CN103818566B - A kind of modularization making method of three-axis magnetorquer - Google Patents
A kind of modularization making method of three-axis magnetorquer Download PDFInfo
- Publication number
- CN103818566B CN103818566B CN201410101342.2A CN201410101342A CN103818566B CN 103818566 B CN103818566 B CN 103818566B CN 201410101342 A CN201410101342 A CN 201410101342A CN 103818566 B CN103818566 B CN 103818566B
- Authority
- CN
- China
- Prior art keywords
- coil
- magnetic
- thin plate
- connecting part
- torquer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004519 manufacturing process Methods 0.000 claims description 19
- 229910000737 Duralumin Inorganic materials 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 108091092878 Microsatellite Proteins 0.000 abstract description 15
- 238000009434 installation Methods 0.000 abstract description 2
- 239000011162 core material Substances 0.000 description 24
- 238000004804 winding Methods 0.000 description 10
- 239000003292 glue Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000003822 epoxy resin Substances 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 229910001030 Iron–nickel alloy Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N nickel Substances [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Landscapes
- Magnetic Resonance Imaging Apparatus (AREA)
- Coils Or Transformers For Communication (AREA)
Abstract
The present invention discloses a kind of modularization making method of three-axis magnetorquer, comprises step 1, makes a picture control coil; Step 2, a making first bar magnet coil and a second bar magnet coil; Step 3, make there is the thin plate of first connecting portion and second connecting portion, step 4, the first bar magnet coil and the second bar magnet coil are fixed on thin plate respectively by the first connecting portion and second connecting portion; Step 5, picture control coil to be fixedly connected on thin plate, and picture control coil is parallel with thin plate.It is large that the present invention solves conventional magnetic square device installation difficulty, and the wiring of debugging and magnetic torquer and posture control circuit plate is complicated, and occupies larger space, is unfavorable for the lightweight of microsatellite, micro-miniaturisation and modularization.
Description
Technical Field
The invention relates to the field of micro-satellite attitude control, in particular to a modular manufacturing method of a triaxial magnetic torquer.
Background
The attitude control method of the microsatellite is various, and a common method is to use the geomagnetic field to realize the attitude control of the satellite. The method adopts a magnetic torquer as an actuating mechanism, and realizes physical movement by utilizing the principle that an electrified coil is subjected to magnetic force in a magnetic field and further generates magnetic torque. The magnetic torquer has the characteristics of light weight, low power consumption, no mass loss and stable work, and is widely applied to the attitude control system of the modern microsatellite.
In the process of researching the attitude control of the microsatellite, the inventor finds that the three-axis attitude control can be achieved by orthogonally arranging three independent magnetic torquers on the microsatellite in the modern microsatellite because the traditional magnetic torquers (whether a magnetic bar type magnetic torquer or a hollow magnetic torquer) are all single-axis. However, such an arrangement, particularly an orthogonal arrangement, has a large difficulty in mounting, a low mounting accuracy, a complicated debugging and wiring between the magnetic torquer and the attitude control circuit board, and a large space, and is not favorable for the weight reduction, miniaturization, and modularization of the microsatellite.
Disclosure of Invention
The invention aims to provide a modularized manufacturing method of a triaxial magnetic torquer, which solves the technical problems that in the triaxial attitude control of a modern microsatellite, three mutually independent magnetic torquers need to be orthogonally arranged on the microsatellite, the installation difficulty is high, the debugging and wiring of the magnetic torquers and an attitude control circuit board are complex, the space is large, and the lightweight and miniaturization of the microsatellite are not facilitated.
The invention has the technical scheme that the modular manufacturing method of the triaxial magnetic torquer comprises the following steps: step 1, manufacturing an air-core coil; step 2, manufacturing a first magnetic bar coil and a second magnetic bar coil; step 3, manufacturing a thin plate with a first connecting part and a second connecting part, wherein the first connecting part and the second connecting part are respectively used for fixing a first magnetic bar coil and a second magnetic bar coil and enabling the first magnetic bar coil and the second magnetic bar coil to be perpendicular to each other; step 4, fixing the first magnetic bar coil and the second magnetic bar coil on the thin plate through a first connecting part and a second connecting part respectively; and 5, fixedly connecting the hollow coil on the thin plate, wherein the hollow coil is parallel to the thin plate.
Further, the method further comprises: and a connecting hole is arranged at the blank of the thin plate.
Further, the air-core coil is rectangular, circular or square.
Further, the first connecting portion and the second connecting portion are disposed at the edge of the thin plate.
Further, the thin plate is a duralumin thin plate with a thickness of 1 mm.
Further, step 5 is to bond the air-core coil to the thin plate by using an aviation glue.
Further, the first connecting part is a first clamping groove; the second connecting part is a second clamping groove.
The three-axis magnetic torquer designed by the invention is a modularized whole, and comprises a hollow magnetic torquer with one axis and a magnetic bar type magnetic torquer with two axes, wherein the module comprises three orthogonal magnetic torquers, and is reserved with a mounting interface, a mounting position can be designed according to the specific size and shape of a satellite, and the three-axis magnetic torquer can be firmly mounted by means of threads or rivets, and the three-axis magnetic torquer manufactured by the method has the advantages of convenience in mounting, strong modularization, convenience in connecting with a control panel and the like.
Drawings
FIG. 1 is a schematic diagram of a three-axis magnetic torquer;
FIG. 2 is a schematic view of an air coil;
FIG. 3 is a schematic view of a magnetic core;
fig. 4 is a schematic view of a core with a wound coil.
Detailed Description
A modular manufacturing method of a three-axis magnetic torquer comprises the following steps:
step 1, manufacturing an air-core coil;
the air-core coil is rectangular, circular or square, and the purpose of the air-core coil is to generate a magnetic field perpendicular to the thin plate after being energized, so the shape is not limited to the above listed shapes, and the air-core coil is within the protection scope of the present invention as long as the above purpose can be achieved.
Step 2, manufacturing a first magnetic bar coil and a second magnetic bar coil;
step 3, manufacturing a thin plate with a first connecting part and a second connecting part, wherein the first connecting part and the second connecting part are respectively used for fixing a first magnetic bar coil and a second magnetic bar coil and enabling the first magnetic bar coil and the second magnetic bar coil to be perpendicular to each other;
in this embodiment, the thin plate is a duralumin thin plate having a thickness of 1 mm. In addition, in order to make the layout more compact and reasonable, the first connecting portion and the second connecting portion are usually disposed at the edge of the thin plate. More specifically, the first connecting part is a first card slot; the second connecting part is a second clamping groove. The object of the triaxial magnetic torquer is to generate magnetic moments in three directions orthogonal to each other, respectively, and therefore, it is a necessary condition for achieving the above object that the first and second bar coils are perpendicular to each other. If a Cartesian coordinate system is established by the plane of the thin plate, the air coil generates magnetic moment in the Z-axis direction, and the first magnetic bar coil and the second magnetic bar coil generate magnetic moment in the X-axis direction and the Y-axis direction.
Step 4, fixing the first magnetic bar coil and the second magnetic bar coil on the thin plate through a first connecting part and a second connecting part respectively;
and 5, fixedly connecting the hollow coil on the thin plate, wherein the hollow coil is parallel to the thin plate. Specifically, the air-core coil is bonded on the thin plate through the aviation glue.
In order to conveniently install the manufactured triaxial magnetic torquer on the microsatellite, a connecting hole can be formed in the blank of the thin plate so as to facilitate connection. Obviously, this connection method is not the main point of the present invention, and other connection methods, for example, embedding the three-axis magnetic torquer into the microsatellite by using a slot provided on the satellite, or adhering the three-axis magnetic torquer to the microsatellite by using glue, can be used to achieve the above-mentioned connection purpose. Fig. 1 is a schematic view of a three-axis magnetic torquer, in which reference numeral 1 is a thin plate, reference numeral 2 is a connection hole, reference numeral 3 is a first magnetic bar coil, reference numeral 4 is a second magnetic bar coil, and reference numeral 5 is an air coil.
The parameters of the air core coil, the first magnetic rod coil and the second magnetic rod coil are calculated according to the specific requirements of the microsatellite, specific design and manufacturing examples are given below, it should be noted that the following examples are merely illustrative, and the air core coil, the first magnetic rod coil and the second magnetic rod coil obtained by other methods are all within the protection scope of the invention. For simplicity of calculation, the first and second bar magnet coils are made as identical bar magnet coils:
in the first step, equations for mass, power consumption and magnetic moment of the magnetic torquer derived from physical principles are shown below.
The symbols to be used are first defined as follows: the magnetic moment of the magnetic torquer coil is M, the mass is M, the power consumption is P, the power supply voltage is U, the intensity of the electrified current is I, the resistance R of the magnetic torquer coil is a unit normal vector N vertical to the coil surface, the average side length of the magnetic torquer coil is a, the volume of the magnetic torquer coil is V, the average area surrounded by the magnetic torquer is A, the resistivity of a lead is rho, the density of the lead is gamma, the section radius of the lead is R, the length of the lead used by the magnetic torquer coil is l, and the number of turns of the lead is N.
Magnetic moment of the magnetic torquer coil:
mass of the magnetic torquer coil:
power consumption of the magnetic torquer coil:
before analyzing the magnetic moment of the bar magnet, the symbols to be used are defined as follows:
the magnetic moment of the magnetic rod is M, the mass is M, the power consumption is P, the power supply voltage is U, the intensity of the electrified current is I, the resistance R of the magnetic rod, the length of the magnetic core is l, the radius R of the magnetic core and the density Y of the magnetic core1The radius of the whole coil is RwVolume of coilIs V, the length of the coil is lwThe resistivity of the wire is rho, the radius of the wire is a, and the density of the wire is Y2The number of turns of the wire is N, and the magnetization vector is Md。
Power consumption of the magnetic bar:
magnetic moment of magnetic bar:
wherein, <math>
<mrow>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<msub>
<mi>μ</mi>
<mi>r</mi>
</msub>
</mfrac>
<mo>+</mo>
<msub>
<mi>N</mi>
<mi>d</mi>
</msub>
<mo>,</mo>
</mrow>
</math>
mass of the magnetic rod:
m＝γ2π2N(Rw+r)a2+γ1lπr2
the second step is that: machining method for giving three-axis magnetic torquer
A. For the hollow coil, firstly, according to the design size of the hollow coil, the thickness requirement of the hollow coil is combined, a corresponding die is processed by using a hard aluminum plate, the four corners of the die are respectively provided with a radius of a certain size so as to prevent wires from being scratched when winding, and the center of the die is provided with a through hole matched with a winding machine so as to fix the die and the winding machine. Two clamping plates 1-2mm larger than the mold are selected, the two clamping plates are clamped on the mold on a winding machine to form a clamping groove, and the hollow coil is wound along the groove, as shown in figure 2.
B. For the magnetic rod coil, firstly, the iron-nickel alloy with larger magnetic permeability, larger saturation magnetic induction and smaller coercive force is selected as the magnetic core material, and the length and the section radius of the magnetic rod are selected according to the size requirement (the parameters of the magnetic core adopted in the step are that the relative magnetic permeability is 20000, the saturation magnetic induction is 1.5 Tesla, and the coercive force is 0.15 Oersted). In order to connect the core to the winding machine, a frame is required to be manufactured for connecting the core to the winding machine. One end of the frame is provided with a threaded hole matched with the winding machine to be connected with the winding machine, and the other end of the frame is provided with a hole matched with the magnetic core to fasten the magnetic core. Meanwhile, two 1-2mm clamping plates are placed at both ends of the magnetic core to form a clamping groove along which the bar coil is wound, as shown in fig. 3 and 4. FIG. 3 is a schematic view of a magnetic core; fig. 4 is a schematic view of a core with a wound coil.
C. During the winding process, epoxy is continuously applied to cure the wire. In order to prevent the excess epoxy resin from accumulating on one side of the coil, the excess epoxy resin needs to be cleaned in time in the winding process.
The three-axis magnetic torquer designed by the invention is a modularized whole, and comprises a hollow magnetic torquer with one axis and a magnetic bar type magnetic torquer with two axes, wherein the module comprises three orthogonal magnetic torquers, and is reserved with a mounting interface, a mounting position can be designed according to the specific size and shape of a satellite, and the three-axis magnetic torquer can be firmly mounted by means of threads or rivets, and the three-axis magnetic torquer manufactured by the method has the advantages of convenience in mounting, strong modularization, convenience in connecting with a control panel and the like.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A modular manufacturing method of a triaxial magnetic torquer is characterized by comprising the following steps:
step 1, manufacturing an air-core coil;
step 2, manufacturing a first magnetic bar coil and a second magnetic bar coil;
step 3, manufacturing a thin plate with a first connecting part and a second connecting part, wherein the first connecting part and the second connecting part are respectively used for fixing a first magnetic bar coil and a second magnetic bar coil and enabling the first magnetic bar coil and the second magnetic bar coil to be perpendicular to each other;
step 4, fixing the first magnetic bar coil and the second magnetic bar coil on the thin plate through the first connecting part and the second connecting part respectively;
and 5, fixedly connecting the hollow coil on the thin plate, wherein the hollow coil is parallel to the thin plate.
2. The method of claim 1, further comprising: and arranging a connecting hole at the blank of the thin plate.
3. The modular manufacturing method of the triaxial magnetic torquer of claim 2, wherein the air core coil is rectangular or circular.
4. The modular manufacturing method of the three-axis magnetic torquer of claim 3, wherein the air core coil is square.
5. The method of claim 3, wherein the first and second connecting portions are disposed at edges of the thin plate.
6. The method of claim 5, wherein the sheet is a 1 mm thick sheet of duralumin.
7. The method of claim 6, wherein step 5 comprises adhering the air-core coil to the sheet by an air adhesive.
8. The modular manufacturing method of any one of the three-axis magnetic torquers of claims 1-7, wherein the first connecting portion is a first slot; the second connecting part is a second clamping groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410101342.2A CN103818566B (en) | 2014-03-18 | 2014-03-18 | A kind of modularization making method of three-axis magnetorquer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410101342.2A CN103818566B (en) | 2014-03-18 | 2014-03-18 | A kind of modularization making method of three-axis magnetorquer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103818566A CN103818566A (en) | 2014-05-28 |
| CN103818566B true CN103818566B (en) | 2015-10-14 |
Family
ID=50753924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410101342.2A Expired - Fee Related CN103818566B (en) | 2014-03-18 | 2014-03-18 | A kind of modularization making method of three-axis magnetorquer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103818566B (en) |
Families Citing this family (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 |
| 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 |
| CN107153423B (en) * | 2017-05-31 | 2020-07-03 | 西北工业大学 | System and method for controlling attitude orbit of chip star under mixed action of internal power and external power |
| 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 |
| 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 |
| CN114814675B (en) * | 2022-03-09 | 2022-11-25 | 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 |
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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103818566A (en) | 2014-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103818566B (en) | A kind of modularization making method of three-axis magnetorquer | |
| JP5768803B2 (en) | MEMS equipment | |
| US20130009659A1 (en) | Probe card and method for testing magnetic sensors | |
| US20190101602A1 (en) | Magnetic field sensing apparatus | |
| JP2013079942A (en) | Uniform magnetic field generator | |
| EP2333900A3 (en) | Antenna coil and manufacturing method thereof | |
| US3149254A (en) | Linear motor or generator | |
| CN103444054B (en) | Moving magnet actuator magnet carrier | |
| CN110562495B (en) | Cube star offset momentum attitude control system | |
| CN103441708A (en) | Modularization moving-iron type six-freedom-degree maglev motion platform | |
| CN103765228A (en) | Sensors | |
| CN104753306A (en) | Magnetic-steel array and magnetic-levitation planar motor | |
| US20150160307A1 (en) | Orthogonal fluxgate sensor | |
| CN109164273A (en) | A kind of accelerometer permanent magnet moment-meter | |
| CN209373236U (en) | More lens camera systems and its driving mechanism | |
| US20170153125A1 (en) | Magnetic sensor device and method for producing same | |
| US20180172739A1 (en) | Current sensing | |
| CN109435712A (en) | The magnetic coupling arrangement and system of unmanned plane wireless charging | |
| US10830838B2 (en) | Magnetic sensor | |
| US11029371B2 (en) | Triaxial magnetism detecting apparatus and satellite | |
| US10884029B2 (en) | Magnetic sensor and electric current sensor including same | |
| CN209570686U (en) | Magnetic cell | |
| CN113644830B (en) | Power conversion device | |
| US11527929B2 (en) | Motor for improving flux content and robot comprising the same | |
| TWI750443B (en) | Hollow core electromagnetic coil |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20210318 |