CN105691477B - A kind of control-moment gyro module - Google Patents
A kind of control-moment gyro module Download PDFInfo
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- CN105691477B CN105691477B CN201610107913.2A CN201610107913A CN105691477B CN 105691477 B CN105691477 B CN 105691477B CN 201610107913 A CN201610107913 A CN 201610107913A CN 105691477 B CN105691477 B CN 105691477B
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- gyro
- flywheel
- gear
- servomotor
- moment
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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
-
- 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
Abstract
The present invention relates to a kind of control-moment gyro module, including：Gyroscope modules shell body, outer casing upper cover plate, absolute position encoder and two single frame gyro units, each single frame gyro unit includes servomotor, inertial flywheel, flywheel-bracket, upper bearing (metal) and lower bearing, first gear and second gear, servomotor is arranged on the bottom plate inside gyroscope modules, second gear is arranged on the shaft end of the servomotor, and second gear is engaged with first gear；When servomotor performs the spinning movement of predetermined angular and speed, two flywheel-brackets also carry out the swing of respective angles and speed therewith, and the swaying direction of two flywheel-brackets is opposite, the rotary speed size of inertial flywheel in two single frame gyro units is identical and direction of rotation is opposite, when flywheel-bracket is swung, two single frame gyro units produce trimming moment, and are overlapped mutually；And the opplied moment vertical with trimming moment direction cancels each other.
Description
Technical field
The present invention relates to a kind of control-moment gyro module, belong to electromechanical technical field, specifically based on digital electricity
The motion control of the machinery inertial gyro of sub- technical controlling, can apply to the physical object that aspire for stability or balance, and such as hand over
The balance control of logical instrument (including motor vehicle, motorcycle or electric bicycle, yacht etc.), or other mechanical devices or set
Standby balance.
Background technology
In the prior art, some electromechanical assemblies either equipment or vehicles, such as two wheeler (electric bicycle, it is electronic
Motorcycle or fuel motorcycle), yacht etc., itself do not possess the ability of balance, easily in shakiness in the presence of external force
Fixed or non-equilibrium state, or even understand run-off the straight or roll, or even topple over.
Control-moment gyro technology is a technology applied to space industry, is usually used in satellite or spacecraft in space
Direction (posture) is adjusted.It is achieved in that is made by controlling the precession angle and speed of the inertial flywheel system of rotation at a high speed
It produces the torque of a certain size and direction, and the torque is put on the object (such as satellite) at place, so that the space of object
Posture or sensing change.
The present invention is exactly that can produce torque this feature using control-moment gyro, has invented a kind of control-moment gyro
Module, the module can produce trimming moment effect, and the trimming moment puts on the device or equipment for installing the module, can made
The anti-unbalance ability (effect of resistance external force) for obtaining the device or equipment is greatly increased.Moreover, required according to effective object
Torque size and Orientation is different, and the control-moment gyro module, which can be overlapped mutually, to be installed and used so that trimming moment also into
Times increase, and then strengthen balanced capacity, this control moment module at double so that do not increasing gyro unit inertia and volume
Under the premise of, installed by the superposition of working in coordination of modular, reduce required motor number, also accordingly reduce requirement big
The volume of the overall gyro of torque occasion.Each module is exactly a complete component so that use and to install convenience big
It is big to improve.
And then, control-moment gyro module of the present invention, can also according to the need for effective object to the power of output
Square size and Orientation is adjusted.
The content of the invention
An object of the present invention is the control object required for balanced capacity, is needing anti-unbalance or is resisting
Tilt or rollover or it is anti-rock or during the demand such as anti-vibration, be mounted with control moment control gyro of the present invention
On the premise of module, resistance is uneven, tilts or rollover, rocks or the ability such as big vibrations is greatly improved, so as to improve
The balanced capacity of equipment.
Another object of the present invention is that, for different control objects, required trimming moment is in different size, has
The direction of a little trimming moments even required is also in change, then pacify as long as installing one or more superposition according to actual requirement
Fill control-moment gyro module of the present invention, it is possible to the purpose for the trimming moment that is multiplied is reached, without right
Different control objects designs different size of control-moment gyro.
The present invention is in order to realize the above object provide a kind of new control-moment gyro module.
Control-moment gyro module of the present invention includes：Gyroscope modules shell body, outer casing upper cover plate, absolute position are compiled
Code device and two single frame gyro units, described single frame gyro unit include the first servomotor, inertial flywheel, flywheel branch
Frame, upper bearing (metal) and lower bearing, first gear and second gear, first servomotor are arranged on the bottom plate inside gyroscope modules
On, the second gear installs the shaft end of first servomotor, and the second gear is engaged with one of first gear；Two
The respective first gear of single frame gyro unit keeps engagement from each other；The diameter of the second gear is less than institute
State the diameter of first gear；The inertial flywheel is arranged on the flywheel by the upper bearing (metal) and lower bearing on the flywheel-bracket
On support, the inertial flywheel is by outer rotor motor driven, and the flywheel body is motor outer rotor；The flywheel-bracket two ends
There is shaft extension to go out, and be separately mounted to by bearing on the gyroscope modules shell body；The first gear is arranged on described fly
On the axle of wheel support one end；When first servomotor performs the spinning movement of predetermined angular and speed, described first
Under the interaction of gear and the second gear, two flywheel-brackets also carry out the pendulum of respective angles and speed therewith
It is dynamic, and the swaying direction of two flywheel-brackets is on the contrary, the rotation of the inertial flywheel in two single frame gyro units
Velocity magnitude is identical and direction of rotation is on the contrary, when the flywheel-bracket is swung, two single frame gyro units are equal
Trimming moment is produced, and is overlapped mutually；And the opplied moment vertical with trimming moment direction cancels each other, the control moment top
Spiral shell module can be superimposed and use, so that torque is multiplied.
The side of described gyroscope modules shell body is provided with described inside cable exits hole, the gyroscope modules shell body
The cable of the motor cable of the inertial flywheel of single frame gyro unit and first servomotor is thus
Draw；On the projecting shaft of the one installed therein single frame gyro unit of absolute position encoder, for representing
State the angle of single frame gyro unit precession.
Described control-moment gyro module also includes the second servomotor, and first servomotor is driven by gear
Two single frame gyro units are swung；Second servomotor is vertically fixedly mounted on module bottom plate, and described second
The motor shaft of servomotor is extended downwardly from through module bottom plate, and the 3rd gear is arranged on the motor of second servomotor
On axle；In the centre of module bottom plate, a vertical axis is extended downwardly from, the vertical axis and the bearing coupling being fixed on pedestal
Close, and the vertical axis is to be fixedly connected with module bottom plate；At least one pair of first pulley is symmetrically mounted on module bottom plate bottom and position
In gyroscope modules periphery, second pulley is arranged on the centre of at least one pair of first pulley, and the first pulley is directly and described the
The outer rim coupling of two pulleys, the diameter of the first pulley is less than the diameter of the second pulley；Positioned at second servo electricity
The 3rd gear of the shaft end of the motor shaft of machine and the inner tines engagement of the second pulley, the second pulley are installing shape
It is fixedly connected under state with pedestal.
First servomotor performs the wobbling action of two single frame gyro units, it is produced the flat of needs
Weigh torque；And second servomotor is by the 3rd gear and the engagement of the inner tines of the second pulley, when
During the second servomotor rotation, the gyroscope modules are overall to be rotated centered on 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 sealing
Formula gyro unit, the axle of the first sealed gyro unit side through the first driven gear and is fixed on module housing by bearing
On the wall of side, the axle of the second sealed gyro unit side through the second driven gear and is fixed on module housing side wall by bearing
On, the first driven gear and the second driven gear are respectively and fixedly installed on the wall of module housing side；First precession motor is arranged on
On the upper cover plate of first sealed gyro unit, the 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, and the second driving gear is fixedly mounted on the second precession electricity
On the motor shaft of machine, the first driving gear is engaged with the first driven gear, and the second driving gear is engaged with the second driven gear,
The first absolute position encoder is provided with the axle of first sealed gyro unit opposite side, it is another in the second sealed gyro unit
The second absolute position encoder is provided with the axle of side.
The flywheel-bracket is the flywheel-bracket that structure is fully sealed, and the sealing flywheel-bracket includes gyro shell sheet
Body, gyro outer casing upper cover, vacuum orifice, line outlet and the gyro enclosure axis on gyro outer cover body both sides；The vacuum orifice
It is arranged on line outlet on the gyro outer casing upper cover；The line outlet is used to the motor lines of the driving inertial flywheel draw
Go out, vacuum orifice and the vacuum-pump line connection, the gyro enclosure is evacuated；On the gyro shell
Seal washer is provided between lid and the gyro outer cover body, for strengthening the sealing in the gyro outer shell cavity；Flywheel
The axle of support is arranged on the both sides of the gyro outer cover body.
The motor of the inertial flywheel is driven to be installed on the gyro outer casing upper cover；One axle of the inertial flywheel leads to
Bearing is crossed on the gyro outer casing upper cover and stretching is fixedly connected with a driven gear, the electricity of the inertial flywheel is driven
Machine is connected by output shaft with drive gear, and the drive gear is engaged with the driven gear, when the driving inertial flywheel
Motor rotation when, by the intermeshing effect of the drive gear and the driven gear, drive the inertial flywheel to revolve
Turn, the vacuum orifice only left for vacuumizing is covered on the gyro.
When the first precession motor or the second precession motor are rotated with predetermined angle and speed respectively, pass through its respective axle
The gear at end and the gear engagement being fixed on module housing madial wall, in the presence of reaction force, drive first is close respectively
Envelope formula gyro unit and the second sealed gyro unit integrally carry out the swing of corresponding speed and angle；And the first absolute position is compiled
Code device and the second absolute position encoder are respectively to characterize the first sealed gyro unit and the second sealed gyro unit pendulum
Dynamic angular dimension, direction and swing speed.
According to the difference of instruction input type, system judges will to be that torque overlay model or torque subtract into what is performed
Few pattern, if the instruction of input, which is platform where requirement control-moment gyro module or device, is in poised state, holds
The corresponding torque superposing control program of row, to maintain or force system to be in poised state；If the instruction of input is requirement
Platform or device where control-moment gyro module are in heeling condition according to actual needs, then subtract each other pattern into torque
Control program, makes system enter the state at specified angle of inclination.
When entering torque overlay model, error between angle of inclination where computations angle and actual device and
The rate of change of the error, when threshold value scope of the error beyond setting, is calculated as so that device or platform are returned to
The opposing torque that poised state and needing applies, and then calculate the swing angle and flutter rate of control-moment gyro module,
Where the value that calculating is obtained is output to the first servomotor of control-moment gyro module and the second servomotor as instruction
The first servo-driver and the second servo-driver so that in the presence of servo-driver, servomotor drives controling power
Square gyroscope body carries out the swing of respective angles and speed, and the control moment of generation is acted on where the control-moment gyro module
On platform or device, so as to force its state that restores balance, the angle of inclination sensing in control-moment gyro module is installed on
Angle information is transferred to control system by device in real time, so as to constitute closed-loop control.
When subtracting each other pattern into torque, error and the mistake between angle where computations angle and actual device
Difference rate of change, when the error beyond setting threshold value scope when, be calculated as cause gyroscope modules where platform or
The torque that device reaches the angle of inclination of instruction requirement and should reduced, the torque according to obtained by calculating is subtracted each other effect, counted respectively
The swing angle and speed of the first gyro unit and the second gyro unit in control-moment gyro module are calculated, is then bristled with anger respectively
Make to corresponding servo-driver, in the presence of servo-driver, the first servomotor and the second servomotor are performed each
Wobbling action so that produce final effect be gyroscopic effect produce torque reduce, be installed on control-moment gyro module
On gradient sensor monitor angle of inclination in real time and output signal to control system, so as to form closed-loop control.
Compared with prior art, the beneficial effect of control-moment gyro module of the present invention is：To control moment
Gyro has carried out modular design, and installation can be overlapped according to actual needs, can easily realize power at double
The increase of square；Can according to actual needs, producing control-moment gyro module any angular orientation in approximately the same plane needs
The torque output wanted；Furthermore it is possible to according to actual needs, make the torque of control-moment gyro module real-time implementation adjustable size
Output.
Brief description of the drawings
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 are the unitary construction schematic diagrames of the control-moment gyro module of second embodiment of the invention.
Fig. 5 b are the structural representations of pedestal when the control-moment gyro module of second embodiment of the invention and pedestal are separated
Figure.
Fig. 5 c are the control-moment gyro module of second embodiment of the invention and upward view when pedestal is separated.
Fig. 5 d are the control-moment gyro module of second embodiment of the invention and inside upward view when pedestal is separated.
Fig. 6 a are the appearance schematic diagrams of the first embodiment of the closed gyro unit of the present invention.
Fig. 6 b are that closed gyro unit shown in Fig. 6 a disassembles schematic diagram.
Fig. 6 c are the structural representations of the control-moment gyro module of the closed gyro unit composition shown in Fig. 6 a.
Fig. 7 is the structural representation of second of embodiment of the closed gyro unit of the present invention.
Fig. 8 a are the structural representations of the control-moment gyro module of third embodiment of the invention.
Fig. 8 b are the inside top figures 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.
Figure 10 a are the torque overlay model control system block diagrams of control-moment gyro module of the present invention.
Figure 10 b are that the torque of control-moment gyro module of the present invention subtracts each other schema control system block diagram.
Embodiment
The technical scheme in the application is clearly and completely described below in conjunction with accompanying drawing, it is clear that described reality
Apply a part of embodiment that example is only the application, rather than whole embodiments.Based on the embodiment in the application, this area
The every other embodiment that those of ordinary skill is obtained on the premise of creative work is not made, belongs to the application guarantor
The scope of shield.
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 units, the single frame gyro unit described in each include servo
Motor 11, inertial flywheel 12, flywheel-bracket 13, upper bearing (metal) 14 and lower bearing, first gear 15 and second gear 16, servomotor
11 be arranged on gyroscope modules inside bottom plate on, second gear 16 install the servomotor shaft end, the second gear 16 and its
In a first gear 15 engage；Two respective first gears 15 of single frame gyro unit keep engagement from each other；Second
The diameter of gear 16 is less than the diameter of first gear 15；Inertial flywheel 12 is installed by the upper bearing (metal) on flywheel-bracket and lower bearing
On flywheel-bracket, the inertial flywheel is by outer rotor motor driven, and flywheel body is motor outer rotor；Flywheel-bracket two ends have
Shaft extension goes out, and is separately mounted to by bearing on gyroscope modules shell body；First gear 15 is arranged on flywheel-bracket one end
On axle；When servomotor performs the spinning movement of predetermined angular and speed, in the mutual of first gear 15 and second gear 16
Under effect, the also swing of progress respective angles and speed therewith of two flywheel-brackets, and the swaying direction phase of two flywheel-brackets
Instead, the rotary speed size of the inertial flywheel in two single frame gyro units is identical and direction of rotation is on the contrary, work as flywheel-bracket
When being swung, two single frame gyro units produce trimming moment, and are overlapped mutually；And it is vertical with trimming moment direction
Opplied moment cancels each other, and control-moment gyro module can be superimposed and use, so that torque is multiplied.
The side of described gyroscope modules shell body 1 is provided with the single frame inside cable exits hole 4, gyroscope modules shell body
Thus the motor cable of the inertial flywheel of gyro unit and the cable of servomotor draw；Absolute position encoder
On the projecting shaft of single frame gyro unit installed therein, the angle for representing single frame gyro unit precession (swing)
Degree.
Fig. 2 is the dismounting schematic diagram of the control-moment gyro module.Wherein outer casing upper cover plate, left side or right shell are equal
It can dismantle respectively.
Fig. 4 is the schematic diagram that two control-moment gyro module superpositions are installed together.Two identical control moment tops
When the superposition of spiral shell module is installed, the side panel of gyroscope modules shell body in correspondence with each other needs to pull down, such as by the first gyroscope modules 42
Left-Hand Panel and the right panels of the second gyroscope modules 41 pull down；When superposition is installed, the servomotor of the first gyroscope modules 42
Gear in addition to the engagement of the gear of original flywheel-bracket, in addition it is also necessary to just fly with right side in the second gyroscope modules 41
The gear engagement of wheel support, and the servomotor in the second gyroscope modules 41 is just from installing；Such first gyroscope modules 42
Servomotor drives 4 gears to be that four flywheel-brackets carry out wobbling action simultaneously by gear.It is superimposed the direct effect installed
It is so that trimming moment is multiplied, i.e., the trimming moment of two gyroscope modules is added mutually, and perpendicular to trimming moment
The side effect torque in direction cancels each other.
Fig. 5 a are the unitary construction schematic diagrames of the control-moment gyro module of second embodiment of the invention.Such as Fig. 5 a institutes
Show, control-moment gyro module includes the first servomotor 21 and the second servomotor 22, the first servomotor 21 passes through gear
Two single frame gyro units are driven to swing；Second servomotor 22 is vertically fixedly mounted on module bottom plate 25, the second servo
The motor shaft of motor 22 is extended downwardly from through module bottom plate, as fig 5d, and the 3rd gear 201 is arranged on the motor shaft
On；As shown in figures 5 a and 5 c, in the centre of module bottom plate 25, a vertical axis 24 is extended downwardly from, the vertical axis and fixation
Bearing 28 on pedestal 23 is coupled (as shown in Figure 5 b), and the vertical axis is to be fixedly connected with module bottom plate；At least one pair of
One pulley 26 be symmetrically mounted on module bottom plate bottom and positioned at gyroscope modules periphery, second pulley 27 be arranged at least one pair of first
The centre of pulley 26, direct and second pulley the outer rim coupling of first pulley, the diameter of first pulley is less than the straight of second pulley
Footpath；As fig 5d, positioned at the second servomotor 22 motor shaft shaft end the 3rd gear 201 and the inner tines of second pulley
29 (such as Fig. 5 c) are engaged, and second pulley is fixedly connected with pedestal in the mounted state.
The operation principle of the control-moment gyro module of second embodiment of the invention is that the first servomotor 21 performs two
Swing (precession) action of portion's single frame gyro unit, the trimming moment for making it produce needs；And the second servomotor 22 passes through
The engagement of the inner tines 29 of 3rd gear 201 and second pulley, when the second servomotor 22 rotates, gyroscope modules are overall
Can be rotated centered on gyroscope modules base plate center axis, this be due to second pulley with pedestal be fixedly connected and also pedestal and
Place equipment or device are to be fixedly mounted.Overall gyroscope modules not only rely on the support rotation of its base plate center axis, but also
The coupling supporting role of the truckle (first pulley) and big pulley (second pulley) of periphery is relied on, peripheral at least a pair symmetrical
The truckle (first pulley) of installation serves the effect of support equilibrant force and the overall gyroscope modules of support, so as to improve system
Stability and reliability, meanwhile, because the trimming moment that gyroscopic effect is produced be delivered to equipment or equipment matrix on.
Fig. 6 a are the appearance schematic diagrams of the first embodiment of the closed gyro unit of the present invention.The closed gyro
Unit has completely enclosed formula structure, including gyro outer cover body 61, gyro outer casing upper cover 62, vacuum orifice 65, line outlet 64
And the gyro enclosure axis 63 on gyro outer cover body both sides；Vacuum orifice 65 and line outlet 64 are arranged on gyro outer casing upper cover 62
On；Line outlet 64 is used to the motor lines of driving gyroscope flywheel draw, vacuum orifice 65 and vacuum-pump line connection, to top
Spiral shell enclosure is evacuated, and can so reduce resistance when internal flywheel rotates at a high speed, and then reduce motor power consumption and hair
Heat.As shown in Figure 6 b, seal washer 66 is provided between gyro outer casing upper cover 62 and gyro outer cover body 61, for strengthening gyro
Sealing in outer shell cavity；Flywheel 67 is installed inside closed gyro unit, the flywheel be external rotor electric machine, compact conformation,
External rotor electric machine both sides have shaft extension to go out, respectively with the lower bearing 68 and gyro outer casing upper cover on gyro outer cover body base
Upper bearing (metal) coupling is installed.Fig. 6 c show the structure for the control-moment gyro module being made up of the closed gyro unit.
Fig. 7 is the structural representation of second of embodiment of the closed gyro unit of the present invention.The closed gyro
Unit is applied to the situation that flywheel and motor are separated, and only has the flywheel of rotation at a high speed in gyro unit sealing space, and
The motor 71 of driving flywheel is installed on gyro upper cover plate；One axle of flywheel is arranged on gyro upper cover plate and stretched by bearing
Go out and be fixedly connected with a driven gear 74, the motor 71 of driving flywheel is connected by output shaft with drive gear 72, drive gear
72 engage with driven gear 74, so, when the motor 71 for driving flywheel rotates at a high speed, pass through drive gear 72 and driven gear
74 effect of intermeshing, drives the flywheel in gyro unit to rotate at a high speed.In this embodiment, only stayed on gyro upper cover plate
There is the vacuum orifice 73 for vacuumizing.
Fig. 8 a are the structural representations of the control-moment gyro module of third embodiment of the invention.Fig. 8 b are the present invention the
The inside top figure of the control-moment gyro module of three embodiments.The control-moment gyro module includes the first sealed gyro
The sealed gyro unit 82 of unit 81 and second, the axle of the first sealed side of gyro unit 81 passes through the first driven gear 86 simultaneously
It is fixed on by bearing on module housing side wall 801, the axle of the second sealed side of gyro unit 82 passes through the second driven gear
88 and it is fixed on by bearing on module housing side wall 801, the first driven gear 86 and the second driven gear 88, although be referred to as
Driven gear, but 2 gears are not rotations, but be respectively and fixedly installed on module housing side wall 801；First precession
Motor 83 is arranged on the upper cover plate of the first sealed gyro unit 81, and the second precession motor 84 is arranged on the second sealed gyro
On the upper cover plate of unit 82, the first driving gear 85 is fixedly mounted on the motor shaft of the first precession motor 83, the second driving tooth
Wheel 87 is fixedly mounted on the motor shaft of the second precession motor 84, and the first driving gear 85 is engaged with the first driven gear 86, the
Two driving gears 87 are engaged with the second driven gear 88, and first is provided with the axle of the first sealed opposite side of gyro unit 81
Absolute position encoder 89, the second absolute position encoder is provided with the axle of the second sealed opposite side of gyro unit 82
80。
The operation principle of the control-moment gyro module of third embodiment of the invention is：
It is each by its when the first precession motor 83 or the second precession motor 84 are rotated with predetermined angle and speed respectively
Gear and the gear engagement being fixed on module housing madial wall from shaft end, in the presence of reaction force, can drive respectively
The first overall swing for carrying out corresponding speed and angle of the sealed sealed gyro unit 82 of gyro unit 81 and second；And first
The absolute position encoder 80 of absolute position encoder 89 and second is respectively to characterize the first sealed gyro unit 81 and second
Angular dimension, direction and swing speed that sealed gyro unit 82 is swung.
The control-moment gyro of the control-moment gyro module of 3rd embodiment and the first embodiment shown in Fig. 3
One of difference between module is, the sealed gyro unit of two in the control-moment gyro module of the 3rd embodiment
Respective swaying direction can be the same or different, and swing speed can be the same or different, and is respectively depending on first and enters
Angular dimension, direction and speed that the dynamic precession motor 84 of motor 83 and second is swung.
The control-moment gyro of the control-moment gyro module of 3rd embodiment and the first embodiment shown in Fig. 3
It is between module another difference is that, the control-moment gyro module of the 3rd embodiment controls the first sealed top respectively
The Speed of Reaction Wheels size and Orientation of the sealed gyro unit 82 of spiral shell unit 81 and second, and the first precession motor 83 is controlled respectively
With anglec of rotation size, direction and the speed of the second precession motor 84, it is possible to achieve the equilibrant force of adjustable arbitrary size
Square is exported or the output of non-equilibrium torque.
Fig. 9 is the control principle block diagram of control-moment gyro module of the present invention.As shown in figure 9, defeated according to instructing
Enter the difference of type, system judges will to be that torque overlay model or torque reduce pattern into what is performed.If input
Instruction is that platform where requirement control-moment gyro module or device are in poised state, then performs corresponding torque superposition control
Processing procedure sequence, to maintain or force system to be in poised state；If the instruction of input is requirement control-moment gyro module institute
Platform or device be in certain angle of inclination according to actual needs, then subtract each other mode control programs into torque,
Under the pattern, system is more prone to or is easier to enter the state at specified angle of inclination.
Figure 10 a are the torque overlay model control system block diagrams of control-moment gyro module of the present invention.Work as entrance
During torque overlay model, the change speed of error and the error between angle where instruction angle degree and actual device can be calculated
Rate, when threshold value scope of the error beyond setting (＜-abs (setting value)), that is, shows real system larger journey
It deviate from poised state certain angle degree, be then calculated as so that device or platform return to the poised state and need to apply
Opposing torque, and then calculate the swing angle and flutter rate of control-moment gyro module, the value conduct that the calculating is obtained
Instruction be output to the first servo-driver where the first servomotor of control-moment gyro module and the second servomotor and
Second servo-driver, so that in the presence of servo-driver, it is certain that servomotor drives control-moment gyro body to carry out
On the swing of angle and speed, then platform where the control moment produced acts on the control-moment gyro module or device,
So as to force its state that restores balance.The gradient sensor in control-moment gyro module is installed in real time by angle information
Control system is transferred to, so as to constitute closed-loop control.
Figure 10 b are that the torque of control-moment gyro module of the present invention subtracts each other schema control system block diagram.Work as entrance
During torque phase size reduction mode, the rate of change of error and the error between angle where computations angle and actual device,
When threshold value scope of the error beyond setting (＞ abs (setting value)), it is calculated as causing the platform where gyroscope modules
Or the torque that device reaches the angle of inclination of instruction requirement and should reduced, that is to say, that to reduce the influence of gyroscopic effect,
Under the moment loading of the reduction, platform or device can be easier or more " light " reach predetermined angle of inclination, from
And eliminate the adverse effect that larger gyroscopic effect is brought.Torque according to obtained by calculating subtracts each other effect, and controling power is calculated respectively
The swing angle and speed of the first gyro unit and the second gyro unit in square gyroscope modules, are then issued a command to corresponding respectively
Servo-driver, in the presence of servo-driver, the first servomotor and the second servomotor, which are performed, respective swings dynamic
Make (speed is different), so that the torque that the final effect produced, which is gyroscopic effect, to be produced reduces, platform or device are more easy to " incline
Tendency increase tiltedly ".The gradient sensor being installed in control-moment gyro module monitors angle of inclination and exported in real time
Signal is to control system, so as to form closed-loop control.
The principal character and advantages of the present invention of the present invention has been shown and described above.Those skilled in the art should
Solution, the present invention is not limited to the above embodiments, merely illustrating the principles of the invention described in above-described embodiment and specification,
Without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these changes and improvements are all
Fall into scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of control-moment gyro module, it is characterised in that the control-moment gyro module includes gyroscope modules shell body, outer
Shell upper cover plate, absolute position encoder and two single frame gyro units, described single frame gyro unit include the first servo
Motor, inertial flywheel, flywheel-bracket, upper bearing (metal) and lower bearing, first gear and second gear, first servomotor are installed
On the bottom plate inside gyroscope modules, the second gear installs the shaft end of first servomotor, the second gear with wherein
One first gear engagement；Two respective first gears of single frame gyro unit keep engagement from each other；Institute
The diameter for stating second gear is less than the diameter of the first gear；The inertial flywheel passes through the upper bearing (metal) on the flywheel-bracket
It is arranged on lower bearing on the flywheel-bracket, the inertial flywheel is by outer rotor motor driven, and the inertial flywheel body is
Motor outer rotor；The flywheel-bracket two ends have shaft extension to go out, and are separately mounted to the gyroscope modules shell body by bearing
On；The first gear is arranged on the axle of described flywheel-bracket one end；When first servomotor perform predetermined angular and
During the spinning movement of speed, under the interaction of the first gear and the second gear, two flywheel-brackets
The swing of respective angles and speed is carried out therewith, and the swaying direction of two flywheel-brackets is on the contrary, two single frames
The rotary speed size of the inertial flywheel in gyro unit is identical and direction of rotation is on the contrary, when the flywheel-bracket is put
When dynamic, two single frame gyro units produce trimming moment, and are overlapped mutually；And the work vertical with trimming moment direction
Cancelled each other with torque, the control-moment gyro module, which can be superimposed, to be used, so that torque is multiplied.
2. control-moment gyro module according to claim 1, it is characterised in that the one of described gyroscope modules shell body
Side is provided with the drive of the inertial flywheel of the single frame gyro unit inside cable exits hole, the gyroscope modules shell body
Thus the cable of dynamic motor cable line and first servomotor draws；The absolute position encoder is installed therein
On the projecting shaft of one single frame gyro unit, the angle for representing the single frame gyro unit precession.
3. control-moment gyro module according to claim 1, it is characterised in that the control-moment gyro module also includes
Second servomotor, first servomotor drives two single frame gyro units to swing by gear；Described second
Servomotor is vertically fixedly mounted on module bottom plate, and the motor shaft of second servomotor is stretched downwards through module bottom plate
Go out, the 3rd gear is arranged on the motor shaft of second servomotor；In the centre of module bottom plate, one vertical
Axially downwardly extending goes out, the vertical axis and the bearing coupling being fixed on pedestal, and the vertical axis is to be fixedly connected with module bottom plate；Extremely
Few a pair of first pulleys are symmetrically mounted on module bottom plate bottom and positioned at gyroscope modules periphery, and second pulley is arranged at least one pair of
The centre of first pulley, the first pulley is directly coupled with the outer rim of the second pulley, and the diameter of the first pulley is small
In the diameter of the second pulley；Positioned at the 3rd gear of the shaft end of the motor shaft of second servomotor and described
The inner tines engagement of two pulleys, the second pulley is fixedly connected with pedestal in the mounted state.
4. control-moment gyro module according to claim 3, it is characterised in that first servomotor performs two
The wobbling action of the single frame gyro unit, the trimming moment for making it produce needs；And second servomotor passes through institute
The engagement of the inner tines of the 3rd gear and the second pulley is stated, when second servomotor rotates, the gyro
Module is overall to be rotated centered on gyroscope modules base plate center axis.
5. control-moment gyro module according to claim 1, it is characterised in that the flywheel-bracket is that knot is fully sealed
The flywheel-bracket of structure, the sealing flywheel-bracket include gyro outer cover body, gyro outer casing upper cover, vacuum orifice, line outlet with
And the gyro enclosure axis on gyro outer cover body both sides；The vacuum orifice and line outlet are arranged on the gyro outer casing upper cover；
The line outlet is used for driving the motor lines of the inertial flywheel to draw, and vacuum orifice and the vacuum-pump line connection is used
So that the gyro enclosure is evacuated；Sealing is provided between the gyro outer casing upper cover and the gyro outer cover body
Packing ring, for strengthening the sealing in the gyro outer shell cavity；The axle of the flywheel-bracket is arranged on the gyro outer cover body
Both sides.
6. control-moment gyro module according to claim 5, it is characterised in that the motor peace of the driving inertial flywheel
Loaded on the gyro outer casing upper cover；One axle of the inertial flywheel is arranged on the gyro outer casing upper cover and stretched by bearing
Go out and be fixedly connected with a driven gear, drive the motor of the inertial flywheel to be connected by output shaft with a drive gear, it is described
Drive gear is engaged with the driven gear, when driving the motor rotation of the inertial flywheel, by the drive gear and
The effect of intermeshing of the driven gear, drives and is only left on the inertial flywheel rotation, the gyro outer casing upper cover for taking out
The vacuum orifice of vacuum.
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| CN201610107913.2A CN105691477B (en) | 2016-02-26 | 2016-02-26 | A kind of control-moment gyro module |
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| CN201610107913.2A CN105691477B (en) | 2016-02-26 | 2016-02-26 | A kind of control-moment gyro module |
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| CN105691477B true CN105691477B (en) | 2017-11-03 |
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| EP3775774A4 (en) * | 2018-03-28 | 2021-12-29 | Verton IP Pty Ltd | Improved arrangements for rotational apparatus |
| CN109991990B (en) * | 2018-12-27 | 2022-04-26 | 深圳市行者机器人技术有限公司 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
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| CN110615046B (en) * | 2019-08-19 | 2021-09-28 | 东北大学 | Self-balancing device based on gyroscopic precession effect |
| 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 |
| CN111017128A (en) * | 2019-12-23 | 2020-04-17 | 云南农业大学 | Stable anti-tilting boat with gyroscope |
| CN113220011B (en) * | 2021-03-29 | 2023-02-03 | 北京控制工程研究所 | Miniature CMG assembly module and assembly module control system |
| CN113428311B (en) * | 2021-07-16 | 2022-07-26 | 中国船舶重工集团公司第七0七研究所九江分部 | Fluid momentum loop based on shaftless rim drive pump drive |
| KR102630843B1 (en) * | 2021-09-23 | 2024-01-29 | 조선대학교산학협력단 | Apparatus generating torque and operating method thereof |
| 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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| CN105691477A (en) | 2016-06-22 |
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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 |
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