides an electric magnetic suspension double-frame momentum sphere device, aiming at overcoming the defects of the prior art and solving the technical problems of a driving actuating mechanism of a spacecraft attitude control system.
The invention relates to an electrodynamic magnetic suspension double-frame momentum sphere device, which is used for a driving actuating mechanism of a spacecraft attitude control system, and comprises an electrodynamic magnetic suspension driving motor module 2, an inner adjusting frame 1, an outer adjusting frame 4 and a supporting and locking mechanism 3:
the electric magnetic suspension driving motor module 2 comprises a central retainer 5, a spherical rotor 8, two sets of stator cores 6 and stator coils 7; the central retainer 5 and the stator cores 6 are annular, the two sets of stator cores 6 are arranged on two sides of the central retainer 5 side by side, the annular inner side of each stator core 6 is grooved along the radial direction to form concentric circumferential array teeth, each tooth 9 arranged into a concentric circumferential array is wound with a stator coil 7, and the top surfaces 10 of all the teeth 9 are concentric spherical curved surfaces; the spherical rotor 8 is arranged in annular cavities of the two sets of stator cores 6 and the central retainer 5, and under the action of a magnetic field formed by the teeth 9 after all the stator coils 7 are switched on with alternating current, the spherical rotor 8 is suspended in the central rotating motion and forms uniform air gaps with all the teeth 9, so that the harmonic order of an air gap magnetic field is reduced, the fluctuation of electromagnetic torque is reduced, and the driving is more stable; two shafts 17 are arranged on the annular outer side of the central retainer 5, and the shaft axes of the two shafts 17 form a straight line and pass through the annular center of the stator core 6. When three-phase alternating current is sequentially connected into the stator coil 7 of the same stator core 6, the phase difference of excitation current of two adjacent coils is kept to be 120 degrees, and simultaneously synchronous three-phase alternating current is also connected into the stator coil 7 of the other stator core 6, a rotating magnetic field eddy current along the circumferential direction of the central retainer 5 is generated in an air gap between the spherical rotor 8 and the teeth 9, so that the spherical rotor 8 stably suspends and rotates along the direction of the magnetic field eddy current. When 3-6 adjacent coils in the stator coil 7 of the same stator core 6 are selected as a group A, 3-6 coils symmetrically distributed with the ring center of the same stator core 6 with the group A are selected as a group D; similarly, 3-6 coils in the stator coil 7 of the other stator core 6, which are located at the same circumferential position as the group A, are taken as a group B, and 3-6 coils in the other stator core 6, which are located at the same circumferential position as the group D, are taken as a group C; sinusoidal alternating currents with initial phases of 0 degrees, 60 degrees, 180 degrees and 240 degrees are sequentially introduced into the A, B, C, D four groups of coils, and a plane rotating magnetic field vortex along the annular surface of the vertical central holding frame 5 determined by the A, B, C, D coil group can be formed, so that the spherical rotor 8 stably suspends and rotates along the direction of the magnetic field vortex. In this way, different energization modes are combined to form rotating magnetic fields in the annular circumferential direction of the center holder 5 and in the direction perpendicular to the annular circumferential direction of the center holder 5, so that the spherical rotor 8 rotates in different directions.
The inner adjusting frame 1 is annular, two holes 19 are formed in the ring of the inner adjusting frame 1, two shafts 18 are arranged on the annular outer side of the inner adjusting frame 1, and the connecting lines of the centers of the two holes 19 and the connecting lines of the axes of the two shafts 18 pass through the ring center of the inner adjusting frame 1 and are perpendicular to each other; the central retainer 5 is located in the annular cavity of the inner adjusting frame 1, and two shafts 17 of the central retainer 5 are respectively installed in two holes 19 of the inner adjusting frame 1 and supported by the inner bearing of the supporting and locking mechanism 3.
The outer adjusting frame 4 is ring-shaped, two holes 20 are arranged on the ring of the outer adjusting frame 4, the center connecting lines of the two holes 20 pass through the center of the ring of the outer adjusting frame 4, the inner adjusting frame 1 is positioned in the ring-shaped cavity of the outer adjusting frame 4, and two shafts 18 of the inner adjusting frame 1 are respectively arranged in the two holes 20 of the outer adjusting frame 4 and are supported by the inner bearing of the supporting and locking mechanism 3.
The supporting and locking mechanism 3 comprises an external fixed ring 11, two sliding clamping blocks 12, two electromagnets 13, four armatures 15, two compression springs 14 and a bearing 16; two sliding clamping blocks 12, two electromagnets 13, four armatures 15, two compression springs 14 and bearings 16 are all arranged in a ring cavity of the external fixed ring 11, the two sliding clamping blocks 12 are arranged in a central symmetry mode through the bearings 16, and the planes of the sliding clamping blocks 12 are perpendicular to the central line of the bearings 16; the center of a gap formed between the two sliding clamping blocks 12 is positioned on the center line of a bearing 16, an electromagnet 13 and a compression spring 14 are respectively arranged in gaps at two sides in a manner of central symmetry of the bearing 16, an armature 15 is arranged at the position, right opposite to the electromagnet 13, of the two sliding clamping blocks 12, when the electromagnet 13 is electrified, the armature 15 is adsorbed through the electromagnet 13, the sliding clamping blocks 12 can be driven to move oppositely, the sliding clamping blocks 12 extrude a rotating shaft in the bearing 16, and the rotating shaft is locked through friction; when the electromagnet 13 is powered off, the sliding clamping block 12 is driven by the elastic force of the compression spring 14 to return to the original position, and the rotating shaft is unlocked.
According to the principle of conservation of angular momentum, the adjustment of the space orientation of the central retainer 5 and the inner adjusting frame 1 is realized by locking and unlocking the supporting locking mechanism 3, and the rotation of the spherical rotor 8 around any space axis is realized by combining the electrodynamic magnetic suspension driving motor module 2.
In the unlocking state, the space orientation of the central retainer 5 is adjusted by the reaction moment of the spherical rotor 8; in the locked state, the spatial attitude of the central cage 5 relative to the spacecraft is fixed.
The stator core 6 may be processed into a solid structure by using a ferromagnetic material, or may be a laminated structure formed by using silicon steel or other materials, or may be a combined structure formed by splicing local parts.
The stator coil 7 may be wound by winding a single winding around each tooth 9 of the stator core 6, or may be wound by a concentric or laminated winding method of a classical ac motor.
The spherical rotor 8 can be made into a solid structure or a hollow sphere shell structure by a non-ferromagnetic conductive material, and can induce eddy current under the action of a rotating magnetic field so as to receive magnetic levitation force and driving torque from the stator.
The supporting locking mechanism 3 is not limited to a locking and unlocking mode of combining electromagnet adsorption with a compression spring, and can also adopt a locking mode of a controllable magnetorheological damping principle or other mechanical locking modes capable of playing the same locking function.
The outer sides of the rings of the inner adjusting frame 1 are respectively provided with two holes 19 as the central positions and the peripheral outer surfaces are planes so as to be convenient for the installation and the matching of the supporting locking mechanism 3.
The outer sides of the outer adjusting frames 4 are respectively provided with two holes 20 as central positions and the peripheral outer surfaces are flat surfaces so as to facilitate the installation and the matching of the supporting locking mechanisms 3.
The end part of the system frame does not need a torque motor, and the structure is simple and compact. And the stable magnetic suspension of the spherical rotor can be realized, the reliability of the system is improved, and the service life of the system is prolonged. In addition, the rotating shaft of the spherical rotor of the double-frame momentum sphere device is rotationally driven along any axial direction, so that the three-axis attitude of the spacecraft is completely controllable.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts the electrodynamic magnetic suspension driving principle, and generates the suspension force along the radial direction of the spherical rotor by introducing alternating currents with different frequencies, phases and amplitudes to each stator coil so as to support the stable magnetic suspension of the spherical rotor. The mechanical vibration and mechanical abrasion of the spacecraft body caused by the high-speed rotation of the rotor are greatly weakened, and the reliability of the attitude control system is improved.
(2) Different coils are configured to generate rotating magnetic fields in the circumferential direction of the central holder and the direction perpendicular to the circumferential direction of the central holder by different currents, and the spherical rotor is driven to rotate in different directions. According to the principle of conservation of angular momentum, when the end part of the central retainer supports the locking mechanism to be in an unlocking state and the end part of the inner adjusting frame is in a locking state, the spherical rotor is driven to rotate and react torque to drive the central retainer to rotate reversely, and the spatial orientation of the central retainer relative to the inner adjusting frame is adjusted. When the end part of the central holder is locked and the end part of the inner adjusting frame is unlocked, the rotary drive of the spherical rotor reacts on the whole formed by the central holder and the inner adjusting frame, and the spatial orientation of the spherical rotor relative to the outer adjusting frame is adjusted. When the main rotary driving axial direction of the central retainer is adjusted to reach a set direction, each frame can be locked, the speed component of the spherical rotor perpendicular to the circumferential direction of the central retainer is eliminated by generating a rotary magnetic field perpendicular to the ring direction of the central retainer, the spherical rotor is driven to rotate by generating the rotary magnetic field perpendicular to the circumferential direction of the central retainer, and the rotating speed of the spherical rotor is controlled, so that the attitude adjustment of the spacecraft in the specific axial direction is carried out.
(3) The spherical rotor is driven to rotate along any spatial axial direction by adopting the adjusting center retainer and the supporting and locking mechanism at the end part of the inner adjusting frame, and the end part of the frame is not required to be provided with a complex torque motor and other mechanisms, so that the structure is more compact, and the reliability is high.
(4) According to the invention, the excellent dynamic speed regulation performance of the electrodynamic magnetic suspension double-frame momentum sphere device can be ensured by accurately controlling the frequency, the amplitude and the phase of the driving current in real time, and the maneuvering performance of the attitude control of the spacecraft body is greatly improved.
Drawings
FIG. 1 is a perspective view of an electrodynamic magnetic levitation dual-frame momentum sphere device according to the present invention;
FIG. 2 is a front view of an electrodynamic magnetic levitation drive motor module;
FIG. 3 is a left side view of an electrodynamic magnetic levitation driving motor module;
FIG. 4 is a left sectional view of the electrodynamic magnetic levitation driving motor module;
FIG. 5 is a front view of a stator core construction;
FIG. 6 is an enlarged perspective view of a stator coil structure;
FIG. 7 is a schematic perspective cut-away view of a spherical mover structure;
FIG. 8 is a schematic plan view of the support and lock mechanism;
FIG. 9 is an annular plan view of the inner adjusting frame;
fig. 10 is a plan view of the outer adjustment frame in the form of a ring.
In the figure: 1. the magnetic suspension type magnetic suspension motor comprises an inner adjusting frame, 2, an electric magnetic suspension driving motor module, 3, a supporting and locking mechanism, 4, an outer adjusting frame, 5, a central retainer, 6, a stator core, 7, a stator coil, 8, a spherical rotor, 9, teeth of the stator core 6, 10, top surfaces of the teeth 9, 11, an outer fixing ring, 12, a sliding clamping block, 13, an electromagnet, 14, a compression spring, 15, an armature, 16, a bearing, 17, a shaft outside the annular shape of the central retainer 5, 18, a shaft outside the annular shape of the inner adjusting frame 1, 19, a hole on the ring of the inner adjusting frame 1, 20 and a hole on the ring of the outer adjusting frame 4.
Detailed Description
The technical scheme of the invention is described below by combining the embodiment drawings.
The structure of the electrodynamic magnetic suspension double-frame momentum sphere device is shown in figure 1, and comprises an electrodynamic magnetic suspension driving motor module 2, an inner adjusting frame 1, an outer adjusting frame 4 and a supporting locking mechanism 3, wherein the electrodynamic magnetic suspension driving motor module 2 is connected with the inner adjusting frame 1 through a shaft 17 and the supporting locking mechanism 3, and the inner adjusting frame 1 is connected with the outer adjusting frame 4 through a shaft 18 and the supporting locking mechanism 3.
As shown in fig. 2 to 4, the electrodynamic magnetic levitation driving motor module 2 in the present embodiment includes: the device comprises a central retainer 5, a spherical rotor 8, two sets of stator cores 6 and stator coils 7; the central retainer 5 and the stator cores 6 are annular, the two sets of stator cores 6 are arranged on two sides of the central retainer 5 side by side, the annular inner side of each stator core 6 is grooved along the radial direction to form concentric circumferential array teeth, each tooth 9 arranged into a concentric circumferential array is wound with a stator coil 7, and the top surfaces 10 of all the teeth 9 are concentric spherical curved surfaces; the spherical rotor 8 is arranged in annular cavities of the two sets of stator cores 6 and the central retainer 5, and under the action of a magnetic field formed by the teeth 9 after all the stator coils 7 are switched on with alternating current, the spherical rotor 8 is suspended in the central rotating motion and forms uniform air gaps with all the teeth 9, so that the harmonic order of an air gap magnetic field is reduced, the fluctuation of electromagnetic torque is reduced, and the driving is more stable; two shafts 17 are arranged on the annular outer side of the central retainer 5, and the shaft axes of the two shafts 17 form a straight line and pass through the annular center of the central retainer 5. When three-phase alternating current is sequentially connected into the stator coil 7 of the same stator core 6, the phase difference of excitation current of two adjacent coils is 120 degrees, and synchronous three-phase alternating current is also connected into the stator coil 7 of the other stator core 6, a rotating magnetic field eddy current along the circumferential direction of the central retainer 5 is generated in an air gap between the spherical rotor 8 and the teeth 9, so that the spherical rotor 8 stably suspends and rotates along the direction of the magnetic field eddy current. When 3-6 adjacent coils in the stator coil 7 of the same stator core 6 are selected as a group A, 3-6 coils symmetrically distributed with the ring center of the same stator core 6 with the group A are selected as a group D; similarly, 3-6 coils in the stator coil 7 of the other stator core 6, which are located at the same circumferential position as the group A, are taken as a group B, and 3-6 coils in the other stator core 6, which are located at the same circumferential position as the group D, are taken as a group C; sinusoidal alternating currents with initial phases of 0 degrees, 60 degrees, 180 degrees and 240 degrees are sequentially introduced into the A, B, C, D four groups of coils, so that a rotating magnetic field vortex which is perpendicular to the circumferential plane of the central holding frame 5 and is determined by the A, B, C, D coil groups can be formed, and the spherical rotor 8 can stably suspend and rotate along the direction of the magnetic field vortex. In this way, different energization modes are combined to form rotating magnetic fields in the circumferential direction of the center holder 5 and in the direction perpendicular to the circumferential direction of the center holder 5, so that the spherical rotors 8 rotate in different directions.
The stator core 6 in the embodiment adopts a structure that two layers of stator cores are arranged in parallel; each stator core 6 is of solid construction, as shown in figure 5.
The stator coil 7 in this embodiment may be wound in a concentric winding manner to form a rotating magnetic field in the circumferential direction of the center holder 5 by different power supply manners, as shown in fig. 6.
The spherical mover 8 in this embodiment is a hollow sphere shell structure made of a non-ferromagnetic conductive material, as shown in fig. 7.
In the present embodiment, the support lock mechanism 3 adopts an electromagnet adsorption type lock system as shown in fig. 8. The supporting locking mechanism 3 is composed of an external fixed ring 11, a sliding clamping block 12, an electromagnet 13, an armature 15, a compression spring 14 and a bearing 16; the center holder 5 or the inner adjusting frame 1 is supported by the inner bearing 16; meanwhile, the armature 15 is adsorbed by the electromagnet 13, the sliding clamping blocks 12 are driven to move oppositely, a rotating shaft arranged in the bearing 16 is extruded, and the rotating shaft is locked by friction; when the electromagnet 13 is powered off, the sliding clamping block 12 is restored to the original position under the driving of the compression spring 14, and the rotating shaft is unlocked.
The inner and outer adjusting frames 1 and 4 are shown in fig. 9 and 10, respectively. The inner adjusting frame 1 and the outer adjusting frame 4 are of annular structures with cylindrical surfaces on the inner surfaces, so that the adjustment of the central retainer 5 and the inner adjusting frame 1 in any direction is realized, the rotary motion of the spherical rotor 8 along any axial direction is realized, and the attitude control of any space axial direction of the spacecraft is realized; the positions of the openings for mounting the support locking mechanisms 3 on the rings of the inner adjusting frame 1 and the outer adjusting frame 4 are cut into planes on the outer side surfaces of the rings by taking the openings as centers so as to facilitate the mounting of the support locking mechanisms 3.
It should be noted that: for purposes of better describing embodiments of the present invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like as used in the foregoing description shall be construed in a generic and descriptive sense only and not for purposes of limitation, as the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the description to indicate that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be construed broadly, as if the terms are fixed or movable relative to each other, as if they were connected together in any other manner; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiments described above are some, but not all embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides an electrodynamic type magnetic suspension double-frame momentum sphere device which characterized in that: the magnetic suspension type magnetic suspension motor comprises an electric magnetic suspension driving motor module (2), an inner adjusting frame (1), an outer adjusting frame (4) and a supporting and locking mechanism (3):
the electric magnetic suspension driving motor module (2) comprises a central retainer (5), a spherical rotor (8), two sets of stator cores (6) and stator coils (7); the central retainer (5) and the stator cores (6) are annular, the two sets of stator cores (6) are arranged on two sides of the central retainer (5) side by side, the annular inner side of each stator core (6) is grooved along the radial direction to form concentric circumferential array teeth, each tooth (9) arranged in a concentric circumferential array is wound with a stator coil (7), and the top surfaces (10) of all the teeth (9) are concentric spherical curved surfaces; the spherical rotor (8) is arranged in annular cavities of the two sets of stator cores (6) and the central retainer (5), and under the action of a magnetic field formed by the teeth (9) after all the stator coils (7) are connected with alternating current, the spherical rotor (8) is suspended in the central rotary motion and forms uniform air gaps with all the teeth (9); two shafts (17) are arranged on the annular outer side of the central retainer (5), and the axial lines of the two shafts (17) form a straight line and pass through the annular center of the central retainer (5);
the inner adjusting frame (1) is annular, two holes (19) are formed in the ring of the inner adjusting frame (1), two shafts (18) are arranged on the annular outer side of the inner adjusting frame (1), and the connecting line of the centers of the two holes (19) and the connecting line of the axes of the two shafts (18) pass through the ring center of the inner adjusting frame (1) and are mutually perpendicular; the central retainer (5) is positioned in an annular cavity of the inner adjusting frame (1), and two shafts (17) of the central retainer (5) are respectively installed in two holes (19) of the inner adjusting frame (1) and are in supporting connection through a supporting and locking mechanism (3);
the outer adjusting frame (4) is annular, two holes (20) are formed in the ring of the outer adjusting frame (4), the center connecting lines of the two holes (20) pass through the center of the ring of the outer adjusting frame (4), the inner adjusting frame (1) is located in the annular cavity of the outer adjusting frame (4), two shafts (18) of the inner adjusting frame (1) are respectively installed in the two holes (20) of the outer adjusting frame (4) and are in supporting connection through a supporting and locking mechanism (3), when three-phase alternating current is sequentially connected into a stator coil (7) of the same stator core (6), the phases of excitation currents of two adjacent coils are 120 degrees different, meanwhile, synchronous three-phase alternating current is also connected into a stator coil (7) of the same stator core (6), and a rotating magnetic field eddy current along the circumferential direction of the center retainer (5) is generated in an air gap between the spherical rotor (8) and the teeth (9), the spherical rotor (8) is stably suspended and rotates along the direction of the magnetic field eddy current;
when 3-6 adjacent coils in the stator coil (7) of the same stator core (6) are selected as an A group, 3-6 coils symmetrically distributed with the ring center of the same stator core (6) in the A group are selected as a D group; similarly, 3-6 coils, which are positioned at the same circumferential position as the group A, in the stator coil (7) of the other stator core (6) are taken as a group B, and 3-6 coils, which are positioned at the same circumferential position as the group D, of the other stator core (6) are taken as a group C; sine alternating currents with initial phases of 0 degrees, 60 degrees, 180 degrees and 240 degrees are sequentially introduced into the A, B, C, D four groups of coils, so that a rotating magnetic field vortex which is perpendicular to the circumferential plane of the central holding frame (5) and is determined by the A, B, C, D coil groups is formed, and the spherical rotor (8) is enabled to stably suspend and rotationally move along the direction of the magnetic field vortex;
when the end part of the inner adjusting frame is in a locking state, the spherical rotor is driven to rotate, the reaction torque drives the central holder to rotate reversely, and the spatial orientation of the central holder relative to the inner adjusting frame is adjusted; when the end part of the central holder is locked and the end part of the inner adjusting frame is unlocked, the rotary drive of the spherical rotor reacts on the whole formed by the central holder and the inner adjusting frame, and the spatial orientation of the spherical rotor relative to the outer adjusting frame is adjusted;
when the main rotary driving axial direction of the central retainer is adjusted to reach a set direction, each frame can be locked, the speed component of the spherical rotor perpendicular to the circumferential direction of the central retainer is eliminated by generating a rotary magnetic field perpendicular to the ring direction of the central retainer, the spherical rotor is driven to rotate by generating the rotary magnetic field perpendicular to the circumferential direction of the central retainer, and the rotating speed of the spherical rotor is controlled, so that the attitude adjustment of the spacecraft in the specific axial direction is carried out.
2. The electrodynamic maglev dual-frame momentum sphere device of claim 1, wherein: the supporting locking mechanism (3) comprises an external fixed ring (11), two sliding clamping blocks (12), two electromagnets (13), four armatures (15), two compression springs (14) and a bearing (16); two sliding clamping blocks (12), two electromagnets (13), four armatures (15), two compression springs (14) and a bearing (16) are all arranged in a ring cavity of an external fixed ring (11), the two sliding clamping blocks (12) are arranged in a central symmetry mode through the bearing (16), and the plane of each sliding clamping block (12) is perpendicular to the central line of the bearing (16); the center of a gap formed between the two sliding clamping blocks (12) is positioned on the center line of the bearing (16), an electromagnet (13) and a compression spring (14) are respectively arranged in the gaps at the two sides in a central symmetry mode of the bearing (16), an armature (15) is arranged at the position, opposite to the electromagnet (13), of the two sliding clamping blocks (12), when the electromagnet (13) is electrified, the armature (15) is adsorbed through the electromagnet (13), the sliding clamping blocks (12) can be driven to move oppositely, the sliding clamping blocks (12) extrude a rotating shaft in the bearing (16), and the rotating shaft is locked through friction; when the electromagnet (13) is powered off, the sliding clamping block (12) is driven by the elastic force of the compression spring (14) to return to the original position, and the rotating shaft is unlocked.
3. The electrodynamic maglev dual-frame momentum sphere device of claim 1, wherein: the supporting locking mechanism (3) adopts an electromagnet adsorption type locking mode to lock the rotating shaft or adopts a locking mode of a controllable magnetorheological damping principle to lock the rotating shaft.
4. The electrodynamic maglev dual-frame momentum sphere device of claim 1, 2 or 3, wherein: the stator core (6) adopts a structure that two layers of stator cores (6) are arranged in parallel, or a spherical shell-shaped core structure of the core can be provided for the stator coils (7) which are uniformly and discretely arranged.
5. The electrodynamic maglev dual-frame momentum sphere device of claim 1, 2 or 3, wherein: the stator core (6) is of a solid structure, or a silicon steel sheet laminated structure, or a solid structure manufactured by adopting a magnetic powder core, or a combined structure formed by splicing decomposed and processed local parts.
6. The electrodynamic maglev dual-frame momentum sphere device of claim 1, 2 or 3, wherein: the stator coil (7) adopts a mode of winding a single coil on the teeth (9) of the single stator core (6), or adopts a concentric winding mode of a rotating alternating current motor, or adopts a stacked winding mode, and can form a rotating magnetic field in the circumferential direction of the array of the stator coil (7) and the circumferential direction perpendicular to the array of the stator coil (7) through different power supply modes.
7. The electrodynamic maglev dual-frame momentum sphere device of claim 1, 2 or 3, wherein: the spherical rotor (8) is of a solid structure or a hollow sphere shell structure made of a non-ferromagnetic conductive material, or a composite structure formed by filling the non-ferromagnetic conductive material into the spherical shell.
8. The electrodynamic maglev dual-frame momentum sphere device of claim 1, wherein: the outer sides of the rings of the inner adjusting frame (1) respectively take two holes (19) as the central positions and the peripheral outer surfaces as planes.
9. The electrodynamic maglev dual-frame momentum sphere device of claim 1, wherein: the outer sides of the rings of the outer adjusting frame (4) respectively take two holes (20) as central positions and the peripheral outer surfaces as planes.
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| CN112009728A (en) * | 2019-05-28 | 2020-12-01 | 中国科学院宁波材料技术与工程研究所 | Induction type magnetic suspension momentum sphere device |
| CN111409874B (en) * | 2020-03-10 | 2022-06-03 | 上海卫星工程研究所 | Two-dimensional rotary table locking and unlocking device suitable for spacecraft |
| CN111511151B (en) * | 2020-05-25 | 2023-05-26 | 马鞍山职业技术学院 | Protection component for magnetic force controller |
| CN113895654B (en) * | 2021-10-27 | 2023-08-04 | 北京航空航天大学宁波创新研究院 | Magnetic suspension inertial actuating mechanism locking device based on magnetostriction shape memory structure |
| CN115339629B (en) * | 2022-09-01 | 2023-06-23 | 扬州宇安电子科技有限公司 | Antenna scanning period measuring device capable of automatically adjusting gesture according to surrounding environment change |
| CN116742917B (en) * | 2023-06-02 | 2024-01-26 | 东北大学佛山研究生创新学院 | Radial floating polishing end effector of electromagnetic direct-driven robot |
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| CN105775169B (en) * | 2016-03-21 | 2017-11-07 | 中国空间技术研究院 | One kind magnetization, which suspends, senses drive-type reaction momentum sphere |
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