CN105207430A - Magnetic suspension momentum sphere adopting magnetic wheel driving - Google Patents
Magnetic suspension momentum sphere adopting magnetic wheel driving Download PDFInfo
- Publication number
- CN105207430A CN105207430A CN201510587651.XA CN201510587651A CN105207430A CN 105207430 A CN105207430 A CN 105207430A CN 201510587651 A CN201510587651 A CN 201510587651A CN 105207430 A CN105207430 A CN 105207430A
- Authority
- CN
- China
- Prior art keywords
- wheel
- magnetic
- magnet
- mover
- sphere
- 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.)
- Granted
Links
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a magnetic suspension momentum sphere adopting magnetic wheel driving. The magnetic suspension momentum sphere is used for adjusting the satellite attitude and comprises three sets of stators and a rotor. The rotor is in a spherical shell shape and is made of a nonferromagnetic conductive metal material. The axes of the three sets of stators are mutually orthogonal. Each set of stators comprises two stators which are symmetrically arranged about the sphere center of the rotor. Each stator comprises a stator motor and a magnetic wheel which is installed on the stator motor and driven by the stator motor to rotate. The upper surfaces of the magnetic wheels are spherical surfaces concentric with the outer surface of the rotor, the spherical radius of the upper surfaces of the magnetic wheels is larger than that of the outer surface of the rotor, and air gaps are reserved between the magnetic wheels and the outer surface of the rotor. Suspended driving and rotary driving integration of the magnetic suspension momentum sphere is achieved. The magnetic suspension momentum sphere is simple and compact in structure, small in size, light in weight, low in cost and high in efficiency; as the suspension belongs to inherent stable suspension, suspension control is simple.
Description
Technical field
The present invention relates to a kind of magnetic suspension momentum sphere of magnetic wheel driven automatic scan, for the actuator of attitude of satellite adjustment, belong to field of aerospace technology.
Background technology
Satellite in orbit bears the task in specific detection, development and utilization space, and this generic task proposes the demand of attitude stabilization or attitude maneuver to satellite gravity anomaly.Satellite attitude stabilization and motor-driven actuator always extensively concerned as a key technology of satellite gravity anomaly, the momenttum wheel based on conservation of angular momentum principle is conventional a kind of technical scheme.Existing mature technology is mechanical ball bearing momenttum wheel, although the Control for Magnetic Momentum Wheel having scholar to propose overcomes the deficiencies such as the mechanical friction loss of mechanical ball bearing momenttum wheel, but momenttum wheel all exists, and volume and quality are large, complex structure and high in cost of production problem, in addition satellite need carry multiple momenttum wheel and realize the adjustment of satellite three-axis attitude, and then causes and to be coupled comparatively large between many momenttum wheels and to reduce further the payload of satellite.
The mover of momentum sphere can rotate around arbitrary axis, replaces multiple momenttum wheel independently to realize satellite three-axis attitude and controls, have that volume is little, the light and low cost and other advantages of quality.Existing magnetic suspension momentum sphere technology mostly is the magnetic suspension momentum sphere of permanent-magnet synchronous, and manufacture complicated, cost intensive, is unfavorable for miniaturization and cost degradation, limits its application.The magnetic suspension momentum sphere of existing induction type magnetic wheel drive mostly can not realize suspending and drive one, is unfavorable for the gesture stability of satellite; And it suspends, adopt inhales floating realization more, and be not the suspension system of inherently stable, suspend control is complicated.
Summary of the invention
The object of the present invention is to provide a kind of magnetic suspension momentum sphere of the magnetic wheel driven automatic scan for attitude of satellite adjustment, realize miniaturized, cost degradation and suspension rotary actuation one, and realize the suspension of inherently stable and efficient pose adjustment performance.
Technical scheme of the present invention is as follows:
A magnetic suspension momentum sphere for magnetic wheel driven automatic scan, the magnetic suspension momentum sphere of described magnetic wheel driven automatic scan comprises stator and a mover; Described mover is spherical shell shape, and mover material adopts the conductive metallic material of nonferromagnetic; Described stator is divided into three groups, the axis of three groups of stators is mutually orthogonal, and often group comprises two stators, and two stators often in group are arranged symmetrically with the centre of sphere of mover, it is characterized in that: each stator pack is containing stator motor and magnet-wheel, and magnet-wheel is arranged on to drive on stator motor and by stator motor and rotates; The upper surface of magnet-wheel is the sphere concentric with mover outer surface, and the spherical radius of magnet-wheel upper surface is greater than the spherical radius of mover outer surface, leaves air gap between the outer surface of magnet-wheel and mover.
Described magnet-wheel is NS permanent magnet array magnet-wheel or Halbach permanent magnet array magnet-wheel.Described mover adopts two hemispherical Shells to combine.Magnetic suspension bearing is adopted between magnet-wheel and stator motor.
The present invention, compared with prior art, has the following advantages and the technique effect of high-lighting: the suspension rotary drive integral that present invention achieves magnetic suspension momentum sphere, simple and compact for structure, the little quality of volume is light, and cost is low, and efficiency is high, and belong to intrinsic stable suspersion, suspend control is simple.
Accompanying drawing explanation
Fig. 1 is the magnetic suspension momentum sphere embodiment schematic diagram of magnetic wheel driven automatic scan provided by the invention.
Fig. 2 is stator structure schematic diagram in embodiment.
Fig. 3 is NS permanent magnet array magnet-wheel schematic diagram in embodiment.
Fig. 4 is Halbach permanent magnet array magnet-wheel schematic diagram in embodiment.
Fig. 5 is Structure of mover schematic diagram in embodiment.
In figure: 1-stator, 2-mover, 3-air gap, 4-magnet-wheel, 5-stator motor, 6-NS permanent magnet array magnet-wheel, 7-Halbach permanent magnet array magnet-wheel, 8-mover hemispherical Shell, in 9-NS permanent magnet array magnet-wheel, the magnet steel of the sphere centre of sphere is pointed in N pole, in 10-NS permanent magnet array magnet-wheel, the magnet steel of the sphere centre of sphere is pointed in S pole, in 11-Halbach permanent magnet array magnet-wheel, the magnet steel of the sphere centre of sphere is pointed in N pole, in 12-Halbach permanent magnet array magnet-wheel, N pole is along the magnet steel of the counterclockwise tangential direction of magnet-wheel circumference, in 13-Halbach permanent magnet array magnet-wheel, the magnet steel of the sphere centre of sphere is pointed in S pole, in 14-Halbach permanent magnet array magnet-wheel, S pole is along the magnet steel of the counterclockwise tangential direction of magnet-wheel circumference.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present invention is described in further detail.
Fig. 1 is the magnetic suspension momentum sphere embodiment schematic diagram of magnetic wheel driven automatic scan provided by the invention, comprise a mover 2 and six stators 1, air gap 3 is formed between each stator 1 and mover 2, described mover 2 is spherical shell shape, described six stators 1 are divided into three groups, the axis of three groups of stators is mutually orthogonal, and often group comprises two stators, and two stators often in group are arranged symmetrically with the centre of sphere of mover 2; Each stator 1 comprises magnet-wheel 4 and stator motor 5.
Fig. 2 is stator structure schematic diagram in embodiment, each stator 1 comprises stator motor 5 and magnet-wheel 4 (magnet-wheel only draws a part), the upper surface of magnet-wheel 4 is spheres concentric with mover 2 outer surface, and the spherical radius of magnet-wheel 4 upper surface is greater than the spherical radius of mover outer surface, leaves air gap 3 between the outer surface of magnet-wheel 4 and mover 2.Magnet-wheel 4 is arranged on stator motor 5, and stator motor 5 is fixed, and drives magnet-wheel 4 to rotate relative to satellite, can adopt magnetic suspension bearing between magnet-wheel 4 and stator motor 5, to reduce friction.
Fig. 3 is NS permanent magnet array magnet-wheel schematic diagram in embodiment.The inner surface that NS permanent magnet array magnet-wheel 6 matches with mover 2 is sphere, and these two kinds of magnet steel arranged adjacent of magnet steel 10 of the magnet steel 9 and the S pole sensing sphere centre of sphere that point to the sphere centre of sphere by N pole form.
Fig. 4 is Halbach permanent magnet array magnet-wheel schematic diagram in embodiment.The inner surface that Halbach permanent magnet array magnet-wheel 7 matches with mover 2 is sphere, formed by magnet steel 11,12,13 and 14 arranged adjacent of kind of the different magnetizing direction of four as shown in Figure 4, these four kinds of magnet steel are followed successively by N pole and point to the magnet steel 11 of the sphere centre of sphere, N pole and point to the magnet steel 13 of the sphere centre of sphere and the S pole magnet steel 14 along the counterclockwise tangential direction of magnet-wheel circumference along the magnet steel 12 of the counterclockwise tangential direction of magnet-wheel circumference, S pole.
Fig. 5 is Structure of mover schematic diagram in embodiment, and the material of mover 2 is the electric conducting material of nonferromagnetic, and for convenience of manufacturing, mover 2 adopts two hemispherical Shells 8 to combine, and in the present embodiment, mover 2 adopts aluminum.
The stator motor 5 of each stator 1 drives magnet-wheel 4 to rotate, to form the magnetic field rotated around this axis stator, rotating magnetic field induces eddy current in mover 2, eddy current is stressed in magnetic field, for mover 2 provides the suspending power along this axis stator and the torque around this axis stator, drive mover to rotate around this axis stator, thus substantially increase as satellite provides the ability of the moment of momentum, improve pose adjustment efficiency.
When the magnet-wheel 4 of two or more stators 1 rotates, each stator 1 is mover 2 and provides the suspending power along this axis stator and the torque around this axis stator; The suspending power that each stator 1 produces synthesizes suspending power suffered by mover 2, controls the stable suspersion of mover 2, and the torque that each stator 1 produces synthesizes mover institute torque suspension, drives mover 2 to rotate along arbitrary axis.
When mover 2 works, the magnet-wheel of two stators often organized rotates with identical rotating speed, for mover provides two by this group axis stator and the contrary suspending power in equal and opposite in direction direction, realize the suspension of mover 2 in this axis stator direction, when air gap 3 between one of them stator and mover 2 reduces, the suspending power that this stator provides increases, air gap 3 between another stator and mover 2 increases, the suspending power that this stator provides reduces, two suspending power actings in conjunction make mover 2 come back to centre position, so the suspension of mover belongs to the suspension of inherently stable, suspend control is simple and easy to realize.
Claims (4)
1. a magnetic suspension momentum sphere for magnetic wheel driven automatic scan, the magnetic suspension momentum sphere of described magnetic wheel driven automatic scan comprises stator (1) and a mover (2); Described mover is spherical shell shape, and mover material adopts the conductive metallic material of nonferromagnetic; Described stator is divided into three groups, the axis of three groups of stators is mutually orthogonal, often group comprises two stators, two stators often in group are arranged symmetrically with the centre of sphere of mover, it is characterized in that: each stator pack is containing stator motor (5) and magnet-wheel (4), and magnet-wheel to be arranged on stator motor and to drive rotation by stator motor; The upper surface of magnet-wheel is the sphere concentric with mover outer surface, and the spherical radius of magnet-wheel upper surface is greater than the spherical radius of mover outer surface, leaves air gap (3) between the outer surface of magnet-wheel and mover.
2. the magnetic suspension momentum sphere of a kind of magnetic wheel driven automatic scan according to claim 1, is characterized in that: described magnet-wheel is NS permanent magnet array magnet-wheel (6) or Halbach permanent magnet array magnet-wheel (7).
3. the magnetic suspension momentum sphere of a kind of magnetic wheel driven automatic scan according to claim 1 and 2, is characterized in that: described mover adopts two hemispherical Shells (8) to combine.
4. the magnetic suspension momentum sphere of a kind of magnetic wheel driven automatic scan according to claim 3, is characterized in that: adopt magnetic suspension bearing between magnet-wheel and stator motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510587651.XA CN105207430B (en) | 2015-09-15 | 2015-09-15 | A kind of magnetic suspension momentum sphere of magnetic wheel driven automatic scan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510587651.XA CN105207430B (en) | 2015-09-15 | 2015-09-15 | A kind of magnetic suspension momentum sphere of magnetic wheel driven automatic scan |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105207430A true CN105207430A (en) | 2015-12-30 |
| CN105207430B CN105207430B (en) | 2017-11-14 |
Family
ID=54954930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510587651.XA Active CN105207430B (en) | 2015-09-15 | 2015-09-15 | A kind of magnetic suspension momentum sphere of magnetic wheel driven automatic scan |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105207430B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438256A (en) * | 2018-03-27 | 2018-08-24 | 天津大学 | It is a kind of that satellite attitude control method is stared based on permanent magnetism momentum-exchange ball over the ground |
| CN109466801A (en) * | 2018-11-20 | 2019-03-15 | 中国人民解放军战略支援部队航天工程大学 | A kind of magnetic suspension multi-directional ball |
| CN112910127A (en) * | 2020-12-28 | 2021-06-04 | 光华临港工程应用技术研发(上海)有限公司 | Magnetic suspension type hub motor |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4746085A (en) * | 1986-02-28 | 1988-05-24 | Messerschmitt-Bolkow-Blohm Gmbh | Method for determining the earth's magnetic field and a satellite's attitude for attitude control |
| JPH08156896A (en) * | 1994-12-09 | 1996-06-18 | Nec Corp | Position controlling wheel and position controller of space-craft using the same |
| CN102237834A (en) * | 2011-03-25 | 2011-11-09 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
| CN102975868A (en) * | 2012-11-26 | 2013-03-20 | 张珩 | Magnetic suspension universal momentum sphere device and realizing method thereof |
| CN104410241A (en) * | 2014-10-20 | 2015-03-11 | 济南大学 | Magnetic levitation spherical motor |
| CN104617691A (en) * | 2014-12-26 | 2015-05-13 | 河北科技大学 | Liquid mass suspension bionic electromagnetic driven three-degree-of-freedom moving motor |
| US20150166200A1 (en) * | 2012-07-25 | 2015-06-18 | Korea Aerospace Research Institute | Three-dimensional rigid ball driving system |
| CN104753273A (en) * | 2015-04-23 | 2015-07-01 | 清华大学 | Magnetic suspension momentum sphere |
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
-
2015
- 2015-09-15 CN CN201510587651.XA patent/CN105207430B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4746085A (en) * | 1986-02-28 | 1988-05-24 | Messerschmitt-Bolkow-Blohm Gmbh | Method for determining the earth's magnetic field and a satellite's attitude for attitude control |
| JPH08156896A (en) * | 1994-12-09 | 1996-06-18 | Nec Corp | Position controlling wheel and position controller of space-craft using the same |
| CN102237834A (en) * | 2011-03-25 | 2011-11-09 | 哈尔滨工业大学 | MDOF (multiple-degree-of-freedom) magnetic suspension motor |
| CN102412763A (en) * | 2011-11-24 | 2012-04-11 | 天津大学 | Permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor and control method thereof |
| US20150166200A1 (en) * | 2012-07-25 | 2015-06-18 | Korea Aerospace Research Institute | Three-dimensional rigid ball driving system |
| CN102975868A (en) * | 2012-11-26 | 2013-03-20 | 张珩 | Magnetic suspension universal momentum sphere device and realizing method thereof |
| CN104410241A (en) * | 2014-10-20 | 2015-03-11 | 济南大学 | Magnetic levitation spherical motor |
| CN104617691A (en) * | 2014-12-26 | 2015-05-13 | 河北科技大学 | Liquid mass suspension bionic electromagnetic driven three-degree-of-freedom moving motor |
| CN104836408A (en) * | 2015-03-24 | 2015-08-12 | 北京机械设备研究所 | Six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor |
| CN104753273A (en) * | 2015-04-23 | 2015-07-01 | 清华大学 | Magnetic suspension momentum sphere |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438256A (en) * | 2018-03-27 | 2018-08-24 | 天津大学 | It is a kind of that satellite attitude control method is stared based on permanent magnetism momentum-exchange ball over the ground |
| CN109466801A (en) * | 2018-11-20 | 2019-03-15 | 中国人民解放军战略支援部队航天工程大学 | A kind of magnetic suspension multi-directional ball |
| CN112910127A (en) * | 2020-12-28 | 2021-06-04 | 光华临港工程应用技术研发(上海)有限公司 | Magnetic suspension type hub motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105207430B (en) | 2017-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10532832B2 (en) | Magnetic levitation reaction sphere | |
| US10597172B2 (en) | Magnetic-fluid momentum sphere | |
| CN104747596B (en) | There is fulcrum without friction radial permanent magnet suspension bearing | |
| CN202160025U (en) | Multi-freedom degree spherical motor | |
| CN104836408B (en) | A kind of six degree of freedom permanent-magnet synchronous magnetic suspension spherical motor | |
| CN101555905A (en) | Magnetic suspension bearing and suspended rotating shaft | |
| CN101951091B (en) | Double-rotor multi-pole motor of micro unmanned aerial vehicle | |
| CN105978295B (en) | A kind of integrated suspension of five-freedom degree magnetic motor | |
| CN108382566A (en) | A kind of magnetic suspension rotor structure | |
| CN202612391U (en) | Five-freedom-degree all-permanent-magnet suspension bearing rotor system | |
| CN105207430A (en) | Magnetic suspension momentum sphere adopting magnetic wheel driving | |
| CN202085108U (en) | Orthogonal winding type magnetic suspension spherical induction motor | |
| CN104533950A (en) | Radial magnetic bearing with outer rotor conical spherical magnetic poles | |
| CN102510164A (en) | Gyroscope stabilizing device and boat with same | |
| CN104410241A (en) | Magnetic levitation spherical motor | |
| CN109229424A (en) | A kind of multi-degree of freedom spherical electrodynamic levitation momenttum wheel | |
| WO2021207248A1 (en) | Centripetal magnet accelerator | |
| CN204967571U (en) | Magnetic current body momentum ball | |
| CN201647124U (en) | Magnetic suspension electrodynamic rotor wing flying disk | |
| CN202503401U (en) | Gyro stabilizing apparatus and ship having the same | |
| CN106026615B (en) | Integrated five-degree-of-freedom magnetic suspension direct drive motor | |
| CN204236759U (en) | A kind of electromagnetic power propelling unit group, propelling unit and structure thereof | |
| CN108506343A (en) | A kind of mixed type axial magnetic bearing of the axial charging of semi-freedom | |
| CN202663266U (en) | Spherical motor and electric vehicle utilizing the same | |
| CN206834971U (en) | Three dimensionality finite angle globular motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100084 Beijing Haidian District 100084 box 82 box, Tsinghua University Patent Office Co-patentee after: U-PRECISION TECH CO., LTD. Patentee after: Tsinghua University Address before: 100084 Beijing Haidian District 100084 box 82 box, Tsinghua University Patent Office Co-patentee before: U-Precision Tech Co., Ltd. Patentee before: Tsinghua University |
|
| CP01 | Change in the name or title of a patent holder |