CN103818566A - Modularization manufacturing method for triaxial magnetic torquer - Google Patents
Modularization manufacturing method for triaxial magnetic torquer Download PDFInfo
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- CN103818566A CN103818566A CN201410101342.2A CN201410101342A CN103818566A CN 103818566 A CN103818566 A CN 103818566A CN 201410101342 A CN201410101342 A CN 201410101342A CN 103818566 A CN103818566 A CN 103818566A
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Abstract
The invention discloses a modularization manufacturing method for a triaxial magnetic torquer. The modularization manufacturing method comprises the steps of (1) manufacturing a hollow coil; (2) manufacturing a first magnetic bar coil and a second magnetic bar coil; (3) manufacturing a sheet provided with a first connecting portion and a second connecting portion; (4) fixing the first magnetic bar coil and the second magnetic bar coil to the sheet through the first connecting portion and the second connecting portion; (5) fixedly connecting the hollow coil to the sheet, wherein the hollow coil is parallel to the sheet. According to the modularization manufacturing method for the triaxial magnetic torquer, the problems that a traditional magnetic torquer is large in installation difficulty, adjustment is complex, wiring of the magnetic torquer and an attitude control circuit board is complex, larger space is occupied, and light weight, miniaturization and modularization of a microsatellite are not facilitated are solved.
Description
Technical field
The present invention relates to microsatellite attitude control field, particularly a kind of modularization making method of three-axis magnetorquer.
Background technology
The attitude mode of microsatellite is varied, and wherein comparatively conventional method is to utilize geomagnetic field to realize the attitude control of satellite.This kind of method adopts magnetic torquer as actuating unit, utilizes hot-wire coil in magnetic field, to be subject to magnetic force, and and then the principle that produces magnetic torque realize physical motion.Due to magnetic torquer have quality light, low in energy consumption, without quality loss, working stability, in the attitude control system of modern microsatellite application very extensive.
In the process of studying in the attitude control to microsatellite, contriver finds, because traditional magnetic torquer (being bar magnet class magnetic torquer or hollow magnetic torquer) is all single shaft, therefore in the control of modern microsatellite three-axis attitude, need to be by the object that just can reach three-axis attitude control on microsatellite that is arranged on orthogonal three magnetic torquers independent of each other.But, carry out such setting, particularly orthogonal setting, installation difficulty is large, and setting accuracy is low, the wiring complexity of debugging and magnetic torquer and attitude control circuit board, and occupy larger space, be unfavorable for the lightweight of microsatellite, micro-miniaturisation and modularization.
Summary of the invention
The object of the invention is to provide a kind of modularization making method of three-axis magnetorquer, solve in the control of modern microsatellite three-axis attitude, need to be by large orthogonal three magnetic torquers independent of each other installation difficulty that is arranged on microsatellite, the wiring complexity of debugging and magnetic torquer and attitude control circuit board, and occupy larger space, be unfavorable for the lightweight of microsatellite, the technical matters of micro-miniaturisation.
Technical scheme of the present invention is that a kind of modularization making method of three-axis magnetorquer, comprises the steps: step 1, makes a picture control coil; Step 2, a first bar magnet coil of making and a second bar magnet coil; Step 3, make and have the thin plate of first connecting portion and second connecting portion, the first connecting portion and the second connecting portion be respectively for fixing the first bar magnet coil and the second bar magnet coil, and the first bar magnet coil and the second bar magnet coil are perpendicular to one another; Step 4, the first bar magnet coil and the second bar magnet coil are fixed on thin plate by the first connecting portion and second connecting portion respectively; Step 5, picture control coil is fixedly connected on thin plate, and picture control coil is parallel with thin plate.
Further, method also comprises: the blank space at thin plate arranges connecting bore.
Further, picture control coil is rectangle, circle or square.
Further, the first connecting portion and the second connecting portion are arranged at the edge of thin plate.
Further, thin plate is that thickness is the duralumin thin plate of 1 millimeter.
Further, step 5 is specifically bonded in picture control coil on thin plate by aviation glue.
Further, the first connecting portion is the first draw-in groove; The second connecting portion is the second draw-in groove.
The designed three-axis magnetorquer of the present invention is a modular entirety, the bar magnet class magnetic torquer of the hollow magnetic torquer that it comprises an axle and two axles, this module itself comprised three orthogonal magnetic torquers, and be reserved with mounting interface, can come design and installation position according to the concrete size and dimension of satellite, and allow firmly to install by the mode such as screw thread or rivet, with the three-axis magnetorquer that the method is made have easy for installation, modularization strong, with the advantage such as control desk line is convenient.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of three-axis magnetorquer;
Fig. 2 is the schematic diagram of picture control coil;
Fig. 3 is the schematic diagram of magnetic core;
Fig. 4 is the schematic diagram of the magnetic core of the good coil of coiling.
The specific embodiment
A modularization making method for three-axis magnetorquer, comprises the steps:
Step 1, a picture control coil of making;
Picture control coil is rectangle, circle or square, and the object of picture control coil is to produce the magnetic field perpendicular to thin plate after its energising, and therefore, its shape is not limited to above-mentioned listed shape, as long as can achieve the above object, all within protection scope of the present invention.
Step 2, a first bar magnet coil of making and a second bar magnet coil;
Step 3, make and have the thin plate of first connecting portion and second connecting portion, the first connecting portion and the second connecting portion be respectively for fixing the first bar magnet coil and the second bar magnet coil, and the first bar magnet coil and the second bar magnet coil are perpendicular to one another;
In the present embodiment, thin plate is that thickness is the duralumin thin plate of 1 millimeter.In addition, in order to make more compact and reasonable of layout, under normal circumstances, the first connecting portion and the second connecting portion are arranged at the edge of thin plate.More specifically, the first connecting portion is the first draw-in groove; The second connecting portion is the second draw-in groove.The object of three-axis magnetorquer produces respectively magnetic torque in three orthogonal directions, and therefore, it is the necessary condition that realizes above-mentioned purpose that the first bar magnet coil and the second bar magnet coil are perpendicular to one another.If set up cartesian coordinate system with thin plate place plane, picture control coil produces the magnetic torque of Z-direction, and the first bar magnet coil and the second bar magnet coil produce the magnetic torque of X-axis and Y direction.
Step 4, the first bar magnet coil and the second bar magnet coil are fixed on thin plate by the first connecting portion and second connecting portion respectively;
Step 5, picture control coil is fixedly connected on thin plate, and picture control coil is parallel with thin plate.Specifically by aviation glue, picture control coil is bonded on thin plate.
For the three-axis magnetorquer of making is arranged on microsatellite easily, can offer connecting bore in the blank space of thin plate, to facilitate connection.Obviously, this kind of connection mode is not main inventive point of the present invention, if adopt other connection mode, such as, utilize the draw-in groove arranging on satellite that three-axis magnetorquer is embedded in microsatellite, or utilize glue three-axis magnetorquer to be bonded to the object that can realize above-mentioned connection on microsatellite.Fig. 1 is the schematic diagram of three-axis magnetorquer, and wherein mark 1 is thin plate, and mark 2 is connecting bore, and mark 3 is the first bar magnet coil, and mark 4 is the second bar magnet coil, and mark 5 is picture control coil.
The parameters of picture control coil, the first bar magnet coil and the second bar magnet coil all calculates according to the real needs of microsatellite; provide concrete designing and making example below; it should be noted that example is below only a kind of explanation; the picture control coil, the first bar magnet coil that obtain by other means, the second bar magnet coil is all within protection scope of the present invention.Easy in order to calculate, the first bar magnet coil and the second bar magnet coil are made as to identical bar magnet coil:
The first step, the formula of magnetic torquer quality, power consumption and the magnetic moment of deriving according to physics principle is as follows.
First the symbol that will use is done to give a definition: the magnetic moment of magnetic torquer coil is M, quality is m, power consumption is P, power supply voltage is U, electrical current intensity is I, the resistance R of magnetic torquer coil, perpendicular to the normal vector n of unit of coil surface, the average length of side of magnetic torquer coil is a, and the volume of magnetic torquer coil is V, the average area that magnetic torquer encloses is A, the electrical resistivity of wire is ρ, and the density of wire is γ, and the section radius of wire is r, the length of magnetic torquer coil wire used is l, and the number of turn of wire is N.
The magnetic moment of magnetic torquer coil:
The quality of magnetic torquer coil:
The power consumption of magnetic torquer coil:
Before analyzing the magnetic moment of bar magnet, first the symbol that will use is done to give a definition:
The magnetic moment of bar magnet is M, and quality is m, and power consumption is P, and power supply voltage is U, and electrical current intensity is I, the resistance R of bar magnet, and core length is l, magnetic core radius r, the density Y of magnetic core
1, the radius of whole coil is R
w, the volume of coil is V, the length of coil is l
w, the electrical resistivity of wire is ρ, and wire radius is a, and the density of wire is Y
2, the number of turn of wire is N, magnetization vector is M
d.
The power consumption of bar magnet:
The magnetic moment of bar magnet:
Wherein,
The quality of bar magnet:
m＝γ
2π
2N(R
w+r)a
2+γ
1lπr
2
Second step: the job operation that provides three-axis magnetorquer
A, for picture control coil, first according to the design size of picture control coil, in conjunction with the thickness requirement to picture control coil, utilize duralumin plate to process corresponding mould, the rounding of respectively opening certain size at four angles of mould scratches wire when preventing from winding the line, and mold center opens a through hole mating with wire coiling machine and realizes the fixing of mould and wire coiling machine.Choose two than the clamping plate of the large 1-2mm of mould, on wire coiling machine, this two clamping plates is clipped on mould and forms clip slot, along this groove, picture control coil is wound the line, as shown in Figure 2.
B, for bar magnet coil, first select permeability is large, saturation induction density is large and coercive force is less ferro-nickel as core material, (this step adopts the parameter of magnetic core to be: relative magnetic permeability is 20000 according to dimensional characteristic selection for the length of bar magnet and section radius, saturation induction density is 1.5 tesals, and coercive force is 0.15 oersted).In order to connect magnetic core and wire coiling machine, need to make a frame, be used for connecting magnetic core and wire coiling machine.One end of frame is opened one and is connected wire coiling machine with wire coiling machine matching threaded hole, and the other end is opened a hole of mating with magnetic core and carried out fastening magnetic core.Meanwhile, the clamping plate of laying two 1-2mm at magnetic core two ends form clip slot, along this groove, bar magnet coil are wound the line, as shown in Figure 3 and Figure 4.Fig. 3 is the schematic diagram of magnetic core; Fig. 4 is the schematic diagram of the magnetic core of the good coil of coiling.
C, in coiling process, be constantly coated with and add epoxy resin wire is cured.In order to prevent that unnecessary epoxy resin from accumulating in a side of coil, will clean out in time unnecessary epoxy resin in coiling process.
The designed three-axis magnetorquer of the present invention is a modular entirety, the bar magnet class magnetic torquer of the hollow magnetic torquer that it comprises an axle and two axles, this module itself comprised three orthogonal magnetic torquers, and be reserved with mounting interface, can come design and installation position according to the concrete size and dimension of satellite, and allow firmly to install by the mode such as screw thread or rivet, with the three-axis magnetorquer that the method is made have easy for installation, modularization strong, with the advantage such as control desk line is convenient.
Above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (7)
1. a modularization making method for three-axis magnetorquer, is characterized in that, comprises the steps:
Step 1, a picture control coil of making;
Step 2, a first bar magnet coil of making and a second bar magnet coil;
Step 3, make and have the thin plate of first connecting portion and second connecting portion, described the first connecting portion and the second connecting portion be respectively for fixing the first bar magnet coil and the second bar magnet coil, and the first bar magnet coil and the second bar magnet coil are perpendicular to one another;
Step 4, described the first bar magnet coil and the second bar magnet coil are fixed on described thin plate by described the first connecting portion and second connecting portion respectively;
Step 5, described picture control coil is fixedly connected on described thin plate, and described picture control coil is parallel with described thin plate.
2. the modularization making method of a kind of three-axis magnetorquer according to claim 1, is characterized in that, described method also comprises: the blank space at described thin plate arranges connecting bore.
3. the modularization making method of a kind of three-axis magnetorquer according to claim 2, is characterized in that, described picture control coil is rectangle, circle or square.
4. the modularization making method of a kind of three-axis magnetorquer according to claim 3, is characterized in that, described the first connecting portion and the second connecting portion are arranged at the edge of described thin plate.
5. the modularization making method of a kind of three-axis magnetorquer according to claim 4, is characterized in that, described thin plate is that thickness is the duralumin thin plate of 1 millimeter.
6. the modularization making method of a kind of three-axis magnetorquer according to claim 5, is characterized in that, step 5 is specifically bonded in described picture control coil on described thin plate by aviation glue.
7. according to the modularization making method of any one three-axis magnetorquer described in claim 1-6, it is characterized in that, described the first connecting portion is the first draw-in groove; Described the second connecting portion is the second draw-in groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410101342.2A CN103818566B (en) | 2014-03-18 | 2014-03-18 | A kind of modularization making method of three-axis magnetorquer |
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| CN201410101342.2A CN103818566B (en) | 2014-03-18 | 2014-03-18 | A kind of modularization making method of three-axis magnetorquer |
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| CN103818566A true CN103818566A (en) | 2014-05-28 |
| CN103818566B CN103818566B (en) | 2015-10-14 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104638874A (en) * | 2015-01-05 | 2015-05-20 | 南京航空航天大学 | Single-piece three-axis magnetorquer |
| CN105799953A (en) * | 2016-04-22 | 2016-07-27 | 西北工业大学 | High-precision radiation-resistant microsatellite three-axis magnetorquer and work method thereof |
| CN107153423A (en) * | 2017-05-31 | 2017-09-12 | 西北工业大学 | The chip star posture control system and method for intrinsic and external motive immixture |
| CN107458625A (en) * | 2017-07-28 | 2017-12-12 | 中国科学院长春光学精密机械与物理研究所 | High-density modular magnetic torquer and design method applied to micro-nano satellite |
| CN112977890A (en) * | 2021-04-06 | 2021-06-18 | 湖南揽月机电科技有限公司 | Coil magnetic torquer in intelligent attitude control assembly |
| CN114814675A (en) * | 2022-03-09 | 2022-07-29 | 北京微纳星空科技有限公司 | Method and system for calibrating magnetic moment of magnetic torquer, storage medium and electronic equipment |
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| US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
| CN1148836A (en) * | 1994-03-30 | 1997-04-30 | 法国国家太空研究中心 | Artificial satellite having magnetic and aerodynamic moment generators, and method for controlling same |
| US5787368A (en) * | 1995-11-03 | 1998-07-28 | Space Systems/Loral, Inc. | Spacecraft yaw control using only wheel speed measurements processed through a simple filter bank |
| CN103235598A (en) * | 2013-05-14 | 2013-08-07 | 北京理工大学 | Method for regulating propeller direction to point to combined-body spacecraft centroid |
| CN103411624A (en) * | 2013-07-22 | 2013-11-27 | 复旦大学 | Calibration method and calibration system, based on micro-motion stage, for magnetic field source of magnetic tracking system |
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2014
- 2014-03-18 CN CN201410101342.2A patent/CN103818566B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4732353A (en) * | 1985-11-07 | 1988-03-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three axis attitude control system |
| CN1148836A (en) * | 1994-03-30 | 1997-04-30 | 法国国家太空研究中心 | Artificial satellite having magnetic and aerodynamic moment generators, and method for controlling same |
| US5787368A (en) * | 1995-11-03 | 1998-07-28 | Space Systems/Loral, Inc. | Spacecraft yaw control using only wheel speed measurements processed through a simple filter bank |
| CN103235598A (en) * | 2013-05-14 | 2013-08-07 | 北京理工大学 | Method for regulating propeller direction to point to combined-body spacecraft centroid |
| CN103411624A (en) * | 2013-07-22 | 2013-11-27 | 复旦大学 | Calibration method and calibration system, based on micro-motion stage, for magnetic field source of magnetic tracking system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104638874A (en) * | 2015-01-05 | 2015-05-20 | 南京航空航天大学 | Single-piece three-axis magnetorquer |
| CN105799953A (en) * | 2016-04-22 | 2016-07-27 | 西北工业大学 | High-precision radiation-resistant microsatellite three-axis magnetorquer and work method thereof |
| CN105799953B (en) * | 2016-04-22 | 2019-06-04 | 西北工业大学 | A kind of anti-radiation microsatellite three-axis magnetorquer of high-precision and its working method |
| CN107153423A (en) * | 2017-05-31 | 2017-09-12 | 西北工业大学 | The chip star posture control system and method for intrinsic and external motive immixture |
| CN107458625A (en) * | 2017-07-28 | 2017-12-12 | 中国科学院长春光学精密机械与物理研究所 | High-density modular magnetic torquer and design method applied to micro-nano satellite |
| CN112977890A (en) * | 2021-04-06 | 2021-06-18 | 湖南揽月机电科技有限公司 | Coil magnetic torquer in intelligent attitude control assembly |
| CN112977890B (en) * | 2021-04-06 | 2024-01-16 | 湖南揽月机电科技有限公司 | Coil magnetic torquer in intelligent attitude control assembly |
| CN114814675A (en) * | 2022-03-09 | 2022-07-29 | 北京微纳星空科技有限公司 | Method and system for calibrating magnetic moment of magnetic torquer, storage medium and electronic equipment |
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| Publication number | Publication date |
|---|---|
| CN103818566B (en) | 2015-10-14 |
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