CN102820731B - Coaxially-driven assistant torque generator of under-actuated system - Google Patents
Coaxially-driven assistant torque generator of under-actuated system Download PDFInfo
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- CN102820731B CN102820731B CN201210272797.1A CN201210272797A CN102820731B CN 102820731 B CN102820731 B CN 102820731B CN 201210272797 A CN201210272797 A CN 201210272797A CN 102820731 B CN102820731 B CN 102820731B
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Abstract
The invention relates to a coaxially-driven assistant torque generator of an under-actuated system, belonging to an electromagnetic torque-type torque generator. The coaxially-driven assistant torque generator is characterized in that the assistant torque generator comprises a case (1), a magnet group (2), an armature winding (3), a front end cover (6), a motor (8), a motor seat (10) and a load (11), wherein the case is coaxially fixedly connected with the under-actuated system. Based on the electromagnetic induction principle, the motor drives the armature winding to rotate in the magnetic field to generate an electromagnetic torque in a direction opposite to the motor driving direction; and the magnet group is applied with an inverse electromagnetic torque having the same intensity and opposite direction in relative to the armature winding, and transmits the inverse electromagnetic torque to the under-actuated system to provide desired torque. Particularly, the torque provided by the generator is in direct ratio with the velocity item; the control difficulty is lowered remarkably, and the assistant torque generator can realize two-stage electromagnetic speed regulation. The coaxially-driven assistant torque generator provided by the invention is simple and reliable in system design and clear in structure, can be applied for adjusting attitude of one-wheeled robot, satellite, space shuttle and missiles and also can be applied for overcoming reactive torque of helicopters or saucer-type flight vehicles, and so on.
Description
Technical field
The present invention relates to the experimental provision of scientific research or teaching, particularly relate to a kind of torquer of under-actuated systems, this generator can be the moment that under-actuated systems provides required, the field such as be widely used in the adjustment of one-wheel robot Slide attitude, one-wheel robot turns to, the attitude of satellite adjusts, spacecraft attitude adjusts, missile attitude adjusts, helicopter or butterfly aircraft main screw reaction torque overcome.
Background technology
Under-actuated systems, owing to lacking direct acting power or moment, brings great difficulty to Systematical control, such as one-wheel robot, owing to only having a wheel and earth surface, and common wheel is only with movable, so can not provide side direction moment, one-wheel robot turns in addition also needs moment; Satellite, spacecraft, guided missile etc. all need moment to drive to point to predetermined direction, in prior art, spacecraft and guided missile generally realize pose adjustment by outwards spraying gas, satellite adopts inertial flywheel to rotate generation reaction wheel and magnetic torquer or fluid loop and realizes pose adjustment, and the anti-rotating moment of helicopter or butterfly aircraft main screw overcomes the use tilting rear rotor orthogonal with main oar and realizes.
Document " research of single wheel self-balance robot modeling and control " and " research of one-wheel robot gesture stability " disclose a kind of scheme utilizing inertial flywheel to control one-wheel robot lateral balance, document " development of six degree of freedom one-wheel robot body and dynamic control method research " discloses the scheme utilizing inertial flywheel control one-wheel robot to turn to, inertial flywheel provides the mode of torque reaction to be also widely used in attitude of satellite adjustment, but it is large to utilize inertial flywheel to provide reaction torque control attitude still to control difficulty through demonstration, this is because the reaction torque size that inertial flywheel rotates to be provided is directly proportional to the rotary acceleration of flywheel, and motor is a rate servo system therefore not easily realize the tracking of acceleration, just do not have reaction torque to create when flywheel at the uniform velocity rotates, and to limit the reaction torque size provided also limited due to motor speed.Patent of invention number be 200510111490.3 satellite with Active Magnetic Control be that main microsatellite attitude control method and system adopt based on magnetic torquer satellite with Active Magnetic Control, in conjunction with the control system of gravity gradient boom and momenttum wheel bias stabilization as satellite attitude stabilization platform, utilizing the coil current on earth magnetic field and satellite to interact provides torque to adjust the attitude of satellite; Utilizing permanent magnet and armature winding to interact in magnetic field disclosed in this and this patent to produce countertorque has remarkable difference.Flow the in the duct angular momentum that produces of the patent utilization liquid that patent of invention number is 200910152010.6 makes the attitude of satellite change and utilizes galvanomagnetic effect to adjust attitude of satellite scheme disclosed in this patent also to have remarkable difference.Limited after all for the gas of its Gong ejection of carrying spacecraft, and the electric energy conversion that utilizes disclosed by the invention can be described as inexhaustible by applied solar energy for mechanical energy scheme.In addition the present invention also can be missile attitude adjustment and helicopter anti-torque overcomes and provides new solution.
Application number is respectively 200720037988.4 and 200820120359.2, name is called the utility model patent of electromagnetic torque testing instrument, and experiment equipment completes the electronic generation principle of electromagnetism, vortex flow acting principle, the generation effect of vortex flow, vortex flow produce moment experiment under magnetic fields to utilize article common in life to make; Publication number is that CN102529574A name is called that the patent of invention of electromagnetic torque balancing friction caster wheel of movable-type medical equipment discloses a kind of mobile medical equipment castor utilizing installation electromagnetic torque balance motor, produces the moment of friction of electromagnetic torque balance castor to reduce the thrust of personnel when this patent utilization castor rotates.The electromagnetic induction principle that the scheme of above patent and proposition of the present invention all discloses based on Maxwell equation proposes, but above patent all has remarkable difference in the beneficial effect of technical field, technical scheme and generation.
Summary of the invention
In order to provide required moment to under-actuated systems, and this moment is directly proportional to speed, motor is conveniently utilized to control, the present invention proposes a kind of under-actuated systems coaxial drive type auxiliary torque generator, the pose adjustment of one-wheel robot, satellite, space shuttle and guided missile can be widely used in, also can be applicable to helicopter or butterfly aircraft reaction torque overcomes.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, the present invention is characterised in that, comprising: shell 1, group of magnets 2, armature winding 3, front end housing 6, motor 8, motor cabinet 10, load 11, wherein
Shell 1, integrally be formed by connecting by the axle of the cylinder of an one end open and the variable cross-section of bottom of cylinder, cylinder Nei Di center is provided with bearing groove, the axle of described variable cross-section is fixedly connected with certain the underactuated control element coaxial being positioned at described torquer outside, described underactuated control parts at least comprise any one system to be driven in one-wheel robot, helicopter, butterfly aircraft, satellite, spacecraft, guided missile
Group of magnets 2, is at least made up of four blocks of permanent magnets, and the symmetrical stationary distribution of described permanent magnet inside described shell 1, and is fixedly connected with, to form stationary magnetic field,
Armature winding 3, the shell 1 described in coaxial insertion is interior and fixing, and have air gap between described group of magnets 2 and armature winding 3, described armature winding 3 is connected in parallel load 11,
Front end housing 6, center is provided with bearing groove, and to lay the bearing be connected with described armature winding 3 front end coaxial rotation, described front end housing 6 is withheld on described shell 1 front port,
Motor 8, is fixed on motor cabinet 10, and described motor cabinet 10 is fixedly connected on under-actuated systems, and the axle of described motor 8 is coaxially fixedly connected with arc key with the axle of the armature winding 3 stretching out described front end housing 6.
The present invention can obtain following beneficial effect: the first, and produce by controlling motor speed the back-electromagnetic force square being proportional to this rotating speed, this countertorque acts on under-actuated systems, makes under-actuated systems become full drive system easily, greatly reduces control difficulty; Second, the present invention is with electromagnetical transmission device, two-stage electromagnetic formula speed change can be realized, under housing diameter one stable condition, realizing the functions such as speed change by changing the electromagnetic torque that is directly proportional to speed, and being realized by different size engaged gears etc. having without advantages such as dead band, mechanical loss and noiselesss compared with speed change.
Accompanying drawing explanation
A kind of under-actuated systems coaxial drive type of Fig. 1 auxiliary torque generator detonation configuration schematic diagram;
The axle geodesic structure schematic diagrames such as a kind of under-actuated systems coaxial drive type of Fig. 2 auxiliary torque generator;
A kind of under-actuated systems coaxial drive type of Fig. 3 auxiliary torque generator left view;
A kind of under-actuated systems coaxial drive type of Fig. 4 auxiliary torque generator force analysis figure;
Wherein: 1, shell, 2, group of magnets, 3, armature winding, 6, front end housing, 8, motor, 10, motor cabinet, 11, load
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
The present invention adopts following technical scheme, with reference to Fig. 1, Fig. 2, Fig. 3, and a kind of under-actuated systems coaxial drive type auxiliary torque generator, comprise: shell 1, group of magnets 2, armature winding 3, front end housing 6, rear end cap 7, motor 8, electric machine support 9, motor cabinet 10, load 11, wherein
Shell 1, integrally be formed by connecting by the axle of the cylinder of an one end open and the variable cross-section of bottom of cylinder, cylinder Nei Di center is provided with bearing groove, the axle of described variable cross-section is fixedly connected with certain the underactuated control element coaxial being positioned at described torquer outside, described underactuated control parts at least comprise any one system to be driven in one-wheel robot, helicopter, butterfly aircraft, satellite, spacecraft, guided missile
Group of magnets 2, is at least made up of four blocks of permanent magnets, and the symmetrical stationary distribution of described permanent magnet inside described shell 1, and is fixedly connected with, to form stationary magnetic field,
Armature winding 3, the shell 1 described in coaxial insertion is interior and fixing, and have air gap between described group of magnets 2 and armature winding 3, described armature winding 3 is connected in parallel load 11,
Front end housing 6, center is provided with bearing groove, and to lay the bearing be connected with described armature winding 3 front end coaxial rotation, described front end housing 6 is withheld on described shell 1 front port,
Motor 8, is fixed on motor cabinet 10, and described motor cabinet 10 is fixedly connected on under-actuated systems, and the axle of described motor 8 is coaxially fixedly connected with arc key with the axle of the armature winding 3 stretching out described front end housing 6.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, is further characterized in that: described shell 1 periphery is connected to one deck electromagnetic shielding material.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, is further characterized in that: the permanent magnet main pole core of described group of magnets 2 and excitation winding replace, to form magnetic field.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, load 11 also can be supply unit, for motor 8 provides some electrical power, energy savings.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, armature winding 3 axle is coaxially connected by arc key with motor 8 axle, and wherein arc number of keys can be multiple, or the axle that armature winding 3 is connected with motor 8 is that square axle that is lucky and motor 8 coincide.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, the sense of current of armature winding 3 under group of magnets 2 often pair of magnetic pole is contrary.
A kind of under-actuated systems coaxial drive type auxiliary torque generator, motor 8 drives armature winding 3 to rotate in magnetic field, armature winding 3 cutting magnetic induction line produces induced electromotive force, this induced electromotive force produces induced current when connecting resistance even load in armature winding 3, and then armature winding 3 is subject to an electromagnetic torque τ reverse with motor driving direction
em, simultaneously group of magnets 2 is subject to an anti-electromagnetic torque τ reverse greatly with armature winding 3 grade
antiem, because shell is fixedly connected with group of magnets 2, so this anti-electromagnetic torque τ
antiembe delivered on shell, again because shell is coaxially fixedly connected with under-actuated systems or by drive disk assemblies such as gears, so this anti-electromagnetic torque τ
antiembe delivered on under-actuated systems, for it provides required moment.
With reference to Fig. 4, when under-actuated systems needs to provide counter clockwise direction moment, being directly proportional to motor speed according to moment size is that τ=kn counterplot calculates motor speed, drive motors is rotated counterclockwise with required rotating speed, armature winding cutting magnetic induction line, forms induced electromotive force Ea, this induced electromotive force Ea is proportional to armature winding rotating speed n, because induced electromotive force connects constant load R, therefore in armature winding, attempt induced current Ia, the clockwise direction electromagnetic torque τ that armature winding is subject in magnetic field
em, this electromagnetic torque is proportional to induced current Ia, and the effect due to power is that mutual all group of magnets such as to be subject at the large anticlockwise anti-electromagnetic torque τ simultaneously
antiem, at this anti-electromagnetic torque τ
antiemeffect is descended apparatus of the present invention by anticlockwise moment transmission and is acted on under-actuated systems.With should under-actuated systems need to provide clockwise moment time, it is the same that motor rotates clockwise force analysis, repeats no more.The required moment of the acquisition that such under-actuated systems is easy, also desirably around fixed point or fixed-axis rotation, completes pose adjustment task.
Embodiment 1, one-wheel robot lateral balance controls.Apparatus of the present invention be loaded on one-wheel robot body, the face keeping the rotation of armature winding to be formed during installation is vertical with one-wheel robot direction of advance, namely the axle of armature winding and the roll axle roll of one-wheel robot system parallel.One-wheel robot entirety when normal walking will keep vertical state, namely keeps roll angle to be zero degree.If do not apply side direction moment, one-wheel robot is subject to a bit disturbing side will occur under gravity, and also automatically can not reach poised state from heeling condition when starting.If the expectation roll angle of one-wheel robot is Φ
e, one-wheel robot is Φ by the real-time roll angle that attitude transducer obtains, and angle is all to be just counterclockwise, lower same.By calculating Φ
e-Φ is worth, and the linear or non-linearity PID algorithm that first controller reference is default or value fuzzy algorithmic approach etc. are according to input Φ
ethe value of-Φ calculates required moment, then calculates the rotating speed of armature winding according to device design parameter, finally according to the control voltage U of the design parameter output motor of drive motors.
Embodiment 2, one-wheel robot course changing control.Apparatus of the present invention be loaded on one-wheel robot body, the face keeping the rotation of armature winding to be formed during installation is parallel with one-wheel robot direction of advance, namely the axle of armature winding and the yaw axis yaw of one-wheel robot system parallel.Control similar to the control program of yawing with one-wheel robot lateral balance, repeat no more.
Embodiment 3, satellite, space shuttle, missile attitude control.Three apparatus of the present invention are fixedly mounted on satellite, space shuttle or guided missile orthogonally, when detecting that above-mentioned object needs to make pose adjustment, first calculate will rotate around which axle according to control algolithm, then drive the electric machine rotation on this direction of principal axis to improve required rotating torque successively, complete pose adjustment.In the ageing very high situation of control, when device configuration is enough high, the moment of three axles can provides simultaneously, settled pose adjustment at one go.
Embodiment 4, helicopter or butterfly aircraft reaction torque overcome.Apparatus of the present invention be loaded on helicopter or butterfly aircraft fuselage, the face keeping the rotation of armature winding to be formed during installation is parallel with helicopter or butterfly aircraft main screw rotating shaft.Bow from above and see helicopter or butterfly aircraft, when helicopter or butterfly aircraft main screw counterclockwise rotate, due to the conservation of angular momentum so fuselage can be subject to a clockwise moment, counterclockwise rotate to provide counterclockwise countertorque for overcoming this moment drive motors, two moments so just can be made to cancel out each other, and would not there is spin phenomenon in helicopter or butterfly aircraft.
Finally bright: above embodiment is only for illustration of the present invention and unrestricted technical scheme described in the invention; Although therefore this specification has been described in detail with reference to above-described embodiment, those of ordinary skill in the art should be appreciated that and still can modify to the present invention or equivalent replacement; And all do not depart from technical scheme and the improvement thereof of invention spirit and scope, all should be encompassed in the middle of right of the present invention.
Claims (1)
1. a under-actuated systems coaxial drive type auxiliary torque generator, it is characterized in that, comprise: shell (1), group of magnets (2), armature winding (3), front end housing (6), motor (8), motor cabinet (10), load (11), wherein
Shell (1), integrally be formed by connecting by the axle of the variable cross-section outside the cylinder of an one end open and bottom of cylinder, cylinder Nei Di center is provided with bearing groove, the axle of described variable cross-section is coaxially fixedly connected with certain under-actuated systems being positioned at described torquer outside, described under-actuated systems at least comprises the system of any one drive lacking in one-wheel robot, helicopter, butterfly aircraft, satellite, spacecraft, guided missile
Group of magnets (2), is at least made up of four blocks of permanent magnets, and the symmetrical stationary distribution of described permanent magnet in described shell (1) inner side, and is fixedly connected with, to form stationary magnetic field,
Armature winding (3), shell (1) described in coaxial insertion is interior and fixing, have air gap between described group of magnets (2) and armature winding (3), described armature winding (3) is connected in parallel load (11)
Front end housing (6), center is provided with bearing groove, and to lay the bearing be connected with described armature winding (3) front end coaxial rotation, described front end housing (6) is withheld on described shell (1) front port,
Motor (8), be fixed on motor cabinet (10), described motor cabinet (10) is fixedly connected on under-actuated systems, and the axle of described motor (8) is coaxially fixedly connected with arc key with the axle of the armature winding (3) stretching out described front end housing (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210272797.1A CN102820731B (en) | 2012-08-01 | 2012-08-01 | Coaxially-driven assistant torque generator of under-actuated system |
| US13/689,731 US9148046B2 (en) | 2012-08-01 | 2012-11-29 | Method and device for torque generation based on electromagnetic effect |
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| CN201210272797.1A CN102820731B (en) | 2012-08-01 | 2012-08-01 | Coaxially-driven assistant torque generator of under-actuated system |
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| CN102820731B true CN102820731B (en) | 2015-05-13 |
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| CN106275513A (en) * | 2016-08-30 | 2017-01-04 | 曹峻峰 | The gyroscope group that moves in turn field of force electromotor and novel continuing can spacecrafts |
| CN108100245A (en) * | 2016-11-24 | 2018-06-01 | 中航贵州飞机有限责任公司 | Full electromagnetic suspension magnetic control rotor system |
| CN108722534B (en) * | 2018-04-17 | 2023-09-26 | 武汉轻工大学 | Measurement sensor and self-feedback automatic compensation rice huller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201478983U (en) * | 2009-06-22 | 2010-05-19 | 余亚莉 | Permanent magnetic coupling device of cylindrical transmission shaft |
| CN102434467A (en) * | 2011-11-09 | 2012-05-02 | 上海电机学院 | Speed changing magnetic pump |
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| AT408045B (en) * | 1998-01-30 | 2001-08-27 | Schroedl Manfred Dipl Ing Dr | ELECTRICAL MACHINE |
| CN201611837U (en) * | 2010-01-04 | 2010-10-20 | 张隽超 | Automatic continuously variable transmission for cylindrical magnetic-induction type motor-driven transport device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201478983U (en) * | 2009-06-22 | 2010-05-19 | 余亚莉 | Permanent magnetic coupling device of cylindrical transmission shaft |
| CN102434467A (en) * | 2011-11-09 | 2012-05-02 | 上海电机学院 | Speed changing magnetic pump |
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