CN105207430A - Magnetic suspension momentum sphere adopting magnetic wheel driving - Google Patents

Abstract

A magnetic levitation momentum ball driven by a magnetic wheel is used for satellite attitude adjustment. The magnetic levitation momentum ball driven by a magnetic wheel includes a stator and a mover. The mover is in the shape of a spherical shell, and the material of the mover is non-ferromagnetic conductive Metal material; the stators are divided into three groups, the axes of the three groups of stators are orthogonal to each other, each group includes two stators, and the two stators in each group are arranged symmetrically with the center of the sphere of the mover, and each stator includes a stator motor and Magnetic wheel, the magnetic wheel is installed on the stator motor and driven to rotate by the stator motor; the upper surface of the magnetic wheel is a spherical surface concentric with the outer surface of the mover, and the spherical radius of the upper surface of the magnetic wheel is larger than the spherical radius of the outer surface of the mover. There is an air gap on the outer surface of the wheel and the mover. The invention realizes the integration of the levitation, rotation and drive of the magnetic levitation momentum ball, has simple and compact structure, small volume, light weight, low cost, high efficiency, inherently stable levitation, and simple levitation control.

Description

A magnetic levitation momentum ball driven by a magnetic wheel

technical field

The invention relates to a magnetic levitation momentum ball driven by a magnetic wheel, which is used as an actuator for satellite attitude adjustment, and belongs to the technical field of aerospace.

Background technique

In-orbit satellites undertake specific missions of space exploration, development, and utilization. Such missions require attitude stability or attitude maneuvering for satellite attitude control. As a key technology of satellite attitude control, the actuator for satellite attitude stabilization and maneuvering has been widely concerned. The momentum wheel based on the principle of momentum moment conservation is a commonly used technical solution. The existing mature technology is the mechanical ball bearing momentum wheel. Although the magnetic levitation momentum wheel proposed by some scholars overcomes the mechanical friction loss of the mechanical ball bearing momentum wheel, the momentum wheel has problems such as large volume and mass, complex structure and high cost. In addition, a satellite needs to be equipped with multiple momentum wheels to adjust the satellite's three-axis attitude, which results in a large coupling between the multi-momentum wheels and further reduces the payload of the satellite.

The mover of the momentum ball can rotate around any axis, instead of multiple momentum wheels, it can independently realize the three-axis attitude control of the satellite, and has the advantages of small size, light weight and low cost. Most of the existing magnetic levitation momentum ball technology is a permanent magnet synchronous magnetic levitation momentum ball, which is complicated to manufacture and expensive, which is not conducive to miniaturization and cost reduction, which limits its application. Most of the existing magnetic levitation momentum balls driven by inductive magnetic wheels cannot realize the integration of levitation and drive, which is not conducive to the attitude control of satellites; moreover, the levitation is mostly realized by suction, which is not an inherently stable levitation system, and levitation control is complicated.

Contents of the invention

The purpose of the present invention is to provide a maglev momentum ball driven by a magnetic wheel for satellite attitude adjustment, which realizes miniaturization, low cost and integration of levitation and rotation drive, and realizes inherently stable levitation and efficient attitude adjustment performance.

Technical scheme of the present invention is as follows:

A magnetic levitation momentum ball driven by a magnetic wheel, the magnetic levitation momentum ball driven by the magnetic wheel includes a stator and a mover; the mover is in the shape of a spherical shell, and the material of the mover is a non-ferromagnetic conductive metal material; the stator Divided into three groups, the axes of the three groups of stators are orthogonal to each other, each group includes two stators, and the two stators in each group are arranged symmetrically with the center of the sphere of the mover. It is characterized in that each stator contains a stator motor and a magnetic wheel , the magnetic wheel is installed on the stator motor and is driven to rotate by the stator motor; the upper surface of the magnetic wheel is a spherical surface concentric with the outer surface of the mover, and the spherical radius of the upper surface of the magnetic wheel is larger than the spherical radius of the outer surface of the mover. An air gap is left between the outer surfaces of the mover.

The magnetic wheel is an NS permanent magnet array magnetic wheel or a Halbach permanent magnetic array magnetic wheel. The mover is composed of two hemispherical shells. Magnetic suspension is used between the magnetic wheel and the stator motor.

Compared with the existing technical solutions, the present invention has the following advantages and outstanding technical effects: the present invention realizes the integration of the levitation and rotation drive of the magnetic levitation momentum ball, the structure is simple and compact, the volume is small, the weight is light, the cost is low, the efficiency is high, and It belongs to the inherent stable suspension, and the suspension control is simple.

Description of drawings

Fig. 1 is a schematic diagram of an embodiment of a magnetic levitation momentum ball driven by a magnetic wheel provided by the present invention.

Fig. 2 is a schematic diagram of the structure of the stator in the embodiment.

Fig. 3 is a schematic diagram of the NS permanent magnet array magnetic wheel in the embodiment.

Fig. 4 is a schematic diagram of the Halbach permanent magnet array magnetic wheel in the embodiment.

Fig. 5 is a schematic diagram of the structure of the mover in the embodiment.

In the figure: 1-stator, 2-mover, 3-air gap, 4-magnetic wheel, 5-stator motor, 6-NS permanent magnet array magnetic wheel, 7-Halbach permanent magnetic array magnetic wheel, 8-mover hemisphere Shell, 9-NS permanent magnet array magnetic wheel with N pole pointing to the center of the sphere, 10-NS permanent magnet array magnetic wheel with S pole pointing to the spherical center of the magnet, 11-Halbach permanent magnet array magnetic wheel with N The magnetic steel with the pole pointing to the center of the spherical sphere, the magnetic steel with the N pole in the 12-Halbach permanent magnet array magnetic wheel along the counterclockwise tangential direction of the magnetic wheel circumference, the magnetic steel with the S pole pointing to the spherical center in the 13-Halbach permanent magnetic array magnetic wheel Steel, 14-Halbach permanent magnet array magnetic wheel in which the S pole is tangentially oriented counterclockwise along the circumference of the magnetic wheel.

Detailed ways

The embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Fig. 1 is a schematic diagram of an embodiment of a magnetic levitation momentum ball driven by a magnetic wheel provided by the present invention, which includes a mover 2 and six stators 1, an air gap 3 is formed between each stator 1 and mover 2, and the mover 2 is a ball Shell shape, the six stators 1 are divided into three groups, the axes of the three groups of stators are orthogonal to each other, each group includes two stators, and the two stators in each group are arranged symmetrically with the spherical center of the mover 2; each stator 1 includes a magnetic wheel 4 and a stator motor 5.

Fig. 2 is a schematic view of the stator structure in the embodiment, each stator 1 includes a stator motor 5 and a magnetic wheel 4 (only a part of the magnetic wheel is drawn), the upper surface of the magnetic wheel 4 is a concentric spherical surface with the outer surface of the mover 2, and the magnetic The spherical radius of the upper surface of the wheel 4 is greater than the spherical radius of the outer surface of the mover, and an air gap 3 is left between the magnetic wheel 4 and the outer surface of the mover 2 . The magnetic wheel 4 is installed on the stator motor 5, and the stator motor 5 is fixed to drive the magnetic wheel 4 to rotate relative to the satellite. Magnetic suspension support can be used between the magnetic wheel 4 and the stator motor 5 to reduce friction.

Fig. 3 is a schematic diagram of the NS permanent magnet array magnetic wheel in the embodiment. The inner surface of the NS permanent magnet array magnetic wheel 6 and the mover 2 is spherical, and the magnetic steel 9 with the N pole pointing to the center of the spherical sphere and the magnetic steel 10 with the S pole pointing to the center of the spherical sphere are arranged adjacently. become.

Fig. 4 is a schematic diagram of the Halbach permanent magnet array magnetic wheel in the embodiment. The inner surface of the Halbach permanent magnet array magnetic wheel 7 matched with the mover 2 is a spherical surface, which is formed by adjacent arrangement of four kinds of magnetic steels 11, 12, 13 and 14 with different magnetization directions as shown in Fig. 4 . The two kinds of magnets are magnet 11 with N pole pointing to the center of the sphere, magnet 12 with N pole tangentially counterclockwise along the circumference of the magnet wheel, magnet 13 with S pole pointing to the center of the sphere, and S pole along the circumference of the magnet wheel. The magnetic steel 14 of anticlockwise tangential direction.

Figure 5 is a schematic diagram of the structure of the mover in the embodiment. The material of the mover 2 is a non-ferromagnetic conductive material. For the convenience of manufacturing, the mover 2 is made of two hemispherical shells 8. In this embodiment, the mover 2 is made of aluminum Material.

The stator motor 5 of each stator 1 drives the magnetic wheel 4 to rotate to form a magnetic field that rotates around the axis of the stator. The rotating magnetic field induces eddy currents in the mover 2, and the eddy currents are forced in the magnetic field to provide the mover 2 along the stator. The levitation force of the axis and the torque around the axis of the stator drive the mover to rotate around the axis of the stator, thereby greatly improving the ability to provide momentum moment for the satellite and improving the efficiency of attitude adjustment.

When the magnetic wheel 4 of two or more stators 1 rotates, each stator 1 provides the suspension force along the axis of the stator and the torque around the axis of the stator to the mover 2; the suspension force produced by each stator 1 is synthesized is the levitation force on the mover 2, and controls the stable suspension of the mover 2. The torque generated by each stator 1 is synthesized into the torque on the mover, and drives the mover 2 to rotate along any axis.

When the mover 2 is working, the magnetic wheels of the two stators in each group rotate at the same speed, providing the mover with two suspension forces that pass through the axis of the set of stators and are equal in magnitude and opposite in direction, so that the mover 2 can move on the axis of the stator. direction of suspension, when the air gap 3 between one of the stators and the mover 2 decreases, the levitation force provided by the stator increases, and the air gap 3 between the other stator and the mover 2 increases, the stator provides The suspension force decreases, and the two suspension forces work together to make the mover 2 return to the middle position, so the suspension of the mover is inherently stable suspension, and the suspension 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.