CN103023222B - Azimuth-drive motor system structure of heavy load inertially stabilized platform - Google Patents
Azimuth-drive motor system structure of heavy load inertially stabilized platform Download PDFInfo
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- CN103023222B CN103023222B CN201310009579.3A CN201310009579A CN103023222B CN 103023222 B CN103023222 B CN 103023222B CN 201310009579 A CN201310009579 A CN 201310009579A CN 103023222 B CN103023222 B CN 103023222B
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Abstract
An azimuth-drive motor system structure of a heavy load inertially stabilized platform comprises an azimuth-drive motor body structure, a motor measuring structure and a motor locking mechanism. The azimuth-drive motor body structure comprises a motor stator and a motor rotor. The motor measuring structure comprises a grating measuring ruler structure and a grating read head structure. The motor locking mechanism comprises a motor locking spring and a motor locking pin. The azimuth-drive motor body structure realizes control of azimuth direction freedom degree, and realizes isolation of airplane azimuth direction angle motions according to control instructions. The motor measuring structure finishes angle information measurement of azimuth direction relative rotary angles, and feeds back to a processor to complete accurate control of azimuth direction. The motor locking mechanism realizes static state of the heavy load inertially stabilized platform, and guarantees fixed azimuth pose during aerial photography and absolute static during non-working state.
Description
Technical field
The invention belongs to aerial remote sens ing technique field, be applicable to carry comparatively large and require the air remote sensing heavy load three axle inertially stabilized platform system that deadweight is less, relate to a kind of azimuth-drive motor being installed on heavy load inertially stabilized platform inside, conversion work under free, the accurate adjustment of azimuth direction and different motion state can be provided, also can be used among other mechanical mechanism needing major diameter, small size, light weight, high-precision motor.
Background technology
Air remote sensing heavy load inertially stabilized platform is one of key equipment of airborne earth observation, its function is supported to as load and isolates flight carrier three direction attitude angle motions and external disturbance, the imaging load optical axis is made to follow the tracks of all the time in inertial space and perpendicular to local level, improve imaging resolution.But due to aerospace applications environmental limit, inertially stabilized platform structure needs have the features such as little, the lightweight and bearing ratio of volume is large simultaneously, therefore design needs to carry out compactedness optimal design under the prerequisite meeting dynamic and static state performance requirement.
In existing aviation inertially stabilized platform design, but there is many deficiencies in existing inertially stabilized platform, aggregate performance is that the systematicness in, load/little from anharmonic ratio large at volume, low precision etc. is not enough, is namely difficult to find the product integrating above each side advantage.This wherein the driving of azimuth direction and transmission particularly crucial, existing orientation is run indirectly mainly with one-level gear drive, makes heavy load inertially stabilized platform quality increase and cannot realize attitude and directly drives fine setting, cause its precision to be difficult to further raising.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency driven for orientation in air remote sensing three axle inertially stabilized platform, proposes that a kind of precision is high, volume is little, quality is light, the azimuth-drive motor of the heavy load inertially stabilized platform of compact conformation.
Technical solution of the present invention is specific as follows: a kind of azimuth-drive motor system configuration of heavy load inertially stabilized platform, is characterized in that comprising: stator tightening sunk screw 1, motor stator holder 2, stator coil 3, motor stator 4, permanent magnet 5, rotor 6, rotor seat 7, cover plate tightening sunk screw 8, read head install rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, spring 12, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14, grating read head 15, grating scale 16, latch 17, rotor cover plate 18.Described stator tightening sunk screw 1, motor stator holder 2, stator coil 3, motor stator 4, permanent magnet 5, rotor 6, rotor seat 7, rotor cover plate 18 form azimuth-drive motor body construction part; Described cover plate tightening sunk screw 8, read head installation rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14, grating read head 15, grating scale 16 form motor and measure structure division; Described read head installation rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, spring 12, read head mounting panel tightening soket head cap screw 13, latch 17, rotor cover plate 18 form motor locking mechanism part.Motor stator holder 2, rotor seat 7 are for mounted motor stator 4, rotor 6, they are individually fixed in the diverse location of heavy load inertially stabilized platform, and coupled together by support component, support component can be wire roller bearing or magnetic suspension bearing, just can realize the rotation of azimuth direction between such stator rotor.Motor stator 4 is fixed on motor stator holder 2 by stator tightening sunk screw 1, and realizes axial location by the step 20 on motor stator holder 2, and the teeth groove that stator coil 3 is wrapped in motor stator 4 is inner.Rotor 6 interference fit also passes through rotor cover plate 18 by the tightening of cover plate tightening sunk screw 8 on rotor seat 7, realizes axial location by the step 19 on rotor seat 7.Read head is installed rebound 9 and is installed on motor stator holder 2 by rebound tightening soket head cap screw 1O, grating read head 15 is connected by read head mounting panel 11, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14 are holding screw, grating scale 16 is affixed on rotor cover plate 18 by gluing, pastes and is realized by positioning marking.Latch 17 is in the draw-in groove that read head installs rebound 9 and read head mounting panel 11, and being in different gear by promotion latch 17 can be that latch enters or from the tightening hole going out rotor cover plate 18, can stop controlling to turning of motor like this.
In order to reach the thickness reducing motor yoke, the requirement improving motor torque density, reduce motor weight, motor needs to be designed to more number of poles.
The utilance reduce motor stator external diameter to reach, improving groove, the requirement of just processing with realization, the pole span of motor is designed to radial 6 ° of equal distribution, and the groove number of every extremely every phase is designed to 60.
In order to obtain the electromotive force sinusoidal waveform of specification, reduce the slot effect of magneto, the winding configuration of motor elects fractional slot winding as.
In order to obtain a comparatively sinusoidal air gap magnetic density waveform, the permanent magnet 5 of rotor is designed to the outstanding steamed bun shape of profile.
In order to effectively reduce the unilateral magnetic force and cogging torque fluctuation that electric machine assembly alignment error brings, the air gap increasing motor internal suitable during design.
In order to the difficulty reducing installation increases the precision of assembling, machined two ladder platforms 19,20 at motor stator holder 2, rotor seat 7, be convenient to location is installed.
In order to realize grating pin-point reading, grating scale 16 will be rule location when mounted; Grating read head mounting panel 11 is designed to different-thickness, has selected axial adjustment to realize accurately location so that carry out thickness when installing as the case may be; Grating read head mounting panel 11 tightening mode is the unthreaded hole having gap, so that complete radiai adjustment to realize accurately location.
In order to realize grating pin-point reading, read head installs rebound 9, read head mounting panel 11 faying face place, and grating read head 15, read head mounting panel 11 faying face need have higher machining shape position of related features; Outside rotor cover plate 18, also will there be higher machining shape position of related features on the face of cylinder.
Can remain static to realize heavy load inertially stabilized platform orientation framework, install on rebound 9, read head mounting panel 11 at read head and devise the motor locking mechanism be made up of spring 12, latch 17, in this mechanism, spring 12 two ends withstand latch 17 and read head installation rebound 9, read head mounting panel 11 respectively.Spring 12 provides elastic force for the locked of motor.
Principle of the present invention is: the azimuth-drive motor of heavy load inertially stabilized platform of the present invention achieves and directly drives azimuth motion, high accuracy control azimuth corner attitude.The present invention is by azimuth-drive motor body construction part: motor stator, rotor; Structure division measured by motor: grating encoder structure, grating read head structure; Motor locking mechanism part: the locked spring of motor, the locked latch of motor.The body construction of azimuth-drive motor realizes the control of the azimuth direction degree of freedom, realizes the isolation of bearing of aircraft deflection motion according to control command.Motor is measured structure division and is completed the information measurement of azimuth direction relative rotation angle, and feeds back to processor and complete azimuth direction and precisely control.Motor locking mechanism part realizes the inactive state of heavy load inertially stabilized platform azimuth direction, absolute rest when can ensure constant bearing pose when taking photo by plane and be in non operating state.The present invention is azimuth motion design in heavy load inertially stabilized platform specially, what achieve azimuth direction in heavy load inertially stabilized platform directly drives transmission, simplify the structural design of heavy load inertially stabilized platform, effectively can isolate azimuth direction aircraft angular movement interference, improve platform bearer ability and lasting accuracy, be applicable to the orientation drive system etc. of air remote sensing, target following.
The present invention's advantage is compared with prior art:
(1) structure of the present invention achieves the high accuracy in heavy load inertially stabilized platform orientation, small size, lightweight and the angular surveying of current collection machine, the locked compact motor driving design be integrated of motor.
(2) motor pole number of the present invention pole span that is higher, motor is less and groove number that is every extremely every phase is also smaller, which decreases the thickness of motor yoke, improves motor torque density, reduces motor stator external diameter, reduces motor weight, improve the utilance of groove and just realize with processing.
(3) motor in the present invention adopts the winding configuration of motor to be fractional slot winding, obtains good electromotive force sinusoidal waveform, reduces the slot effect of magneto.
(4) the rotor permanent magnet in the present invention through optimal design adopt shape be outstanding steamed bun shape, this results in one comparatively rule sinusoidal air gap magnetic density waveform.
(5) between rotor of the present invention, motor stator, monolateral air gap is 2mm, the suitable motor internal air gap increased, and significantly reduces unilateral magnetic force and cogging torque fluctuation that electric machine assembly alignment error brings.
(6) the present invention adopts grating scale to carry out circumference to paste, measure the rotation that azimuth-drive motor drives azimuth direction, can realize the adaptation of variations in temperature on a large scale and high-precision control, grating scale and read head mounting structure thereof adopt accurate machine construction design and manufacture, ensure the precision of installing and measuring.
(7) current collection machine of the present invention drives, electric machine rotation is measured, motor is locked is integrated, and motor locking mechanism is compact, design cleverly and measure among structure in electric machine rotation, the design that simplifies the structure, alleviates the quality of entirety.
Accompanying drawing explanation
Fig. 1 is heavy load inertially stabilized platform azimuth-drive motor overall structure diagram;
Fig. 2 is heavy load inertially stabilized platform azimuth-drive motor body construction diagram;
Fig. 3 is heavy load inertially stabilized platform azimuth-drive motor stator teeth groove diagram;
Fig. 4 is heavy load inertially stabilized platform azimuth-drive motor rotor permanent magnet and the diagram that magnetizes thereof;
Fig. 5 is that heavy load inertially stabilized platform azimuth-drive motor U phase winding end connects diagram.
Embodiment
As shown in Figure 1, the present invention installs rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, spring 12, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14, grating read head 15, grating scale 16, latch 17, rotor cover plate 18 by stator tightening sunk screw 1, motor stator holder 2, stator coil 3, motor stator 4, permanent magnet 5, rotor 6, rotor seat 7, cover plate tightening sunk screw 8, read head.Stator tightening sunk screw 1, motor stator holder 2, stator coil 3, motor stator 4, permanent magnet 5, rotor 6, rotor seat 7, rotor cover plate 18 form azimuth-drive motor body construction part; Cover plate tightening sunk screw 8, read head installation rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14, grating read head 15, grating scale 16 form motor and measure structure division; Read head installation rebound 9, rebound tightening soket head cap screw 1O, read head mounting panel 11, spring 12, read head mounting panel tightening soket head cap screw 13, latch 17, rotor cover plate 18 form motor locking mechanism part.
Motor stator holder 2, rotor seat 7 are for mounted motor stator 4, rotor 6, they are individually fixed in the diverse location of heavy load inertially stabilized platform, and coupled together by support component, support component can be wire roller bearing or magnetic suspension bearing, just can realize the rotation of azimuth direction between such stator rotor.Motor stator 4 is fixed on motor stator holder 2 by stator tightening sunk screw 1, and realizes axial location by the step 20 on motor stator holder 2, and the teeth groove that stator coil 3 is wrapped in motor stator 4 is inner.Rotor 6 interference fit also passes through rotor cover plate 18 by the tightening of cover plate tightening sunk screw 8 on rotor seat 7, realizes axial location by the step 19 on rotor seat 7.
Read head is installed rebound 9 and is installed on motor stator holder 2 by rebound tightening soket head cap screw 1O, grating read head 15 is connected by read head mounting panel 11, read head mounting panel tightening soket head cap screw 13, read head tightening sunk screw 14 are holding screw, grating scale 16 is affixed on rotor cover plate 18 by gluing, is realized when pasting by positioning marking.
Latch 17 is in the cylindricality draw-in groove that read head installs rebound 9 and read head mounting panel 11, and being in different gear by promotion latch 17 can be that latch enters or from the tightening hole going out rotor cover plate 18, can stop controlling to turning of motor like this.
As shown in Figure 1, the azimuth-drive motor system configuration of heavy load inertially stabilized platform, in order to the difficulty reducing installation increases the precision of assembling, machined two ladder platforms 19,20 at motor stator holder 2, rotor seat 7, is convenient to install location.
As shown in Figure 1, in order to realize grating pin-point reading, grating scale 16 will be rule location when mounted; Grating read head mounting panel 11 is designed to different-thickness, has selected axial adjustment to realize accurately location so that carry out thickness when installing as the case may be; Grating read head mounting panel 11 tightening mode is the unthreaded hole having gap, so that complete radiai adjustment to realize accurately location.Read head installs rebound 9, read head mounting panel 11 faying face place, and grating read head 15, read head mounting panel 11 faying face need have higher machining shape position of related features; Outside rotor cover plate 18, also will there be higher machining shape position of related features on the face of cylinder.
As shown in Figure 1, can remain static to realize heavy load inertially stabilized platform orientation framework, install on rebound 9, read head mounting panel 11 at read head and devise the motor locking mechanism be made up of spring 12, latch 17, latch 17 is withstood at spring 12 two ends respectively and read head installs rebound 9, read head mounting panel 11; Spring 12 provides elastic force for the locked of motor.
As accompanying drawing 2,3 is depicted as the body construction of azimuth-drive motor, can find out that motor pole number is many, the pole span of motor is 6 ° of equal distribution and the groove number of every extremely every phase is 60, which decrease the thickness of motor yoke, improve motor torque density, reduce motor stator external diameter, reduce motor weight, improve the utilance of groove and just realize with processing.In addition, between rotor, motor stator, monolateral air gap is 2mm, the suitable motor internal air gap increased, and significantly reduces unilateral magnetic force and cogging torque fluctuation that electric machine assembly alignment error brings.
As shown in Figure 4, rotor permanent magnet adopts profile to be outstanding steamed bun shape through optimal design, this results in a comparatively sinusoidal air gap magnetic density waveform.The winding configuration that motor adopts as shown in accompanying drawing 2,5 elects fractional slot winding as, this results in good electromotive force sinusoidal waveform, reduces the slot effect of magneto.
The content be not described in detail in specification of the present invention belongs to the known prior art of professional and technical personnel in the field.
Claims (8)
1. the azimuth-drive motor system configuration of a heavy load inertially stabilized platform, it is characterized in that comprising: stator tightening sunk screw (1), motor stator holder (2), stator coil (3), motor stator (4), permanent magnet (5), rotor (6), rotor seat (7), cover plate tightening sunk screw (8), read head installs rebound (9), rebound tightening soket head cap screw (10), read head mounting panel (11), spring (12), read head mounting panel tightening soket head cap screw (13), read head tightening sunk screw (14), grating read head (15), grating scale (16), latch (17), rotor cover plate (18), described stator tightening sunk screw (1), motor stator holder (2), stator coil (3), motor stator (4), permanent magnet (5), rotor (6), rotor seat (7), rotor cover plate (18) form azimuth-drive motor body construction part, described cover plate tightening sunk screw (8), read head install rebound (9), rebound tightening soket head cap screw (10), read head mounting panel (11), read head mounting panel tightening soket head cap screw (13), read head tightening sunk screw (14), grating read head (15), grating scale (16) formation motor measurement structure division, described read head installs rebound (9), rebound tightening soket head cap screw (10), read head mounting panel (11), spring (12), read head mounting panel tightening soket head cap screw (13), latch (17), rotor cover plate (18) formation motor locking mechanism part, motor stator holder (2), rotor seat (7) are for mounted motor stator (4), rotor (6), they are individually fixed in the diverse location of heavy load inertially stabilized platform, and coupled together by support component, support component is wire roller bearing or magnetic suspension bearing, realizes azimuth direction and rotate between such stator rotor, motor stator (4) is fixed on motor stator holder (2) by stator tightening sunk screw (1), and realize axial location by the step (20) on motor stator holder (2), the teeth groove that stator coil (3) is wrapped in motor stator (4) is inner, rotor (6) interference fit goes up in rotor seat (7) and passes through rotor cover plate (18) by cover plate tightening sunk screw (8) tightening, realizes axial location by the step (19) on rotor seat (7), read head is installed rebound (9) and is installed on motor stator holder (2) by rebound tightening soket head cap screw (10), grating read head (15) is connected by read head mounting panel (11), read head mounting panel tightening soket head cap screw (13), read head tightening sunk screw (14) are holding screw, grating scale (16) is affixed on rotor cover plate (18) by gluing, pastes and is realized by positioning marking, latch (17) is in the cylindricality draw-in groove that read head installs rebound (9) and read head mounting panel (11), be in different gear and realize latch by promoting latch (17) and to enter or from the tightening hole going out rotor cover plate (18), stop controlling to turning of motor like this.
2. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, it is characterized in that: the utilance reduce motor stator external diameter to reach, improving groove, the requirement of just processing with realization, the pole span of motor is designed to radial 6 ° of equal distribution, and the groove number of every extremely every phase is designed to 60.
3. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, is characterized in that: in order to obtain the electromotive force sinusoidal waveform of specification, reduce the slot effect of magneto, the winding configuration of motor elects fractional slot winding as.
4. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, it is characterized in that: in order to obtain a comparatively sinusoidal air gap magnetic density waveform, the permanent magnet (5) of rotor is designed to the outstanding steamed bun shape of profile.
5. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, it is characterized in that: in order to effectively reduce the unilateral magnetic force and cogging torque fluctuation that electric machine assembly alignment error brings, the air gap increasing motor internal suitable during design.
6. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, it is characterized in that: in order to the difficulty reducing installation increases the precision of assembling, machined two ladder platforms (19,20) at motor stator holder (2), rotor seat (7), be convenient to location is installed.
7. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, is characterized in that: in order to realize grating pin-point reading, and grating scale (16) will be rule location when mounted; Grating read head mounting panel (11) is designed to different-thickness, has selected axial adjustment to realize accurately location so that carry out thickness when installing as the case may be; Grating read head mounting panel (11) tightening mode is the unthreaded hole having gap, so that complete radiai adjustment to realize accurately location.
8. the azimuth-drive motor system configuration of a kind of heavy load inertially stabilized platform according to claim 1, it is characterized in that: can remain static to realize heavy load inertially stabilized platform orientation framework, install on rebound (9), read head mounting panel (11) at read head and devise the motor locking mechanism be made up of spring (12), latch (17), latch (17) is withstood at spring (12) two ends respectively and read head installs rebound (9), read head mounting panel (11); Spring (12) is motor lockedly provides elastic force.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310009579.3A CN103023222B (en) | 2013-01-10 | 2013-01-10 | Azimuth-drive motor system structure of heavy load inertially stabilized platform |
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| CN201310009579.3A CN103023222B (en) | 2013-01-10 | 2013-01-10 | Azimuth-drive motor system structure of heavy load inertially stabilized platform |
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| CN103023222B true CN103023222B (en) | 2014-12-17 |
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| CN106787956A (en) * | 2016-12-19 | 2017-05-31 | 南京磁谷科技有限公司 | A kind of mounting structure of magnetic suspension motor stator |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915986A (en) * | 2010-07-29 | 2010-12-15 | 北京航天发射技术研究所 | Active two-dimensional tracking collimator |
| CN102638130A (en) * | 2012-04-17 | 2012-08-15 | 北京航空航天大学 | Three-shaft inertia stable platform motor driving unit |
| CN102849220A (en) * | 2012-09-04 | 2013-01-02 | 北京航空航天大学 | Orientation driving/locking device for inertially-stabilized platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070032950A1 (en) * | 2005-08-05 | 2007-02-08 | Raven Industries, Inc. | Modular high-precision navigation system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915986A (en) * | 2010-07-29 | 2010-12-15 | 北京航天发射技术研究所 | Active two-dimensional tracking collimator |
| CN102638130A (en) * | 2012-04-17 | 2012-08-15 | 北京航空航天大学 | Three-shaft inertia stable platform motor driving unit |
| CN102849220A (en) * | 2012-09-04 | 2013-01-02 | 北京航空航天大学 | Orientation driving/locking device for inertially-stabilized platform |
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