CN105691477A - Control moment top module - Google Patents
Control moment top module Download PDFInfo
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- CN105691477A CN105691477A CN201610107913.2A CN201610107913A CN105691477A CN 105691477 A CN105691477 A CN 105691477A CN 201610107913 A CN201610107913 A CN 201610107913A CN 105691477 A CN105691477 A CN 105691477A
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- 238000009966 trimming Methods 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 239000002184 metal Substances 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 3
- 230000001151 other effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000005549 size reduction Methods 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Gyroscopes (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to a control moment top module which comprises a top module shell body, a shell upper cover board, an absolute position encoder and two single-frame top units. Each single-frame top unit comprises a servo motor, inertia flywheels, flywheel supports, upper bearings, lower bearings, first gears and a second gear, wherein the servo motor is installed on a bottom board in the top module, and the second gear is installed at the shaft end of the servo motor and engaged with the corresponding first gear. When each servo motor executes a rotation action at the preset angle and the preset speed, the two corresponding flywheel supports swing at the corresponding angle and the corresponding speed, and the swinging directions of the two flywheel supports are opposite. The inertia flywheels in the two single-frame top units are the same in rotation speed but different in rotation direction. When the flywheel supports swing, the two single-frame top units generate trimming moments which are overlapped and counteract the acting moment perpendicular to the direction of the trimming moments.
Description
Technical field
The present invention relates to a kind of control-moment gyro module, belong to electromechanical technical field, the motor control of the machinery inertial gyro specifically controlled based on Digital Electronic Technique, can apply to the physical object to aspire for stability or to balance, as the vehicles (include motor vehicles, motorcycle or electric bicycle, yacht etc.) balance control, or the balance of other machinerys or equipment。
Background technology
In prior art, some electromechanical devicies or equipment, or the vehicles, such as two wheeler (electric bicycle, battery-operated motor cycle or fuel motorcycle), yacht etc., itself do not possess the ability of balance, under the effect of external force, be very easily in instability or unbalanced state, even can run-off the straight or roll, even topple over。
Control-moment gyro technology is the technology being applied to space industry, is usually used in satellite or spacecraft and adjusts in the direction (attitude) in space。It is achieved in that the precession angle of inertial flywheel system by controlling high speed rotating and speed make it produce the moment of a certain size and direction, this moment puts on the object (such as satellite) at place, so that the spatial attitude of object or sensing change。
The present invention utilizes control-moment gyro can produce this feature of moment exactly, invent a kind of control-moment gyro module, this module can produce trimming moment effect, this trimming moment puts on the device or equipment of installing this module, and the anti-unbalance ability (opposing External Force Acting) of this device or equipment can be made to be greatly increased。And, different according to the moment size and Orientation that effective object requires, this control-moment gyro module can be overlapped mutually to be installed and used, so that trimming moment is also multiplied, and then strengthen balanced capacity at double, this control moment module, make under not increasing the premise of gyro unit inertia and volume, installed by the superposition of working in coordination of modular, decrease required motor number, also reduce the volume of the overall gyro requiring high-torque occasion accordingly。Each module is exactly a complete assembly so that uses and installs convenience and is greatly improved。
And then, control-moment gyro module of the present invention, it is also possible to be adjusted according to the moment size and Orientation to exporting that needs of effective object。
Summary of the invention
An object of the present invention is the control object required for balanced capacity, in needs anti-unbalance or anti-inclination or rollover or anti-rock or during the demand such as anti-vibration, under being mounted with the premise that control moment of the present invention controls gyroscope modules, opposing is uneven, tilt or rollover, rock or the ability such as big vibrations is greatly improved, thus improve the balanced capacity of equipment。
Another object of the present invention is for different control objects, required trimming moment is in different size, the direction of some trimming moment even required is also in change, as long as so installing one or more superposition according to actual requirement to install control-moment gyro module of the present invention, just can reach to be multiplied the purpose of trimming moment, designs different size of control-moment gyro from without to different control objects。
The present invention is in order to realize object above, it is provided that a kind of novel control-moment gyro module。
Control-moment gyro module of the present invention includes: gyroscope modules shell body, outer casing upper cover plate, absolute position encoder and two single frame gyro unit, described single frame gyro unit includes servomotor, inertial flywheel, flywheel-bracket, upper bearing (metal) and lower bearing, the first gear and the second gear, servomotor is arranged on the base plate within gyroscope modules, the axle head of this servomotor installed by second gear, and this second gear engages with one of them first gear；Two respective first gears of single frame gyro unit keep engagement from each other；The diameter of the second gear is less than the diameter of the first gear；Inertial flywheel is arranged on flywheel-bracket by the upper bearing (metal) on flywheel-bracket and lower bearing, and this inertial flywheel is by outer rotor motor driven, and flywheel body is motor outer rotor；Flywheel-bracket two ends have axle to stretch out, and are separately mounted on gyroscope modules shell body by bearing；First gear is arranged on the axle of flywheel-bracket one end；When servomotor performs the spinning movement of predetermined angular and speed, under the interaction of the first gear and the second gear, two flywheel-brackets also carry out the swing of respective angles and speed therewith, and the swaying direction of two flywheel-brackets is contrary, the rotary speed size of the inertial flywheel in two single frame gyro unit is identical and direction of rotation is contrary, when flywheel-bracket swings, two single frame gyro unit all produce trimming moment, and are overlapped mutually；And the opplied moment vertical with trimming moment direction cancels each other, control-moment gyro module can use in superposition, so that moment is multiplied。。
The side of described gyroscope modules shell body is provided with cable exits hole, and the drive motor cable of inertial flywheel and the cable of servomotor of the single frame gyro unit within gyroscope modules shell body are thus drawn；On the projecting shaft of an absolute position encoder single frame gyro unit installed therein, for representing the angle of single frame gyro unit precession。
The control-moment gyro module described in control-moment gyro module of second embodiment of the invention includes the first servomotor and the second servomotor, and the first servomotor is swung by two single frame gyro unit of gear driven；Second servomotor is vertically fixedly mounted on module base plate, and the motor shaft of the second servomotor extends downwardly from through module base plate, and the 3rd gear is arranged on this motor shaft；In the centre of module base plate, a vertical axis extends downwardly from, and this vertical axis and the bearing being fixed on pedestal couple, and this vertical axis and module base plate are fixing connections；At least one pair of first pulley is symmetrically mounted on module base plate bottom and is positioned at gyroscope modules periphery, and the second pulley is arranged on the centre of at least one pair of the first pulley, and the first pulley directly couples with the outer rim of the second pulley, and the diameter of the first pulley is less than the diameter of the second pulley；Being positioned at the 3rd gear of the axle head of the motor shaft of the second servomotor and the inner tines engagement of the second pulley, the second pulley is fixing connection in the mounted state with pedestal。
First servomotor performs the wobbling action of two single frame gyro unit so that it is produce the trimming moment needed；And the second servomotor is by the engagement of the 3rd gear and the inner tines of the second pulley, when the second servomotor rotates, gyroscope modules is overall to be rotated centered by gyroscope modules base plate center axis。
The control-moment gyro module of third embodiment of the invention includes the first sealed gyro unit and the second sealed gyro unit, the axle of the first sealed gyro unit side is through the first driven gear and is fixed on module housing sidewall by bearing, the axle of the second sealed gyro unit side is through the second driven gear and is fixed on module housing sidewall by bearing, and the first driven gear and the second driven gear are respectively and fixedly installed on module housing sidewall；First precession motor is arranged on the upper cover plate of the first sealed gyro unit, second precession motor is arranged on the upper cover plate of the second sealed gyro unit, first driving gear is fixedly mounted on the motor shaft of the first precession motor, second driving gear is fixedly mounted on the motor shaft of the second precession motor, first driving gear and the engagement of the first driven gear, second driving gear and the engagement of the second driven gear, the axle of the first sealed gyro unit opposite side is provided with the first absolute position encoder, the axle of the second sealed gyro unit opposite side is provided with the second absolute position encoder。
Described closed gyro unit has completely enclosed formula structure, and this control-moment gyro module includes the gyro enclosure axis on gyro outer cover body, gyro outer casing upper cover, vacuum orifice, line outlet and gyro outer cover body both sides；Vacuum orifice and line outlet are arranged on gyro outer casing upper cover；Line outlet is for drawing the motor lines driving gyroscope flywheel, and vacuum orifice and vacuum-pump line connect, in order to gyro enclosure is evacuated；It is provided with seal washer, for adding the sealing in strong gyroscopic outer shell cavity between gyro outer casing upper cover and gyro outer cover body；Closed gyro unit is internally installed flywheel, and this flywheel is external rotor electric machine, and external rotor electric machine both sides have axle to stretch out, and couples with the lower bearing on gyro outer cover body base and the upper bearing (metal) in gyro outer casing upper cover respectively and installs。
Described closed gyro unit seals at gyro unit and only has flywheel in space, and drives the motor of flywheel to be installed on gyro upper cover plate；One axle of flywheel is arranged on gyro upper cover plate by bearing and stretches out connect fixing with a driven gear, the motor driving flywheel is connected with driving gear by output shaft, gear is driven to engage with driven gear, when the motor driving flywheel rotates, by driving the effect of intermeshing of gear and driven gear, drive the flywheel in gyro unit to rotate, gyro upper cover plate only leaves the vacuum orifice for evacuation。
When the first precession motor or the second precession motor rotate with predetermined angle and speed respectively, by its each gear of axle head and gear engagement of being fixed on module housing medial wall, under the effect of counteracting force, the first sealed gyro unit and the second sealed gyro unit entirety is driven to carry out the swing of corresponding speed and angle respectively；And the first absolute position encoder and the second absolute position encoder are respectively in order to characterize the first sealed gyro unit and the angular dimension of the second sealed gyro unit swing, direction and swing speed。
Difference according to instruction input type, what system judgement will enter execution is moment overlay model or moment minimizing pattern, if the instruction of input is requirement control-moment gyro module place platform or device is in poised state, then perform corresponding moment superposing control program, to maintain or to force system to be in poised state；If the instruction of input is the platform at requirement control-moment gyro module place or device is in heeling condition according to actual needs, then enters moment and subtract each other mode control programs, make system enter into the state specifying angle of inclination。
When entering moment overlay model, error between computations angle and angle of inclination, actual device place and the rate of change of this error, when this error is beyond the threshold value scope set, it is calculated as so that device or platform return to poised state and need the opposing torque applied, and then calculate pendulum angle and the flutter rate of control-moment gyro module, calculated value is exported as instruction the first servomotor of control-moment gyro module and first servo-driver at the second servomotor place and the second servo-driver, thus under the effect of servo-driver, servomotor drives control-moment gyro body to carry out the swing of respective angles and speed, the control moment produced acts on this control-moment gyro module place platform or device, thus forcing its state that restores balance, it is installed on the gradient sensor in control-moment gyro module and in real time angle information is transferred to control system, thus constituting closed loop control。
When entering moment phase size reduction mode, error between computations angle and actual device place angle and the rate of change of this error, when this error is beyond the threshold value scope set, it is calculated as the platform so that gyroscope modules place or device reaches the angle of inclination of command request and the moment that should reduce, moment according to calculating gained subtracts each other effect, calculate pendulum angle and the speed of the first gyro unit in control-moment gyro module and the second gyro unit respectively, then corresponding servo-driver is issued a command to respectively, under the effect of servo-driver, first servomotor and the second servomotor perform respective wobbling action, thus the moment that the final effect produced is gyroscopic effect to be produced reduces, it is installed on the gradient sensor in control-moment gyro module monitor angle of inclination in real time and output signal to control system, thus forming closed loop control。
Compared with prior art, the having the beneficial effects that of control-moment gyro module of the present invention: control-moment gyro has been carried out modular design, it is possible to be overlapped according to actual needs installing, it is possible to realize the increase of moment at double easily；According to actual needs, control-moment gyro module any angular orientation in approximately the same plane can be made to produce the moment output needed；Furthermore it is possible to according to actual needs, the moment of control-moment gyro module real-time implementation adjustable size is made to export。
Accompanying drawing explanation
Fig. 1 is the appearance schematic diagram of the control-moment gyro module of first embodiment of the invention。
Fig. 2 is the decomposing schematic representation of the control-moment gyro module of first embodiment of the invention。
Fig. 3 is the internal structure schematic diagram of the control-moment gyro module of first embodiment of the invention。
Fig. 4 is the superposition scheme of installation of two control-moment gyro modules。
Fig. 5 a is the unitary construction schematic diagram of the control-moment gyro module of second embodiment of the invention。
Fig. 5 b is control-moment gyro module and the pedestal of the second embodiment of the invention structural representation of pedestal when separating。
Fig. 5 c is control-moment gyro module and the pedestal of second embodiment of the invention upward view when separating。
Fig. 5 d is control-moment gyro module and the pedestal of second embodiment of the invention inside bottom view when separating。
Fig. 6 a is the appearance schematic diagram of the first embodiment of the closed gyro unit of the present invention。
Fig. 6 b be the closed gyro unit shown in Fig. 6 a disassemble schematic diagram。
Fig. 6 c is the structural representation of the control-moment gyro module of the closed gyro unit composition shown in Fig. 6 a。
Fig. 7 is the structural representation of the second embodiment of the closed gyro unit of the present invention。
Fig. 8 a is the structural representation of the control-moment gyro module of third embodiment of the invention。
Fig. 8 b is the inside top figure of the control-moment gyro module of third embodiment of the invention。
Fig. 9 is the control principle block diagram of control-moment gyro module of the present invention。
The moment overlay model that Figure 10 a is control-moment gyro module of the present invention controls system block diagram。
The moment that Figure 10 b is control-moment gyro module of the present invention subtracts each other schema control system block diagram。
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical scheme in the application is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the application, rather than whole embodiments。Based on the embodiment in the application, the every other embodiment that those of ordinary skill in the art obtain under the premise not making creative work, broadly fall into the scope of the application protection。
As shown in Figure 1,3, control-moment gyro module of the present invention includes: gyroscope modules shell body 1, outer casing upper cover plate 2, absolute position encoder 3 and two single frame gyro unit, each described single frame gyro unit all includes servomotor 11, inertial flywheel 12, flywheel-bracket 13, upper bearing (metal) 14 and lower bearing, the first gear 15 and the second gear 16, servomotor 11 is arranged on the base plate within gyroscope modules, the axle head of this servomotor installed by second gear 16, and this second gear 16 engages with one of them first gear 15；Two respective first gears 15 of single frame gyro unit keep engagement from each other；The diameter of the second gear 16 is less than the diameter of the first gear 15；Inertial flywheel 12 is arranged on flywheel-bracket by the upper bearing (metal) on flywheel-bracket and lower bearing, and this inertial flywheel is by outer rotor motor driven, and flywheel body is motor outer rotor；Flywheel-bracket two ends have axle to stretch out, and are separately mounted on gyroscope modules shell body by bearing；First gear 15 is arranged on the axle of flywheel-bracket one end；When servomotor performs the spinning movement of predetermined angular and speed, under the interaction of the first gear 15 and the second gear 16, two flywheel-brackets also carry out the swing of respective angles and speed therewith, and the swaying direction of two flywheel-brackets is contrary, the rotary speed size of the inertial flywheel in two single frame gyro unit is identical and direction of rotation is contrary, when flywheel-bracket swings, two single frame gyro unit all produce trimming moment, and are overlapped mutually；And the opplied moment vertical with trimming moment direction cancels each other, control-moment gyro module can use in superposition, so that moment is multiplied。
The side of described gyroscope modules shell body 1 is provided with cable exits hole 4, and the drive motor cable of inertial flywheel and the cable of servomotor of the single frame gyro unit within gyroscope modules shell body are thus drawn；On the projecting shaft of an absolute position encoder single frame gyro unit installed therein, it is used for representing the angle of single frame gyro unit precession (swing)。
Fig. 2 is the dismounting schematic diagram of described control-moment gyro module。Wherein outer casing upper cover plate, left side or right shell all can be dismantled respectively。
Fig. 4 is the schematic diagram that two control-moment gyro module superpositions are installed together。When two identical control-moment gyro module superpositions are installed, the side panel of gyroscope modules shell body in correspondence with each other needs to pull down, as the right panel of the Left-Hand Panel of the first gyroscope modules 42 and the second gyroscope modules 41 pulled down；When superposition is installed, the gear of the servomotor of the first gyroscope modules 42 is except engaging with the gear of original flywheel-bracket, also need to the gear engagement of the flywheel-bracket on right side in just with the second gyroscope modules 41, and the servomotor in the second gyroscope modules 41 just avoids installing；The servomotor of such first gyroscope modules 42 simultaneously drives 4 gears i.e. four flywheel-brackets by gear and carries out wobbling action。The direct effect that superposition is installed is so that trimming moment is multiplied, and namely the trimming moment of two gyroscope modules is to be added mutually, and the side effect moment being perpendicular to trimming moment direction cancels each other。
Fig. 5 a is the unitary construction schematic diagram of the control-moment gyro module of second embodiment of the invention。As shown in Figure 5 a, control-moment gyro module includes the first servomotor 21 and the second servomotor 22, and the first servomotor 21 is swung by two single frame gyro unit of gear driven；Second servomotor 22 is vertically fixedly mounted on module base plate 25, and the motor shaft of the second servomotor 22 extends downwardly from through module base plate, and as fig 5d, the 3rd gear 201 is arranged on this motor shaft；As shown in figures 5 a and 5 c, in the centre of module base plate 25, a vertical axis 24 extends downwardly from, and this vertical axis and the bearing 28 being fixed on pedestal 23 couple (as shown in Figure 5 b), and this vertical axis and module base plate are fixing connections；At least one pair of first pulley 26 is symmetrically mounted on module base plate bottom and is positioned at gyroscope modules periphery, second pulley 27 is arranged on the centre of at least one pair of the first pulley 26, first pulley directly couples with the outer rim of the second pulley, and the diameter of the first pulley is less than the diameter of the second pulley；As fig 5d, being positioned at the 3rd gear 201 of the axle head of the motor shaft of the second servomotor 22 and inner tines 29 (such as Fig. 5 c) engagement of the second pulley, the second pulley is fixing connection in the mounted state with pedestal。
The operation principle of the control-moment gyro module of second embodiment of the invention is, the first servomotor 21 performs swing (precession) action of two single frame gyro unit so that it is produce the trimming moment needed；And the engagement that the second servomotor 22 is by the 3rd gear 201 and the inner tines 29 of the second pulley, when the second servomotor 22 rotates, gyroscope modules entirety can rotate centered by gyroscope modules base plate center axis, and this is owing to the second pulley and pedestal are fixing connect and pedestal and place equipment or device are hard-wired。Overall gyroscope modules not only relies on its base plate center axis to support rotation, but also rely on the truckle (the first pulley) of periphery and the coupling supporting role of big pulley (the second pulley), periphery has at least the truckle (the first pulley) being symmetrically installed to serve the effect supporting equilibrant and the overall gyroscope modules of support a pair, thus improve stability and the reliability of system, meanwhile, the trimming moment produced because of gyroscopic effect is delivered on the matrix of equipment or equipment。
Fig. 6 a is the appearance schematic diagram of the first embodiment of the closed gyro unit of the present invention。This closed gyro unit has completely enclosed formula structure, including the gyro enclosure axis 63 on gyro outer cover body 61, gyro outer casing upper cover 62, vacuum orifice 65, line outlet 64 and gyro outer cover body both sides；Vacuum orifice 65 and line outlet 64 are arranged on gyro outer casing upper cover 62；Line outlet 64 is for drawing the motor lines driving gyroscope flywheel, and vacuum orifice 65 and vacuum-pump line connect, and in order to gyro enclosure is evacuated, so can reduce resistance during internal flywheel high speed rotating, and then reduce motor power consumption and heating。As shown in Figure 6 b, between gyro outer casing upper cover 62 and gyro outer cover body 61, it is provided with seal washer 66, for adding the sealing in strong gyroscopic outer shell cavity；Closed gyro unit is internally installed flywheel 67, and this flywheel is external rotor electric machine, compact conformation, and external rotor electric machine both sides have axle to stretch out, and couples with the lower bearing 68 on gyro outer cover body base and the upper bearing (metal) in gyro outer casing upper cover respectively and installs。Fig. 6 c illustrates the structure of the control-moment gyro module being made up of this closed gyro unit。
Fig. 7 is the structural representation of the second embodiment of the closed gyro unit of the present invention。This closed gyro unit is applicable to the situation that flywheel separates with drive motor, seals, at gyro unit, the flywheel only having high speed rotating in space, and drives the motor 71 of flywheel to be installed on gyro upper cover plate；One axle of flywheel is arranged on gyro upper cover plate by bearing and stretches out connect fixing with a driven gear 74, the motor 71 driving flywheel is connected with driving gear 72 by output shaft, gear 72 is driven to engage with driven gear 74, so, when driving motor 71 high speed rotating of flywheel, by driving the effect of intermeshing of gear 72 and driven gear 74, drive the flywheel high speed rotating in gyro unit。In this embodiment, gyro upper cover plate only leaves the vacuum orifice 73 for evacuation。
Fig. 8 a is the structural representation of the control-moment gyro module of third embodiment of the invention。Fig. 8 b is the inside top figure of the control-moment gyro module of third embodiment of the invention。This control-moment gyro module includes the first sealed gyro unit 81 and the second sealed gyro unit 82, the axle of the first sealed gyro unit 81 side is through the first driven gear 86 and is fixed on module housing sidewall 801 by bearing, the axle of the second sealed gyro unit 82 side is through the second driven gear 88 and is fixed on module housing sidewall 801 by bearing, first driven gear 86 and the second driven gear 88, although being referred to as driven gear, but these 2 gears are not rotate, but are respectively and fixedly installed on module housing sidewall 801；First precession motor 83 is arranged on the upper cover plate of the first sealed gyro unit 81, second precession motor 84 is arranged on the upper cover plate of the second sealed gyro unit 82, first driving gear 85 is fixedly mounted on the motor shaft of the first precession motor 83, second driving gear 87 is fixedly mounted on the motor shaft of the second precession motor 84, first driving gear 85 engages with the first driven gear 86, second driving gear 87 engages with the second driven gear 88, the axle of the first sealed gyro unit 81 opposite side is provided with the first absolute position encoder 89, the axle of the second sealed gyro unit 82 opposite side is provided with the second absolute position encoder 80。
The operation principle of the control-moment gyro module of third embodiment of the invention is:
When the first precession motor 83 or the second precession motor 84 rotate with predetermined angle and speed respectively, by its each gear of axle head and gear engagement of being fixed on module housing medial wall, under the effect of counteracting force, the first sealed gyro unit 81 and the second sealed gyro unit 82 entirety can be driven respectively to carry out the swing of corresponding speed and angle；And the first absolute position encoder 89 and the second absolute position encoder 80 are respectively in order to characterize the first sealed gyro unit 81 and the angular dimension of the second sealed gyro unit 82 swing, direction and swing speed。
One of difference between the control-moment gyro module of the first embodiment shown in the control-moment gyro module of the 3rd embodiment and Fig. 3 is in that, two sealed respective swaying directions of gyro unit in the control-moment gyro module of the 3rd embodiment can be the same or different, swing speed can be the same or different, and is respectively depending on the first precession motor 83 and the angular dimension of the second precession motor 84 swing, direction and speed。
Another difference is that between the control-moment gyro module of the first embodiment shown in the control-moment gyro module of the 3rd embodiment and Fig. 3, the control-moment gyro module of the 3rd embodiment controls the Speed of Reaction Wheels size and Orientation of the first sealed gyro unit 81 and the second sealed gyro unit 82 respectively, and control the first precession motor 83 and the anglec of rotation size of the second precession motor 84, direction and speed respectively, it is possible to achieve the trimming moment output of adjustable arbitrary size or the output of non-equilibrium moment。
Fig. 9 is the control principle block diagram of control-moment gyro module of the present invention。As it is shown in figure 9, the difference according to instruction input type, what system judgement will enter execution is moment overlay model or moment minimizing pattern。If the instruction of input is requirement control-moment gyro module place platform or device is in poised state, then perform corresponding moment superposing control program, to maintain or to force system to be in poised state；If the instruction of input is the platform at requirement control-moment gyro module place or device is in certain angle of inclination according to actual needs, then enter moment and subtract each other mode control programs, in this mode, system is more prone to or is easier to enter into the state specifying angle of inclination。
The moment overlay model that Figure 10 a is control-moment gyro module of the present invention controls system block diagram。When entering moment overlay model, the rate of change of the error between instruction angle degree and actual device place angle and this error can be calculated, when this error is beyond the threshold value scope set (<-abs (setting value)), namely show that real system deviate from poised state certain angle largely, then it is calculated as so that device or platform return to this poised state and need the opposing torque applied, and then calculate pendulum angle and the flutter rate of control-moment gyro module, this calculated value exports the first servomotor of control-moment gyro module and first servo-driver at the second servomotor place and the second servo-driver as instruction, thus under the effect of servo-driver, servomotor drives control-moment gyro body to carry out the swing of certain angle and speed, the control moment then produced acts on this control-moment gyro module place platform or device, thus forcing its state that restores balance。It is installed on the gradient sensor in control-moment gyro module and in real time angle information is transferred to control system, thus constituting closed loop control。
The moment that Figure 10 b is control-moment gyro module of the present invention subtracts each other schema control system block diagram。When entering moment phase size reduction mode, error between computations angle and actual device place angle and the rate of change of this error, when this error is beyond the threshold value scope set (> abs (setting value)), it is calculated as the platform so that gyroscope modules place or device reaches the angle of inclination of command request and the moment that should reduce, that is the impact of gyroscopic effect is reduced, under the moment loading of this reduction, platform or device can be easier to or more " easily " reach predetermined angle of inclination, thus eliminating the adverse effect that bigger gyroscopic effect is brought。Moment according to calculating gained subtracts each other effect, calculate pendulum angle and the speed of the first gyro unit in control-moment gyro module and the second gyro unit respectively, then corresponding servo-driver is issued a command to respectively, under the effect of servo-driver, first servomotor and the second servomotor perform respective wobbling action (speed is different), thus the moment that the final effect produced is gyroscopic effect to be produced reduces, platform or device are more easy to the tendency of " inclination " to be increased。It is installed on the gradient sensor in control-moment gyro module monitor angle of inclination in real time and output signal to control system, thus forming closed loop control。
Principal character and the advantages of the present invention of the present invention have more than been shown and described。Skilled person will appreciate that; the present invention is not restricted to the described embodiments; described in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention。Claimed scope is defined by appending claims and equivalent thereof。
Claims (11)
1. a control-moment gyro module, it is characterized in that, this control-moment gyro module includes gyroscope modules shell body, outer casing upper cover plate, absolute position encoder and two single frame gyro unit, described single frame gyro unit includes servomotor, inertial flywheel, flywheel-bracket, upper bearing (metal) and lower bearing, the first gear and the second gear, servomotor is arranged on the base plate within gyroscope modules, the axle head of this servomotor installed by second gear, and this second gear engages with one of them first gear；Two respective first gears of single frame gyro unit keep engagement from each other；The diameter of the second gear is less than the diameter of the first gear；Inertial flywheel is arranged on flywheel-bracket by the upper bearing (metal) on flywheel-bracket and lower bearing, and this inertial flywheel is by outer rotor motor driven, and flywheel body is motor outer rotor；Flywheel-bracket two ends have axle to stretch out, and are separately mounted on gyroscope modules shell body by bearing；First gear is arranged on the axle of flywheel-bracket one end；When servomotor performs the spinning movement of predetermined angular and speed, under the interaction of the first gear and the second gear, two flywheel-brackets also carry out the swing of respective angles and speed therewith, and the swaying direction of two flywheel-brackets is contrary, the rotary speed size of the inertial flywheel in two single frame gyro unit is identical and direction of rotation is contrary, when flywheel-bracket swings, two single frame gyro unit all produce trimming moment, and are overlapped mutually；And the opplied moment vertical with trimming moment direction cancels each other, control-moment gyro module can use in superposition, so that moment is multiplied。
2. control-moment gyro module according to claim 1, it is characterized in that, the side of described gyroscope modules shell body is provided with cable exits hole, and the drive motor cable of inertial flywheel and the cable of servomotor of the single frame gyro unit within gyroscope modules shell body are thus drawn；On the projecting shaft of an absolute position encoder single frame gyro unit installed therein, for representing the angle of single frame gyro unit precession。
3. a control-moment gyro module, it is characterised in that this control-moment gyro module includes the first servomotor and the second servomotor, the first servomotor is swung by two single frame gyro unit of gear driven；Second servomotor is vertically fixedly mounted on module base plate, and the motor shaft of the second servomotor extends downwardly from through module base plate, and the 3rd gear is arranged on this motor shaft；In the centre of module base plate, a vertical axis extends downwardly from, and this vertical axis and the bearing being fixed on pedestal couple, and this vertical axis and module base plate are fixing connections；At least one pair of first pulley is symmetrically mounted on module base plate bottom and is positioned at gyroscope modules periphery, and the second pulley is arranged on the centre of at least one pair of the first pulley, and the first pulley directly couples with the outer rim of the second pulley, and the diameter of the first pulley is less than the diameter of the second pulley；Being positioned at the 3rd gear of the axle head of the motor shaft of the second servomotor and the inner tines engagement of the second pulley, the second pulley is fixing connection in the mounted state with pedestal。
4. control-moment gyro module according to claim 3, it is characterised in that the first servomotor performs the wobbling action of two single frame gyro unit so that it is produce the trimming moment needed；And the second servomotor is by the engagement of the 3rd gear and the inner tines of the second pulley, when the second servomotor rotates, gyroscope modules is overall to be rotated centered by gyroscope modules base plate center axis。
5. a control-moment gyro module, it is characterized in that, this control-moment gyro module includes the first sealed gyro unit and the second sealed gyro unit, the axle of the first sealed gyro unit side is through the first driven gear and is fixed on module housing sidewall by bearing, the axle of the second sealed gyro unit side is through the second driven gear and is fixed on module housing sidewall by bearing, and the first driven gear and the second driven gear are respectively and fixedly installed on module housing sidewall；First precession motor is arranged on the upper cover plate of the first sealed gyro unit, second precession motor is arranged on the upper cover plate of the second sealed gyro unit, first driving gear is fixedly mounted on the motor shaft of the first precession motor, second driving gear is fixedly mounted on the motor shaft of the second precession motor, first driving gear and the engagement of the first driven gear, second driving gear and the engagement of the second driven gear, the axle of the first sealed gyro unit opposite side is provided with the first absolute position encoder, the axle of the second sealed gyro unit opposite side is provided with the second absolute position encoder。
6. control-moment gyro module according to claim 5, it is characterized in that, described closed gyro unit has completely enclosed formula structure, and this control-moment gyro module includes the gyro enclosure axis on gyro outer cover body, gyro outer casing upper cover, vacuum orifice, line outlet and gyro outer cover body both sides；Vacuum orifice and line outlet are arranged on gyro outer casing upper cover；Line outlet is for drawing the motor lines driving gyroscope flywheel, and vacuum orifice and vacuum-pump line connect, in order to gyro enclosure is evacuated；It is provided with seal washer, for adding the sealing in strong gyroscopic outer shell cavity between gyro outer casing upper cover and gyro outer cover body；Closed gyro unit is internally installed flywheel, and this flywheel is external rotor electric machine, and external rotor electric machine both sides have axle to stretch out, and couples with the lower bearing on gyro outer cover body base and the upper bearing (metal) in gyro outer casing upper cover respectively and installs。
7. control-moment gyro module according to claim 5, it is characterised in that described closed gyro unit seals at gyro unit and only has flywheel in space, and drives the motor of flywheel to be installed on gyro upper cover plate；One axle of flywheel is arranged on gyro upper cover plate by bearing and stretches out connect fixing with a driven gear, the motor driving flywheel is connected with driving gear by output shaft, gear is driven to engage with driven gear, when the motor driving flywheel rotates, by driving the effect of intermeshing of gear and driven gear, drive the flywheel in gyro unit to rotate, gyro upper cover plate only leaves the vacuum orifice for evacuation。
8. control-moment gyro module according to claim 5, it is characterized in that, when the first precession motor or the second precession motor rotate with predetermined angle and speed respectively, by its each gear of axle head and gear engagement of being fixed on module housing medial wall, under the effect of counteracting force, the first sealed gyro unit and the second sealed gyro unit entirety is driven to carry out the swing of corresponding speed and angle respectively；And the first absolute position encoder and the second absolute position encoder are respectively in order to characterize the first sealed gyro unit and the angular dimension of the second sealed gyro unit swing, direction and swing speed。
9. control-moment gyro module according to claim 8, it is characterized in that, difference according to instruction input type, what system judgement will enter execution is moment overlay model or moment minimizing pattern, if the instruction of input is requirement control-moment gyro module place platform or device is in poised state, then perform corresponding moment superposing control program, to maintain or to force system to be in poised state；If the instruction of input is the platform at requirement control-moment gyro module place or device is in heeling condition according to actual needs, then enters moment and subtract each other mode control programs, make system enter into the state specifying angle of inclination。
10. control-moment gyro module according to claim 9, it is characterized in that, when entering moment overlay model, error between computations angle and angle of inclination, actual device place and the rate of change of this error, when this error is beyond the threshold value scope set, it is calculated as so that device or platform return to poised state and need the opposing torque applied, and then calculate pendulum angle and the flutter rate of control-moment gyro module, calculated value is exported as instruction the first servomotor of control-moment gyro module and first servo-driver at the second servomotor place and the second servo-driver, thus under the effect of servo-driver, servomotor drives control-moment gyro body to carry out the swing of respective angles and speed, the control moment produced acts on this control-moment gyro module place platform or device, thus forcing its state that restores balance, it is installed on the gradient sensor in control-moment gyro module and in real time angle information is transferred to control system, thus constituting closed loop control。
11. control-moment gyro module according to claim 9, it is characterized in that, when entering moment phase size reduction mode, error between computations angle and actual device place angle and the rate of change of this error, when this error is beyond the threshold value scope set, it is calculated as the platform so that gyroscope modules place or device reaches the angle of inclination of command request and the moment that should reduce, moment according to calculating gained subtracts each other effect, calculate pendulum angle and the speed of the first gyro unit in control-moment gyro module and the second gyro unit respectively, then corresponding servo-driver is issued a command to respectively, under the effect of servo-driver, first servomotor and the second servomotor perform respective wobbling action, thus the moment that the final effect produced is gyroscopic effect to be produced reduces, it is installed on the gradient sensor in control-moment gyro module monitor angle of inclination in real time and output signal to control system, thus forming closed loop control。
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| CN110615046B (en) * | 2019-08-19 | 2021-09-28 | 东北大学 | Self-balancing device based on gyroscopic precession effect |
| CN110615046A (en) * | 2019-08-19 | 2019-12-27 | 东北大学 | Self-balancing device based on gyroscopic precession effect |
| CN110672129A (en) * | 2019-11-08 | 2020-01-10 | 桂林电子科技大学 | Device and method for testing dynamic characteristics of control moment gyroscope |
| CN110672129B (en) * | 2019-11-08 | 2024-01-16 | 桂林电子科技大学 | Device and method for controlling dynamic characteristic test of moment gyro |
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| CN114701578A (en) * | 2022-03-28 | 2022-07-05 | 浙江大学 | Control moment gyro device for autonomous balance of unmanned motorcycle |
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Effective date of registration: 20190709 Address after: Building 888 C, Huanhu West Second Road, Nanhui New Town, Pudong New District, Shanghai, 200120 Patentee after: LIGHT INTELLIGENT TECHNOLOGY (SHANGHAI) CO., LTD. Address before: 200233 Hongmei Road, Xuhui District, Shanghai, No. 36, No. 502, 2015 Patentee before: Jia Lingling |