CN105438500A - Outer rotor magnetic levitation conical spherical gyro flywheel - Google Patents
Outer rotor magnetic levitation conical spherical gyro flywheel Download PDFInfo
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- CN105438500A CN105438500A CN201510811186.3A CN201510811186A CN105438500A CN 105438500 A CN105438500 A CN 105438500A CN 201510811186 A CN201510811186 A CN 201510811186A CN 105438500 A CN105438500 A CN 105438500A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
- B64G1/281—Spin-stabilised spacecraft
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Abstract
The invention discloses an outer rotor magnetic levitation conical spherical gyro flywheel. The outer rotor magnetic levitation conical spherical gyro flywheel mainly comprises a static part and a rotor part, wherein the static part comprises an upper sealing cover, a middle gyro case, a lower sealing cover, a sealing ring, an upper gyro case, a lower gyro case, a motor component stator, an Lorentz force magnetic bearing stator, an axial displacement sensor component, a radial displacement sensor component, a mandrel, a protective bearing and a radial conical spherical magnetic bearing stator component. The rotor part comprises a gyro outer turntable component and a protective bearing cover. The outer rotor magnetic levitation conical spherical gyro flywheel disclosed by the invention adopts a spherical shell-shaped magnetic air gap structure and has the advantages of large inertia, easy control, large deflection angle, high torque accuracy and the like.
Description
Technical field
The present invention relates to the outer rotor magnetic suspension taper sphere gyroscope flywheel that the full active levitation of a kind of five degree of freedom controls, there is large inertia, easy to control, the advantage such as large deflection angle degree, high torque precision, achieve five control channels full decoupled, can be used as the inertia actuator of the posture control system of quick maneuvering satellite platform.
Background technology
Because momentum exchange system can provide very high attitude control accuracy, be widely used in the posture control system of spacecraft (all kinds of satellite, manned spacecraft, space station, space probe etc.).Fly wheel system accurately controls spacecraft attitude by controlling rotor speed size and Orientation change moment of momentum size and Orientation output torque.Along with the development of space technology, mechanical flywheel fades in deficiency.Magnetically levitated flywheel adopts magnetic suspension noncontact supporting technology, eliminate the skimming wear that mechanical bearing causes, reduce vibration, have no touch, without friction, without the need to advantages such as lubrication, long life, high precision, micro-vibrations, be the desirable inertia actuator of Spacecraft Attitude Control.
The advantage of magnetically levitated flywheel in rotating speed, makes it can be operated in reaction for counteraction flyback, can be operated in again bias state and take turns for bias momentum, improve rotating speed further, can also be used for the dual-purpose flywheel of pose control and energy storing.Magnetically levitated flywheel for the full ACTIVE CONTROL of five degree of freedom also can be used as high-torque bias momentum wheel, i.e. gyroscope flywheel, can export moment large control torque.Magnetically suspended gyroscope flywheel described in paper " a kind of magnetically suspended gyroscope flywheel conceptual design and Analysis on Key Technologies ", Lorentz force magnetic bearing is adopted to achieve the full active levitation supporting of rotor five degree of freedom, compared with reluctance type magnetic bearing, Lorentz force magnetic bearings control precision is high, but its bearing capacity is lower, limit rotor weight and rotor inertia, make its rotor angular momentum less than normal, the gyro control moment causing gyroscope flywheel to export instantaneously is less than normal.A kind of Large-torque magnetic suspension flywheel described in granted patent 201110253688.0, adopt Lorentz force magnetic bearing and reluctance type magnetic bearing composite support mode, utilize Lorentz force magnetic bearings control rotor radial two-freedom to twist, utilize the rotor axial single degree of freedom translation of reluctance type taper magnetic bearings control and radial two-freedom translation.Carry out rotor three degree of freedom translation suspend control owing to have employed reluctance type decoupling zero taper magnetic bearing, improve the bearing capacity of supporting system, larger gyro control moment can be exported instantaneously.But the electromagnetic force that reluctance type taper magnetic bearing utilizes conical surface magnetic pole to produce controls rotor three translational degree of freedom, there is coupling in radial translation and axial translation control channel, reduce magnetic bearings control precision.In addition, under rotor deflection state, reluctance type taper magnetic bearing conical surface magnetic pole exists and certain draws inclined disturbance torque, reduce further magnetic bearings control precision.The magnetically suspended gyroscope of a kind of seven passage magnetic circuit decoupling zeros described in number of patent application 201510006192.1 adopts the axial translation of Lorentz force magnetic bearings control rotor and radial twisting, radial direction magnetic bearing controls the radial two-freedom translation of rotor, achieve axial translation and radial translation and radial direction and twist the decoupling zero controlled, improve suspend control precision and the magnetic bearing bearing capacity of rotor-support-foundation system.The motor of magnetically suspended gyroscope and the air gap of Lorentz force magnetic bearing of seven passage magnetic circuit decoupling zeros are a post hull shape shape, and under rotor is in state of equilibrium, the magnetic gap at magnetic pole place has good homogeneity, and namely the electromagnetic force homogeneity of magnetic pole surfaces generation is better.But when rotor is under deflection state, the larger one end, magnetic gap one end at magnetic pole place is less, the magnetic at larger magnetic gap place is close less, the electromagnetic force that magnetic pole produces is less than normal, the magnetic at less magnetic gap place is close larger, the electromagnetic force that magnetic pole produces is bigger than normal, and namely magnetic pole place exists and certain draws inclined disturbance torque, reduces rotor suspension precision and system exports control torque precision instantaneously.
Summary of the invention
The object of this invention is to provide a kind of large inertia, be easy to control, the outer rotor magnetic suspension taper sphere gyroscope flywheel of large deflection angle degree and high torque precision.
The object of the invention is to be achieved through the following technical solutions:
Outer rotor magnetic suspension taper sphere gyroscope flywheel of the present invention, its preferably detailed description of the invention be:
Primarily of stationary part and rotor portion composition, stationary part mainly comprises: top cover labyrinth, middle case for gyro, lower sealing cover, upper seal ring, lower seal, upper case for gyro, lower case for gyro, electric machine assembly stator, Lorentz force magnetic bearing stator, upper shaft position sensor assembly, lower axial displacement sensor component, radial displacement transducer assembly, mandrel, protection bearing locking nut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, radial taper sphere magnetic bearing stator module and key, rotor portion mainly comprises: gyro outer rotary table assembly, upper protection bearing cap shim and lower protection bearing cap shim, top cover labyrinth is arranged in case for gyro upper axial end, and be fixed by screws in middle case for gyro upper surface, lower sealing cover is arranged in case for gyro lower axial end and is fixed by screws in case for gyro lower surface, upper seal ring is arranged in case for gyro upper axial end groove, and be pressed in middle case for gyro upper axial end groove by top cover labyrinth, lower seal is arranged in case for gyro lower axial end groove, and be pressed in middle case for gyro lower axial end groove by lower sealing cover, top cover labyrinth, middle case for gyro, lower sealing cover, upper seal ring and lower seal provide the sealed environment of a vacuum for gyroscope flywheel, upper case for gyro is arranged in top cover labyrinth radially inner side and case for gyro upper axial end, and be fixed by screws in middle case for gyro upper surface, lower case for gyro is arranged in lower sealing cover radially inner side and case for gyro lower axial end, and be fixed by screws in middle case for gyro lower axial end face, electric machine assembly stator is positioned at case for gyro lower axial end, and be fixed by screws on case for gyro, Lorentz force magnetic bearing stator module is positioned at lower case for gyro upper axial end, and be fixed by screws on lower case for gyro, upper shaft position sensor assembly is positioned at case for gyro upper axial end, and be fixed by screws on case for gyro, lower axial displacement sensor component is positioned at lower case for gyro lower axial end, and be fixed by screws on lower case for gyro, radial displacement transducer assembly is arranged in case for gyro radially inner side and lower case for gyro upper axial end, and be fixed by screws on lower case for gyro, mandrel is positioned at case for gyro lower axial end annular groove and lower case for gyro upper axial end annular groove, stator locknut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring and taper sphere magnetic bearing stator module are positioned at the radial outside of mandrel, be followed successively by stator locknut from top to bottom, upper protection bearing, upper adjustment gasket ring, taper sphere magnetic bearing stator module, lower adjustment gasket ring and lower protection bearing, key mapping is in the radially inner side keyway of taper sphere magnetic bearing stator module and in mandrel radial outside keyway, for limiting the axial rotation of taper sphere magnetic bearing stator module along mandrel, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, taper sphere magnetic bearing stator module and key are fixed on mandrel by the screw thread fit of mandrel and stator locknut, mandrel, stator locknut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, taper sphere magnetic bearing stator module and key composition stator core shaft assembly, stator core shaft assembly is fixedly mounted in upper case for gyro lower axial end annular groove with in the upper axial end annular groove of lower case for gyro by screw, gyro outer rotary table assembly is positioned at the radial outside of taper sphere magnetic bearing stator module, upper protection bearing cap shim is positioned at gyro outer rotary table assembly upper axial end and upper protection bearing radial outside, and be fixedly mounted on gyro outer rotary table assembly by screw, lower protection bearing cap shim is positioned at gyro outer rotary table assembly lower axial end and lower protection bearing radial outside, and be fixedly mounted on gyro outer rotary table assembly by screw, radial spherical shell air gap is formed between the conical magnet poles spherical outside surface of taper sphere magnetic bearing stator module and gyro outer rotary table assembly Internal Spherical Surface, upper protection bearing cap shim and lower protection bearing cap shim are formed with upper protection bearing and lower protection bearing axial end respectively axially protects air gap, upper protection bearing cap shim and lower protection bearing cap shim form radial direction with upper protection bearing and the radial outer cylinder of lower protection bearing respectively and protect air gap.
As seen from the above technical solution provided by the invention, the outer rotor magnetic suspension taper sphere gyroscope flywheel that the embodiment of the present invention provides, owing to have employed the radial translation of taper sphere magnetic bearings control rotor, compared with the gyroscope flywheel supported with Lorentz force magnetic bearing, its bearing capacity is larger, further increases rotor angular momentum and control torque; Compared with the gyroscope flywheel supported with radial taper magnetic bearing, eliminate axial translation control to control with radial translation between be coupled, improve rotor suspension precision; Compared with the gyroscope flywheel supported with the Lorentz force magnetic bearing of post shell air gap, Lorentz force magnetic bearing air gap and taper sphere magnetic bearing air gap are spherical shell shape, rotor deflection can not cause the change of spherical shell air gap shape, increase rotor portion deflection angle, the magnetic eliminated because of deflection generation draws inclined disturbance torque, improves the control torque precision of Lorentz force magnetic bearing.In addition, electric machine assembly is fixed/rotor portion sphere, Lorentz force magnetic bearing be fixed/rotor portion sphere and taper sphere magnetic bearing fixed/centre of sphere of rotor portion sphere overlaps with the barycenter of gyro outer rotary table, rotor deflection can not cause the change of spherical shell air gap shape, the deflection negative moment perpendicular to S. A. can not be produced, further increase stable suspersion precision and control torque precision.
Accompanying drawing explanation
The radial cross-section of the outer rotor magnetic suspension taper sphere gyroscope flywheel that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the cutaway view of the gyro outer rotary table assembly in the embodiment of the present invention;
Fig. 3 is the cutaway view of the stator core shaft assembly in the embodiment of the present invention;
Fig. 4 a is that the radial X of Lorentz force magnetic bearing in the embodiment of the present invention is to cutaway view;
Fig. 4 b is the radial Y-direction cutaway view of the Lorentz force magnetic bearing in the embodiment of the present invention;
Fig. 5 a is that the radial X of taper sphere magnetic bearing in the embodiment of the present invention is to cutaway view;
Fig. 5 b is the radial Y-direction cutaway view of the taper sphere magnetic bearing in the embodiment of the present invention;
Fig. 5 c is the axial end figure of the taper sphere magnetic bearing in the embodiment of the present invention;
Fig. 6 is the scheme of installation of the taper sphere magnetic bearing in the embodiment of the present invention;
Fig. 7 is electric machine assembly in the embodiment of the present invention and the connection cross section partial schematic diagram between upper case for gyro.
Detailed description of the invention
To be described in further detail the embodiment of the present invention below.
Outer rotor magnetic suspension taper sphere gyroscope flywheel of the present invention, its preferably detailed description of the invention be:
Primarily of stationary part and rotor portion composition, stationary part mainly comprises: top cover labyrinth, middle case for gyro, lower sealing cover, upper seal ring, lower seal, upper case for gyro, lower case for gyro, electric machine assembly stator, Lorentz force magnetic bearing stator, upper shaft position sensor assembly, lower axial displacement sensor component, radial displacement transducer assembly, mandrel, protection bearing locking nut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, radial taper sphere magnetic bearing stator module and key, rotor portion mainly comprises: gyro outer rotary table assembly, upper protection bearing cap shim and lower protection bearing cap shim, top cover labyrinth is arranged in case for gyro upper axial end, and be fixed by screws in middle case for gyro upper surface, lower sealing cover is arranged in case for gyro lower axial end and is fixed by screws in case for gyro lower surface, upper seal ring is arranged in case for gyro upper axial end groove, and be pressed in middle case for gyro upper axial end groove by top cover labyrinth, lower seal is arranged in case for gyro lower axial end groove, and be pressed in middle case for gyro lower axial end groove by lower sealing cover, top cover labyrinth, middle case for gyro, lower sealing cover, upper seal ring and lower seal provide the sealed environment of a vacuum for gyroscope flywheel, upper case for gyro is arranged in top cover labyrinth radially inner side and case for gyro upper axial end, and be fixed by screws in middle case for gyro upper surface, lower case for gyro is arranged in lower sealing cover radially inner side and case for gyro lower axial end, and be fixed by screws in middle case for gyro lower axial end face, electric machine assembly stator is positioned at case for gyro lower axial end, and be fixed by screws on case for gyro, Lorentz force magnetic bearing stator module is positioned at lower case for gyro upper axial end, and be fixed by screws on lower case for gyro, upper shaft position sensor assembly is positioned at case for gyro upper axial end, and be fixed by screws on case for gyro, lower axial displacement sensor component is positioned at lower case for gyro lower axial end, and be fixed by screws on lower case for gyro, radial displacement transducer assembly is arranged in case for gyro radially inner side and lower case for gyro upper axial end, and be fixed by screws on lower case for gyro, mandrel is positioned at case for gyro lower axial end annular groove and lower case for gyro upper axial end annular groove, stator locknut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring and taper sphere magnetic bearing stator module are positioned at the radial outside of mandrel, be followed successively by stator locknut from top to bottom, upper protection bearing, upper adjustment gasket ring, taper sphere magnetic bearing stator module, lower adjustment gasket ring and lower protection bearing, key mapping is in the radially inner side keyway of taper sphere magnetic bearing stator module and in mandrel radial outside keyway, for limiting the axial rotation of taper sphere magnetic bearing stator module along mandrel, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, taper sphere magnetic bearing stator module and key are fixed on mandrel by the screw thread fit of mandrel and stator locknut, mandrel, stator locknut, upper protection bearing, lower protection bearing, upper adjustment gasket ring, lower adjustment gasket ring, taper sphere magnetic bearing stator module and key composition stator core shaft assembly, stator core shaft assembly is fixedly mounted in upper case for gyro lower axial end annular groove with in the upper axial end annular groove of lower case for gyro by screw, gyro outer rotary table assembly is positioned at the radial outside of taper sphere magnetic bearing stator module, upper protection bearing cap shim is positioned at gyro outer rotary table assembly upper axial end and upper protection bearing radial outside, and be fixedly mounted on gyro outer rotary table assembly by screw, lower protection bearing cap shim is positioned at gyro outer rotary table assembly lower axial end and lower protection bearing radial outside, and be fixedly mounted on gyro outer rotary table assembly by screw, radial spherical shell air gap is formed between the conical magnet poles spherical outside surface of taper sphere magnetic bearing stator module and gyro outer rotary table assembly Internal Spherical Surface, upper protection bearing cap shim and lower protection bearing cap shim are formed with upper protection bearing and lower protection bearing axial end respectively axially protects air gap, upper protection bearing cap shim and lower protection bearing cap shim form radial direction with upper protection bearing and the radial outer cylinder of lower protection bearing respectively and protect air gap.
Described Lorentz force magnetic bearing is made up of stationary part and rotor portion, and stationary part comprises: magnetic bearing stator skeleton, left torquer coil, right torquer coil, front torquer coil, rear torquer coil, upper axial coil, lower axial coil; Rotor portion comprises: gyro outer rotary table, outer gasket ring, upper outer steel, outer magnetism-isolating loop, lower outer steel, outer locknut, interior gasket ring, upper interior magnet steel, interior magnetism-isolating loop, lower interior magnet steel and interior locknut.
Described upper shaft position sensor assembly and lower axial displacement sensor component have four to pop one's head in and all place by the positive and negative direction symmetry of X-axis and Y-axis.
Described radial displacement transducer assembly has four probes along X-axis and the orthogonal placement of Y-axis, and four probes are positioned at circumferentially same.
Described taper sphere magnetic bearing is made up of stationary part and rotor portion, and stationary part comprises: upper conical sphere stator core, the stator core of inferior pyramidal sphere, control coil, magnetic guiding loop, magnetic bearing stator sleeve, bias coil and magnetic bearing stator locknut; Rotor portion is gyro outer rotary table.
Described Lorentz force magnetic bearing assembly and the air gap of electric machine assembly are spherical shell shape.
The centre of sphere of the electric machine assembly rotor portion sphere of described a kind of outer rotor magnetic suspension taper sphere gyroscope flywheel, Lorentz force magnetic bearing rotor portion sphere, taper sphere magnetic bearing rotor portion sphere three overlaps, and a kind of centre of sphere of outer rotor magnetic suspension taper sphere gyroscope flywheel rotor portion overlaps with the centre of sphere of the centre of sphere of electric machine assembly rotor portion sphere, the centre of sphere of Lorentz force magnetic bearing rotor portion sphere and taper sphere magnetic bearing rotor portion sphere.
The centre of sphere of the electric machine assembly stationary part sphere of described a kind of outer rotor magnetic suspension taper sphere gyroscope flywheel, Lorentz force magnetic bearing stationary part sphere, taper sphere magnetic bearing stationary part sphere three overlaps, under stable suspersion state, a kind of centre of sphere of outer rotor magnetic suspension taper sphere gyroscope flywheel rotor portion overlaps with its rotor portion barycenter.
The magnetizing direction of the upper outer steel of described Lorentz force magnetic bearing rotor portion, lower outer steel, upper interior magnet steel and lower interior magnet steel is followed successively by: the outer N of interior N outer S, interior S outer N, interior N outer S, interior S, or is the outer S of interior S outer N, interior N outer S, interior S outer N, interior N.
The principle of such scheme is:
As shown in Figure 1, during a kind of outer rotor magnetic suspension taper sphere gyroscope flywheel work, in axial translation and radial twisting direction, up/down shaft position sensor detection rotor axial displacement signal and deflection difference is utilized to divide angular displacement signal, and displacement signal is fed back to Lorentz force magnetic bearing controller, regulate the size and Orientation of Lorentz force magnetic bearing axial coil current and torquer coil electric current to realize axial translation and the control of radial twisting stable suspersion by controller; In radial translation direction, utilize radial displacement transducer detection rotor radial displacement signal, and fed back to radial taper sphere magnetic bearing controller, by regulating the bias current in radial taper sphere magnetic bearing bias coil and the control electric current in control coil, keep the air gap at taper sphere magnetic bearing pole surface place even, realize rotor radial stable suspersion.After gyroscope flywheel stable suspersion, utilize motor driven rotor raising speed, reduction of speed and speed stabilizing.When gyroscope flywheel rotor portion is in specified high rotating speed, torquer instruction is sent to Lorentz force magnetic bearing controller by satellited system, control the size and Orientation of Lorentz force magnetic bearing torquer coil electric current, produce vertically to act on and rotate axial deflecting torque, drive the S. A. generation certain angle deflection of gyroscope flywheel rotor portion, the moment needed for output large gyro control moment.Taper sphere magnetic bearing and Lorentz force magnetic bearing all adopt sphere field structure, its magnetic air gap is spherical shell shape, when the rotor portion generation certain angle deflection of gyroscope flywheel, the spherical shell air gap shape at magnetic pole place remains unchanged, there is good homogeneity and conformability, while adding rotor portion angular deflection scope, eliminate and draw inclined disturbance torque because deflecting the magnetic caused.In addition, due to electric machine assembly fixed/rotor portion sphere, Lorentz force magnetic bearing be fixed/rotor portion sphere and taper sphere magnetic bearing fixed/six centre ofs sphere of rotor portion sphere overlap completely, and six centre ofs sphere overlap with the barycenter of gyro outer rotary table, the Ampere force that the rotating torque that motor produces, Lorentz force magnetic bearing produce and the electromagnetic force that taper sphere magnetic bearing produces all can not produce the deflection negative moment perpendicular to S. A., thus improve the output moment gyro torque precision of gyroscope flywheel system.
The present invention's advantage is compared with prior art:
Present invention employs the radial translation of taper sphere magnetic bearings control rotor, compared with the gyroscope flywheel supported with Lorentz force magnetic bearing, its bearing capacity is larger, further increases rotor angular momentum and control torque; Compared with the gyroscope flywheel supported with radial taper magnetic bearing, eliminate axial translation control to control with radial translation between be coupled, improve rotor suspension precision; Compared with the gyroscope flywheel supported with the Lorentz force magnetic bearing of post shell air gap, Lorentz force magnetic bearing air gap and taper sphere magnetic bearing air gap are spherical shell shape, rotor deflection can not cause the change of spherical shell air gap shape, increase rotor portion deflection angle, the magnetic eliminated because of deflection generation draws inclined disturbance torque, improves the control torque precision of Lorentz force magnetic bearing.In addition, electric machine assembly is fixed/rotor portion sphere, Lorentz force magnetic bearing be fixed/rotor portion sphere and taper sphere magnetic bearing fixed/centre of sphere of rotor portion sphere overlaps with the barycenter of gyro outer rotary table, rotor deflection can not cause the change of spherical shell air gap shape, the deflection negative moment perpendicular to S. A. can not be produced, further increase stable suspersion precision and control torque precision.
Specific embodiment:
As shown in Figure 1, a kind of outer rotor magnetic suspension taper sphere gyroscope flywheel is primarily of stationary part and rotor portion composition, it is characterized in that, stationary part mainly comprises: top cover labyrinth 1, middle case for gyro 2, lower sealing cover 3, upper seal ring 4A, lower seal 4B, upper case for gyro 5, lower case for gyro 6, electric machine assembly 7 stator, Lorentz force magnetic bearing 8 stator, upper shaft position sensor assembly 9A, lower axial displacement sensor component 9B, radial displacement transducer assembly 10, mandrel 11, protection bearing locking nut 12, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B, radial taper sphere magnetic bearing 15 stator module and key 16, rotor portion mainly comprises: gyro outer rotary table assembly 17, upper protection bearing cap shim 18A and lower protection bearing cap shim 18B, top cover labyrinth 1 is arranged in case for gyro 2 upper axial end, and be fixed by screws in middle case for gyro 2 upper surface, lower sealing cover 3 is arranged in case for gyro 2 lower axial end and is fixed by screws in case for gyro 2 lower surface, upper seal ring 4A is arranged in case for gyro 2 upper axial end groove, and be pressed in middle case for gyro 2 upper axial end groove by top cover labyrinth 1, lower seal 4B is arranged in case for gyro 2 lower axial end groove, and be pressed in middle case for gyro 2 lower axial end groove by lower sealing cover 3, top cover labyrinth 1, middle case for gyro 2, lower sealing cover 3, upper seal ring 4A and lower seal 4B provides the sealed environment of a vacuum for gyroscope flywheel, upper case for gyro 5 is arranged in top cover labyrinth 1 radially inner side and case for gyro 2 upper axial end, and be fixed by screws in middle case for gyro 2 upper surface, lower case for gyro 6 is arranged in lower sealing cover 3 radially inner side and case for gyro 2 lower axial end, and be fixed by screws in middle case for gyro 2 lower axial end face, electric machine assembly 7 stator is positioned at case for gyro 5 lower axial end, and be fixed by screws on case for gyro 5, Lorentz force magnetic bearing 8 stator module is positioned at lower case for gyro 6 upper axial end, and be fixed by screws on lower case for gyro 6, upper shaft position sensor assembly 9A is positioned at case for gyro 5 upper axial end, and be fixed by screws on case for gyro 5, lower axial displacement sensor component 9B is positioned at lower case for gyro 6 lower axial end, and be fixed by screws on lower case for gyro 6, radial displacement transducer assembly 10 is arranged in case for gyro 2 radially inner side and lower case for gyro 6 upper axial end, and be fixed by screws on lower case for gyro 6, mandrel 11 is positioned at case for gyro 5 lower axial end annular groove and lower case for gyro 6 upper axial end annular groove, stator locknut 12, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B and taper sphere magnetic bearing 15 stator module are positioned at the radial outside of mandrel 11, be followed successively by stator locknut 12 from top to bottom, upper protection bearing 13A, upper adjustment gasket ring 14A, taper sphere magnetic bearing 15 stator module, lower adjustment gasket ring 14B and lower protection bearing 13B, key 16 is positioned at radially inner side keyway and the mandrel 11 radial outside keyway of taper sphere magnetic bearing 15 stator module, for limiting the axial rotation of taper sphere magnetic bearing 15 stator module along mandrel 11, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B, taper sphere magnetic bearing 15 stator module and key 16 are fixed on mandrel 11 by mandrel 11 and the screw thread fit of stator locknut 12, mandrel 11, stator locknut 12, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B, taper sphere magnetic bearing 15 stator module and key 16 form stator core shaft assembly, stator core shaft assembly is fixedly mounted in upper case for gyro 5 lower axial end annular groove with in the upper axial end annular groove of lower case for gyro 6 by screw, gyro outer rotary table assembly 17 is positioned at the radial outside of taper sphere magnetic bearing 15 stator module, upper protection bearing cap shim 18A is positioned at gyro outer rotary table assembly 17 upper axial end and upper protection bearing 13A radial outside, and be fixedly mounted on gyro outer rotary table assembly 17 by screw, lower protection bearing cap shim 18B is positioned at gyro outer rotary table assembly 17 lower axial end and lower protection bearing 13B radial outside, and be fixedly mounted on gyro outer rotary table assembly 17 by screw, radial spherical shell air gap 19 is formed between the conical magnet poles spherical outside surface of taper sphere magnetic bearing 15 stator module and gyro outer rotary table assembly 17 Internal Spherical Surface, upper protection bearing cap shim 18A and lower protection bearing cap shim 18B is formed with upper protection bearing 13A and lower protection bearing 13B axial end respectively and axially protects air gap 20, upper protection bearing cap shim 18A and lower protection bearing cap shim 18B forms radial direction with upper protection bearing 13A and lower protection bearing 13B radial direction outer cylinder respectively and protects air gap 21.
Fig. 2 is the cutaway view of gyro outer rotary table assembly 17 in the present invention, specifically comprises: gyro outer rotary table 1701, rotor locknut 703, magnetic steel of motor 704, rotor gasket ring 705, outer gasket ring 804, upper outer steel 805, outer magnetism-isolating loop 806, lower outer steel 807, outer locknut 808, interior gasket ring 809, upper interior magnet steel 810, interior magnetism-isolating loop 811, lower interior magnet steel 812 and interior locknut 813.Rotor locknut 703, magnetic steel of motor 704 and rotor gasket ring 705 are positioned at the inner cylinder face of gyro outer rotary table 1701 outer annular groove, are followed successively by from top to bottom, rotor locknut 703, magnetic steel of motor 704 and rotor gasket ring 705, magnetic steel of motor 704 and rotor gasket ring 705 are fixedly mounted on gyro outer rotary table 1701 by gyro outer rotary table 1701 and the screw thread fit of rotor locknut 703, outer gasket ring 804, upper outer steel 805, outer magnetism-isolating loop 806, lower outer steel 807, outer locknut 808 is positioned at the inner cylinder face of gyro outer rotary table 1701 circular groove, is followed successively by from top to bottom, outer gasket ring 804, upper outer steel 805, outer magnetism-isolating loop 806, lower outer steel 807, outer locknut 808, outer gasket ring 804, upper outer steel 805, outer magnetism-isolating loop 806 and lower outer steel 807 are fixedly mounted on gyro outer rotary table 1701 by gyro outer rotary table 1701 and the screw thread fit of outer locknut 808, interior gasket ring 809, magnet steel 810 in upper, interior magnetism-isolating loop 811, in lower, magnet steel 812 and interior locknut 813 are positioned at the external cylindrical surface of gyro outer rotary table 1701 circular groove, are followed successively by from top to bottom, interior gasket ring 809, magnet steel 810 in upper, interior magnetism-isolating loop 811, magnet steel 812 and interior locknut 813 in lower, interior gasket ring 809, magnet steel 810 in upper, interior magnetism-isolating loop 811 and lower interior magnet steel 812 are fixedly mounted on gyro outer rotary table 1701 by the screw thread fit of gyro outer rotary table 1701 with interior locknut 813.
Fig. 3 is stator core shaft assemble cross-section in the present invention, specifically comprises: mandrel 11, stator locknut 12, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B, taper sphere magnetic bearing 15 stator module and key 16, stator locknut 12, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B and taper sphere magnetic bearing 15 stator module are positioned at the radial outside of mandrel 11, are followed successively by stator locknut 12 from top to bottom, upper protection bearing 13A, upper adjustment gasket ring 14A, taper sphere magnetic bearing stator module 15, lower adjustment gasket ring 14B and lower protection bearing 13B, key 16 is positioned at radially inner side keyway and the mandrel 11 radial outside keyway of taper sphere magnetic bearing 15 stator module, for limiting the axial rotation of taper sphere magnetic bearing 15 stator module along mandrel 11, upper protection bearing 13A, lower protection bearing 13B, upper adjustment gasket ring 14A, lower adjustment gasket ring 14B, taper sphere magnetic bearing 15 stator module is fixed on mandrel 11 by the screw thread fit of mandrel 11 with stator locknut 12.
Fig. 4 a is that the radial X of Lorentz force magnetic bearing 8 in the present invention is to cutaway view, Fig. 4 b is the radial Y-direction cutaway view of Lorentz force magnetic bearing 8 in the present invention, its stationary part mainly comprises: Lorentz force magnetic bearing stator skeleton 801, left torquer coil 802A, right torquer coil 802B, front torquer coil 802C, rear torquer coil 802D, upper axial coil 803A and lower axial coil 803B, rotor portion mainly comprises: gyro outer rotary table 1701, outer gasket ring 804, upper outer steel 805, outer magnetism-isolating loop 806, lower outer steel 807, outer locknut 808, interior gasket ring 809, magnet steel 810 in upper, interior magnetism-isolating loop 811, magnet steel 812 and interior locknut 813 in lower, left torquer coil 802A, right torquer coil 802B, front torquer coil 802C and rear torquer coil 802D is arranged on Lorentz force magnetic bearing stator skeleton 801 radial outside boss by epoxide-resin glue through vacuum solidification in 24 hours, upper axial coil 803A and lower axial coil 803B is arranged in Lorentz force magnetic bearing stator skeleton 801 radially inner side circular groove by epoxide-resin glue through vacuum solidification in 24 hours, upper outer steel 805, lower outer steel 807, in upper, the magnetizing direction of magnet steel 810 and lower interior magnet steel 812 is followed successively by: the outer S of interior N, the outer N of interior S, the outer S of interior N, the outer N of interior S, or be the outer N of interior S, the outer S of interior N, the outer N of interior S, the outer S of interior N.As shown in fig. 4 a, for the magnetic flux that+X passage permanent magnet produces, its path is: magnetic flux is from the N pole of upper outer steel 805, through deflection spherical shell air gap 814 upper end, left torquer coil 802A upper end and upper axial coil 803A, the S pole of magnet steel 810 in arrival, flow out from the N pole of upper interior magnet steel 810, the S pole of magnet steel 812 under gyro outer rotary table 1701 arrives, flow out from the N pole of lower interior magnet steel 812, through deflection spherical shell air gap 814 lower end, left torquer coil 802A lower end and lower axial coil 803B, arrive the S pole of lower outer steel 807, and flow out from the N pole of lower outer steel 807, the S pole of upper outer steel 805 is got back to through gyro outer rotary table 1701.The magnetic flux that-the X ,+Y of Lorentz force magnetic bearing 8 and-Y passage permanent magnet produce with+X passage is similar.The minimum radius of Lorentz force magnetic bearing 8 stationary part is greater than its rotor portion circular groove spherical outside surface radius, and the maximum radius of Lorentz force magnetic bearing 8 stationary part is less than its rotor portion circular groove inner sphere radius.
Fig. 5 a is that the radial X of taper sphere magnetic bearing 15 in the present invention is to cutaway view, Fig. 5 b is the radial Y-direction cutaway view of taper sphere magnetic bearing 15 in the present invention, Fig. 5 c be in the present invention taper sphere magnetic bearing 15 axial end figure, its stationary part mainly comprises: upper conical sphere stator core 1501, inferior pyramidal sphere stator core 1502, control coil 1503, magnetic guiding loop 1504, bias coil 1505, magnetic bearing stator sleeve 1506 and magnetic bearing stator locknut 1507, rotor portion is gyro outer rotary table 1701, upper conical sphere stator core 1501 forms 4 magnetic poles, inferior pyramidal sphere stator core 1502 forms 4 magnetic poles, upper conical sphere stator core 1501 and inferior pyramidal sphere stator core 1502 form magnetic bearing 8, upper and lower two ends magnetic pole, form X respectively, the taper sphere magnetic pole of the positive negative direction of Y-axis, each magnetic pole of the stator is wound with control coil 1503, magnetic guiding loop 1504 is between upper conical sphere stator core 1501 and inferior pyramidal sphere stator core 1502, in the middle part of magnetic guiding loop 1504, radial outside is wound with bias coil 1505, upper conical sphere stator core 1501, inferior pyramidal sphere stator core 1502, magnetic guiding loop 1504 and magnetic bearing stator locknut 1507 are positioned at stator sleeve 1506 radial outside, be followed successively by from top to bottom: magnetic bearing stator locknut 1507, upper conical sphere stator core 1501, magnetic guiding loop 1504 and inferior pyramidal sphere stator core 1502, upper conical sphere stator core 1501, inferior pyramidal sphere stator core 1502 and magnetic guiding loop 1504 are fixedly mounted on stator sleeve 1506 by the screw thread fit of magnetic bearing stator locknut 1507 with stator sleeve 1506.As shown in Figure 5 a, for the magnetic flux of+X passage, its bias magnetic path is: magnetic flux is from the left sphere magnetic pole of upper conical sphere stator core 1501, and through radial spherical shell air gap 19 upper end, gyro outer rotary table 1701 Internal Spherical Surface magnetic pole upper end, gyro outer rotary table 1701, gyro outer rotary table 1701 Internal Spherical Surface magnetic pole lower end, radial air gap 19 lower end, the left sphere magnetic pole of inferior pyramidal sphere stator core 1502, inferior pyramidal sphere stator core 1502 and magnetic guiding loop 1504 get back to upper conical sphere stator core 1501 spherical outside surface magnetic pole.As shown in Figure 5 c, for the magnetic flux that upper end X-axis forward control coil electric current produces, its path is: magnetic flux is from the X-axis forward spherical outside surface magnetic pole of upper conical sphere stator core 1501, through radial spherical shell air gap 19 to gyro outer rotary table 1701, again through the radial spherical shell air gap 19 in other three directions, arrive other three direction magnetic poles of upper conical sphere stator core 1501, the X-axis positive magnetic pole of upper conical sphere stator core 1501 is directly got back on one tunnel, the X-axis positive magnetic pole of upper conical sphere stator core 1501 is got back to through magnetic guiding loop 1504 in another road, form C/LOOP.The magnetic flux of-X ,+Y and-Y passage with+X passage is similar.
Fig. 6 is taper sphere magnetic bearing 15 scheme of installation in the present invention, after taper sphere magnetic bearing 15 stationary part and gyro outer rotary table assembly 17 machine, taper sphere magnetic bearing 15 stationary part and gyro outer rotary table assembly 17 planche cross are intersected and places, make the line of centers of taper sphere magnetic bearing 15 stationary part and gyro outer rotary table assembly 17 orthogonal, the horizontal sextant angle of each magnetic pole is 45 °, now the intrinsic curve of the stationary part of taper sphere magnetic bearing 15 is minimum, and the minimum radius be less than in gyro outer rotary table assembly 17 horizontal section, after in the Internal Spherical Surface that the stationary part of taper sphere magnetic bearing 15 is positioned over gyro outer rotary table assembly 17 completely, by the stationary part half-twist of taper sphere magnetic bearing 15, the line of centers of the stator center line of taper sphere magnetic bearing 15 and gyro outer rotary table assembly 17 is overlapped completely.
Fig. 7 is the connection cross section partial schematic diagram in the present invention between electric machine assembly 7 and upper case for gyro 5, and electric machine assembly 7 is primarily of stationary part and rotor portion composition, and wherein stationary part comprises: skeleton of stator of motor 701 and motor coil 702, rotor portion comprises: rotor locknut 703, magnetic steel of motor 704, rotor gasket ring 705 and gyro outer rotary table 1701, motor coil 702 is arranged on skeleton of stator of motor 701 by epoxide-resin glue through vacuum solidification in 24 hours, rotor locknut 703, magnetic steel of motor 704 and rotor gasket ring 705 are positioned at the inner cylinder face of gyro outer rotary table 1701 radial outside circular groove, be followed successively by from top to bottom: rotor locknut 703, magnetic steel of motor 704 and rotor gasket ring 705, rotor locknut 703 and magnetic steel of motor 704 are fixedly mounted on gyro outer rotary table 1701 by the screw thread fit between gyro outer rotary table 1701 and rotor locknut 703, electric machine assembly 7 stationary part is positioned at case for gyro 5 lower end, and be arranged on upper case for gyro 5 by screw.The minimum radius of electric machine assembly 7 stationary part is greater than the spherical outside surface radius of its rotor portion, and the maximum radius of electric machine assembly 7 stationary part is less than the inner sphere radius of its rotor portion.
The content be not described in detail in specification sheets of the present invention belongs to the known prior art of professional and technical personnel in the field.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (9)
1. an outer rotor magnetic suspension taper sphere gyroscope flywheel is primarily of stationary part and rotor portion composition, it is characterized in that, described stationary part mainly comprises: top cover labyrinth (1), middle case for gyro (2), lower sealing cover (3), upper seal ring (4A), lower seal (4B), upper case for gyro (5), lower case for gyro (6), electric machine assembly (7) stator, Lorentz force magnetic bearing (8) stator, upper shaft position sensor assembly (9A), lower axial displacement sensor component (9B), radial displacement transducer assembly (10), mandrel (11), protection bearing locking nut (12), upper protection bearing (13A), lower protection bearing (13B), upper adjustment gasket ring (14A), lower adjustment gasket ring (14B), radial taper sphere magnetic bearing (15) stator module and key (16),
Described rotor portion mainly comprises: gyro outer rotary table assembly (17), upper protection bearing cap shim (18A) and lower protection bearing cap shim (18B);
Described top cover labyrinth (1) is arranged in case for gyro (2) upper axial end, and be fixed by screws in middle case for gyro (2) upper surface, lower sealing cover (3) is arranged in case for gyro (2) lower axial end, and be fixed by screws in middle case for gyro (2) lower surface, upper seal ring (4A) is arranged in case for gyro (2) upper axial end groove, and be pressed in middle case for gyro (2) upper axial end groove by top cover labyrinth (1), lower seal (4B) is arranged in case for gyro (2) lower axial end groove, and be pressed in middle case for gyro (2) lower axial end groove by lower sealing cover (3), top cover labyrinth (1), middle case for gyro (2), lower sealing cover (3), upper seal ring (4A) and lower seal (4B) provide the sealed environment of a vacuum for gyroscope flywheel, upper case for gyro (5) is arranged in top cover labyrinth (1) radially inner side and case for gyro (2) upper axial end, and be fixed by screws in middle case for gyro (2) upper surface, lower case for gyro (6) is arranged in lower sealing cover (3) radially inner side and case for gyro (2) lower axial end, and be fixed by screws in middle case for gyro (2) lower axial end face, electric machine assembly (7) stator is positioned at case for gyro (5) lower axial end, and be fixed by screws on case for gyro (5), Lorentz force magnetic bearing (8) stator module is positioned at lower case for gyro (6) upper axial end, and be fixed by screws on lower case for gyro (6), upper shaft position sensor assembly (9A) is positioned at case for gyro (5) upper axial end, and be fixed by screws on case for gyro (5), lower axial displacement sensor component (9B) is positioned at lower case for gyro (6) lower axial end, and be fixed by screws on lower case for gyro (6), radial displacement transducer assembly (10) is arranged in case for gyro (2) radially inner side and lower case for gyro (6) upper axial end, and be fixed by screws on lower case for gyro (6), mandrel (11) is positioned at case for gyro (5) lower axial end annular groove and lower case for gyro (6) upper axial end annular groove, stator locknut (12), upper protection bearing (13A), lower protection bearing (13B), upper adjustment gasket ring (14A), lower adjustment gasket ring (14B) and taper sphere magnetic bearing (15) stator module are positioned at the radial outside of mandrel (11), be followed successively by stator locknut (12) from top to bottom, upper protection bearing (13A), upper adjustment gasket ring (14A), taper sphere magnetic bearing (15) stator module, lower adjustment gasket ring (14B) and lower protection bearing (13B), key (16) is positioned at radially inner side keyway and mandrel (11) the radial outside keyway of taper sphere magnetic bearing (15) stator module, for limiting the axial rotation of taper sphere magnetic bearing (15) stator module along mandrel (11), upper protection bearing (13A), lower protection bearing (13B), upper adjustment gasket ring (14A), lower adjustment gasket ring (14B), taper sphere magnetic bearing (15) stator module and key (16) are fixed on mandrel (11) by mandrel (11) and the screw thread fit of stator locknut (12), mandrel (11), stator locknut (12), upper protection bearing (13A), lower protection bearing (13B), upper adjustment gasket ring (14A), lower adjustment gasket ring (14B), taper sphere magnetic bearing (15) stator module and key (16) composition stator core shaft assembly, stator core shaft assembly is fixedly mounted in upper case for gyro (5) lower axial end annular groove and in the upper axial end annular groove of lower case for gyro (6) by screw, gyro outer rotary table assembly (17) is positioned at the radial outside of taper sphere magnetic bearing (15) stator module, upper protection bearing cap shim (18A) is positioned at gyro outer rotary table assembly (17) upper axial end and upper protection bearing (13A) radial outside, and be fixedly mounted on gyro outer rotary table assembly (17) by screw, lower protection bearing cap shim (18B) is positioned at gyro outer rotary table assembly (17) lower axial end and lower protection bearing (13B) radial outside, and be fixedly mounted on gyro outer rotary table assembly (17) by screw, radial spherical shell air gap (19) is formed between the conical magnet poles spherical outside surface of taper sphere magnetic bearing (15) stator module and gyro outer rotary table assembly (17) Internal Spherical Surface, upper protection bearing cap shim (18A) and lower protection bearing cap shim (18B) are formed with upper protection bearing (13A) and lower protection bearing (13B) axial end respectively axially protects air gap (20), upper protection bearing cap shim (18A) and lower protection bearing cap shim (18B) form radial direction respectively and protect air gap (21) with upper protection bearing (13A) and lower protection bearing (13B) radial outer cylinder.
2. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: described Lorentz force magnetic bearing (8) is primarily of stationary part and rotor portion composition, and described stationary part comprises: magnetic bearing stator skeleton (801), left torquer coil (802A), right torquer coil (802B), front torquer coil (802C), rear torquer coil (802D), upper axial coil (803A), lower axial coil (803B);
Described rotor portion comprises: gyro outer rotary table (1701), outer gasket ring (804), upper outer steel (805), outer magnetism-isolating loop (806), lower outer steel (807), outer locknut (808), interior gasket ring (809), upper interior magnet steel (810), interior magnetism-isolating loop (811), lower interior magnet steel (812) and interior locknut (813).
3. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: described upper shaft position sensor assembly (9A) and lower axial displacement sensor component (9B) have four probes, and all place by the positive and negative direction symmetry of X-axis and Y-axis.
4. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, is characterized in that: described radial displacement transducer assembly (10) has four probes along X-axis and the orthogonal placement of Y-axis, and four probes are positioned at circumferentially same.
5. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: described taper sphere magnetic bearing (15) is primarily of stationary part and rotor portion composition, and described stationary part comprises: upper conical sphere stator core (1501), inferior pyramidal sphere stator core (1502), control coil (1503), magnetic guiding loop (1504), magnetic bearing stator sleeve (1505), bias coil (1506) and magnetic bearing stator locknut (1507);
Described rotor portion is gyro outer rotary table (1701).
6. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, is characterized in that: the air gap of described electric machine assembly (7), Lorentz force magnetic bearing (8) and taper sphere magnetic bearing (15) is spherical shell shape.
7. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: described electric machine assembly (7) rotor portion sphere, Lorentz force magnetic bearing (8) rotor portion sphere, the centre of sphere of taper sphere magnetic bearing (15) rotor portion sphere three overlaps, the centre of sphere of rotor portion of described outer rotor magnetic suspension taper sphere gyroscope flywheel and the centre of sphere of electric machine assembly (7) rotor portion sphere, the centre of sphere of Lorentz force magnetic bearing (8) rotor portion sphere and the centre of sphere of taper sphere magnetic bearing (15) rotor portion sphere overlap.
8. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: the centre of sphere of described electric machine assembly (7) stationary part sphere, Lorentz force magnetic bearing (8) stationary part sphere, taper sphere magnetic bearing (15) stationary part sphere three overlaps, under stable suspersion state, the centre of sphere of described outer rotor magnetic suspension taper sphere gyroscope flywheel rotor portion overlaps with its rotor portion barycenter.
9. outer rotor magnetic suspension taper sphere gyroscope flywheel according to claim 1, it is characterized in that: the magnetizing direction of the upper outer steel (805) of described Lorentz force magnetic bearing (8) rotor portion, lower outer steel (807), upper interior magnet steel (810) and lower interior magnet steel (812) is followed successively by: the outer N of interior N outer S, interior S outer N, interior N outer S, interior S, or be S outside interior S outer N, interior N outer S, interior S outer N, interior N.
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| CN105811646A (en) * | 2016-05-25 | 2016-07-27 | 北京泓慧国际能源技术发展有限公司 | Magnetically supported and mechanical bearing supported hybrid energy-storage flywheel device |
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| CN111442171A (en) * | 2020-04-15 | 2020-07-24 | 北京石油化工学院 | Inner rotor Lorentz inertial stabilization platform |
| CN111442172A (en) * | 2020-04-15 | 2020-07-24 | 北京石油化工学院 | Lorentz inertial stabilization platform |
| CN111442172B (en) * | 2020-04-15 | 2021-10-01 | 北京石油化工学院 | Lorentz inertial stabilization platform |
| CN111442171B (en) * | 2020-04-15 | 2021-11-09 | 北京石油化工学院 | Inner rotor Lorentz inertial stabilization platform |
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| CN105438500B (en) | 2017-08-04 |
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