CN104075700A - Small-size speed change control moment gyroscope - Google Patents
Small-size speed change control moment gyroscope Download PDFInfo
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- CN104075700A CN104075700A CN201410298826.0A CN201410298826A CN104075700A CN 104075700 A CN104075700 A CN 104075700A CN 201410298826 A CN201410298826 A CN 201410298826A CN 104075700 A CN104075700 A CN 104075700A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/06—Rotors
- G01C19/08—Rotors electrically driven
Abstract
The invention discloses a small-size speed change control moment gyroscope, and belongs to the technical field of control moment gyroscopes. The small-size speed change control moment gyroscope comprises a high-speed component, a connection bracket and a low-speed component, wherein the high-speed component supplies constant angular momentum in a control moment gyroscope mode and outputs fine moment required by whole satellite attitude control in a flywheel mode; the connection bracket is connected with the high-speed component and the low-speed component and guarantees the orthogonal perpendicularity between the angular momentum direction and the axial direction of a framework; the low-speed component supports the high-speed component and the connection bracket and supplies a mounting interface for a whole satellite; in the control moment gyroscope mode, large moment which is required by fastmoving of the whole satellite and is also orthogonal to the angular momentum direction and the axial direction of the framework is generated; in the flywheel mode, the fine moment output by the high-speed component is transmitted to the whole satellite for the attitude control. The speed change control moment gyroscope disclosed by the invention realizes the high-precision framework locking, the minimization, the light weight and the high rigidity, and is suitable for the application to small quick satellites.
Description
Technical field
The present invention relates to a kind of small-sized speed Control moment gyro, belong to space topworks field.
Background technology
Inertia execution unit conventional in spacecraft attitude control system has flywheel and control-moment gyro.Flywheel is the variable attitude control actuator of a kind of rotor speed, and output resolution ratio is high but moment value is less, and the high-accuracy stable that is usually used in spacecraft attitude is controlled; To be that rotor speed is constant rotated and changed the attitude control actuator that rotor angular momentum direction is carried out output torque by framework control-moment gyro, and output resolution ratio is lower but moment value is larger, and has control law singular problem.Speed Control moment gyro is the variable single frame control-moment gyro of rotor speed, the set of speed Control moment gyro the advantage of the output of the large moment of control-moment gyro and the high moment output accuracy of flywheel, therefore, adopt speed Control moment gyro can solve preferably the contradiction of satellite fast, between large angle maneuver and near the lofty stance degree of stability of stable state.When fast reserve, mainly by frame corners, change control moment very is greatly provided, be now control-moment gyro mode of operation; Near stable state, by rotor speed, changed high precision control moment is provided, frame corners no longer changes, and is now flywheel mode of operation.Adopt speed Control moment gyro except above-mentioned advantage, can further guarantee gyro group better controllability reduce framework configuration and approach output torque and the error of expectation moment and the storage release that can also simultaneously complete energy with the High Rotation Speed with speed Control moment gyro rotor and speed change characteristic when unusual under unusual state.
Due to the flywheel application characteristic different with control-moment gyro, in spacecraft practical application, also taked different configuration modes, high stability platform often adopts flywheel product, fast reserve platform adopts control-moment gyro product, should fast reserve again the platform of high stability adopt flywheel and control-moment gyro product simultaneously.Many remote sensing large platform satellites of Russia have adopted the attitude control system of flywheel and the configuration of control-moment gyro Product mix, but for quick moonlet, the restriction of weight, power consumption, volume cannot adopt this mixed configuration mode, and now speed Control moment gyro system is the best configuration of its attitude control system.
Speed Control moment gyro is not simply realized rotor speed variable-ratio by conventional control-moment gyro.Because control-moment gyro rotor speed is constant, the high-precision amount of unbalance that can realize working speed by Precision Balancing is proofreaied and correct, even if moment noise is also in tolerance interval after amplifying by gimbal axis.When rotor has variable speed function, even if the amount of unbalance while carrying out a plurality of rotating speed point constant speed is proofreaied and correct, its moment noise is also larger in wide speed range (as 0～6000r/min); If moment noise will be larger after now amplifying by gimbal axis again, Spacecraft Attitude Control precision and degree of stability are brought to adverse effect.Therefore, speed Control moment gyro will be realized more high-precision framework locking with respect to conventional control-moment gyro.Document < < CONTROL MOMENT GYRO FOR ATTITUDE CONTROL OF A SPACECRAFT > > (Pub.No.:US2005/0109135A1) and the disclosed single frame control-moment gyro of a < < cantilever control moment gyro > > (ZL201020154382.0) are typical small-sized control-moment gyros at present, its framework locking adopts contactless electromagnetic machine, and frame corners locking precision is " left and right generally 40.How a document < < electromechanical integration speed Control moment gyro > > (CN102901492) also realizes high-precision framework less than description and locks this gordian technique.
Because speed Control moment gyro (or control-moment gyro) system is complicated compared with flywheel, volume, weight and power consumption etc. are all greater than flywheel, and while being applied to quick moonlet, the small light of product is also the target that development is pursued.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of small-sized speed Control moment gyro is provided, have higher framework locking precision, small product size is little, lightweight, good heat dissipation, and the high-precision attitude that can be used for quick moonlet is controlled and fast reserve.
Technical solution of the present invention is: a kind of small-sized speed Control moment gyro, comprise high-speed assembly, connection bracket and low-speed component, and high-speed assembly is connected by connection bracket with low-speed component;
High-speed assembly comprises housing unit, high-speed electric expreess locomotive assembly, wheel body and high-speed bearing assembly; High-speed electric expreess locomotive assembly comprises high speed rotor of motor part and high-speed electric expreess locomotive stationary part, and high-speed electric expreess locomotive stationary part is arranged on housing unit; High speed rotor of motor part forms high speed rotor assembly jointly with wheel body; High speed rotor assembly is supported by high-speed bearing assembly, for providing angular momentum required moment of inertia; High-speed bearing assembly is arranged on housing unit;
Low-speed component comprises low speed bearing assembly, frame motor, device for transporting electricity at heavy, angle-measuring equipment, angle-measuring equipment set nut, device for transporting electricity at heavy limiting plate and dust excluding plate; Low speed bearing assembly comprises angular contact ball bearing and the low speed main shaft of low speed cover for seat, outer ring spacer, cone spacer, a pair of face-to-face installation; Low speed main shaft is hollow circular cylinder, is positioned at the inside of low speed cover for seat, and its one end is fixedly connected with connection bracket; Low speed cover for seat is fixedly connected with celestial body; The angular contact ball bearing of a pair of face-to-face installation is between low speed cover for seat and low speed main shaft, and spaced apart by outer ring spacer and cone spacer; Frame motor is positioned at the inside of low speed cover for seat, and frame motor is enclosed within on low speed main shaft excircle, drives low speed main shaft rotate or be locked in certain angle around gimbal axis; Angle-measuring equipment is positioned at the bottom of low speed cover for seat, and coaxial with gimbal axis, angle-measuring equipment comprises angle-measuring equipment rotor portion and angle-measuring equipment stationary part, angle-measuring equipment rotor portion is connected with low speed main shaft by angle-measuring equipment set nut, and angle-measuring equipment stationary part is connected with low speed cover for seat by screw; Device for transporting electricity at heavy is positioned at the inside of low speed main shaft, coaxial with low speed main shaft; Device for transporting electricity at heavy comprises device for transporting electricity at heavy rotor portion and device for transporting electricity at heavy stationary part, and device for transporting electricity at heavy rotor portion is connected with low speed main shaft by screw, and device for transporting electricity at heavy stationary part is connected with angle-measuring equipment stationary part by device for transporting electricity at heavy limiting plate; Dust excluding plate is arranged in low speed cover for seat.
Described high speed rotor of motor part is high speed rotor assembly with wheel body integrated design.
Described connection bracket profile is hemicone, and in the direction of gimbal axis, is designed with many reinforcements, and has many places loss of weight cavity.
Barycenter after described high-speed assembly is connected with connection bracket is positioned on gimbal axis.
The low speed cover for seat of described low speed bearing assembly, outer ring spacer, cone spacer and low speed main shaft all adopt high body to divide aluminum matrix composite.
Described frame motor adopts the rotary traveling wave type ultrasound electric machine of large hollow structure, and device for transporting electricity at heavy adopts conducting ring assembly, and angle-measuring equipment adopts absolute zero position formula round induction synchrometer assembly.
The mode that described low speed cover for seat is fixedly connected with celestial body has two kinds: by bottom surface, be connected with celestial body, or be connected with celestial body by the side muscle of lateral layout.
The present invention's advantage is compared with prior art:
(1) in the present invention, high-speed electric expreess locomotive assembly rotor adopts integrated design with being usually used in providing the wheel body of moment of inertia, has improved the moment of inertia/mass ratio of rotating part, and identical moment of inertia has been realized lightweight; Integrated design has been simplified screw between original high-speed electric expreess locomotive assembly rotor and wheel body and has been connected, and reliability is higher; And reduced original screw and be connected to after mechanical test between high-speed electric expreess locomotive assembly rotor and wheel body the relative position amount of unbalance causing that changes and increase, improved the performance under flywheel pattern; Rotating part barycenter is positioned at the center of the pair of horns contact bearing line of high-speed bearing assembly; Equal-sized the acting in pair of bearings of centrifugal force while making working rotor, high-speed bearing assembly operating performance is more stable.
(2) in the present invention, connection bracket is designed with many reinforcements in gimbal axis direction, and be conical surface profile, and have many places loss of weight cavity, realized the higher crooked rigidity of connection bracket, improve complete machine first natural frequency, alleviated the weight of connection bracket simultaneously.
(3) in the present invention, the barycenter of high-speed assembly and connection bracket is positioned on the axis of gimbal axis, reduced the additonal disturbing force square that frame motor drives high-speed assembly and connection bracket to cause due to bias when gimbal axis rotates, improved the moment nargin of frame motor, can realize more high-precision framework rotating speed control and rotating stability simultaneously and control.
(4) middle frame motor of the present invention adopts rotary traveling wave type ultrasound electric machine, can realize power-off high-torque self-locking, compared with electromagnetic machine is contactless, powers up locking, and locking precision is higher, and does not consume the energy; The large electric machine structure of hollow structure and the bearing series position of low speed bearing assembly are installed, and larger diameter locking position rigidity is higher, and device for transporting electricity at heavy can pass frame motor, and the axial dimension of low-speed component is shorter, and weight is lighter.
(5) in the present invention, low speed main shaft, cone spacer, outer ring spacer, low speed cover for seat all adopt the high body close with bearing steel linear expansion coefficient to divide aluminum matrix composite.Compared with the desired titanium alloy material density of document < < CONTROL MOMENT GYRO FOR ATTITUDE CONTROL OF A SPACECRAFT > > reduce approximately 35%, thermal conductivity improves approximately 20 times, linear expansion coefficient and more approaches bearing steel, at high low temperature, bend down fast bearing assembly more uniform temperature, heat radiation is better, performance is more stable, and has significantly realized lightweight.
(6) in the present invention, low-speed component provides 2 groups of mounting interfaces with celestial body, has strengthened the convenience of speed Control moment gyro in whole star application, has simplified the mounting bracket of product at whole star; Side muscle is installed the natural frequency that can improve product.
Accompanying drawing explanation
Fig. 1 is a kind of small-sized speed Control moment gyro schematic diagram of the present invention, and wherein 1a is the front view of a kind of small-sized speed Control moment gyro of the present invention; 1b is the right view of a kind of small-sized speed Control moment gyro of the present invention;
Fig. 2 is the cut-open view of a kind of small-sized speed Control moment gyro high-speed assembly of the present invention;
Fig. 3 is a kind of small-sized speed Control moment gyro connection bracket schematic diagram of the present invention, and wherein 3a is the front view of a kind of small-sized speed Control moment gyro connection bracket of the present invention; 3b is the right view of a kind of small-sized speed Control moment gyro connection bracket of the present invention;
Fig. 4 is the cut-open view of small-sized speed Control moment gyro low-speed component.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, a kind of small-sized speed Control moment gyro of the present invention comprises high-speed assembly 1, connection bracket 2 and low-speed component 3.Wherein 1a is the front view of a kind of small-sized speed Control moment gyro of the present invention.1b is the right view of a kind of small-sized speed Control moment gyro of the present invention, and high-speed assembly 1 is positioned on the axis 5 of gimbal axis with the barycenter of connection bracket 2.
As shown in Figure 2, high-speed assembly 1 mainly by housing unit 11, high-speed electric expreess locomotive assembly, wheel body 13,, high-speed bearing assembly 14 etc. forms.H-vector direction of principal axis is the revolving shaft direction through high-speed electric expreess locomotive assembly, high speed rotor assembly 13, high-speed bearing assembly 14.High-speed electric expreess locomotive assembly comprises high speed rotor of motor part 121 and high-speed electric expreess locomotive stationary part 122, and high-speed electric expreess locomotive assembly is arranged on housing unit 11 by high-speed electric expreess locomotive stationary part 122; High speed rotor of motor part 121 (comprising internal rotor and outer rotor) is high speed rotor assembly 17 with wheel body 13 integrated designs; High speed rotor assembly 17 is by 14 supportings of high-speed bearing assembly, and high speed rotor assembly 17 is for providing angular momentum required moment of inertia; High speed rotor assembly 17 barycenter are positioned at the intersection location of high-speed bearing assembly 14 pair of horns contact bearing center lines 16 and H-vector axle 4.High-speed electric expreess locomotive assembly stationary part 122 is coaxially mounted to housing unit 11 with high-speed bearing assembly 14.Housing unit 11 is connected with the through hole 21 of connection bracket 2 by 6 threaded holes.High-speed assembly 1 turns round around H-vector axle 4 with rated speed by high-speed electric expreess locomotive Component driver high speed rotor assembly 17 under control-moment gyro pattern, and constant angular momentum is provided; Under momenttum wheel pattern, high-speed electric expreess locomotive Component driver high speed rotor assembly 17 produces the control moment along H-vector axle 4 with the rotary speed working changing.
Fig. 3 is a kind of small-sized speed Control moment gyro connection bracket schematic diagram of the present invention.As shown in Figure 3 a, connection bracket 2 is connected with high-speed assembly 1 by 6 through holes 21, by bottom surface 24, is connected with low-speed component.In gimbal axis direction, be designed with a plurality of loss of weight cavitys 22 and Duo Gen reinforcement 23.As shown in Figure 3 b, connection bracket 2 is conical surface profile 25.
As shown in Figure 4, low-speed component 3 comprises low speed bearing assembly 31, frame motor 32, device for transporting electricity at heavy 33, angle-measuring equipment 34, angle-measuring equipment set nut 35, device for transporting electricity at heavy limiting plate 36 and low-speed component dust excluding plate 37.Low speed bearing assembly 31 comprises thin angular contact ball bearing 314 and the low speed main shaft 315 of low speed cover for seat 311, outer ring spacer 312, cone spacer 313, a pair of face-to-face installation; Low speed main shaft 315 is hollow circular cylinder, and its one end is fixedly connected with connection bracket 2, and the other end inserts the inside of low speed cover for seat 311; Low speed cover for seat 311 is fixedly connected with celestial body; The angular contact ball bearing 314 of a pair of face-to-face installation between low speed cover for seat 311 and low speed main shaft 315, and by outer ring spacer 312 and cone spacer 313 spaced apart; Low speed cover for seat 311, outer ring spacer 312, cone spacer 313, low speed main shaft 315 all adopt the high body close with bearing steel linear expansion coefficient to divide aluminum matrix composite.Frame motor 32 adopts the rotary traveling wave type ultrasound electric machine of novel large hollow structure, coaxial and be installed in series with low speed bearing assembly 31; Frame motor 32 is enclosed within on low speed main shaft 315 excircles, can drive low speed main shaft 315 around gimbal axis 5 rotations or be locked in certain angle position.Device for transporting electricity at heavy 33 adopts conducting ring assembly, be positioned at the inside of low speed main shaft 315, coaxial with described low speed main shaft 315, and be installed in parallel with angular contact ball bearing 314, the frame motor 32 of a pair of face-to-face installation, device for transporting electricity at heavy 33 comprises device for transporting electricity at heavy rotor portion 332 and device for transporting electricity at heavy stationary part 331, device for transporting electricity at heavy rotor portion 332 is connected with low speed main shaft 315 by screw, and device for transporting electricity at heavy stationary part 331 is connected with the angle-measuring equipment stationary part 342 of angle-measuring equipment 34 by device for transporting electricity at heavy limiting plate 36.Angle-measuring equipment 34 adopts novel absolute zero position formula round induction synchrometer assembly, be positioned at the inside of low speed cover for seat 311, be installed in series with device for transporting electricity at heavy 33, comprise angle-measuring equipment rotor portion 341 and angle-measuring equipment stationary part 342, angle-measuring equipment rotor portion 341 is connected with low speed main shaft 315 by angle-measuring equipment set nut 35, and angle-measuring equipment stationary part 342 is connected with low speed cover for seat 311 by screw.Low-speed component dust excluding plate 37 is arranged in low speed cover for seat 311.
Low-speed component 3 provides 2 groups of mounting interfaces with celestial body, can install or side muscle 39 is installed by low speed cover for seat 311 bottom surfaces 38.
Principle of work of the present invention is:
Under control-moment gyro pattern, high-speed electric expreess locomotive Component driver high speed rotor assembly 17 around 4 runnings of H-vector axle, provides constant angular momentum with rated speed; Under flywheel pattern, the rotary speed working of high-speed electric expreess locomotive Component driver high speed rotor assembly 17 to change, produces the control moment along H-vector axle 4.Connection bracket 2 is for connecting high-speed assembly 1 and low-speed component 3, and guarantees angular momentum direction and the axial orthogonal vertical of framework.Low speed bearing assembly 31 provides supporting for high-speed assembly 1 and connection bracket 2, and the mounting interface of whole star is provided; Frame motor 32 drives low-speed component 3 rotations or is locked in any angular position; Device for transporting electricity at heavy 33 is rotated delivered current and electric signal for the high-speed electric expreess locomotive assembly 12 of high-speed assembly 1 and high speed rotor assembly 17; Angle-measuring equipment 34 provides high-precision angle position information, for low-speed component 3 is high-precision, determines angle lock and high-precision rotating speed and controls.Low-speed component 3 drives high-speed assembly 1 around gimbal axis 5 rotation under control-moment gyro pattern, thereby produces the high-torque that whole star fast reserve is orthogonal to H-vector axle 4 and gimbal axis 5 directions required time; Under flywheel pattern, low-speed component 3 is locked in required angle position, the meticulous moment of high-speed assembly 1 output is passed to whole star and for attitude, control.
The content not being described in detail in instructions of the present invention belongs to professional and technical personnel in the field's known technology.
Claims (7)
1. a small-sized speed Control moment gyro, is characterized in that: comprise high-speed assembly (1), connection bracket (2) and low-speed component (3), high-speed assembly (1) is connected by connection bracket (2) with low-speed component (3);
High-speed assembly (1) comprises housing unit (11), high-speed electric expreess locomotive assembly, wheel body (13) and high-speed bearing assembly (14); High-speed electric expreess locomotive assembly comprises high speed rotor of motor part (121) and high-speed electric expreess locomotive stationary part (122), and high-speed electric expreess locomotive stationary part (122) is arranged on housing unit (11); High speed rotor of motor part (121) forms high speed rotor assembly (17) jointly with wheel body (13); High speed rotor assembly (17) is by high-speed bearing assembly (14) supporting, for providing angular momentum required moment of inertia; High-speed bearing assembly (14) is arranged on housing unit (11);
Low-speed component (3) comprises low speed bearing assembly (31), frame motor (32), device for transporting electricity at heavy (33), angle-measuring equipment (34), angle-measuring equipment set nut (35), device for transporting electricity at heavy limiting plate (36) and dust excluding plate (37); Low speed bearing assembly (31) comprises angular contact ball bearing (314) and the low speed main shaft (315) of low speed cover for seat (311), outer ring spacer (312), cone spacer (313), a pair of face-to-face installation; Low speed main shaft (315) is hollow circular cylinder, is positioned at the inside of low speed cover for seat (311), and its one end is fixedly connected with connection bracket (2); Low speed cover for seat (311) is fixedly connected with celestial body; The angular contact ball bearing of a pair of face-to-face installation (314) is positioned between low speed cover for seat (311) and low speed main shaft (315), and spaced apart by outer ring spacer (312) and cone spacer (313); Frame motor (32) is positioned at the inside of low speed cover for seat (311), and frame motor (32) is enclosed within on low speed main shaft (315) excircle, drives low speed main shaft (315) rotate or be locked in certain angle around gimbal axis (5); Angle-measuring equipment (34) is positioned at the bottom of low speed cover for seat (311), and coaxial with gimbal axis (5), angle-measuring equipment (34) comprises angle-measuring equipment rotor portion (341) and angle-measuring equipment stationary part (342), angle-measuring equipment rotor portion (341) is connected with low speed main shaft (315) by angle-measuring equipment set nut (35), and angle-measuring equipment stationary part (342) is connected with low speed cover for seat (311) by screw; Device for transporting electricity at heavy (33) is positioned at the inside of low speed main shaft (315), coaxial with low speed main shaft (315); Device for transporting electricity at heavy (33) comprises device for transporting electricity at heavy rotor portion (332) and device for transporting electricity at heavy stationary part (331), device for transporting electricity at heavy rotor portion (332) is connected with low speed main shaft (315) by screw, and device for transporting electricity at heavy stationary part (331) is connected with angle-measuring equipment stationary part (342) by device for transporting electricity at heavy limiting plate (36); Dust excluding plate (37) is arranged in low speed cover for seat (311).
2. a kind of small-sized speed Control moment gyro according to claim 1, is characterized in that: described high speed rotor of motor part (121) is high speed rotor assembly (17) with wheel body (13) integrated design.
3. a kind of small-sized speed Control moment gyro according to claim 1 and 2, it is characterized in that: described connection bracket (2) profile is hemicone, and in the direction of gimbal axis (5), be designed with many reinforcements (23), and have many places loss of weight cavitys (22).
4. a kind of small-sized speed Control moment gyro according to claim 1 and 2, is characterized in that: the barycenter after described high-speed assembly (1) is connected with connection bracket (2) is positioned on gimbal axis (5).
5. a kind of small-sized speed Control moment gyro according to claim 1 and 2, is characterized in that: the low speed cover for seat (311) of described low speed bearing assembly (31), outer ring spacer (312), cone spacer (313) and low speed main shaft (315) all adopt high body to divide aluminum matrix composite.
6. a kind of small-sized speed Control moment gyro according to claim 1 and 2, it is characterized in that: described frame motor (32) adopts the rotary traveling wave type ultrasound electric machine of large hollow structure, device for transporting electricity at heavy (33) adopts conducting ring assembly, and angle-measuring equipment (34) adopts absolute zero position formula round induction synchrometer assembly.
7. a kind of small-sized speed Control moment gyro according to claim 1 and 2, it is characterized in that: the mode that described low speed cover for seat (311) is fixedly connected with celestial body has two kinds: by bottom surface (38), be connected with celestial body, or be connected with celestial body by the side muscle (39) of lateral layout.
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| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN105806325A (en) * | 2014-12-30 | 2016-07-27 | 上海新跃仪表厂 | Structure of single-gimbal control moment gyroscope |
| CN105912042A (en) * | 2016-05-11 | 2016-08-31 | 西北工业大学 | Composite axle control moment gyro |
| CN106896821A (en) * | 2017-03-10 | 2017-06-27 | 北京航空航天大学 | A kind of angular momentum management method of variable speed control moment gyro |
| CN107153354A (en) * | 2017-05-26 | 2017-09-12 | 西北工业大学 | A kind of controllable mass boundary of the space non-cooperative target of input-bound determines method |
| CN107515632A (en) * | 2017-08-16 | 2017-12-26 | 南京航空航天大学 | A kind of frame-type control-moment gyro |
| CN107515631A (en) * | 2017-08-16 | 2017-12-26 | 南京航空航天大学 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
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| CN105806325B (en) * | 2014-12-30 | 2018-09-25 | 上海新跃仪表厂 | A kind of configuration of single-gimbal control momentum gyro |
| CN105806325A (en) * | 2014-12-30 | 2016-07-27 | 上海新跃仪表厂 | Structure of single-gimbal control moment gyroscope |
| CN105691477B (en) * | 2016-02-26 | 2017-11-03 | 贾玲玲 | A kind of control-moment gyro module |
| CN105691477A (en) * | 2016-02-26 | 2016-06-22 | 贾玲玲 | Control moment top module |
| CN105912042A (en) * | 2016-05-11 | 2016-08-31 | 西北工业大学 | Composite axle control moment gyro |
| CN106896821A (en) * | 2017-03-10 | 2017-06-27 | 北京航空航天大学 | A kind of angular momentum management method of variable speed control moment gyro |
| CN106896821B (en) * | 2017-03-10 | 2019-10-11 | 北京航空航天大学 | A kind of angular momentum management method of variable speed control moment gyro |
| CN107153354A (en) * | 2017-05-26 | 2017-09-12 | 西北工业大学 | A kind of controllable mass boundary of the space non-cooperative target of input-bound determines method |
| CN107153354B (en) * | 2017-05-26 | 2020-10-16 | 西北工业大学 | Input-limited space non-cooperative target controllable quality boundary determination method |
| CN107515632A (en) * | 2017-08-16 | 2017-12-26 | 南京航空航天大学 | A kind of frame-type control-moment gyro |
| CN107515631A (en) * | 2017-08-16 | 2017-12-26 | 南京航空航天大学 | A kind of single-gimbal control momentum gyro controlled by Driven by Ultrasonic Motors |
| CN108945525A (en) * | 2018-05-24 | 2018-12-07 | 南京航空航天大学 | A kind of card chase posture control-moment gyro of hollow Driven by Ultrasonic Motors |
| CN108945525B (en) * | 2018-05-24 | 2024-02-13 | 南京航空航天大学 | Small frame type control moment gyro driven by hollow ultrasonic motor |
| CN108562285A (en) * | 2018-05-28 | 2018-09-21 | 南京航空航天大学 | A kind of control-moment gyro driven by parallel linear type ultrasound motor |
| CN109507875A (en) * | 2019-01-08 | 2019-03-22 | 哈尔滨工业大学 | A kind of Euler's spinning satellite attitude maneuver passs rank saturation PID control method |
| CN110963083A (en) * | 2019-11-21 | 2020-04-07 | 南京航空航天大学 | Small-sized frame type control moment gyro driven by double-stator ultrasonic motor |
| CN110963083B (en) * | 2019-11-21 | 2021-12-21 | 南京航空航天大学 | Small-sized frame type control moment gyro driven by double-stator ultrasonic motor |
| CN111102971B (en) * | 2019-12-26 | 2023-08-01 | 陕西宝成航空仪表有限责任公司 | Small rotor gyro with rapid heat conduction structure |
| CN111102971A (en) * | 2019-12-26 | 2020-05-05 | 陕西宝成航空仪表有限责任公司 | Small-sized rotor gyroscope with rapid heat conduction structure |
| CN111337007A (en) * | 2020-04-09 | 2020-06-26 | 北京控制工程研究所 | Control moment gyro frame zero position stable positioning system and method |
| CN111337007B (en) * | 2020-04-09 | 2021-08-10 | 北京控制工程研究所 | Control moment gyro frame zero position stable positioning system and method |
| CN113212807A (en) * | 2021-03-31 | 2021-08-06 | 北京控制工程研究所 | Control moment gyro frame rotor assembly for micro-nano satellite |
| CN113212802A (en) * | 2021-03-31 | 2021-08-06 | 北京控制工程研究所 | Semi-gyro type miniature control moment gyro |
| CN113212807B (en) * | 2021-03-31 | 2023-05-12 | 北京控制工程研究所 | Control moment gyro frame rotor assembly for micro-nano satellite |
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Application publication date: 20141001 |